WO2004040320A1 - Method and device for determining the angle of rotation and the rotational speed of a motor - Google Patents

Method and device for determining the angle of rotation and the rotational speed of a motor Download PDF

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Publication number
WO2004040320A1
WO2004040320A1 PCT/DE2003/002063 DE0302063W WO2004040320A1 WO 2004040320 A1 WO2004040320 A1 WO 2004040320A1 DE 0302063 W DE0302063 W DE 0302063W WO 2004040320 A1 WO2004040320 A1 WO 2004040320A1
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Prior art keywords
sensor
motor
rotation
angle
ring magnet
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PCT/DE2003/002063
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German (de)
French (fr)
Inventor
Hubert Lamm
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Robert Bosch Gmbh
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Publication of WO2004040320A1 publication Critical patent/WO2004040320A1/en

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
    • G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2454—Encoders incorporating incremental and absolute signals
    • G01D5/2455—Encoders incorporating incremental and absolute signals with incremental and absolute tracks on the same encoder
    • G01D5/2457—Incremental encoders having reference marks
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/489—Digital circuits therefor

Definitions

  • the invention relates to a method for determining the angle of rotation and the speed of a motor, in particular a drive motor with closing force limitation for sunroofs or window regulators, and a device for carrying out the method.
  • Today's sunroofs and window regulators which are actuated by an electric motor, are basically provided with a closing force limitation in order to provide protection against trapping.
  • a closing force limitation When an open sliding roof is closed, an object is pinched or damage to the drive or closing mechanism in the event of a mechanical fault is prevented by the drive motor being stopped and / or reversed.
  • the torque applied to the drive motor is determined either directly or indirectly via the detection of the motor speed or its change. The speed can be detected, for example, by optoelectronic sensors or Hall sensors. Another option is also the measurement of the motor current in order to limit the closing force.
  • the motor speed or the motor current When the sunroof or window is closed, the motor speed or the motor current usually fluctuates slightly around a nominal speed or nominal current. These changes are based on on the fluctuations in the coefficient of friction in the locking mechanism. If the speed or the motor current deviate too much from the nominal value, a mechanical blockage is recognized and the drive motor is stopped by the closing force limitation or a reversing movement is carried out by reversing the direction of rotation of the motor.
  • a ring magnet is usually arranged on the armature of the motor.
  • the speed and the direction of rotation of the motor are evaluated with one or more Hall sensors.
  • very high demands are placed on the angular accuracy. Deviations in the angular accuracy are usually compensated for by measuring the tolerances during operation and then correcting them accordingly.
  • the disadvantage here is that a reference value is always required to determine the correction factors.
  • This reference value can be a constant engine speed, for example. In practical implementation, however, this means that the correction values can only be determined when the motor has reached its nominal speed, which can be maintained relatively constant. However, this means that no correction values are available when the motor starts. This is disadvantageous because modern clamping force limits also during the Starting phase of the motor should be active in order to be able to safely avoid damage or injuries.
  • the inventive method for determining the angle of rotation and the speed of a motor, in particular a drive motor with closing force limitation for sunroofs or window lifters, with the features of claim 1 has the advantage that the correction values are available immediately, but at the latest after one motor revolution, and the measured ones Sensor signals can also be corrected accordingly during the start-up phase of the drive motor. This is achieved by measuring at least one sensor signal for determining the angle of rotation and / or the speed of the motor and an additional trigger signal, from which a corrected sensor signal for the closing force limitation is determined. This means that the closing force limitation can be activated from the start of the closing of the sunroof or window. Furthermore, almost any tolerances of the complete sensor system can be corrected with the aid of the additional trigger signal using the specified method.
  • a sensor pulse of the sensor signal is preferably assigned to the trigger signal.
  • the assigned pulse is precisely recognized by the fixed assignment of the trigger signal to the sensor pulse. All other individual sensor pulses can also be determined in this way. For example, the individual sensor pulses can be correctly determined by simple counting. This ensures that correct and appropriate correction values are always used to adapt the measured sensor signal. Furthermore is also a possible “counting" of the determined sensor impulses uncritically, since the trigger signal again results in an exact assignment of the correction values to the respective sensor signals at the latest after one revolution of the motor.
  • the correction values are typically determined by averaging during a special measuring run at constant speed and then stored. This has the great advantage that the measuring run can take place in a protected environment that is free from environmental influences such as temperature fluctuations or contamination.
  • the measuring runs can also take place during the production of the sunroof motor. It is thus possible to carry out the measuring run at a constant speed which shows only very small fluctuations. By averaging over several revolutions of the motor, any fluctuations in the speed of the motor can be compensated for during the measurement run. To compensate for speed deviations, it is still possible to take several measurement runs into account. The accuracy of the correction values can thus be increased again.
  • the final saving of the correction values ensures that the correction values can be accessed at any time during operation.
  • the correction values are read out from a memory.
  • the correction values are thus immediately available during the method and the correction values only have to be read out from the memory.
