WO2008100204A1 - Device for controlling an actuator - Google Patents

Device for controlling an actuator Download PDF

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Publication number
WO2008100204A1
WO2008100204A1 PCT/SE2008/000120 SE2008000120W WO2008100204A1 WO 2008100204 A1 WO2008100204 A1 WO 2008100204A1 SE 2008000120 W SE2008000120 W SE 2008000120W WO 2008100204 A1 WO2008100204 A1 WO 2008100204A1
Authority
WO
WIPO (PCT)
Prior art keywords
door
actuator
drive control
control mechanism
vehicle
Prior art date
Application number
PCT/SE2008/000120
Other languages
French (fr)
Inventor
Torbjörn Lövgren
Jan Lorentzon
Magnus Embretzen
Jonas Olsson
Original Assignee
Aktiebolaget Skf
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aktiebolaget Skf filed Critical Aktiebolaget Skf
Publication of WO2008100204A1 publication Critical patent/WO2008100204A1/en

Links

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
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/30—Electronic control of motors
    • E05Y2400/31—Force or torque control
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2400/00—Electronic control; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/44—Sensors therefore
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME RELATING TO HINGES OR OTHER SUSPENSION DEVICES FOR DOORS, WINDOWS OR WINGS AND DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION, CHECKS FOR WINGS AND WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Application of doors, windows, wings or fittings thereof for vehicles characterised by the 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
    • G05B2219/45—Nc applications
    • G05B2219/45242—Door, panel, window operation, opening, closing

