WO2009000576A2 - Procédé et dispositif de détection du sens de rotation d'une unité d'entraînement - Google Patents

Procédé et dispositif de détection du sens de rotation d'une unité d'entraînement Download PDF

Info

Publication number
WO2009000576A2
WO2009000576A2 PCT/EP2008/055174 EP2008055174W WO2009000576A2 WO 2009000576 A2 WO2009000576 A2 WO 2009000576A2 EP 2008055174 W EP2008055174 W EP 2008055174W WO 2009000576 A2 WO2009000576 A2 WO 2009000576A2
Authority
WO
WIPO (PCT)
Prior art keywords
electric motor
signal
motor
current state
rotation
Prior art date
Application number
PCT/EP2008/055174
Other languages
German (de)
English (en)
Other versions
WO2009000576A3 (fr
Inventor
Stefan Heimburger
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2009000576A2 publication Critical patent/WO2009000576A2/fr
Publication of WO2009000576A3 publication Critical patent/WO2009000576A3/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P13/00—Indicating or recording presence, absence, or direction, of movement
    • G01P13/02—Indicating direction only, e.g. by weather vane
    • G01P13/04—Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement
    • G01P13/045—Indicating positive or negative direction of a linear movement or clockwise or anti-clockwise direction of a rotational movement with speed indication
    • 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
    • E05F15/665—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings
    • E05F15/689—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for vertically-sliding wings specially adapted for vehicle windows
    • E05F15/695—Control circuits therefor
    • 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 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
    • E05Y2600/00—Mounting or coupling arrangements for elements provided for in this subclass
    • E05Y2600/40—Mounting location; Visibility of the elements
    • E05Y2600/454—Mounting location; Visibility of the elements in or on the motor
    • 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
    • E05Y2900/55—Windows