  • a constant calculation of the correction values is not necessary, which means that the method can work very quickly and precisely.
  • each sensor signal is corrected, since the correction values are uniquely assigned to the respective measured sensor signal.
  • An individual correction factor is applied to each sensor pulse. The optimal assignment of the correction values to the individual sensor pulses ensures the greatest possible accuracy of the correction.
  • a device is used to carry out the method according to the invention, with a motor having an armature, at least one ring magnet on the armature of the motor and at least one sensor for measuring the angle of rotation.
  • the device comprises a second ring magnet, which is in particular designed with two poles, a trigger sensor arranged on the second ring magnet and an evaluation unit which reads out and processes the sensor signal and the trigger signal synchronously.
  • the evaluation unit can in particular be a timer capture device of a processor.
  • the second ring magnet is preferably formed with two differently sized magnetic pole segments in the circumferential direction.
  • the second ring magnet is particularly preferably arranged around the first ring magnet.
  • the evaluation unit preferably also includes a memory for storing the correction values, so that in addition to the determined sensor signals and the trigger signal, the correction values can also be processed directly in the evaluation unit and the corrected sensor signals can be determined. It is particularly advantageous if the memory of the evaluation unit is a non-volatile memory. This ensures that the correction values are still available and are not deleted even if the power supply is interrupted.
  • the use of a second sensor has the advantage that the direction of rotation of the motor can be easily deduced from the comparison of the two measured sensor signals. In this way, reversing or incorrect reversing of the motor can be detected.
  • Both the measurement sensors and the additional trigger sensor can be designed as Hall sensors. his.
  • the Hall sensors are particularly well suited for use in the automotive sector, as they are insensitive to dirt and robust. In addition, they are inexpensive and available in large quantities.
  • Figure 1 is a schematic sketch of the device according to the invention in a plan
  • Figure 2 shows the time course of the measured sensor signals.
  • Figure 1 shows a schematic diagram with a motor 1 and a centrally arranged armature shaft 2.
  • a multi-pole first Ring magnet 3 is arranged around the armature shaft 2.
  • the first ring magnet 3 is divided into eight magnet segments 4, which are alternately polarized in the direction of the magnetic north or south pole.
  • a second ring magnet 5 is arranged concentrically around the first ring magnet 3.
  • the ring magnet 5 is divided into two magnet segments 6a and 6b, which are of different sizes and are oppositely polarized.
  • the two ring magnets 3 and 5 are fixedly connected to one another and can be rotated together concentrically around the armature shaft 2.
  • the respective magnet segments 4 or 6a and 6b thus also execute a circular movement.
  • Two sensors which are designed as Hall sensors 7 and 8, are arranged on the inner ring magnet 3.
  • the Hall sensors 7 and 8 are positioned such that, depending on the rotational position of the motor 1, they are arranged either over the same magnet segment 4 or over two differently polarized, directly adjacent magnet segments 4.
  • a trigger sensor 9 is arranged on the second ring magnet 5. While the motor is rotating, the trigger sensor 9 measures a trigger signal 10, the pulse duty factor T of which differs from 0.5 owing to the differently sized magnet segments 6a and 6b. With this additional trigger signal 10, which is determined by the trigger sensor 9, it is possible to unambiguously deduce the magnet segments 4 of the first ring magnet 3 when measuring them with the Hall sensors 1 and 8.
  • FIG. 2 shows the temporal course of the trigger signal 10 measured with the trigger sensor 9 and two sensor signals 11 and 12, which are measured with the Hall sensors 7 and 8 be determined.
  • the rising edge of the trigger signal 10 coincides in time with the rising edge of a first sensor pulse 13 of the sensor signal 11.
  • a fixed assignment of the trigger signal 10 to the sensor pulse 13 of the Hall sensor 7 is predetermined. Due to the fixed assignment, the first sensor pulse 13 is always reliably recognized. By simply counting the subsequent sensor pulses 14 to 16, it is easy to deduce each individual sensor pulse 14 to 16.
  • the time interval between the trigger signal 10 and one of the sensor pulses 13 to 16 of the sensor signal 11 can be towards Magnet segment 4 associated with the respective sensor pulse can be closed. This makes it possible to determine the angle of rotation of the motor 1.
  • correction values stored in a memory can be assigned to the individual sensor pulses 13 to 16. Each sensor pulse 13 to 16 can thus be corrected with its own correction value.
  • the engine speed can be calculated from the chronological sequence of the individual sensor pulses 13 to 16 of the sensor signal 11 or from the trigger signal 11 itself.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

The invention relates to a method for determining the angle of rotation and the rotational speed of a motor (1), particularly of a drive motor with closing force limitation for sliding roofs or window lifters, and to a device for carrying out this method. The method involves the measurement of a sensor signal (11), which represents the angle of rotation and/or the rotational speed of the motor (1), and the measurement of a trigger signal (10) that represents a reference position. A correction factor is assigned to each defined segment of a ring magnet and compensates for differences in segment sizes. These correction factors are taken into consideration when determining the angle of rotation and rotational speed.

