WO2007071868A2 - System and method for controlling a power-operated movable assembly for motor vehicle - Google Patents

System and method for controlling a power-operated movable assembly for motor vehicle Download PDF

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Publication number
WO2007071868A2
WO2007071868A2 PCT/FR2006/051325 FR2006051325W WO2007071868A2 WO 2007071868 A2 WO2007071868 A2 WO 2007071868A2 FR 2006051325 W FR2006051325 W FR 2006051325W WO 2007071868 A2 WO2007071868 A2 WO 2007071868A2
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WO
WIPO (PCT)
Prior art keywords
opening
disturbances
speed
hand
assembly
Prior art date
Application number
PCT/FR2006/051325
Other languages
French (fr)
Other versions
WO2007071868A3 (en
Inventor
Hugo Chale Gongora
Vincent Le Lay
Original Assignee
Renault S.A.S.
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Publication date
Application filed by Renault S.A.S. filed Critical Renault S.A.S.
Publication of WO2007071868A2 publication Critical patent/WO2007071868A2/en
Publication of WO2007071868A3 publication Critical patent/WO2007071868A3/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/611—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for swinging wings
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/632—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for horizontally-sliding wings
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/70—Power-operated mechanisms for wings with automatic actuation
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2800/00—Details, accessories and auxiliary operations not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Type of wing
    • E05Y2900/531—Doors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41368—Disturbance observer, inject disturbance, adapt controller to resulting effect
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45242—Door, panel, window operation, opening, closing

Definitions

  • the invention relates to a system and a method for controlling a motorized or automatic opening system for a motor vehicle, such as a sliding side door, a motorized tailgate or a retractable roof, for example.
  • a motorized or automatic opening system for a motor vehicle such as a sliding side door, a motorized tailgate or a retractable roof, for example.
  • the performance of such a system is often judged by the uniformity of the movement of said opening concerned, that is to say its speed, its fluidity, and the stability of this movement over time.
  • the automatic opening systems include a control unit, responsible for developing a control signal, in position or speed, the opening. This command is then translated into a "low level” regulation signal in voltage or current, and executed by an actuator that generates a force applied to the opening, thus causing its movement in the direction of opening or closing.
  • these current control strategies by regulation for motorized opening systems provide a servo of a target speed profile of the opening relative to the setpoint applied to the actuator or the response time thereof.
  • These strategies have the disadvantage of not integrating mechanisms intended to counter the external disturbances to which the motorized opening is subjected, such as the slope of the road, and which can cause static deviations in speed regulation compared to the setpoint, deviations maintained throughout the duration of a mission of the opening system.
  • Some current systems use a specific slope sensor, or inclinometer, either in order to better modulate the speed regulation of the opening, or to keep the actuator blocked or to brake the sash already moved in the to avoid movements caused by the slope and the weight of the opening.
  • the object of the invention is to overcome these disadvantages by making the motorized opening control systems insensitive to the disturbances which affect them naturally, in particular those caused by the slope of the ground on which the vehicle is located and those which are induced by the mass of the opening itself.
  • the invention consists in adding, in the control system of the motorized opening assembly of a vehicle, an observer defined in order to reconstruct all the states of the system and to perform the assessment of the forces applied to opening.
  • This observer performs the estimation of disturbances, such as the slope of the ground, without adding sensors dedicated to their measurements. This estimate is then used to modulate the command causing the opening and closing of the opening.
  • a first object of the invention is a control system of a motorized opening assembly of a motor vehicle, by controlling its speed to a set point determined from a position instruction, characterized in that it is realized by a control unit comprising an observer which reconstructs the states of the motorized opening assembly subjected to disturbances, from its measured position and from the control of its actuator delivered by regulation means, and which delivers an estimate of the speed of the opening assembly and disturbances, including the slope of the ground on which the vehicle is located, said control means for providing the actuator a control taking into account these disturbances.
  • said observer estimates, as a function of the position of the measured opening and of the command delivered by regulation means, several disturbances acting on the motorized opening assembly, including the slope of the ground, the forces applied to the opening separate from that applied by the actuator, the errors on the gain of the model, ie on the one hand on the gain of the actuator of the opening and on the other hand share on the mass of the latter.
  • the observer is constructed from a model of the motorized opening assembly, which considers on the one hand that the actuator is represented by its transfer function equal to the quotient of the force it generates and applies to the opening, by the control signal that it receives, the gain of this transfer function being known, and secondly that the opening is also subjected to its weight in case of slope of the ground.
  • a second object of the invention is a method of controlling a motorized opening assembly of a motor vehicle, by controlling its speed to a setpoint determined from a position reference by mapping, characterized in that it comprises estimating the speed of the opening on the one hand and the disturbances to which it is subjected on the other hand by an observer from the measured position and the control intended for the engine of the opening, then the establishment of a first command from a regulator receiving as input the difference between the speed reference obtained by mapping as a function of the measured position and an estimate of the speed delivered by the observer, to which is added a second command established in function of the estimated disturbances for the opening assembly.
  • Figure 1 is a block diagram of a control system of a motorized opening assembly according to the invention
  • Figure 2 is a block diagram of an exemplary model of a motorized opening assembly used in a control system according to the invention
  • Figure 3 a control system of a motorized opening assembly according to the invention.
  • the control system of a motorized opening motor vehicle is performed by a control unit for controlling the speed of movement of said leaf to a setpoint, determined from a set of position by mapping when the vehicle is in focus.
  • a control unit for controlling the speed of movement of said leaf to a setpoint, determined from a set of position by mapping when the vehicle is in focus.
  • it comprises regulating means 1 receiving, on the one hand, the position x of the opening given by a sensor, and on the other hand, an estimation of its speed x and disturbances, whose slope ⁇ , at which he is submissive.
  • the estimates are issued by an observer 2 which is intended to reconstruct the states of the motorized opening assembly, with certain assumptions, from the voltage control U of the motor and the position x of the opening.