Definitions

  • the invention is based on a method and a device for rotational direction recognition according to the preamble of the independent claims.
  • EP 0 603 506 Bl a method for determining the position of an electric drive has become known which, for example, electrically actuates an adjustable part in the motor vehicle.
  • an electric motor is operated such that the direction of rotation of the electric motor can be switched.
  • the position of the electrically driven part of the time interval of pulse edges of an incremental signal is analyzed after switching off the drive motor.
  • the time interval to the switch-off time is measured and compared with a predetermined measure.
  • the distinction between a reversing process of the electric motor and a discharge process may be subject to errors, in particular if the electric motor rotates slightly when it comes to rest under load.
  • the inventive method and apparatus according to the features of the independent claims have the advantage that in addition to the one incremental sensor signal, the successive changes of direction of the electric motor can be detected reliably by the use of the current state signal of the electric motor.
  • This has the decisive advantage that, on the one hand, only a single incremental sensor signal is required for reliable position detection or rotation direction detection, and the outlay for the current measurement can be kept very low on account of the merely qualitative evaluation.
  • the transit time between the flanks of the incremental sensor signal can also be measured, whereby the time segments during a constant motor current state can be compared with empirical values in order to additionally secure the evaluation of the direction of rotation.
  • the times between the edge changes can be determined particularly favorably by a moving averaging.
  • the times between the edge changes of the incremental transmitter signal can be advantageously compared with previously determined times between the edge changes at a maximum speed of the electric motor. As a result, it can be reliably detected whether the electric motor is decelerated, accelerated or has assumed its normal operating state. Furthermore, in addition, the number of edge changes of the incremental sensor signal can be counted after the turn-off time, which is detected by a change of the current state signal. The number of edge changes can also be compared with an empirical value, which is typical for a reversing operation of the electric motor, for example.
  • the voltage between the two terminals of the electric motor is measured and evaluated, in particular, even when the electric motor is still a motor current can be measured, the sign for determining the
  • Direction of rotation can be used. It is particularly favorable if the tapped-off voltage signal in the evaluation unit is fed to an amplifier circuit, since then very small currents can also be detected which flow through the contact resistances of the switches when the electric motor is switched off. This has the advantage that can be dispensed with by the use of the contact resistance of the switch to a separate current measuring shunt, whereby the power loss is reduced, and the complete battery voltage for operating the electric motor is available. As a result of this direct tapping of the voltage signal at the motor contact terminals, the installation space on the printed circuit board is also significantly reduced compared to the current shunt measurement and the relatively expensive shunt is saved. It is particularly advantageous to realize the amplifier circuit as an integral part of a microcontroller, since this is at the same time necessary for determining the position of the part to be adjusted, and possibly for an anti-trap function.
  • the signal is digitized at the output of the amplifier circuit, which is a measure of the motor current. Since no exact analog measurement signal of the motor current is necessary, it does not matter that the contact resistances of the switch may be subject to certain fluctuations.
  • the amplifier circuit is assigned the three motor current states -1, 0 and +1 as a digitized signal. This can be achieved, for example, by dividing the output voltage of the amplifier voltage into different regions to which the corresponding current state is assigned. Due to the - A -
  • the amplifier circuit can be dimensioned so that it delivers an amplified signal at high currents, for example greater than +/- 0.5 amperes. whereby the amplifier circuit can be sensitized to the detection of small motor currents.
  • a signal generator is arranged on the armature shaft of the electric motor, the signal of which is detected by a housing-mounted signal sensor.
  • the signal generator is designed, for example, as a multipole magnetic ring.
  • the use of the direction of rotation determination according to the invention in a device for operating an electric motor, which is controlled by relay switches.
  • the amplifier circuit at the motor connection terminals can be integrated directly into the control electronics of the electric motor. Together with the incremental sensor signal can thus achieve a clear characterization of the rotational movement of an electric motor. If the electric motor drives a part to be adjusted, the position of the part can be precisely detected at any time by the method according to the invention and thereby also a jamming protection function can be realized in which, in the case of an obstacle, the part to be adjusted is reversed or stopped in the direction of rotation.
  • the method according to the invention for determining the direction of rotation is also particularly suitable for the use of a central control device, which activates a plurality of electric motors, for example in the motor vehicle.
  • FIG. 1 shows a device according to the invention for detecting the direction of rotation
  • Figure 2 schematically shows the inventive method for determining a
  • Figure 3 is an illustration of the startup and shutdown behavior of the drive unit
  • Figure 4 is an illustration of a reversing process of the drive unit.
  • FIG. 1 shows a device according to the invention for operating an electric motor 12 is shown, which is operated with a voltage source 14, which is formed for example as a battery 16.
  • the voltage source 14 is connected via switches 20 to the electric motor 12, so that by driving the switch 20, the direction of rotation of the electric motor 12 can be reversed.
  • the switches 20 are arranged in a relay 18, and will be actuated via a control signal 22 of a control unit 24.
  • the control signals 22 are generated, for example, by actuating a control button, not shown. If, for example, the left upper relay switch 26 and the right lower relay switch 27 are closed, a motor current 30 flows from the motor terminal 32 marked with + to the motor terminal 34 marked with. If, on the other hand, the switches are closed on the bottom left 28 and 29 on the top right, a motor current flows 30 in the opposite direction from - (34) to + (32). If the electric motor 12 is to be stopped, the relay switches 27 and 28 are closed, so that both motor connection terminals 32, 34 are grounded. If the relay switches 28, 27 closed (dashed lines in Fig.