Description

Verfahren und Vorrichtung zur Ermittung des Drehwinkels und der Drehzahl eines MotorsMethod and device for determining the angle of rotation and the speed of an engine
Stand der TechnikState of the art
Die Erfindung betrifft ein Verfahren zur Ermittlung des Drehwinkels und der Drehzahl eines Motors, insbesondere eines Antriebsmotors mit Schließkraftbegrenzung für Schiebedächer oder Fensterheber, und eine Vorrichtung zur Durchführung des Verfahrens .The invention relates to a method for determining the angle of rotation and the speed of a motor, in particular a drive motor with closing force limitation for sunroofs or window regulators, and a device for carrying out the method.
Heutige Schiebedächer und Fensterheber, die elektromotorisch betätigt werden, sind grundsätzlich mit einer Schließkraftbegrenzung versehen, um einen Einklemmschutz zu realisieren. Beim Schließen eines geöffneten Schiebedaches wird das Einklemmen eines Gegenstandes oder eine Beschädigung des Antriebs bzw. Schließmechanismus bei einer mechanischen Störung dadurch verhindert, dass der Antriebsmotor gestoppt und/oder reversiert wird. Zur Realisierung einer Schließkraftbegrenzung wird entweder direkt das aufgebrachte Drehmoment des Antriebsmotors oder indirekt über die Erfassung der Motordrehzahl bzw. deren Änderung das Drehmoment ermittelt. Die Erfassung der Drehzahl kann beispielsweise durch optoelektronische oder durch Hallsensoren geschehen. Eine weitere Möglichkeit ist auch die Messung des Motorstroms, um die Schließkraftbegrenzung durchzuführen .Today's sunroofs and window regulators, which are actuated by an electric motor, are basically provided with a closing force limitation in order to provide protection against trapping. When an open sliding roof is closed, an object is pinched or damage to the drive or closing mechanism in the event of a mechanical fault is prevented by the drive motor being stopped and / or reversed. To implement a clamping force limitation, the torque applied to the drive motor is determined either directly or indirectly via the detection of the motor speed or its change. The speed can be detected, for example, by optoelectronic sensors or Hall sensors. Another option is also the measurement of the motor current in order to limit the closing force.
Beim Schließen des Schiebedachs oder Fensters schwankt die Motordrehzahl bzw. der Motorstrom üblicherweise geringfügig um eine Nenndrehzahl bzw. Nennstrom. Diese Veränderungen beruhen u.a. auf den Reibwertschwankungen im Schließmechanismus. Bei einer zu hohen Abweichung der Drehzahl bzw. des Motorstroms von dem Nennwert, wird eine mechanische Blockade erkannt und der Antriebsmotor von der Schließkraftbegrenzung gestoppt bzw. eine Reversierbewegung durch Umkehr der Drehrichtung des Motors durchgeführt.When the sunroof or window is closed, the motor speed or the motor current usually fluctuates slightly around a nominal speed or nominal current. These changes are based on on the fluctuations in the coefficient of friction in the locking mechanism. If the speed or the motor current deviate too much from the nominal value, a mechanical blockage is recognized and the drive motor is stopped by the closing force limitation or a reversing movement is carried out by reversing the direction of rotation of the motor.
Bei einer indirekten Schließkraftbegrenzung ist in der Regel ein Ringmagnet am Anker des Motors angeordnet. Die Auswertung der Drehzahl und der Drehrichtung des Motors wird mit einem oder mehreren Hallsensoren vorgenommen. Beim Einsatz von mehrpoligen Ringmagneten werden jedoch sehr hohe Anforderungen an die Winkelgenauigkeit gestellt. Üblicherweise werden Abweichungen der Winkelgenauigkeit dadurch kompensiert, dass während des Betriebs die Toleranzen ausgemessen und anschließend entsprechend korrigiert werden. Nachteilig hierbei ist jedoch, dass zur Ermittlung der Korrekturfaktoren stets ein Referenzwert benötigt wird.With an indirect closing force limitation, a ring magnet is usually arranged on the armature of the motor. The speed and the direction of rotation of the motor are evaluated with one or more Hall sensors. When using multi-pole ring magnets, however, very high demands are placed on the angular accuracy. Deviations in the angular accuracy are usually compensated for by measuring the tolerances during operation and then correcting them accordingly. The disadvantage here, however, is that a reference value is always required to determine the correction factors.
Dieser Referenzwert kann beispielsweise eine konstante Motordrehzahl sein. In der praktischen Umsetzung bedeutet das jedoch, dass die Korrekturwerte erst dann ermittelt werden können, wenn der Motor seine Nenndrehzahl erreicht hat, die relativ konstant eingehalten werden kann. Damit stehen jedoch keine Korrekturwerte während des Anlaufens des Motors zur Verfügung. Dies ist schon deshalb nachteilig, da moderne Schließkraftbegrenzungen auch während der Anlaufphase des Motors aktiv sein sollten, um Beschädigungen bzw. Verletzungen sicher vermeiden zu können.This reference value can be a constant engine speed, for example. In practical implementation, however, this means that the correction values can only be determined when the motor has reached its nominal speed, which can be maintained relatively constant. However, this means that no correction values are available when the motor starts. This is disadvantageous because modern clamping force limits also during the Starting phase of the motor should be active in order to be able to safely avoid damage or injuries.