Definitions

  • the present invention relates to a device for operating a door mounted onto a vehicle mechanical structure.
  • a device for operating a door mounted onto a vehicle mechanical structure comprises the following features.
  • a drive control mechanism that is connected to a communication means .
  • the communication means communicates door operation data between the drive control mechanism and a vehicle communication network.
  • An actuator is controlled by the drive control mechanism and is powered via an electrical motor.
  • An advantage is that the electrical motor only consumes energy when the door is being moved, as opposed to pneumatic or hydraulic systems that consume energy constantly when maintaining the pressure so that door operation is possible and also keeping the door closed.
  • the device further comprises a free end of the actuator, which is mountable to an opening mechanism of the door.
  • the drive control mechanism controls, via the actuator, the operation of the door in line with a door operation profile.
  • the door operation profile comprises an actuator power control scheme, which defines the power administered to the electrical motor accomplishing a movement of the free end of the actuator.
  • vehicle is here considered to be one of a bus, tram, streetcar, truck, and a railroad coach.
  • opening mechanism of a door is a mechanism to which the actuator is mountable. It may also be a lever arm that accomplishes that the door opens/closes in a desired direction as the actuator is under operation.
  • the opening mechanism is comprised by the device.
  • the actuator is in a driving connection with the opening mechanism in the way that when the actuator is under operation the door operates in line with a door operation profile.
  • vehicle communication network is here considered to be an electronic setup allowing information to be communicated.
  • Non-limiting examples include serial communication and network (e.g. CAN, Ethernet, and WLAN) .
  • the door is an inwardly gliding door, that has one or two door leafs.
  • the door is an outwardly swinging door, that has one or two door leafs.
  • the door is a swinging and sliding door, having one or two door leafs.
  • the door is a pivot door.
  • the device may be used to operate not only a single door but also two doors that are located side-by-side.
  • door operation data includes door load, door speed, door position, and operational status.
  • the drive control mechanism senses load via changes in the current powering the electrical motor.
  • the actuator is one of a linear actuator and rotary actuator.
  • the choice between a linear or a rotary actuator lies in the type of door to be operated and how the door is attached to the actuator.
  • Non-limiting examples of doors in relation to which the present invention is applicable include inward gliding, outward swinging, and swing sliding door.
  • a single actuator may be responsible for operating two doors that are preferably side-by-side.
  • the device further comprises a plurality of door operation profiles. Based on the insights of using an actuator instead of a pneumatic or hydraulic solution, this leads to the opportunity of controlling the movement of the door, e.g. in terms of at what position in the door opening process, the door should have a certain speed.
  • the present invention offers the advantage of designing the door operation. This is caused by the fact that by using an actuator it is possible to have information at what time the door is in a certain position.
  • the actuator current control scheme defines at least one of the following.
  • chassis is considered to include any part of the vehicle, such as a second door.
  • the door operation data comprises at least one of temperature, slope indication value and vehicle speed.
  • the actuator comprises a reference sensor that offers an opportunity of sending information concerning actual positions of the free end of the actuator. This is especially relevant when the free end is in its end position (s) . Also, this leads to that the device does not need an external sensor.
  • the drive control mechanism adjusts for at least one of a change in temperature and a change in slope of the door.
  • the door operation profile is in at least one of: the electronics of the drive control mechanism, and a host computer accessible over the vehicle communication network. DESCRIPTION OF DRAWINGS
  • FIG. 1 a schematic embodiment of a device 1 for operating a door mounted onto a vehicle mechanical structure is given.
  • the device 1 comprises a drive control mechanism 3 connected to a communication means 5.
  • the communication means 5 for communicating door operation data between the drive control mechanism and a vehicle communication network 7.
  • the device 1 further comprises an actuator 9 controlled by the drive control mechanism 3 and powered via an electrical motor 11.
  • the actuator 9 is one of a linear actuator and rotary actuator.
  • a free end 13 of the actuator 9 is mountable to an opening mechanism of the door.
  • the opening mechanism 15 is drawn using dotted lines since the opening mechanism 15 is not part of the invention.
  • the drive control mechanism 3 controls, via the actuator 9, the operation of the door in line with a door operation profile 17.
  • the door operation profile 17 comprises an actuator power control scheme.
  • Door operation data includes door load, door speed, door position, and operational status.
  • the door operation data comprises at least one of outdoor temperature, that is measured by a thermometer measuring the temperature outside the vehicle or the temperature is sent to the vehicle using a wireless communication network and communicated to the device using the vehicle data network.
  • the device may include a slope indicator, indicating to what extent the door (and the vehicle) to be operated is in a slope. If the door is in a slope, then there will be a difference in power needed when opening and closing the door.
  • the device comprises a plurality of door operation profiles 17.
  • a single or the plurality of door operation profiles 17 comprises actuator current control schemes for operating the movement of the door. More specifically, the actuator current control scheme defines at least one of the following.
  • the drive control mechanism 3 adjusts for at least one of a change in temperature and a change in slope of the door.
  • the door operation profile or profiles 17 are in at least one of: the electronic circuitry of the drive control mechanism 3, and a host computer 19 accessible over the vehicle communication network 7.
  • FIGs 2A-2F schematic illustrations of actuator current control schemes corresponding to door operation profiles 17 for opening a door are given.
  • the arrow indicates the direction corresponding to the movement of the actuator 9 when it goes from a position A to an open position B.
  • an actuator current control scheme corresponding to a neutral profile 17 is given since it is symmetric in the way that the actuator will move, is given.
  • FIG 2B more power is provided to the motor 11 in the beginning of the opening than at the end of the opening process.
  • Figure 2C the power provided to the motor 11 is low when the actuator is close to B. This results in that the actuator 9 will move slowly. Still, it accelerates fast in the beginning of the opening process.
  • the dotted line indicates an actuator current control scheme corresponding to a profile 17 under normal conditions.
  • the line C indicates the actuator current control scheme when the slope indicator has indicated that more power will be needed since the vehicle is in a slope or if the temperature is such that more power is needed to open the door.
  • FIG 2E there is a similar situation with the difference that the vehicle is in a slope or temperature such that less power will be needed to open the door. Analogue embodiments for closing the door are not included since they are similar to the ones usable when opening the door.
  • an actuator current control scheme corresponding to opening the door is given. At the end of the opening process, the movement of the door is limited so that it will not come into the chassis. Thus an actuator current control scheme including a braking profile 17 is given. This is indicated by D in Figure 2F.
  • an actuator current control scheme corresponding to a shaking door is given.
  • the 'x' indicates the position of the free end and actuator current control scheme provides an alternating feature over time, t, leading to a shaking of the door.
  • an actuator current control scheme corresponding to sensing blockage is given.
  • the line E corresponds to the profile 17 that is the intended power used by the actuator 9 at a specific location between A and B.
  • the dotted line indicates actual power use.
  • the drive control mechanism 3 senses load via changes in the current powering the electrical motor 11.