  • the observer is built from a model 3 of the motorized opening assembly, which receives in input on the one hand the U command in motor voltage and on the other hand the disturbances, whose slope ⁇ , as shown Figure 2.
  • the model applicable to any type of motorized opening, such as a door, tailgate, lifting or sliding, considers that the engine is represented by its transfer function H (s) equal to the quotient of the force F a that it generates and applies to the opening, by the control signal U that it receives.
  • this transfer function can be any function, but which is known, either given by the engine supplier, or identified on the vehicle and whose gain K is known.
  • the opening which is subjected to this force F a is also subject to its weight in case of slope.
  • the balance of forces that apply to the motorized opening assembly is written in the case of a tailgate, according to the equation E 1 :
  • the generic representation of the opening assembly with its actuator defined by the model which receives the command U of the actuator and the slope ⁇ at the input and delivers on its output y the position x of the opening, is the following, in the case of a transfer function H (s) frequency, for example of the first order of gain K:
  • the observer reconstructs all the states of the motorized opening system with certain hypotheses, based on the control voltage U of the motor and the position x of the measured opening. It delivers an estimate of the states of the system, in particular the speed of the opening x and the disturbances to.
  • the observer's equations are as follows:
  • the gain ⁇ ofa of the observer can be determined for example by an optimization method H2.
  • the observer does not only estimate the slope but all the disturbances acting on the motorized opening, such as a force applied manually by the user or by adding a weight, or as errors on the gain of the model c. that is to say on the mass of the opening or the gain K of the actuator.
  • An estimate of the speed x of the opening leaf is then sent to the input of the regulating means 1, as shown in the electronic diagram of FIG. 3, which is a non-limiting example of a control system according to the invention. .
  • an automaton 4 thus receives as input a signal Sj of opening or closing of the opening on the one hand and the estimation of disturbances provided by the observer on the other hand, and after a predefined delay so to freeze the estimation of the disturbances delivered by the observer a few moments after the start of a movement of movement of the opening, it memorizes the value of this estimate, which is then sent to the regulating means 1 to take into account during the servocontrol of the speed of the opening to deliver an optimal U control to the motor 5 of the opening.
  • the regulation of the speed of movement of the sash by slaving the estimated value x by the observer 2 to a setpoint x c determined by mapping 6 from a position reference, comprises the establishment of a first command Ui resulting from a regulator 7, of the PID type for example, receiving as input the difference between the estimated speed and the setpoint, to which will be added a second command U 2 established as a function of the estimated disturbances for the motorized opening assembly.
  • This command U 2 is obtained at the output of a multiplier 9 of the estimate of the disturbances, of gain K 0 equal to:
  • a second object of the invention is a method of controlling a motorized opening assembly of a motor vehicle, by controlling its speed to a setpoint determined from a position set by mapping, which includes the estimation of the speed of the opening and disturbances to which it is subjected by an observer from the measured position and the control U intended for the motor of the opening, then the establishment of a first command U 1 resulting from a regulator 7 receiving as input the difference between the speed reference derived from a mapping according to the measured position and an estimate of the speed delivered by the observer, to which is added a second command U 2 established according to the estimated disturbances for the opening assembly.
  • the adjustment of the regulator is facilitated.
  • a regulator type "proportional integral" whose integral component is low to ensure its robustness and therefore a large margin of stability.
  • a regulator of the P1 or PID type associated with disturbance estimation means much better respects the displacement speed setpoint of the sash than a regulator of the same type without estimator.
  • a frequency study shows that the stability margins of the regulator are greater when it takes into account the estimation of disturbances. This makes it possible not to increase the gain of a PID regulator, for example, not taking into account the disturbances, since such a change in gain results in a decrease in the stability margins and therefore a less good robustness of the regulation.
  • the estimation of the disturbances carried out by the observer according to the invention makes it possible to reconstruct all the constant disturbances, mainly the slope of the road and the errors in the model of the motorized opening assembly.
  • a variant of the control method according to the invention consists in dissociating these two disturbances by means of a training procedure on flat ground at the end of the chain of the vehicle, so as to eliminate the perturbation due to the slope in a first time and to consider only the errors of model in a second time.
  • These errors are of two types: on the one hand on the gain K of the actuator of the opening and on the other hand on the mass m of the latter.
  • the total gain G 1 of the opening assembly being equal to the quotient of the gain K by the mass:
  • the control U of the engine and the estimated disturbance a 'during an opening are stored and the maximum values, negative or positive, of U and a' are detected.
  • the command U is saturated so that their respective maxima lie on a stable point.
  • This correction factor ⁇ is then used to correct the gain ⁇ K of the
  • the use of a specific slope sensor, or an accelerometer, to be installed or already provided in the automatic parking brake, hill start assistance or ESP (Electronic Stability Program) systems, can serve to further improve the regulation of the system. But the invention does not require the use of this type of sensor and thus improves the operation of motorized openings on vehicles whose architecture does not allow the provision of data provided by these sensors or those that are not equipped.
  • the invention is preferably applicable to any type of motorized opening, door, tailgate, retractable roof including, mainly on private motor vehicles, public or industrial transport. It can also be used by any motorization system in charge of the actuation of mechanical elements, whose missions include operating on different slopes or for which this parameter can influence performance, such as excavators or mechanical arms, antennas or motorized radars. for example, mounted on land vehicles.

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Power-Operated Mechanisms For Wings (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention concerns a system and method for controlling a power-operated movable for motor vehicle, by making its speed dependent on a specific setpoint derived from a position setpoint. The invention is characterized in that it consists of a monitoring unit including an observer (2) which reconstructs the states of the power-operated movable assembly subjected to disturbances, based on the position computed in accordance with a model (3) of said movable assembly and the voltage control of its actuator output by regulating means (1), and which outputs an estimate of the speed of the movable assembly and of the disturbances, including the slope of the ground on which the vehicle is located, to said regulating means designed to provide the actuator with a command taking into account said disturbances.