Vorteile der ErfindungAdvantages of the invention
Das erfindungsgemäße Verfahren zur Ermittlung des Drehwinkels und der Drehzahl eines Motors, insbesondere eines Antriebsmotors mit Schließkraftbegrenzung für Schiebedächer oder Fensterheber, mit den Merkmalen des Patentanspruchs 1 weist den Vorteil auf, dass die Korrekturwerte sofort, spätestens jedoch nach einer Motorumdrehung zur Verfügung stehen und die gemessenen Sensorsignale auch schon während der Anlaufphase des Antriebsmotors entsprechend korrigiert werden können. Dies wird durch Messung wenigstens eines Sensorsignals zur Ermittlung des Drehwinkels und/oder der Drehzahl des Motors und eines zusätzlichen Triggersignals erreicht, aus welchen ein korrigiertes Sensorsignal für die Schließkraftbegrenzung bestimmt wird. Damit kann die Schließkraftbegrenzung von Beginn des Schließens des Schiebedachs bzw. Fensters an aktiviert werden. Weiterhin können durch das angegebene Verfahren nahezu beliebige Toleranzen des kompletten Sensorsystems mit Hilfe des zusätzlichen Triggersignals korrigiert werden.The inventive method for determining the angle of rotation and the speed of a motor, in particular a drive motor with closing force limitation for sunroofs or window lifters, with the features of claim 1 has the advantage that the correction values are available immediately, but at the latest after one motor revolution, and the measured ones Sensor signals can also be corrected accordingly during the start-up phase of the drive motor. This is achieved by measuring at least one sensor signal for determining the angle of rotation and / or the speed of the motor and an additional trigger signal, from which a corrected sensor signal for the closing force limitation is determined. This means that the closing force limitation can be activated from the start of the closing of the sunroof or window. Furthermore, almost any tolerances of the complete sensor system can be corrected with the aid of the additional trigger signal using the specified method.
Bevorzugterweise wird ein Sensorimpuls des Sensorsignals dem Triggersignal zugeordnet. Durch die feste Zuordnung des Triggersignals zu dem Sensorimpuls wird der zugeordnete Impuls exakt erkannt. Damit lassen sich auch alle anderen einzelnen Sensorimpulse ermitteln. Beispielsweise können die einzelnen Sensorimpulse durch einfaches Abzählen korrekt bestimmt werden. So wird sichergestellt, dass stets korrekte und zutreffende Korrekturwerte zur Anpassung des gemessenen Sensorsignals verwendet werden. Weiterhin ist auch ein eventuelles "Verzählen" der ermittelten Sensorimpulse unkritisch, da durch das Triggersignal spätestens nach einer Umdrehung des Motors wieder eine exakte Zuordnung der Korrekturwerte zu den jeweiligen Sensorsignalen stattfindet.A sensor pulse of the sensor signal is preferably assigned to the trigger signal. The assigned pulse is precisely recognized by the fixed assignment of the trigger signal to the sensor pulse. All other individual sensor pulses can also be determined in this way. For example, the individual sensor pulses can be correctly determined by simple counting. This ensures that correct and appropriate correction values are always used to adapt the measured sensor signal. Furthermore is also a possible "counting" of the determined sensor impulses uncritically, since the trigger signal again results in an exact assignment of the correction values to the respective sensor signals at the latest after one revolution of the motor.
Typischerweise werden die Korrekturwerte durch Mittelwertbildung während eines speziellen Messlaufs mit konstanter Drehzahl ermittelt und anschließend abgespeichert. Dies hat den großen Vorteil, dass der Messlauf in einer geschützten Umgebung stattfinden kann, die frei von Umwelteinflüssen wie zum Beispiel von Temperaturschwankungen oder Verschmutzungen ist. Die Messläufe können auch während der Produktion des Schiebedach-Motors erfolgen. Es ist so möglich, den Messlauf mit einer konstanten Drehzahl durchzuführen, die nur sehr kleine Schwankungen aufweist . Durch die Mittelwertbildung über mehrere Umdrehungen des Motors kann während des Messlaufs ein Ausgleich von eventuellen Drehzahlschwankungen des Motors stattfinden. Zum Ausgleich von Drehzahlabweichungen besteht weiterhin die Möglichkeit, mehrere Messläufe zu berücksichtigen. Damit kann die Genauigkeit der Korrekturwerte nochmals erhöht werden. Das abschließende Abspeichern der Korrekturwerte stellt sicher, dass im laufenden Betrieb jederzeit auf die Korrekturwerte zurückgegriffen werden kann.The correction values are typically determined by averaging during a special measuring run at constant speed and then stored. This has the great advantage that the measuring run can take place in a protected environment that is free from environmental influences such as temperature fluctuations or contamination. The measuring runs can also take place during the production of the sunroof motor. It is thus possible to carry out the measuring run at a constant speed which shows only very small fluctuations. By averaging over several revolutions of the motor, any fluctuations in the speed of the motor can be compensated for during the measurement run. To compensate for speed deviations, it is still possible to take several measurement runs into account. The accuracy of the correction values can thus be increased again. The final saving of the correction values ensures that the correction values can be accessed at any time during operation.