Abstract

A device (1) for operating a door mounted onto a vehicle mechanical structure is disclosed. It comprises a drive control mechanism (3) connected to a communication means (5), the communication means (5) for communicating door operation data between the drive control mechanism (3) and a vehicle communication network (7), an actuator (9) controlled by the drive control mechanism (3) and powered via an electrical motor (11), a free end (13) of the actuator (9) being mountable to an opening mechanism (15) of the door, the drive control mechanism (3) controlling, via the actuator (9), the operation of the door in line with a door operation profile (17), the door operation profile (17) comprising an actuator power control scheme.

Description

TITLE
Device for controlling an actuator
TECHNICAL FIELD
The present invention relates to a device for operating a door mounted onto a vehicle mechanical structure.
BACKGROUND OF INVENTION
In the art of vehicle door opening mechanisms, hydraulic or pneumatic systems are used to open or close vehicle doors.
SUMMARY OF INVENTION
According to the present invention, a device for operating a door mounted onto a vehicle mechanical structure is disclosed. The device comprises the following features. A drive control mechanism that is connected to a communication means . The communication means communicates door operation data between the drive control mechanism and a vehicle communication network. This offers the advantage of the device being capable of communicating with a passenger or the driver of the vehicle. An actuator is controlled by the drive control mechanism and is powered via an electrical motor. An advantage is that the electrical motor only consumes energy when the door is being moved, as opposed to pneumatic or hydraulic systems that consume energy constantly when maintaining the pressure so that door operation is possible and also keeping the door closed. The device further comprises a free end of the actuator, which is mountable to an opening mechanism of the door. By moving the free end of the actuator, a controlled movement of the door is achieved. Using an electric actuator, instead of a pneumatic or hydraulic system, leads to the advantage of having a movement of the door which is well controlled and it is possible to obtain, and communicate, door operation data via the vehicle communication network. Also, using an electric actuator leads to the advantage that the control of the movement of the door is stronger. The drive control mechanism controls, via the actuator, the operation of the door in line with a door operation profile. The door operation profile comprises an actuator power control scheme, which defines the power administered to the electrical motor accomplishing a movement of the free end of the actuator.
The term vehicle is here considered to be one of a bus, tram, streetcar, truck, and a railroad coach.
The term opening mechanism of a door is a mechanism to which the actuator is mountable. It may also be a lever arm that accomplishes that the door opens/closes in a desired direction as the actuator is under operation. In an embodiment, the opening mechanism is comprised by the device. Thus the actuator is in a driving connection with the opening mechanism in the way that when the actuator is under operation the door operates in line with a door operation profile.
The term vehicle communication network is here considered to be an electronic setup allowing information to be communicated. Non-limiting examples include serial communication and network (e.g. CAN, Ethernet, and WLAN) .
The present invention is applicable to several door types. In an embodiment, the door is an inwardly gliding door, that has one or two door leafs. In an embodiment, the door is an outwardly swinging door, that has one or two door leafs. In an embodiment, the door is a swinging and sliding door, having one or two door leafs. In an embodiment, the door is a pivot door.
In an embodiment, the device may be used to operate not only a single door but also two doors that are located side-by-side.
In an embodiment, the term door operation data includes door load, door speed, door position, and operational status.
In an embodiment, the drive control mechanism senses load via changes in the current powering the electrical motor.
In an embodiment, the actuator is one of a linear actuator and rotary actuator. The choice between a linear or a rotary actuator lies in the type of door to be operated and how the door is attached to the actuator. Non-limiting examples of doors in relation to which the present invention is applicable include inward gliding, outward swinging, and swing sliding door.
In an embodiment, a single actuator may be responsible for operating two doors that are preferably side-by-side.
In an embodiment, the device further comprises a plurality of door operation profiles. Based on the insights of using an actuator instead of a pneumatic or hydraulic solution, this leads to the opportunity of controlling the movement of the door, e.g. in terms of at what position in the door opening process, the door should have a certain speed. Thus the present invention offers the advantage of designing the door operation. This is caused by the fact that by using an actuator it is possible to have information at what time the door is in a certain position.
In an embodiment, the actuator current control scheme defines at least one of the following.
• Opening the door,
• closing the door,
• causing a shaking of the door, or
• sensing whether an object is stuck between the door and the chassis.
In embodiments, one or several of the features on the list above are included. The term chassis is considered to include any part of the vehicle, such as a second door.
In an embodiment, the door operation data comprises at least one of temperature, slope indication value and vehicle speed.