Description

SYSTEME ET PROCEDE DE PILOTAGE D'UN OUVRANT MOTORISE POUR VEHICULE AUTOMOBILE. SYSTEM AND METHOD FOR CONTROLLING A MOTORIZED OPENING FOR MOTOR VEHICLE.
L'invention concerne un système et un procédé de pilotage d'un système ouvrant motorisé ou automatique pour véhicule automobile, tel qu'une porte latérale coulissante, un hayon motorisé ou un toit escamotable par exemple. La performance d'un tel système est souvent jugée par l'uniformité du mouvement dudit ouvrant concerné, c'est-à-dire sa vitesse, sa fluidité, et par la stabilité de ce mouvement au cours du temps.The invention relates to a system and a method for controlling a motorized or automatic opening system for a motor vehicle, such as a sliding side door, a motorized tailgate or a retractable roof, for example. The performance of such a system is often judged by the uniformity of the movement of said opening concerned, that is to say its speed, its fluidity, and the stability of this movement over time.
Le problème technique inhérent à ces systèmes d'ouvrants motorisés est dû aux perturbations extérieures auxquelles ils sont inévitablement soumis tout au long de leur cycle de vie. Ces perturbations extérieures sont principalement provoquées par des variations dans les conditions « normales » d'utilisation, c'est-à-dire quand le véhicule est en pente ou en devers, par des situations d'usage s'écartant d'un usage « normal », notamment quand la masse de l'ouvrant varie par adjonction d'un porte- bagages ou d'un porte-vélo par exemple, et par le vieillissement des mécanismes.The technical problem inherent in these motorized opening systems is due to the external disturbances to which they are inevitably subjected throughout their life cycle. These external disturbances are mainly caused by variations in the "normal" conditions of use, that is to say when the vehicle is sloped or downwards, by situations of use deviating from a use " normal ", especially when the mass of the opening varies by adding a luggage rack or bike carrier for example, and aging mechanisms.
Actuellement, les systèmes ouvrants automatiques intègrent une unité de contrôle, chargée d'élaborer un signal de commande, en position ou en vitesse, de l'ouvrant. Cette commande est ensuite traduite en signal de régulation « bas niveau » en tension ou en courant, et exécutée par un actionneur qui génère une force appliquée à l'ouvrant, provoquant ainsi son mouvement dans le sens de l'ouverture ou de la fermeture.Currently, the automatic opening systems include a control unit, responsible for developing a control signal, in position or speed, the opening. This command is then translated into a "low level" regulation signal in voltage or current, and executed by an actuator that generates a force applied to the opening, thus causing its movement in the direction of opening or closing.
Généralement, ces stratégies actuelles de commande par régulation pour systèmes ouvrants motorisés prévoient un asservissement d'un profil de vitesse cible de l'ouvrant par rapport à la consigne appliquée à l'actionneur ou au temps de réponse de celui-ci. Ces stratégies présentent l'inconvénient de ne pas intégrer de mécanismes destinés à contrer les perturbations extérieures auxquelles est soumis l'ouvrant motorisé, telles que la pente de la route, et qui peuvent entraîner des écarts statiques dans la régulation en vitesse par rapport à la consigne, écarts maintenus pendant toute la durée d'une mission du système ouvrant.Generally, these current control strategies by regulation for motorized opening systems provide a servo of a target speed profile of the opening relative to the setpoint applied to the actuator or the response time thereof. These strategies have the disadvantage of not integrating mechanisms intended to counter the external disturbances to which the motorized opening is subjected, such as the slope of the road, and which can cause static deviations in speed regulation compared to the setpoint, deviations maintained throughout the duration of a mission of the opening system.
Certains systèmes actuels utilisent un capteur de pente spécifique, ou inclinomètre, soit dans le but de mieux moduler la régulation de la vitesse de l'ouvrant, soit pour maintenir l'actionneur bloqué ou bien freiner l'ouvrant déjà déplacé dans le but d'éviter des mouvements provoqués par la pente et par le propre poids de l'ouvrant.Some current systems use a specific slope sensor, or inclinometer, either in order to better modulate the speed regulation of the opening, or to keep the actuator blocked or to brake the sash already moved in the to avoid movements caused by the slope and the weight of the opening.
Le but de l'invention est de pallier ces inconvénients, en rendant les systèmes de pilotage des ouvrants motorisés insensibles aux perturbations qui les affectent naturellement, en particulier celles qui sont provoquées par la pente du sol sur lequel se situe le véhicule et celles qui sont induites par la masse de l'ouvrant lui-même.The object of the invention is to overcome these disadvantages by making the motorized opening control systems insensitive to the disturbances which affect them naturally, in particular those caused by the slope of the ground on which the vehicle is located and those which are induced by the mass of the opening itself.
Pour cela, l'invention consiste à ajouter, dans le système de pilotage de l'ensemble ouvrant motorisé d'un véhicule, un observateur défini dans le but de reconstruire l'ensemble des états du système et de réaliser le bilan des forces appliquées à l'ouvrant. Cet observateur réalise l'estimation des perturbations, comme la pente du sol, sans adjonction de capteurs dédiés à leurs mesures. Cette estimation est ensuite utilisée pour moduler la commande provoquant l'ouverture et la fermeture de l'ouvrant.For this, the invention consists in adding, in the control system of the motorized opening assembly of a vehicle, an observer defined in order to reconstruct all the states of the system and to perform the assessment of the forces applied to opening. This observer performs the estimation of disturbances, such as the slope of the ground, without adding sensors dedicated to their measurements. This estimate is then used to modulate the command causing the opening and closing of the opening.