In einer bevorzugten Weiterbildung des erfindungsgemäßen Verfahrens werden die Korrekturwerte aus einem Speicher ausgelesen. Damit stehen die Korrekturwerte sofort während des Verfahrens zur Verfügung und die Korrekturwerte müssen lediglich aus dem Speicher ausgelesen werden. Eine stetige Berechnung der Korrekturwerte ist nicht notwendig, wodurch das Verfahren sehr schnell und exakt arbeiten kann. Es ist besonders vorteilhaft, dass jedes Sensorsignal korrigiert wird, da eine eindeutige Zuordnung der Korrekturwerte zu dem jeweiligen gemessenen Sensorsignal vorgenommen wird. Jeder Sensorimpuls wird mit einem individuellen Korrekturfaktor beaufschlagt. Die optimale Zuordnung der Korrekturwerte zu den einzelnen Sensorimpulsen sorgt für eine größtmögliche Genauigkeit der Korrektur.In a preferred development of the method according to the invention, the correction values are read out from a memory. The correction values are thus immediately available during the method and the correction values only have to be read out from the memory. A constant calculation of the correction values is not necessary, which means that the method can work very quickly and precisely. It is particularly advantageous that each sensor signal is corrected, since the correction values are uniquely assigned to the respective measured sensor signal. An individual correction factor is applied to each sensor pulse. The optimal assignment of the correction values to the individual sensor pulses ensures the greatest possible accuracy of the correction.
Zur Durchführung des erfindungsgemäßen Verfahrens dient eine Vorrichtung gemäß Patentanspruch 1 , mit einem Motor der einen Anker aufweist, wenigstens einem Ringmagneten am Anker des Motors und mindestens einem Sensor zur Messung des Drehwinkels. Weiter umfasst die Vorrichtung einen zweiten Ringmagneten, der insbesondere zweipolig ausgebildet ist, einen an dem zweiten Ringmagneten angeordneten Triggersensor sowie eine Auswerteeinheit, die das Sensorsignal und das Triggersignal synchron ausliest und weiterverarbeitet. Die Auswerteeinheit kann insbesondere eine Timer-Capture- Einrichtung eines Prozessors sein. " eiterhin ist der zweite Ringmagnet vorzugsweise mit zwei unterschiedlich großen Magnetpolsegmenten in Umfangsrichtung ausgebildet. Besonders bevorzugt ist der zweite Ringmagnet um den ersten Ringmagneten angeordnet. Vorteilhaft ist die kompakte Bauweise der Vorrichtung, da die beiden Ringmagnete direkt aneinander grenzen und die Sensoren und der Triggersensor in der Nähe der Ringmagnete angeordnet sind.A device according to claim 1 is used to carry out the method according to the invention, with a motor having an armature, at least one ring magnet on the armature of the motor and at least one sensor for measuring the angle of rotation. Furthermore, the device comprises a second ring magnet, which is in particular designed with two poles, a trigger sensor arranged on the second ring magnet and an evaluation unit which reads out and processes the sensor signal and the trigger signal synchronously. The evaluation unit can in particular be a timer capture device of a processor. " The second ring magnet is preferably formed with two differently sized magnetic pole segments in the circumferential direction. The second ring magnet is particularly preferably arranged around the first ring magnet. The compact design of the device is advantageous, since the two ring magnets directly adjoin one another and the sensors and the trigger sensor in are arranged near the ring magnets.
Bevorzugterweise umfasst die Auswerteeinheit auch einen Speicher zur Abspeicherung der Korrekturwerte, so dass neben den ermittelten Sensorsignalen und dem Triggersignal auch die Korrekturwerte direkt in der Auswerteeinheit verarbeitet und die korrigierten Sensorsignale ermittelt werden können. Besonders vorteilhaft ist es, wenn der Speicher der Auswerteeinheit ein nicht flüchtiger Speicher ist. Damit wird sichergestellt, dass auch bei einer Unterbrechung der Stromzufuhr die Korrekturwerte weiterhin zur Verfügung stehen und nicht gelöscht werden.The evaluation unit preferably also includes a memory for storing the correction values, so that in addition to the determined sensor signals and the trigger signal, the correction values can also be processed directly in the evaluation unit and the corrected sensor signals can be determined. It is particularly advantageous if the memory of the evaluation unit is a non-volatile memory. This ensures that the correction values are still available and are not deleted even if the power supply is interrupted.
