WO2011012376A1 - Procédé et dispositif de détection de pincement à commande temporelle - Google Patents

Procédé et dispositif de détection de pincement à commande temporelle Download PDF

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Publication number
WO2011012376A1
WO2011012376A1 PCT/EP2010/058761 EP2010058761W WO2011012376A1 WO 2011012376 A1 WO2011012376 A1 WO 2011012376A1 EP 2010058761 W EP2010058761 W EP 2010058761W WO 2011012376 A1 WO2011012376 A1 WO 2011012376A1
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WO
WIPO (PCT)
Prior art keywords
max
time interval
maximum time
motor
angular velocity
Prior art date
Application number
PCT/EP2010/058761
Other languages
German (de)
English (en)
Inventor
Patrick Komaromi
Roman Morawek
Original Assignee
Continental Automotive 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 Continental Automotive Gmbh filed Critical Continental Automotive Gmbh
Publication of WO2011012376A1 publication Critical patent/WO2011012376A1/fr

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
    • H02H7/0851—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load for motors actuating a movable member between two end positions, e.g. detecting an end position or obstruction by overload signal
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
    • H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
    • H02H7/093—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against increase beyond, or decrease below, a predetermined level of rotational speed

Definitions

  • the invention relates to a method and a device for time-controlled Einklemmerkennung in an electric motor having adjustment for Novahe- ber, sunroofs or the like., A related to a current adjustment value is monitored for exceeding a predetermined reference value.
  • a pinch protection system is provided to limit an excess force generated by the adjustment, which usually includes an electric motor.
  • This anti-pinch protection system ideally detects jamming of an object, e.g. the arm of a person.
  • changes in position of the adjusting device (or of the engine) or, at predetermined times, currently determined adjusting force values or correlated variables are compared with a predetermined reference force value (threshold value).
  • a suitably programmed microcontroller which periodically executes a pinch detection algorithm; at the end there is a decision "Pinching not recognized” or "Pinching detected”.
  • the anti-jamming algorithm is executed in a position-controlled manner, wherein, for example, in the case of a Hall sensor assigned to the motor or a magnetic wheel on the motor shaft with each Hall pulse Algorithm is started. Often such a system is also called speed-based anti-jamming protection.
  • the anti-jamming algorithm can also be executed in a time-controlled manner, with the algorithm, ie computation, being started and executed at fixed predetermined times, for example every two milliseconds.
  • Such a system is called time-based anti-jamming protection, in which case the motor current is generally the basic parameter for the anti-jamming calculation (in contrast to the motor speed).
  • it is disadvantageous that a fixed, discrete time for starting the algorithm calculation is given; however, no interference detection is possible between every two calculations. This can now lead to situations where, between two such times, the optimum force threshold for the triggering is exceeded by the current adjustment force, and this exceeding is recognized only too late, the next time the algorithm is started.
  • the force threshold must then be set correspondingly lower in order to secure trapping as securely as possible even with strong increases in the force curve between two algorithm start times detect, and without that an optimal triggering threshold, eg at 70 N, is exceeded. But if now the
  • Threshold value is set comparatively low, then the anti-pinch protection system tends to false triggering in Einklemmerkennung.
  • This problem has not been solved in the prior art, and the force variations with the aforementioned adverse effects have been accepted in practice. It is an object of the invention to remedy this situation and to provide a method and a device for time-controlled Einklemmerkennung, as stated above, to achieve the simplest and most efficient way a secure Einklemmerkennung.
  • the invention is based on the idea, instead of - as previously provided in the prior art - at fixed predetermined times or positions, e.g. at each pulse of a Hall sensor, perform a force calculation to provide variable time intervals for pinch detection, i. reverse the approach by using the triggering
  • Threshold that is generally the reference value, a respective maximum period of time is calculated within which, for example, the next pulse of the Hall sensor would occur; If this is not done, jamming is detected.
  • the invention thus provides a method and a device as defined in the independent claims.
  • Advantageous embodiments and further developments are specified in the dependent claims.
  • variable time intervals are determined on the basis of the engine rotational speed or angular velocity, for example with the aid of the engine shaft, instead of being fixed as in the prior art
  • time pulses in particular Hall pulses
  • the engine angular velocity which determines the time intervals related to the angular velocity of the engine-in a variable form.
  • an associated maximum time interval is calculated at the beginning, based on the maximum permissible force, ie the reference value, or in accordance therewith on the basis of the permissible minimum angular velocity, which is related to this reference value.