Un premier objet de l'invention est un système de pilotage d'un ensemble ouvrant motorisé de véhicule automobile, par asservissement de sa vitesse à une consigne déterminée à partir d'une consigne de position, caractérisé en ce qu'il est réalisé par une unité de contrôle comprenant un observateur qui reconstruit les états de l'ensemble ouvrant motorisé soumis à des perturbations, à partir de sa position mesurée et à partir de la commande de son actionneur délivrée par des moyens de régulation, et qui délivre une estimation de la vitesse de l'ensemble ouvrant et des perturbations, dont la pente du sol sur lequel se situe le véhicule, auxdits moyens de régulation destinés à fournir à l'actionneur une commande tenant compte de ces perturbations.A first object of the invention is a control system of a motorized opening assembly of a motor vehicle, by controlling its speed to a set point determined from a position instruction, characterized in that it is realized by a control unit comprising an observer which reconstructs the states of the motorized opening assembly subjected to disturbances, from its measured position and from the control of its actuator delivered by regulation means, and which delivers an estimate of the speed of the opening assembly and disturbances, including the slope of the ground on which the vehicle is located, said control means for providing the actuator a control taking into account these disturbances.
Selon une autre caractéristique du système de pilotage, ledit observateur estime, en fonction de la position de l'ouvrant mesurée et de la commande délivrée par des moyens de régulation, plusieurs perturbations agissant sur l'ensemble ouvrant motorisé, dont la pente du sol, les forces appliquées à l'ouvrant distinctes de celle appliquée par l'actionneur, les erreurs sur le gain du modèle, c'est-à-dire d'une part sur le gain de l'actionneur de l'ouvrant et d'autre part sur la masse de ce dernier.According to another characteristic of the control system, said observer estimates, as a function of the position of the measured opening and of the command delivered by regulation means, several disturbances acting on the motorized opening assembly, including the slope of the ground, the forces applied to the opening separate from that applied by the actuator, the errors on the gain of the model, ie on the one hand on the gain of the actuator of the opening and on the other hand share on the mass of the latter.
Selon une autre caractéristique du système de pilotage, l'observateur est construit à partir d'un modèle de l'ensemble ouvrant motorisé, qui considère d'une part que l'actionneur est représenté par sa fonction de transfert égale au quotient de la force qu'il génère et applique à l'ouvrant, par le signal de commande qu'il reçoit, le gain de cette fonction de transfert étant connu, et d'autre part que l'ouvrant est également soumis à son poids en cas de pente du sol.According to another characteristic of the control system, the observer is constructed from a model of the motorized opening assembly, which considers on the one hand that the actuator is represented by its transfer function equal to the quotient of the force it generates and applies to the opening, by the control signal that it receives, the gain of this transfer function being known, and secondly that the opening is also subjected to its weight in case of slope of the ground.
Un second objet de l'invention est un procédé de pilotage d'un ensemble ouvrant motorisé de véhicule automobile, par asservissement de sa vitesse à une consigne déterminée à partir d'une consigne de position par cartographie, caractérisé en ce qu'il comprend l'estimation de la vitesse de l'ouvrant d'une part et des perturbations auxquelles il est soumis d'autre part par un observateur à partir de la position mesurée et de la commande destinée au moteur de l'ouvrant, puis l'établissement d'une première commande issue d'un régulateur recevant en entrée la différence entre la consigne de vitesse obtenue par cartographie en fonction de la position mesurée et une estimation de la vitesse délivrée par l'observateur, à laquelle s'ajoute une seconde commande établie en fonction des perturbations estimées pour l'ensemble ouvrant.A second object of the invention is a method of controlling a motorized opening assembly of a motor vehicle, by controlling its speed to a setpoint determined from a position reference by mapping, characterized in that it comprises estimating the speed of the opening on the one hand and the disturbances to which it is subjected on the other hand by an observer from the measured position and the control intended for the engine of the opening, then the establishment of a first command from a regulator receiving as input the difference between the speed reference obtained by mapping as a function of the measured position and an estimate of the speed delivered by the observer, to which is added a second command established in function of the estimated disturbances for the opening assembly.
D'autres caractéristiques et avantages de l'invention apparaîtront à la lecture de la description d'un exemple de réalisation, illustrée par les figures suivantes qui sont :Other characteristics and advantages of the invention will appear on reading the description of an example embodiment, illustrated by the following figures which are:
la figure 1 : un schéma fonctionnel d'un système de pilotage d'un ensemble ouvrant motorisé selon l'invention ; la figure 2 : un schéma fonctionnel d'un exemple de modèle d'un ensemble ouvrant motorisé utilisé dans un système de pilotage selon l'invention ; la figure 3 : un système de pilotage d'un ensemble ouvrant motorisé selon l'invention.Figure 1 is a block diagram of a control system of a motorized opening assembly according to the invention; Figure 2 is a block diagram of an exemplary model of a motorized opening assembly used in a control system according to the invention; Figure 3: a control system of a motorized opening assembly according to the invention.