  • the electric motor 12 is no longer energized from the outside, however, currents are further induced by the inertia of the electric motor 12 for a certain time, via contact resistances 72 of the closed switch contacts 74 of Drain switch 20.
  • an evaluation unit 40 which is an e- Tapping lektwitzs voltage signal 42, which rests between the motor terminals 32, 34.
  • the evaluation unit 40 has an amplifier circuit 44, which amplifies the tapped voltage signal 42, for example according to FIG. In this case, the amplifier circuit 44 may be formed as part of a microcontroller 46.
  • the amplifier circuit 44 supplies an output signal 48, which enables a determination of a current state signal 50.
  • a speed sensor 52 is rotatably mounted on the electric motor 12, which together with a stationary signal sensor 54, an incremental sensor signal 56 for the speed, or rotational speed delivers.
  • the speed sensor may in particular be formed as a magnetic pole ring 53, which cooperates with a magnetic Hall sensor 55. If this incremental sensor signal 56 is evaluated together with the current state signal 50, this can clearly determine the position of a part 62 of an adjustment drive 64 to be adjusted.
  • the evaluation unit 40 can also be designed as anti-pinch protection electronics 60 which are used during anti-pinch protection
  • the switches 20 are designed as transistors or MOSFETs or in some other way, the transition resistances 72 of which are also detected by means of the amplifier circuit 44 for determining the current direction.
  • the time profile 31 of the motor current 30 is shown in the upper half of the picture and the time profile 47 of the output signal 48 is shown in the lower half of the picture
  • Amplifier circuit 44 is shown. If, for example, at the time To the electric motor 12, which was previously in the normal driving state, switched off by the two (relay) switches 28 and 27 are closed, thereafter the motor current 30 drops from a normal operating current within a certain period of time 76th until it reaches the value about 0.0 ampere. For a motor current above predeterminable thresholds of, for example, +0.5 ampere or below -0.5 ampere, the amplifier circuit 44 provides a value 78 as an output signal 48 which is either at approximately 5 volts or 0 volts. In this case, the amplifier circuit 44 is in the saturation region.
  • the amplifier circuit 44 wherein the output signal 48, starting from 5 volts or 0 volts approaches an average value of about 2.5 volts, which corresponds to a current state of 0 amps.
  • the value range of the output signal 48 can be divided into a middle, an upper and a lower range 80, 82, 84, to which a digital StromSullivanssig- signal 50 with the values 0, +1, -1 can be assigned.
  • Fig. 3 the on and off behavior of the electric motor 12 is shown, wherein on the x-axis, the time scale t is shown, and on the y-axis, the measured value 51 for the motor current (dotted curve), the incremental sensor signal 56 (solid Curve) and a direction of rotation signal 86 (dashed curve) is shown.
  • the electric motor 12 is turned on, whereby the current state signal 50 assigned to the signal of the motor current 51 changes from 0 to -1, which corresponds to a motor current in a specific direction.
  • the incremental sensor signal 56 forms a rapid sequence of edge changes 88, which takes place after a short start-up phase in approximately the same time intervals.
  • the electric motor 12 is turned off, whereby in this a motor current is induced in the opposite direction, which is recognizable by the change of the current state signal 50 from -1 to 1.
  • the electric motor 12 continues to run after switching off, so that even after the switch-off time 90 there is still an edge change 91 of the incremental sensor signal 56.
  • the edge changes 91 after the switch-off time 90 of the electric motor 12 can be unambiguously assigned to the tracking of the electric motor 12 in the same direction.
  • This edge change 92 can be recognized as a return of the electric motor 12 due to the two-time change of the current state signal 50, whereby the direction of rotation signal 86 with the edge change 92 indicates a change in direction of rotation, for example, from left (I) to right (r) as a result of the signal evaluation.
  • the edge changes 91, 92 to a change in the current state signal 56, the current direction of rotation of the electric motor 12 can be reliably determined.
  • a reversing process of an electric motor 12 is shown with an enlarged time scale t.
  • the time interval 94 between the edge change 88 of the incremental sensor signal 56 increases first and then decreases again until the time interval 94 approximately reaches the value before the changeover point 93.
  • the evaluation unit 40 recognizes the reversing process of the electric motor 12 from the fact that after a single power state change from -1 to +1 additionally the time interval 94 between the edge changes 88 is taken into account.
  • the time interval 94 between edge change 88 is measured, for example, by means of a moving averaging, so that it is recognized in FIG.
  • the time interval 95 between two edge changes is shorter than the time interval of the directly preceding interval 96 see with the edge change 97 between the two time intervals 95 and 96, the direction of movement of the electric motor has changed, which is represented by the change of the direction of rotation signal 86 from (I) to (r).
  • the time interval 94, 95, 96 (time intervals) can be compared with a previously determined and stored value at a maximum speed. This can be identified when the electric motor has returned to its normal operating state with its target speed.
  • it can be empirically determined beforehand how many edge changes 88 occur after the changeover point 93 of the reversing process in the normal operating state. With a single change of the current state signal 50, this number can be compared with the current number of edge changes. Let 88 be compared, so as to check the presence of a reversing operation of the electric motor 12.
  • the changes in the current state signal 50 can be combined with various evaluation methods of the incremental sensor signal 56, the edge change of which can be counted and their interval lengths compared with one another and / or with stored values.
  • the evaluation method is independent of the determination of the digital current state signal 50, which can also be obtained, for example, by means of a direct motor current measurement or estimation.
  • the evaluation unit 40 may be combined with the control electronics 24 of the electric motor 12 or may be formed as a separate component, preferably on a printed circuit board.
  • the device 10 for operating the electric motor 12 can be arranged locally directly directly at the electric motor 12 or in a central control unit.
  • the inventive method and the corresponding device 10 are particularly suitable for the realization of a position detection and / or an anti-trap for comfort drives in the motor vehicle, such as windows, sunroof or
  • the method of detecting the direction of rotation can also be used for rotary drives, such as blowers or pumps.

