WO2009003678A2

WO2009003678A2 - Method for recognizing a jam, and adjustment device

Info

Publication number: WO2009003678A2
Application number: PCT/EP2008/005362
Authority: WO
Inventors: Thomas Schindler
Original assignee: Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Hallstadt
Priority date: 2007-07-02
Filing date: 2008-07-01
Publication date: 2009-01-08
Also published as: DE102007030656A1; WO2009003678A3

Abstract

The invention discloses a method and an adjustment device for recognizing a jam in the adjustment path of a motor-driven adjustment mechanism (2), particularly a motor vehicle, wherein the value of an operation parameter (M) which characterizes a motor load is detected according to the adjustment path, the updated value of the operation parameter (M) is compared to a prespecified threshold value which is assigned to the current adjustment path, and if the value exceeds or falls below the threshold value, the motor (4) is switched off and/or driven in reverse by the current value of the operation parameter (M). It is proposed that the threshold value associated with the adjustment path is determined by means of a periodic portion (30), along the adjustment path, of a functional interrelationship. With the same solution, less storage capacity is required along the adjustment path, compared to the prior art, for storing the functional interrelationship.

Description

description

Method for detecting a trapping case and adjusting device

The invention relates to a method for detecting a trapping case in the travel of a motor-driven actuating element, in particular a motor vehicle, wherein adjusting the value of a motor load characterizing operating parameter detected, the respective current value of the operating parameter, each with a current travel associated, predetermined threshold value compared and when the threshold value is exceeded or fallen below by the current value of the operating parameter, the motor is switched off and / or reversibly driven. Furthermore, the invention relates to an adjusting device for adjusting an actuating element, in particular of a motor vehicle, with an actuating element, with a motor for driving the actuating element, with a Stellwegssensor and with a connected to the motor and the Stellwegssensor control unit.

Such a method and such a device are known for example from DE 10 2005 000 753 A1.

In the present case, an adjusting element, in particular of a motor vehicle, is understood to mean any element movably arranged in a motor vehicle, which can be moved, opened or closed by an engine relative to a fixed part of the motor vehicle, in particular the body. Such an actuator represent, for example, the windows or windows, electrically operated doors, a tailgate, a sunroof or a motor vehicle seat.

To actuate the actuating element, a particular electrically driven motor is used. When actuating the actuating element, there is the problem that an obstacle is unexpectedly located in the actuating path of the actuating element. Such a trapping case must, in particular in the case of a human body part as Obstacle safely detected and appropriate countermeasures, such as stopping or reversing the engine, initiated.

To detect a trapping case according to the aforementioned method, it is known from DE 10 2005 000 753 A1, as a motor load characterizing operating parameters to record the torque of the motor or a torque correlating to the motor signal via the adjustment of the control element and to a trapping Close when the recorded signal or torque exceeds the predetermined threshold. In this case, it is intended, in particular, to adjust the course of the threshold value during the adjustment of the actuating element, whereby an increasing temporal or spatial change of the correlating signal is taken into account.

About the predetermined course of the threshold along the adjustment mechanical stiffnesses are considered in the drive system. By taking into account this course of the threshold value of the drive system, a misreversing of the drive due to an erroneous assumption of a trapping case is reliably avoided. The natural load course of the motor along the travel of the control element due to mechanical inadequacies in the transmission or in the mechanical guidance of the control element is simulated by a correspondingly raised or lowered threshold. A setting-dependent threshold value is also to be specified, in order, for example, to achieve a high setting force with respect to a seal or the like when closing the setting element.

The object of the invention is to develop a method of the type mentioned in terms of the required storage space. It is another object of the invention to further improve an adjusting device for carrying out this method in terms of memory requirements.

The first-mentioned object is achieved according to the invention for a method of the aforementioned type by determining the threshold associated with the travel by means of a periodic portion of a functional relationship that is periodic along the travel. In a first step, the invention is based on the consideration that only a limited storage capacity can be made available for storing the travel path-dependent profile of the threshold value, in particular for cost reasons. Previous considerations to reduce the memory requirements aimed to distribute the existing memory by sectioning the threshold value on known problem areas along the travel. Accordingly, zones with a higher and zones with a lower resolution are formed. Such a dissolution distribution, however, represents a compromise that is unsatisfactory in the long run between the necessary accuracy and the available storage space.

In a second step, the invention proceeds from the consideration that the natural stiffness course along the travel of the control element is composed of periodically repeating portions and non-periodic portions. This is due to the fact that in order to drive the actuating element usually a rotational movement of the motor by means of a transmission and optionally further drive elements is converted into a translational movement of the actuating element. In this case, usually the rotational movement of the motor is reduced in order to achieve a desired slow translational movement of the actuating element. From this consideration results that sluggishness is repeated due to rotational movements of the motor and due to the rotational components of the transmission along the travel.

Finally, in a third step, the invention recognizes that a periodic component can always be separated from the adjustment-dependent stiffness curve since the rotational and translational stiffness components are assigned to different mechanical components and thus decoupled. In this respect, it is also possible to separate a periodic component from a threshold value progression following the course of the binding.