Comme le montre le schéma de la figure 1 , le système de pilotage d'un ouvrant motorisé pour véhicule automobile est réalisé par une unité de contrôle destinée à asservir la vitesse de déplacement dudit ouvrant à une consigne, déterminée à partir d'une consigne de position par cartographie lors de la mise au point du véhicule. Pour cela, il comprend des moyens de régulation 1 recevant en entrée d'une part la position x de l'ouvrant donnée par un capteur, et d'autre part une estimation de sa vitesse x et des perturbations, dont la pente â , auxquelles il est soumis. Les estimations sont délivrées par un observateur 2 qui est destiné à reconstruire les états de l'ensemble ouvrant motorisé, avec certaines hypothèses, à partir de la commande en tension U du moteur et de la position x de l'ouvrant. L'observateur est construit à partir d'un modèle 3 de l'ensemble ouvrant motorisé, qui reçoit en entrée d'une part la commande U en tension du moteur et d'autre part les perturbations, dont la pente α, comme le montre le schéma fonctionnel de la figure 2. Le modèle, applicable à tout type d'ouvrant motorisé, tel que porte, hayon, se soulevant ou coulissant, considère que le moteur est représenté par sa fonction de transfert H (s) égale au quotient de la force Fa qu'il génère et applique à l'ouvrant, par le signal de commande U qu'il reçoit. Selon l'invention, cette fonction de transfert peut être une fonction quelconque, mais qui est connue, soit donnée par le fournisseur du moteur, soit identifiée sur le véhicule et dont on connaît le gain K. L'ouvrant qui est soumis à cette force Fa est également soumis à son poids en cas de pente. Le bilan des forces qui s'appliquent à l'ensemble ouvrant motorisé s'écrit dans le cas d'un hayon, selon l'équation E1 :As shown in the diagram of Figure 1, the control system of a motorized opening motor vehicle is performed by a control unit for controlling the speed of movement of said leaf to a setpoint, determined from a set of position by mapping when the vehicle is in focus. For this purpose, it comprises regulating means 1 receiving, on the one hand, the position x of the opening given by a sensor, and on the other hand, an estimation of its speed x and disturbances, whose slope α, at which he is submissive. The estimates are issued by an observer 2 which is intended to reconstruct the states of the motorized opening assembly, with certain assumptions, from the voltage control U of the motor and the position x of the opening. The observer is built from a model 3 of the motorized opening assembly, which receives in input on the one hand the U command in motor voltage and on the other hand the disturbances, whose slope α, as shown Figure 2. The model, applicable to any type of motorized opening, such as a door, tailgate, lifting or sliding, considers that the engine is represented by its transfer function H (s) equal to the quotient of the force F a that it generates and applies to the opening, by the control signal U that it receives. According to the invention, this transfer function can be any function, but which is known, either given by the engine supplier, or identified on the vehicle and whose gain K is known. The opening which is subjected to this force F a is also subject to its weight in case of slope. The balance of forces that apply to the motorized opening assembly is written in the case of a tailgate, according to the equation E 1 :
(E1) m - x = γa + mg - %vΔa(E 1 ) m - x = γ a + mg -% vΔa
où x est la position de l'ouvrant, x est son accélération et α est la pente en radians.where x is the position of the opening, x is its acceleration and α is the slope in radians.
La représentation générique de l'ensemble ouvrant avec son actionneur, définie par le modèle qui reçoit la commande U de l'actionneur et la pente α en entrée et délivre sur sa sortie y la position x de l'ouvrant, est la suivante, dans le cas d'une fonction de transfert H(s) fréquentielle, par exemple du premier ordre de gain K :The generic representation of the opening assembly with its actuator, defined by the model which receives the command U of the actuator and the slope α at the input and delivers on its output y the position x of the opening, is the following, in the case of a transfer function H (s) frequency, for example of the first order of gain K:
U 1 + sτU 1 + sτ
Figure imgf000006_0001
en supposant que la pente est faible, donc que sin α = α, et constante, donc que sa dérivée est nulle à = 0. L'observateur reconstruit l'ensemble des états du système ouvrant motorisé avec certaines hypothèses, à partir de la commande en tension U du moteur et de la position x de l'ouvrant mesurée. Il délivre une estimation des états du système, en particulier de la vitesse de l'ouvrant x et des perturbations à . Les équations de l'observateur sont les suivantes :
Figure imgf000006_0001
assuming that the slope is small, so that sin α = α, and constant, so that its derivative is zero at = 0. The observer reconstructs all the states of the motorized opening system with certain hypotheses, based on the control voltage U of the motor and the position x of the measured opening. It delivers an estimate of the states of the system, in particular the speed of the opening x and the disturbances to. The observer's equations are as follows:
Figure imgf000007_0001
le gain ^ofade l'observateur pouvant être déterminé par exemple par une méthode d'optimisation H2.
Figure imgf000007_0001
the gain ^ ofa of the observer can be determined for example by an optimization method H2.
L'observateur n'estime pas uniquement la pente mais l'ensemble des perturbations agissant sur l'ouvrant motorisé, comme une force appliquée manuellement par l'utilisateur ou par ajout d'un poids, ou comme les erreurs sur le gain du modèle c'est-à-dire sur la masse de l'ouvrant ou le gain K de l'actionneur.The observer does not only estimate the slope but all the disturbances acting on the motorized opening, such as a force applied manually by the user or by adding a weight, or as errors on the gain of the model c. that is to say on the mass of the opening or the gain K of the actuator.
Une estimation de la vitesse x de l'ouvrant est alors envoyée à l'entrée des moyens de régulation 1, comme le montre le schéma électronique de la figure 3, qui est un exemple non limitatif d'un système de pilotage selon l'invention.An estimate of the speed x of the opening leaf is then sent to the input of the regulating means 1, as shown in the electronic diagram of FIG. 3, which is a non-limiting example of a control system according to the invention. .
Concernant l'estimation des perturbations que délivre l'observateur, et qui doivent être prises en compte pour le régulateur, seules les perturbations constantes, c'est-à-dire principalement la pente du sol et les erreurs du modèle sont à considérer, les autres perturbations, telles que le bruit par exemple, ne devant pas être retenues. Pour cela, un automate 4 reçoit donc en entrée un signal Sj de début d'ouverture ou fermeture de l'ouvrant d'une part et l'estimation des perturbations fournie par l'observateur d'autre part, et après une temporisation prédéfinie afin de figer l'estimation des perturbations délivrée par l'observateur quelques instants après le démarrage d'une manœuvre de déplacement de l'ouvrant, il mémorise la valeur de cette estimation, qui est ensuite envoyée aux moyens de régulation 1 devant en tenir compte pendant l'asservissement de la vitesse de l'ouvrant pour délivrer une commande U optimale au moteur 5 de l'ouvrant.Concerning the estimation of the disturbances that the observer delivers, and which must be taken into account for the regulator, only the constant perturbations, that is to say mainly the slope of the ground and the errors of the model are to be considered, the other disturbances, such as noise, should not be retained. For this, an automaton 4 thus receives as input a signal Sj of opening or closing of the opening on the one hand and the estimation of disturbances provided by the observer on the other hand, and after a predefined delay so to freeze the estimation of the disturbances delivered by the observer a few moments after the start of a movement of movement of the opening, it memorizes the value of this estimate, which is then sent to the regulating means 1 to take into account during the servocontrol of the speed of the opening to deliver an optimal U control to the motor 5 of the opening.