Abstract

L'invention concerne un procédé et un dispositif de détection du sens de rotation d'une unité d'entraînement, notamment d'un entraînement d'actionneur (64) dans un véhicule motorisé. Ledit dispositif comporte un moteur électrique (12) dont la polarité peut être inversée dans le sens de rotation du moteur au moyen de commutateurs (20). La vitesse de rotation du moteur électrique (12) est détectée au moyen d'un signal de capteur incrémentiel (56) exactement, et transmise à une unité d'évaluation (40). L'évaluation du sens de rotation fait appel à un signal d'état de courant moteur numérisé, affectant les états -1, 0, et +1 au courant moteur correspondant.
PCT/EP2008/055174 2007-06-27 2008-04-28 Procédé et dispositif de détection du sens de rotation d'une unité d'entraînement WO2009000576A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200710029708 DE102007029708A1 (de) 2007-06-27 2007-06-27 Verfahren und Vorrichtung zur Drehrichtungserkennung einer Antriebseinheit
DE102007029708.6 2007-06-27

Publications (2)

Publication Number Publication Date
WO2009000576A2 true WO2009000576A2 (fr) 2008-12-31
WO2009000576A3 WO2009000576A3 (fr) 2009-02-26

Family

ID=40086450

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/055174 WO2009000576A2 (fr) 2007-06-27 2008-04-28 Procédé et dispositif de détection du sens de rotation d'une unité d'entraînement

Country Status (2)

Country Link
DE (1) DE102007029708A1 (fr)
WO (1) WO2009000576A2 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202011005094U1 (de) * 2011-04-09 2012-07-10 Sommer Antriebs- Und Funktechnik Gmbh Antriebssystem für ein Tor
DE102016211413A1 (de) * 2016-06-24 2017-12-28 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Bamberg Verfahren zum Betrieb einer elektromotorischen Verstelleinrichtung
DE102021122775A1 (de) 2021-09-02 2023-03-02 Brose Fahrzeugteile Se & Co. Kommanditgesellschaft, Bamberg Antriebsanordnung zur Verstellung einer Klappe eines Kraftfahrzeugs
CN115095250B (zh) * 2022-07-29 2023-08-08 杭州西子轨道交通设备有限公司 门体运动方向确定方法、站台门系统、驱动器和存储介质