Der Einsatz eines zweiten Sensors bietet den Vorteil, dass aus dem Vergleich der zwei gemessenen Sensorsignale einfach auf die Drehrichtung des Motors geschlossen werden kann. So kann ein Reversieren oder Fehlreversieren des Motors detektiert werden.The use of a second sensor has the advantage that the direction of rotation of the motor can be easily deduced from the comparison of the two measured sensor signals. In this way, reversing or incorrect reversing of the motor can be detected.
Sowohl die Messsensoren als auch der zusätzliche Triggersensor können als Hallsensoren ausgebildet . sein. Die Hallsensoren eignen sich insbesondere gut für den Einsatz im Kfz-Bereich, da sie unempfindlich gegen Schmutz und robust sind. Zudem sind die preiswert und in großen Stückzahlen verfügbar.Both the measurement sensors and the additional trigger sensor can be designed as Hall sensors. his. The Hall sensors are particularly well suited for use in the automotive sector, as they are insensitive to dirt and robust. In addition, they are inexpensive and available in large quantities.
Zeichnungdrawing
Ein Ausführungsbeispiel der Erfindung ist in der nachfolgenden Beschreibung näher erläutert. Es zeigen:An embodiment of the invention is explained in more detail in the following description. Show it:
Figur 1 eine schematische Skizze der erfindungsgemäßen Vorrichtung in einer Aufsicht undFigure 1 is a schematic sketch of the device according to the invention in a plan and
Figur 2 den zeitlichen Verlauf der gemessenen Sensorsignale .Figure 2 shows the time course of the measured sensor signals.
Beschreibung des AusführungsbeispielsDescription of the embodiment
Figur 1 zeigt eine Prinzipskizze mit einem Motor 1 und einer mittig angeordneten Ankerwelle 2. Ein mehrpoliger erster Ringmagnet 3 ist um die Ankerwelle 2 herum angeordnet. Der erste Ringmagnet 3 ist in acht Magnetsegmente 4 unterteilt, die alternierend in Richtung des magnetischen Nord- bzw. Südpols polarisiert sind. Konzentrisch um den ersten Ringmagneten 3 ist ein zweiter Ringmagnet 5 angeordnet. Der Ringmagnet 5 ist in zwei Magnetsegmente 6a und 6b aufgeteilt, die unterschiedlich groß und entgegengesetzt polarisiert sind. Die beiden Ringmagnete 3 und 5 sind fix miteinander verbunden und gemeinsam konzentrisch um die Ankerwelle 2 drehbar. Damit führen auch die jeweiligen Magnetsegmenten 4 bzw. 6a und 6b eine kreisförmige Bewegung aus.Figure 1 shows a schematic diagram with a motor 1 and a centrally arranged armature shaft 2. A multi-pole first Ring magnet 3 is arranged around the armature shaft 2. The first ring magnet 3 is divided into eight magnet segments 4, which are alternately polarized in the direction of the magnetic north or south pole. A second ring magnet 5 is arranged concentrically around the first ring magnet 3. The ring magnet 5 is divided into two magnet segments 6a and 6b, which are of different sizes and are oppositely polarized. The two ring magnets 3 and 5 are fixedly connected to one another and can be rotated together concentrically around the armature shaft 2. The respective magnet segments 4 or 6a and 6b thus also execute a circular movement.
Zwei Sensoren, die als Hallsensoren 7 und 8 ausgebildet sind, sind am inneren Ringmagneten 3 angeordnet. Die Hallsensoren 7 und 8 sind derart positioniert, dass sie abhängig von der Drehstellung des Motors 1 entweder über demselben Magnetsegment 4 oder über zwei unterschiedlich polarisierten, direkt benachbarten Magnetsegmenten 4 angeordnet sind.Two sensors, which are designed as Hall sensors 7 and 8, are arranged on the inner ring magnet 3. The Hall sensors 7 and 8 are positioned such that, depending on the rotational position of the motor 1, they are arranged either over the same magnet segment 4 or over two differently polarized, directly adjacent magnet segments 4.
Ein Triggersensor 9 ist am zweiten Ringmagneten 5 angeordnet. Während der Drehung des Motors wird mit dem Triggersensor 9 ein Triggersignal 10 gemessen, dessen Tastverhältnis T aufgrund der verschieden großen Magnetsegmente 6a und 6b von 0,5 abweicht. Mit diesem zusätzlichen Triggersignal 10, das durch den Triggersensor 9 ermittelt wird, ist es möglich, eindeutig auf die Magnetsegmente 4 des ersten Ringmagneten 3 bei deren Messung mit den Hallsensoren 1 und 8 zurückzuschließen.A trigger sensor 9 is arranged on the second ring magnet 5. While the motor is rotating, the trigger sensor 9 measures a trigger signal 10, the pulse duty factor T of which differs from 0.5 owing to the differently sized magnet segments 6a and 6b. With this additional trigger signal 10, which is determined by the trigger sensor 9, it is possible to unambiguously deduce the magnet segments 4 of the first ring magnet 3 when measuring them with the Hall sensors 1 and 8.