Comme le montre la figure 3, la régulation de la vitesse de déplacement de l'ouvrant, par asservissement de la valeur estimée x par l'observateur 2 à une consigne xc déterminée par cartographie 6 à partir d'une consigne de position, comprend l'établissement d'une première commande Ui issue d'un régulateur 7, de type PID par exemple, recevant en entrée la différence entre la vitesse estimée et la consigne, à laquelle va s'ajouter une seconde commande U2 établie en fonction des perturbations estimées pour l'ensemble ouvrant motorisé.As shown in FIG. 3, the regulation of the speed of movement of the sash, by slaving the estimated value x by the observer 2 to a setpoint x c determined by mapping 6 from a position reference, comprises the establishment of a first command Ui resulting from a regulator 7, of the PID type for example, receiving as input the difference between the estimated speed and the setpoint, to which will be added a second command U 2 established as a function of the estimated disturbances for the motorized opening assembly.
Le bilan statique des forces qui s'appliquent à l'ouvrant est le suivant :The static balance of forces that apply to the opening is as follows:
F1 + mg • a = K * U + mg • a = 0F 1 + mg • a = K * U + mg • a = 0
de sorte que la commande U2 permettant de compenser les perturbations est égale à :so that the U 2 command to compensate for disturbances is equal to:
r Ui- = m% a ~r ui- = m % a ~
KK
Cette commande U2 est obtenue en sortie d'un multiplicateur 9 de l'estimation des perturbations, de gain K0 égal à :This command U 2 is obtained at the output of a multiplier 9 of the estimate of the disturbances, of gain K 0 equal to:
K. = -m8s KK. = - m8 s K
Ces deux commandes U1 et U2 s'ajoutent puis passent dans un saturateur 8 avant de constituer la commande U envoyée à l'actionneur 5 de l'ouvrant.These two commands U 1 and U 2 are added then pass into a saturator 8 before constituting the command U sent to the actuator 5 of the opening.
Ainsi, un second objet de l'invention est un procédé de pilotage d'un ensemble ouvrant motorisé de véhicule automobile, par asservissement de sa vitesse à une consigne déterminée à partir d'une consigne de position par cartographie, qui comprend l'estimation de la vitesse de l'ouvrant et des perturbations auxquelles il est soumis par un observateur à partir de la position mesurée et de la commande U destinée au moteur de l'ouvrant, puis l'établissement d'une première commande U1 issue d'un régulateur 7 recevant en entrée la différence entre la consigne de vitesse issue d'une cartographie en fonction de la position mesurée et une estimation de la vitesse délivrée par l'observateur, à laquelle s'ajoute une seconde commande U2 établie en fonction des perturbations estimées pour l'ensemble ouvrant.Thus, a second object of the invention is a method of controlling a motorized opening assembly of a motor vehicle, by controlling its speed to a setpoint determined from a position set by mapping, which includes the estimation of the speed of the opening and disturbances to which it is subjected by an observer from the measured position and the control U intended for the motor of the opening, then the establishment of a first command U 1 resulting from a regulator 7 receiving as input the difference between the speed reference derived from a mapping according to the measured position and an estimate of the speed delivered by the observer, to which is added a second command U 2 established according to the estimated disturbances for the opening assembly.
Grâce à l'intégration de l'observateur, qui estime les perturbations subies par l'ensemble ouvrant motorisé, dans le contrôle de la vitesse, le réglage du régulateur est facilité. On peut alors choisir un régulateur de type « proportionnel intégral », dont la composante intégrale est faible pour assurer sa robustesse et donc une marge de stabilité importante. Un régulateur de type Pl ou PID associé à des moyens d'estimation des perturbations respecte beaucoup mieux la consigne de vitesse de déplacement de l'ouvrant qu'un régulateur de même type sans estimateur. De plus, une étude fréquentielle montre que les marges de stabilité du régulateur sont plus grandes quand il tient compte de l'estimation des perturbations. Cela permet de ne pas augmenter le gain d'un régulateur PID par exemple ne prenant pas en compte les perturbations, car une telle modification de gain engendre une diminution des marges de stabilité et donc une moins bonne robustesse de la régulation.Thanks to the integration of the observer, who estimates the disturbances experienced by the motorized opening assembly, in the control of the speed, the adjustment of the regulator is facilitated. One can then choose a regulator type "proportional integral", whose integral component is low to ensure its robustness and therefore a large margin of stability. A regulator of the P1 or PID type associated with disturbance estimation means much better respects the displacement speed setpoint of the sash than a regulator of the same type without estimator. In addition, a frequency study shows that the stability margins of the regulator are greater when it takes into account the estimation of disturbances. This makes it possible not to increase the gain of a PID regulator, for example, not taking into account the disturbances, since such a change in gain results in a decrease in the stability margins and therefore a less good robustness of the regulation.
L'estimation des perturbations réalisée par l'observateur selon l'invention permet de reconstruire l'ensemble des perturbations constantes, principalement la pente de la route et les erreurs dans le modèle de l'ensemble ouvrant motorisé.The estimation of the disturbances carried out by the observer according to the invention makes it possible to reconstruct all the constant disturbances, mainly the slope of the road and the errors in the model of the motorized opening assembly.