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6222362B1 (en) * 1997-08-02 2001-04-24 Temic Telefunken Microelectronics Gmbh Method for detecting the position and direction of motion of a moving part mounted on an electric motor
US20020008483A1 (en) * 1998-10-27 2002-01-24 Georg Kaeufl Method and circuit arrangement for detecting motion, direction and position of a part driven by an electric motor

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4243934A1 (de) 1992-12-23 1994-06-30 Bayerische Motoren Werke Ag Verfahren zur Lagebestimmung eines elektromotorisch in zwei Richtungen angetriebenen Teils von Kraftfahrzeugen

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6222362B1 (en) * 1997-08-02 2001-04-24 Temic Telefunken Microelectronics Gmbh Method for detecting the position and direction of motion of a moving part mounted on an electric motor
US20020008483A1 (en) * 1998-10-27 2002-01-24 Georg Kaeufl Method and circuit arrangement for detecting motion, direction and position of a part driven by an electric motor

Also Published As

Publication number Publication date
DE102007029708A1 (de) 2009-01-08
WO2009000576A3 (fr) 2009-02-26

Similar Documents

Publication Publication Date Title
DE2926938A1 (de) Schaltanordnung zum antrieb eines beweglichen elementes, insbesondere zum antrieb von scheiben o.dgl. in kraftfahrzeugen
DE112016001924T5 (de) Treibervorrichtung
WO2002035674A1 (fr) Procede pour commander un processus de reglage d"une partie
DE102009006713A1 (de) Steuerschaltung für einen Fensterheberantrieb
DE102016209915A1 (de) Verstellantrieb eines Kraftfahrzeugs
DE4201019C2 (de) Vorrichtung zum Vermeiden von Unfällen beim Annähern einer durch einen Antrieb beweglichen Tafel an eine Schließkante
EP0504153B1 (fr) Mecanisme de commande pour elements mobiles
DE102019105638A1 (de) Induktive Laststeuerungsvorrichtung
WO2009000576A2 (fr) Procédé et dispositif de détection du sens de rotation d'une unité d'entraînement
DE2944224A1 (de) Steueranordnung fuer eine wischanlage fuer kraftfahrzeugscheiben
EP0890211B1 (fr) Procede de detection de venue en butee et de blocage dans un moteur electrique
DE102006049123B4 (de) Verfahren zur Ermittlung der Drehstellung des Rotors eines mechanisch kommutierten Gleichstrom-Stellmotors
EP4076093A1 (fr) Entraînement à moteur électrique pour meuble
EP0799514B1 (fr) Circuiterie permettant de detecter un etat de surcharge dans un mecanisme de commande de reglage
DE19900982A1 (de) Motorantriebssystem und System für einen elektrischen Fensterheber
WO2009000579A2 (fr) Procédé et dispositif de détection du sens de rotation d'une unité d'entraînement
DE10108975A1 (de) Verfahren zur Steuerung eines Elektromotors
DE102016211413A1 (de) Verfahren zum Betrieb einer elektromotorischen Verstelleinrichtung
EP1244564B1 (fr) Circuit electrique pour la commande d'un moteur electrique dans un vehicule
EP0686802A2 (fr) Dispositif de fermeture avec un circuit de sécurité
WO2005071812A1 (fr) Procede pour evaluer des informations de regime et de position de rotation d'un moteur a courant continu
EP1848605A1 (fr) Systeme de toit a element de fermeture reglable pour vehicules
DE102016211412A1 (de) Verfahren zum Betrieb einer elektromotorischen Verstelleinrichtung
DE3135996C2 (fr)
EP0823765A1 (fr) Procédé de surveillance de courts-circuits

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 08749797

Country of ref document: EP

Kind code of ref document: A2

122 Ep: pct application non-entry in european phase

Ref document number: 08749797

Country of ref document: EP

Kind code of ref document: A2