In an embodiment, the actuator comprises a reference sensor that offers an opportunity of sending information concerning actual positions of the free end of the actuator. This is especially relevant when the free end is in its end position (s) . Also, this leads to that the device does not need an external sensor.
In an embodiment, the drive control mechanism adjusts for at least one of a change in temperature and a change in slope of the door.
In an embodiment, the door operation profile is in at least one of: the electronics of the drive control mechanism, and a host computer accessible over the vehicle communication network. DESCRIPTION OF DRAWINGS
In Figure 1, an embodiment of a device for operating a door mounted onto a vehicle mechanical structure is given.
In Figures 2A-2F, schematic illustrations of door operation profiles for opening a door are given.
In Figure 3, an actuator current control scheme corresponding to a shaking door is given.
In Figure 4, an actuator current control scheme corresponding to sensing blockage is given.
DESCRIPTION OF PREFERRED EMBODIMENTS
In Figure 1, a schematic embodiment of a device 1 for operating a door mounted onto a vehicle mechanical structure is given. The device 1 comprises a drive control mechanism 3 connected to a communication means 5. The communication means 5 for communicating door operation data between the drive control mechanism and a vehicle communication network 7. The device 1 further comprises an actuator 9 controlled by the drive control mechanism 3 and powered via an electrical motor 11. The actuator 9 is one of a linear actuator and rotary actuator. A free end 13 of the actuator 9 is mountable to an opening mechanism of the door. The opening mechanism 15 is drawn using dotted lines since the opening mechanism 15 is not part of the invention. The drive control mechanism 3 controls, via the actuator 9, the operation of the door in line with a door operation profile 17. The door operation profile 17 comprises an actuator power control scheme. Door operation data includes door load, door speed, door position, and operational status. In an embodiment, the door operation data comprises at least one of outdoor temperature, that is measured by a thermometer measuring the temperature outside the vehicle or the temperature is sent to the vehicle using a wireless communication network and communicated to the device using the vehicle data network. Also the device may include a slope indicator, indicating to what extent the door (and the vehicle) to be operated is in a slope. If the door is in a slope, then there will be a difference in power needed when opening and closing the door. In an embodiment, the device comprises a plurality of door operation profiles 17. A single or the plurality of door operation profiles 17 comprises actuator current control schemes for operating the movement of the door. More specifically, the actuator current control scheme defines at least one of the following.
• Opening the door,
• closing the door,
• causing a shaking of the door, or
• sensing whether an object is stuck between the door and the chassis
In an embodiment, the drive control mechanism 3 adjusts for at least one of a change in temperature and a change in slope of the door.
In an embodiment, the door operation profile or profiles 17 are in at least one of: the electronic circuitry of the drive control mechanism 3, and a host computer 19 accessible over the vehicle communication network 7.
In Figures 2A-2F, schematic illustrations of actuator current control schemes corresponding to door operation profiles 17 for opening a door are given. The arrow indicates the direction corresponding to the movement of the actuator 9 when it goes from a position A to an open position B. In Figure 2A, an actuator current control scheme corresponding to a neutral profile 17 is given since it is symmetric in the way that the actuator will move, is given. In Figure 2B, more power is provided to the motor 11 in the beginning of the opening than at the end of the opening process. In Figure 2C the power provided to the motor 11 is low when the actuator is close to B. This results in that the actuator 9 will move slowly. Still, it accelerates fast in the beginning of the opening process. In Figure 2D, the dotted line indicates an actuator current control scheme corresponding to a profile 17 under normal conditions. The line C indicates the actuator current control scheme when the slope indicator has indicated that more power will be needed since the vehicle is in a slope or if the temperature is such that more power is needed to open the door. In Figure 2E, there is a similar situation with the difference that the vehicle is in a slope or temperature such that less power will be needed to open the door. Analogue embodiments for closing the door are not included since they are similar to the ones usable when opening the door. In Figure 2F, an actuator current control scheme corresponding to opening the door is given. At the end of the opening process, the movement of the door is limited so that it will not come into the chassis. Thus an actuator current control scheme including a braking profile 17 is given. This is indicated by D in Figure 2F.
In Figure 3, an actuator current control scheme corresponding to a shaking door is given. The 'x' indicates the position of the free end and actuator current control scheme provides an alternating feature over time, t, leading to a shaking of the door.
In Figure 4, an actuator current control scheme corresponding to sensing blockage is given. The line E corresponds to the profile 17 that is the intended power used by the actuator 9 at a specific location between A and B. The dotted line indicates actual power use. Once there is a difference between the intended power use and the actual power use that exceeds delta, then the opening/closing of the door is stopped and an alarm may¬ be triggered. In an embodiment, delta may be dependent on at least one of temperature, position between A and B, and whether the door is closing or being opened.
In an embodiment, the drive control mechanism 3 senses load via changes in the current powering the electrical motor 11.