Une variante du procédé de pilotage selon l'invention consiste à dissocier ces deux perturbations à l'aide d'une procédure d'apprentissage sur sol plat en sortie de chaîne du véhicule, de façon à éliminer la perturbation due à la pente dans un premier temps et à ne considérer que les erreurs de modèle dans un deuxième temps. Ces erreurs sont de deux types : d'une part sur le gain K de l'actionneur de l'ouvrant et d'autre part sur la masse m de ce dernier. Le gain total G1 de l'ensemble ouvrant étant égal au quotient du gain K par la masse :A variant of the control method according to the invention consists in dissociating these two disturbances by means of a training procedure on flat ground at the end of the chain of the vehicle, so as to eliminate the perturbation due to the slope in a first time and to consider only the errors of model in a second time. These errors are of two types: on the one hand on the gain K of the actuator of the opening and on the other hand on the mass m of the latter. The total gain G 1 of the opening assembly being equal to the quotient of the gain K by the mass:
Gt = K/mG t = K / m
ces deux erreurs peuvent être regroupées en une seule erreur sur le gain total Gt.these two errors can be grouped into a single error on the total gain G t .
Les équations dynamiques de l'ensemble ouvrant motorisé sont les suivantes :The dynamic equations of the motorized opening assembly are as follows:
- en cas d'absence d'erreur sur le modèle : mx = Fa = K *U- if there is no error on the model: mx = F a = K * U
- en cas de gain réel différent du gain théorique : x = ε*Gt *U + ga- in case of real gain different from the theoretical gain: x = ε * G t * U + ga
le terme α' représentant les perturbations dues au modèle et différentes de la pente α du sol, et ε étant le facteur de correction des erreurs du modèle. On obtient :the term α 'representing the disturbances due to the model and different from the slope α of the ground, and ε being the error correction factor of the model. We obtain :
ga s = l —ga s = l -
Gt *UG t * U
En pratique, en sortie de chaîne du véhicule sur sol plat, la commande U du moteur et la perturbation estimée a' lors d'une ouverture sont mémorisées et les valeurs maximales, négatives ou positives, de U et de a' sont détectées. Pour faciliter la détermination du facteur de correction ε, la commande U est saturée afin que leurs maxima respectifs se situent sur un point stable.In practice, at the output of the vehicle chain on flat ground, the control U of the engine and the estimated disturbance a 'during an opening are stored and the maximum values, negative or positive, of U and a' are detected. To facilitate the determination of the correction factor ε, the command U is saturated so that their respective maxima lie on a stable point.
Ce facteur de correction ε est ensuite utilisé pour corriger le gain Kα sur laThis correction factor ε is then used to correct the gain α K of the
TY12 pente, dans le multiplicateur 9, qui devient : Ka = — ε * KTY12 slope, in the multiplier 9, which becomes: K = - ε * K
et dans la matrice B de l'observateur, qui devient
Figure imgf000010_0001
and in the B matrix of the observer, which becomes
Figure imgf000010_0001
Les avantages de ce système de pilotage du déplacement d'un ensemble ouvrant motorisé sont de trois ordres :The advantages of this system for controlling the movement of a motorized opening assembly are of three types:
une facilité de réglage du régulateur proprement dit ; une absence d'erreur statique sur le suivi de la consigne de la vitesse d'ouverture/fermeture de l'ouvrant ; une plus grande marge de stabilité et donc une meilleure robustesse.easy adjustment of the regulator itself; an absence of static error on the monitoring of the setpoint of the speed of opening / closing of the opening; a greater margin of stability and therefore a better robustness.
L'utilisation d'un capteur de pente spécifique, ou d'un accéléromètre, à installer ou déjà prévu dans les systèmes de frein de parking automatique, d'aide au démarrage en côte ou encore d'ESP (Electronic Stability Program), peut servir à améliorer encore la régulation du système. Mais l'invention ne requiert pas l'utilisation de ce type de capteurs et améliore ainsi le fonctionnement des ouvrants motorisés sur les véhicules dont l'architecture ne permet pas la mise à disposition des données fournies par ces capteurs ou de ceux qui ne sont pas équipés. L'invention est applicable préférentiellement sur tout type d'ouvrants motorisés, porte, hayon, toit escamotable notamment, principalement sur des véhicules automobiles privés, de transports publics ou industriels. Elle peut également être utilisée par tout système de motorisation chargé de l'actionnement d'éléments mécaniques, dont les missions incluent le fonctionnement sur différentes pentes ou pour lesquelles ce paramètre peut influencer les performances, telles que pelles ou bras mécaniques, antennes ou radars motorisés par exemple, montés sur véhicules terrestres. The use of a specific slope sensor, or an accelerometer, to be installed or already provided in the automatic parking brake, hill start assistance or ESP (Electronic Stability Program) systems, can serve to further improve the regulation of the system. But the invention does not require the use of this type of sensor and thus improves the operation of motorized openings on vehicles whose architecture does not allow the provision of data provided by these sensors or those that are not equipped. The invention is preferably applicable to any type of motorized opening, door, tailgate, retractable roof including, mainly on private motor vehicles, public or industrial transport. It can also be used by any motorization system in charge of the actuation of mechanical elements, whose missions include operating on different slopes or for which this parameter can influence performance, such as excavators or mechanical arms, antennas or motorized radars. for example, mounted on land vehicles.