In a fourth and final step, the invention recognizes that the memory requirement required for storing the travel-dependent curve of the threshold value can be reduced if the periodicity of the periodic component is taken into account. For the Namely, only assignments for a period length need to be stored or otherwise given functionally, the period length being shorter than the entire travel range due to the gear reduction. Since the course of the threshold value as a whole is composed of a non-periodic and a periodic portion, a higher resolution overall can be achieved with this procedure compared to the previous practice with the same memory requirement.

In other words, for the functional relationship which determines the respective threshold value from an input variable characterizing the travel, the periodic component along the travel is separated and used as the basis for calculating the threshold value. From the periodic portion of the threshold value is determined as such advantageously by an overlay with the non-periodic portion of the functional relationship. In other words, the values given by the periodic and by the non-periodic component are mathematically added, if appropriate, by using a multiplication factor. Of course, other possibilities of combining the periodic and the non-periodic portion of the functional relationship are not excluded from the invention.

In a preferred embodiment, the functional relationship is learned from a pinch-free course of the operating parameter. Each adjustment system for adjusting an actuating element per se and above all after installation in a motor vehicle has a specific stiffness profile along the actuating path due to manufacturing tolerances of the individual components. It is therefore advisable to learn the functional relationship by determining the natural stiffness profile in order to enable error-free detection of a trapping case. Also, by such learning changes of the stiffness profile due to aging or wear can be determined at regular intervals and taken into account in the determination of the Schwellwertverlaufs.

In a further development of the method, the periodic component is given by a recurring rotation component and the non-periodic component by a translation component of the actuator. For this purpose, for example, an input variable is selected. a number of revolutions of, for example, the motor shaft or a subsequent rotary gear element predetermined from a standard position of the actuating element, after which repeats the periodic portion of the functional relationship. The translation portion can be determined directly, for example, by means of a distance or position sensor from the position of the actuating element itself. Alternatively, however, the translation component can also be derived from the number of revolutions of the motor shaft or of a following rotary gear element. Because of the mechanical coupling between the actuating element and the motor shaft, an unambiguous relationship between the angle of rotation of a rotary gear element and the traversing travel of the actuating element is given.

In a preferred embodiment, the periodic component of the functional relationship with respect to the non-periodic component is given with a higher resolution with respect to the travel. As a result of this refinement, the memory requirement is further reduced without appreciable restriction of the functionality. Because of the reduction of the drive, namely, the translational stiffness profile along the travel on a lower modulation than the rotational on.

With regard to the device, the object for the adjustment device mentioned in the introduction is achieved according to the invention in that the control device is set up to detect a trapping case by means of the aforementioned method. The advantages mentioned for the method can be transferred analogously.

Embodiments of the invention will be explained in more detail with reference to a drawing. Showing:

Fig. 1 shows schematically an adjusting device for adjusting an electrically driven side window of a motor vehicle, and

2 schematically shows a functional relationship with a periodic and a non-periodic component provided for determining the adjustment-dependent course of a threshold value. In Fig. 1, an adjusting device 1 is shown schematically, which serves to adjust an electrically driven side window as an operable actuator 2 of a motor vehicle. As part of the motor vehicle, a side door 3 is shown, whose side window can be opened and closed as an actuating element 2 by an electric motor 4 arranged in the door trim. The actuator 2 is located in a half-open position.

The motor 4, which can be seen on the basis of the partially removed door outer panel, is assigned as a travel sensor 5 a Hall sensor, which measures the speed of the motor 4 by means of a ring magnet placed on the drive shaft of the motor 4.

The adjusting device 1 comprises, in addition to the adjusting element 2 and the associated motor 4 and the associated travel sensor 5, a control unit 6 which is connected via a control line 8 both to the motor 4 and to the travel sensor 5. Both control signals from the control unit 6 are sent to the motor via the control line 8, as well as receive information about the position of the control element 2 and about the speed of the motor 4. As such signals act, for example, the voltage pulses of the Hall sensor.

For controlling the motor 4, the control unit 6 sends corresponding control signals via the control line 8. The motor 4 then actuates the adjusting element 2 via a drive element not shown in more detail. The side window shown as an adjusting element 2 is then either closed or opened in accordance with the arrows 11.

For controlling the actuating element 2, the control unit 6 has an electronic assembly 13, which comprises a microprocessor 14. Further, the control unit 6 via connecting lines 16 and 17 and terminals 18 and 19, further sensors, such. Position sensors or touch-sensitive sensors can be assigned.

During the actuation of the actuating element 2 by means of the motor 4, the control unit 6 registers its speed via the voltage pulses of the Hall sensor used as the travel sensor 5 as an operating parameter characterizing the engine load. Alternatively, via a corresponding current sensor and the motor current detectable. The control unit 6 thus receives during the actuation of the actuating element 2 a curve of the rotational speed along the travel. In the case of a first switch-on process and in particular even before the delivery of the motor vehicle, a displacement-dependent profile for the threshold value underlying a pinching-in case is determined in the microprocessor 14 from the obtained rotational speed curve without trapping. A check of this threshold curve can be repeated at regular intervals or after a longer standstill time, in order to have a respective threshold curve adapted to the current stiffness curve.