Figur 2 zeigt den zeitlichen Verlauf des mit dem Triggersensor 9 gemessenen Triggersignals 10 sowie zweier Sensorsignale 11 und 12, die mit den Hallsensoren 7 bzw. 8 ermittelt werden. Die Anstiegstlanke des Triggersignals 10 fällt zeitlich zusammen mit der Anstiegstlanke eines ersten Sensorimpulses 13 des Sensorsignals 11. Es ist eine feste Zuordnung des Triggersignals 10 zum Sensorimpuls 13 des Hallsensors 7 vorgegeben. Durch die feste Zuordnung wird der erste Sensorimpuls 13 stets zuverlässig erkannt. Durch einfaches Abzählen der nachfolgenden Sensorimpulse 14 bis 16 kann einfach auf jeden einzelnen Sensorimpuls 14 bis 16 geschlossen werden.FIG. 2 shows the temporal course of the trigger signal 10 measured with the trigger sensor 9 and two sensor signals 11 and 12, which are measured with the Hall sensors 7 and 8 be determined. The rising edge of the trigger signal 10 coincides in time with the rising edge of a first sensor pulse 13 of the sensor signal 11. A fixed assignment of the trigger signal 10 to the sensor pulse 13 of the Hall sensor 7 is predetermined. Due to the fixed assignment, the first sensor pulse 13 is always reliably recognized. By simply counting the subsequent sensor pulses 14 to 16, it is easy to deduce each individual sensor pulse 14 to 16.
Durch die feststehende räumliche Zuordnung des Triggersensors 9 und der Hallsensoren 7 und 8 sowie der Magnetsegmente 6a und 6b zu den einzelnen Magnetsegmenten 4 des inneren Ringmagneten 3 kann von dem zeitlichen Abstand zwischen Triggersignal 10 und einem der Sensorimpulse 13 bis 16 des Sensorsignals 11 auf das zu dem jeweiligen Sensorimpuls zugehörige Magnetsegment 4 geschlossen werden. Damit ist es möglich, den Drehwinkel des Motors 1 festzustellen.Due to the fixed spatial assignment of the trigger sensor 9 and the Hall sensors 7 and 8 as well as the magnet segments 6a and 6b to the individual magnet segments 4 of the inner ring magnet 3, the time interval between the trigger signal 10 and one of the sensor pulses 13 to 16 of the sensor signal 11 can be towards Magnet segment 4 associated with the respective sensor pulse can be closed. This makes it possible to determine the angle of rotation of the motor 1.
Da mit diesem Verfahren nun die einzelnen Sensorimpulse 13 bis 16 des Sensorsignals 11 und die des Sensorsignals 12 ebenso bekannt sind wie die zugehörigen Magnetsegmente 4 des inneren Magnetrings 3, können in einem Speicher abgelegte Korrekturwerte den einzelnen Sensorimpulsen 13 bis 16 zugeordnet werden. Damit kann jeder Sensorimpuls 13 bis 16 mit einem eigenen Korrekturwert berichtigt werden.Since the individual sensor pulses 13 to 16 of the sensor signal 11 and that of the sensor signal 12 are now known with this method, as are the associated magnet segments 4 of the inner magnetic ring 3, correction values stored in a memory can be assigned to the individual sensor pulses 13 to 16. Each sensor pulse 13 to 16 can thus be corrected with its own correction value.
Die Motordrehzahl kann aus der zeitlichen Abfolge der einzelnen Sensorimpulse 13 bis 16 des Sensorsignals 11 oder aus dem Triggersignal 11 selbst berechnet werden.The engine speed can be calculated from the chronological sequence of the individual sensor pulses 13 to 16 of the sensor signal 11 or from the trigger signal 11 itself.
Durch den Vergleich der Sensorsignale 11 und 12 der beiden Hallsensoren 7 und 8 zueinander ist es möglich, auch auf die Drehrichtung des Motors zurückzuschließen. Damit wird auch ein eventuelles Reversieren bzw. Fehlreversieren des Motors erkannt.By comparing the sensor signals 11 and 12 of the two Hall sensors 7 and 8 to one another, it is also possible to determine the Close the direction of rotation of the motor. This also detects a possible reversing or incorrect reversing of the motor.
Nach einer kompletten Umdrehung des Motors 1 um die Ankerwelle 2 findet wiederum eine exakte Zuordnung des Triggersignals 11 zu dem Sensorimpuls 13 statt. Damit wird ein eventuelles "Verzählen" der nachfolgenden Sensorimpulse 14 bis 16 spätestens nach einer Umdrehung der Ankerwelle 2 korrigiert. After a complete revolution of the motor 1 around the armature shaft 2, an exact assignment of the trigger signal 11 to the sensor pulse 13 takes place again. A possible “counting” of the subsequent sensor pulses 14 to 16 is thus corrected at the latest after one rotation of the armature shaft 2.