Claims

REVENDICATIONS
1. Système de pilotage d'un ensemble ouvrant motorisé de véhicule automobile, par asservissement de sa vitesse à une consigne déterminée à partir d'une consigne de position, réalisé par une unité de contrôle comprenant un observateur qui reconstruit les états de l'ensemble ouvrant motorisé soumis à des perturbations, à partir de sa position mesurée et à partir de la commande en tension de son actionneur délivrée par des moyens de régulation, caractérisé en ce qu'il délivre une estimation de la vitesse de l'ensemble ouvrant et des perturbations, qui sont d'une part celles agissant sur l'ensemble ouvrant motorisé, dont la pente (α) du sol et les forces appliquées à l'ouvrant, et d'autre part celles dues aux erreurs sur le gain du modèle, c'est-à-dire d'une part sur le gain (K) de l'actionneur de l'ouvrant et d'autre part sur la masse (m) de ce dernier.1. Control system of a motorized opening assembly of a motor vehicle, by controlling its speed to a set point determined from a position setpoint, made by a control unit comprising an observer that reconstructs the states of the assembly motorized opening subjected to disturbances, from its measured position and from the voltage control of its actuator delivered by regulation means, characterized in that it delivers an estimate of the speed of the opening assembly and disturbances, which are on the one hand those acting on the motorized opening assembly, including the slope (α) of the ground and the forces applied to the opening, and on the other hand those due to errors in the gain of the model, c that is to say on the one hand on the gain (K) of the actuator of the opening and on the other hand on the mass (m) of the latter.
2. Système de pilotage selon la revendication 1 , caractérisé en ce que l'observateur (2) est construit à partir d'un modèle (3) de l'ensemble ouvrant motorisé, qui considère d'une part que l'actionneur est représenté par sa fonction de transfert H (s) égale au quotient de la force (Fa), qu'il génère et applique à l'ouvrant, par le signal de commande (U) qu'il reçoit, le gain (K) de cette fonction de transfert étant connu, et d'autre part que l'ouvrant est également soumis à son poids en cas de pente du sol.2. Control system according to claim 1, characterized in that the observer (2) is constructed from a model (3) of the motorized opening assembly, which considers on the one hand that the actuator is shown by its transfer function H (s) equal to the quotient of the force (F a ), which it generates and applies to the opening, by the control signal (U) that it receives, the gain (K) of this transfer function is known, and secondly that the opening is also subject to its weight in case of slope of the ground.
3. Système de pilotage selon l'une des revendications 1 à 2, caractérisé en ce qu'il comprend de plus un automate (4) qui reçoit en entrée un signal (S{) de début d'ouverture ou fermeture de l'ouvrant d'une part et l'estimation des perturbations fournie par l'observateur (2) d'autre part, et qui, après une temporisation prédéfinie afin de figer l'estimation des perturbations délivrée par l'observateur quelques instants après le démarrage d'une manœuvre de déplacement de l'ouvrant, mémorise la valeur de cette estimation qui est ensuite envoyée aux moyens de régulation (1) devant en tenir compte pendant l'asservissement de la vitesse de l'ouvrant pour délivrer une commande (U) optimale à l'actionneur de l'ouvrant.3. Control system according to one of claims 1 to 2, characterized in that it further comprises a controller (4) which receives as input a signal (S { ) opening or closing opening of the opening on the one hand and the estimation of the disturbances provided by the observer (2) on the other hand, and which, after a predefined delay in order to freeze the estimation of the disturbances delivered by the observer a few moments after the start of a movement maneuver of the opening, stores the value of this estimate which is then sent to the regulating means (1) to take into account during the servocontrol of the speed of the opening to deliver an optimal control (U) to the actuator of the opening.
4. Procédé de mise en œuvre du système de pilotage d'un ensemble ouvrant motorisé de véhicule automobile, par asservissement de sa vitesse à une consigne déterminée à partir d'une consigne de position par cartographie, selon les revendications 1 à 3, caractérisé en ce qu'il comprend l'estimation d'une part de la vitesse [xj de l'ouvrant et d'autre part des perturbations auxquelles il est soumis et des perturbations dues aux erreurs dans le modèle dudit ensemble ouvrant, par un observateur à partir de la position (v) mesurée et de la commande (U) destinée à l'actionneur de l'ouvrant, puis l'établissement d'une première commande (Ui) issue d'un régulateur (6) recevant en entrée la différence entre la consigne de vitesse (^ ) obtenue par cartographie en fonction de la position mesurée et une estimation de la vitesse (i) délivrée par l'observateur, à laquelle s'ajoute une seconde commande (U2) établie en fonction des perturbations estimées (â)pour l'ensemble ouvrant.4. A method of implementing the control system of a motorized motorized opening assembly of a motor vehicle, by controlling its speed to a set point determined from a position set by mapping, according to claims 1 to 3, characterized in it includes the estimation of a part of the speed [xj of the opening and secondly of the disturbances to which it is subjected and disturbances due to errors in the model of said opening assembly, by a observer from the position (v) measured and the control (U) for the actuator of the opening, then the establishment of a first command (Ui) from a regulator (6) receiving input the difference between the speed reference ()) obtained by mapping as a function of the measured position and an estimate of the speed (i) delivered by the observer, to which is added a second command (U 2 ) established according to the estimated disturbances (â) for the opening assembly.
5. Procédé de pilotage selon la revendication 4, caractérisé en ce qu'il dissocie l'estimation des perturbations, auxquelles est soumis l'ensemble ouvrant motorisé, dues à la pente du sol de celles dues aux erreurs dans le modèle dudit ensemble à l'aide d'une procédure d'apprentissage sur sol plat en sortie de chaîne du véhicule, de façon à éliminer la perturbation due à la pente dans un premier temps et à ne considérer que les erreurs de modèle dans un deuxième temps, ces erreurs étant de deux types, d'une part sur le gain de l'actionneur de l'ouvrant et d'autre part sur la masse de ce dernier, le gain total de l'ensemble ouvrant étant égal au quotient du gain par la masse. 5. Driving method according to claim 4, characterized in that it dissociates the estimate disturbances, which is subjected to the motorized opening assembly, due to the slope of the soil from those due to errors in the model of said assembly to the using a flat-ground learning procedure at the end of the chain of the vehicle, so as to eliminate the perturbation due to the slope at first and to consider only the errors of model in a second time, these errors being of two types, on the one hand on the gain of the actuator of the opening and on the other hand on the mass of the latter, the total gain of the opening assembly being equal to the quotient of the gain by the mass.
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FR2895100B1 (en) 2010-10-22
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