In the microcontroller 14, the determined threshold value profile is further divided into a signal periodic along the travel path and into a non-periodic component. In particular, the period length, measured in a number of revolutions, is determined for the periodic component. The periodic portion of the threshold curve is stored with respect to the travel with a higher resolution than the non-periodic portion of the threshold curve. This separation into a periodic and in a non-periodic proportion along the travel is possible because in the mechanical drive system, the rotational components of the translational components and thus the associated mechanical components are independent of each other.

During a regular actuation of the control element 2 is closed via the relative to the standard position of the control element detected number of revolutions on the travel and the adjustment path detected speed curve with a the current Stellweg associated threshold value, by means of the stored functional relationship by superimposing the periodic with the non-periodic portion is determined. If the speed falls below the given threshold value, then the motor is stopped and then driven reversing. It is a trapped case detected.

The periodic and non-periodic portions of the functional relationship are each stored as a number of value pairs. About the determined number of revolutions is from this on the respective value of the periodic and Non-periodic portion of the functional relationship is used and calculated the threshold by adding both values. In this case, the periodic component is repeated several times along the travel.

FIG. 2 schematically shows the functional relationship for determining the adjustment-dependent threshold value. In the example shown, the threshold value is determined as a torque M and a current torque of the engine is determined on actuation of the actuating element from the detected engine speed. In this case, a jamming case is detected when the respective current torque of the motor exceeds the predetermined threshold.

In the graph shown, the engine speed M or the threshold value determined in this size is plotted along a number of revolutions n. In this case, the number of revolutions n is detected between a standard position U of the actuating element and a travel end S.

The functional relationship prescribed for determining the threshold value from a number of revolutions n comprises a periodic component 30 and a non-periodic component 32. In this case, the non-periodic component 32 is distributed over a number of support points 33 along the entire travel path between the one of a number of revolutions n calculated start position O and end position S filed. The periodic component 30 is deposited by a number of support points 34 which are predetermined or stored for a period length T, calculated in a number of revolutions n. Per travel or per revolution number n, the number of support points 34 is greater than that of the support points 33rd

During the actuation of the actuating element, the values stored for the interpolation points 33 and 34, which are each assigned to a current number of revolutions, are added, resulting in the illustrated curve 36 of the threshold value. By dividing the course of the threshold value 36 into a periodic component 30 and a non-periodic component 32, a higher resolution along the travel can be achieved overall with the same memory requirement compared with conventional practice. Since the drive of the actuator with a reduction of the engine speed takes place, the non-periodic portion 32, which corresponds to a translational movement, compared to the periodic component 30, which corresponds to a rotational recurrent component, along the detected number of revolutions n relative to the periodic component on a lower modulation. For this reason, as shown, the resolution of the non-periodic portion with respect to the travel or with respect to the detected number of revolutions n can be reduced compared to the resolution of the periodic component, without the operation of the pinching system per se being appreciably affected. As a result, the memory requirement for passing the functional relationship is further reduced.

LIST OF REFERENCE NUMBERS

1 adjustment

2 control element

3 side door

4 engine

5 steep path sensor

6 control unit

8 control line

10 drive element

11 arrow

13 electronic assembly

14 microprocessor

16 connecting cable

17 connecting cable

18 connection

19 connection

30 periodic share

32 non-periodic share

33 interpolation points

34 interpolation points

36 History Threshold

O standard position

S Stellwegsende

M torque n turns

T period

Claims

claims

1. A method for detecting a Einklemmfalles in the travel of a motor-driven control element (2), in particular a motor vehicle, wherein - adjusting path dependent detects the value of an engine load characterizing operating parameter, the respective current value of the operating parameter, each with a current travel associated, predetermined threshold value , and - when the threshold value is exceeded or fallen below by the current value of the operating parameter, the motor (4) is switched off and / or driven in a reversing manner, characterized in that the threshold associated with the travel by means of a periodic component (30) of a travel path along the travel path functional relationship is determined.

2. The method according to claim 1, characterized in that the functional relationship is learned from a pinch-free course of the operating parameter.

3. The method according to claim 1 or 2, characterized in that the associated threshold value by superposition of the periodic component

(30) is determined with a non-periodic portion (32) of the functional relationship.

4. The method according to claim 3, characterized in that the periodic Anteii (30) by a recurring rotation portion and the non-periodic portion (32) is given by a translation portion of the actuator.

5. The method according to claim 3 or 4, characterized in that the periodic portion (30) of the functional relationship to s the non-periodic portion (32) with a higher resolution with respect to the

Stellwegs is given.

6. The method according to any one of the preceding claims, characterized in that o as an input variable for the functional relationship, a relative number of revolutions (n) with respect to a standard position of the actuating element (2) is used.

7. adjusting device for adjusting an actuating element (2), in particular of a motor vehicle, with an actuating element (2), with a motor (4) for driving the

Control element (2), with a travel sensor (5) and with the motor (4) and with the travel sensor (5) connected control unit (6), characterized in that the control unit (6) for detecting a Einklemmfalles means of the method one of the preceding claims is set up.