Claims

AnsprücheExpectations
Verfahren zur Ermittlung des Drehwinkels und/oder der Drehzahl eines Motors (1), insbesondere eines Antriebsmotors mit Schließkraftbegrenzung für Schiebedächer oder Fensterheber, gekennzeichnet durch die folgenden Schritte:Method for determining the angle of rotation and / or the speed of a motor (1), in particular a drive motor with closing force limitation for sunroofs or window regulators, characterized by the following steps:
Messung eines Sensorsignals (11) , das insbesondere den Drehwinkel und/oder die Drehzahl des Motors (1) repräsentiert, und eines Triggersignals (10),Measurement of a sensor signal (11), which in particular represents the angle of rotation and / or the speed of the motor (1), and a trigger signal (10),
Vergleichen des Sensorsignals (11) mit demCompare the sensor signal (11) with that
Triggersignal (10) ,Trigger signal (10),
Ermitteln eines Korrekturwertes, undDetermining a correction value, and
Bestimmen eines korrigierten Sensorsignals.Determine a corrected sensor signal.
Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass einem Sensorimpuls (13) des Sensorsignals (11) das Triggersignal (10) fest zugeordnet wird.A method according to claim 1, characterized in that the trigger signal (10) is permanently assigned to a sensor pulse (13) of the sensor signal (11).
Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Korrekturwerte durch Mittelwertbildung während eines Messlaufs mit konstanter Drehzahl ermittelt und anschließend abgespeichert werden. Method according to claim 1 or 2, characterized in that the correction values are determined by averaging during a measurement run at constant speed and are then stored.
4. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Korrekturwerte durch Auslesen aus einem Speicher ermittelt werden.4. The method according to any one of claims 1 to 3, characterized in that the correction values are determined by reading from a memory.
5. Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass das korrigierte Sensorsignal aus dem gemessenen Sensorsignal (11) und dem zugehörigen Korrekturwert errechnet wird .5. The method according to any one of claims 1 to 4, characterized in that the corrected sensor signal is calculated from the measured sensor signal (11) and the associated correction value.
6. Vorrichtung zur Ermittlung des Drehwinkels und der Drehzahl eines Motors, insbesondere eines Antriebsmotors mit Schließkraftbegrenzung zur Betätigung eines Schiebedachs oder Fensterhebers, mit einem Motor (1), der einen Anker und einen um den Anker angeordneten mehrpoligen Ringmagneten (3) aufweist, und mit mindestens einem Sensor (7) zur Messung des Drehwinkels, welcher in der Nähe des Ringmagneten (3) angeordnet ist, gekennzeichnet durch: einen zweiten Ringmagneten (5) , einen Tiggersensor (9) in der Nähe des zweiten6.Device for determining the angle of rotation and the speed of a motor, in particular a drive motor with closing force limitation for actuating a sliding roof or window lifter, with a motor (1) which has an armature and a multipole ring magnet (3) arranged around the armature, and with At least one sensor (7) for measuring the angle of rotation, which is arranged in the vicinity of the ring magnet (3), characterized by: a second ring magnet (5), a tiger sensor (9) in the vicinity of the second
Ringmagneten (5), und eine Auswerteeinheit zum Auslesen einesRing magnet (5), and an evaluation unit for reading a
Sensorsignals (11) des Sensors (7) und einesSensor signal (11) of the sensor (7) and one
Triggersignals (10) des Triggersensors (9) .Trigger signal (10) of the trigger sensor (9).
7. Vorrichtung nach Anspruch 6, dadurch gekennzeichnet, dass die Auswerteeinheit einen Speicher zur Abspeicherung von Korrekturwerten umfasst.7. The device according to claim 6, characterized in that the evaluation unit comprises a memory for storing correction values.
8. Vorrichtung nach Anspruch 7, dadurch gekennzeichnet, dass der Speicher der Auswerteeinheit ein nicht flüchtiger Speicher ist. 8. The device according to claim 7, characterized in that the memory of the evaluation unit is a non-volatile memory.
9. Vorrichtung nach einem der Ansprühe 6 bis 8, dadurch gekennzeichnet, dass ein zweiter Sensor (8) in der Nähe des ersten Ringmagneten (3) angeordnet ist.9. Device according to one of claims 6 to 8, characterized in that a second sensor (8) is arranged in the vicinity of the first ring magnet (3).
10. Vorrichtung nach einem der Ansprühe 6 bis 9, dadurch gekennzeichnet, dass die Sensoren (7, 8) und/oder der Triggersensor (9) als Hallsensoren ausgebildet sind. 10. Device according to one of claims 6 to 9, characterized in that the sensors (7, 8) and / or the trigger sensor (9) are designed as Hall sensors.
PCT/DE2003/002063 2002-10-23 2003-06-20 Method and device for determining the angle of rotation and the rotational speed of a motor WO2004040320A1 (en)

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