Claims

1. Device for operating a door mounted onto a vehicle mechanical structure, comprising:
-a drive control mechanism (3) connected to a communication means (5) ,
-the communication means (5) for communicating door operation data between the drive control mechanism (3) and a vehicle communication network (7), -an actuator (9) controlled by the drive control mechanism (3) and powered via an electrical motor (11) , -a free end (13) of the actuator (9) being mountable to an opening mechanism (15) of the door,
-the drive control mechanism (3) controlling, via the actuator (9), the operation of the door in line with a door operation profile (17), the door operation profile (17) comprising an actuator power control scheme.
2. Device according to claim 1, wherein door operation data includes door load, door speed, door position, and operational status.
3. Device according to claim 1, wherein the drive control mechanism (3) senses load via changes in the current powering the electrical motor (11) .
4. Device according to claim 1, wherein the actuator (9) is one of a linear actuator and rotary actuator.
5. Device according to claim 1, further comprising a plurality of door operation profiles (17) . β. Device according to claim 5, wherein the plurality of door operation profiles (17) comprise actuator current control scheme for at least one of:
-opening the door,
-closing the door,
-causing a shaking of the door, or
-sensing whether an object is stuck between the door and the chassis.
7. Device according to claim 1, wherein the door operation data comprises at least one of temperature, vehicle speed, and slope indication value.
8. Device according to claim 7, wherein the drive control mechanism (3) adjusts for at least one of a change in temperature and a change in slope of the door.
9. Device according to claim 1, wherein the door operation profile (17) is in at least one of: the electronic circuitry of the drive control mechanism (3) , and a host computer accessible over the vehicle communication network (7) .
PCT/SE2008/000120 2007-02-14 2008-02-14 Device for controlling an actuator WO2008100204A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0700413-8 2007-02-14
SE0700413 2007-02-14

Publications (1)

Publication Number Publication Date
WO2008100204A1 true WO2008100204A1 (en) 2008-08-21

Family

ID=39690336

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SE2008/000120 WO2008100204A1 (en) 2007-02-14 2008-02-14 Device for controlling an actuator

Country Status (1)

Country Link
WO (1) WO2008100204A1 (en)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004018817A2 (en) * 2002-08-22 2004-03-04 Nissan Motor Co., Ltd. Control device for vehicular opening/closing body
US20040189046A1 (en) * 1995-10-02 2004-09-30 Ohi Seisakusho Co., Ltd. Device for automatically controlling opening and closing of a vehicle slide door

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040189046A1 (en) * 1995-10-02 2004-09-30 Ohi Seisakusho Co., Ltd. Device for automatically controlling opening and closing of a vehicle slide door
WO2004018817A2 (en) * 2002-08-22 2004-03-04 Nissan Motor Co., Ltd. Control device for vehicular opening/closing body

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