  • the maximum time interval expires earlier than the respective "reference" time interval related to the instantaneous motor angular velocity, then an entrapment situation is decided maximum time interval, the reference time interval, for example, the time between two Hall pulses expires, ie in the given example, the next Hall pulse already occurs, then the instantaneous adjusting force is smaller than the maximum allowable closing force, so the reference value, and the adjustment is continued.
  • the maximum time intervals are calculated on the basis of the measurement of the motor voltage, since this voltage measurement can be accomplished easily.
  • the maximum time intervals may be particularly simple based on the relationship
  • T max is the respective maximum time interval
  • F max is a predetermined force reference value and k] _, k 2 , .... system constants
  • a microcontroller timer can now preferably be configured in such a way that, when the maximum permissible time duration T max (or the maximum permissible reverb time) has expired Pulse duration)
  • T max the maximum allowable time or pulse duration T max , with the timer of the microcontroller is reconfigured. This happens regularly with each Hall pulse or generally with each new reference time interval (for example, can also pacitive or optical encoders are used to determine the angular speed of the motor); the exceptional case arises when jamming is present - in this case, as mentioned, the sequence of T max is triggered by a timer interrupt, thereby stopping the motor or initiating its reversing.
  • Figure 1 is a diagram showing the process of a Einklemmerkennung according to the prior art, wherein in the graph, the force F in Newton (N) over time in milliseconds (ms) is plotted.
  • FIG. 2 shows a block diagram of a drive device, for example for a window lifter or a sunroof, in connection with a device according to the invention
  • FIG. 3 is a flowchart for illustrating the procedure according to the invention.
  • Fig. 4 in a diagram closing force F over time t the procedure in the inventive technique.
  • FIG. 1 shows a diagram which shows a profile of the clamping force F [N] over the time t [ms] in the case of a clamping operation in an adjusting device of a window lifter or sliding roof of a motor vehicle with regard to anti-pinching protection according to the prior art illustrated.
  • ⁇ t for example every two milliseconds
  • the predetermined anti-jamming algorithm is carried out in order to calculate the respective closing force F and to compare it with a predetermined threshold value or reference value F max .
  • .DELTA.t shown by way of example in FIG.
  • the invention is based on the idea of calculating a maximum time interval based on the triggering force in response to the engine angular velocity ⁇ , for example with each pulse of an angular velocity sensor associated with the engine, in particular a Hall sensor. within which the next pulse of the angular velocity sensor, eg Hall sensor, must occur during normal operation, so that a decision is not made on a pinching situation.
  • This maximum time interval T max can be loaded into a timer of a microcontroller, as will be explained in more detail below with reference to FIG.
  • a timer If the use of a timer is disadvantageous for software-technical reasons, it can be checked at position-controlled anti-trap systems at defined time intervals (eg 2 ms) as to whether the maximum time interval T max has already expired. In the case of expiration pinching is detected.
  • This approach corresponds to the prior art described in time-controlled systems, but is an improvement in position-controlled systems, since the distance between two position events (in particular pulses of the Hall sensor) is often - especially in the pinching situation - much larger than this period. Therefore, this approach does not achieve the optimum trip point as when using a timer, but less
  • the maximum permissible closing force F max corresponds to the legal requirement of, for example, 100 N or an underlying target value of the vehicle manufacturer (eg 70 N). Additive forces such as friction on the seals have to be taken into account, which can, for example, increase the limit value to 90 N again. In any case, this is a given and thus known size.
  • a microcontroller timer is now configured in such a way that an interrupt would be triggered when the maximum permissible Hall pulse duration T max expires.
  • the following Hall pulse will occur before this expiration of T max , ie the time interval T related to the angular velocity co will expire, since there is no pinching and the instantaneous adjusting force F is less than F max .
  • the maximum pulse duration T max is calculated again at the next pulse in order to reconfigure the timer. This happens regularly at each
  • Hall pulse generally: measuring pulse. The exception is the case of pinching.
  • a timer interrupt is triggered and reversing of the motor is initiated.
  • Fig. 2 is a device 1 for timed Einklemmerkennung according to the procedure described above in connection with a drive device for adjusting a window regulator, sliding roof or the like.
  • the motor 2 is assigned a code wheel, for example a magnetic wheel 4, with which a Hall sensor 5 (or, in the case of another code wheel, a corresponding other sensor) cooperates.
  • This sensor 5 (hereinafter, for the sake of simplicity, without limitation, is always of a Hall sensor 5 spoken), for example, gives off N Hall pulses per motor revolution, these Hall pulses on the angular velocity ⁇ of the motor 2 related time intervals T (see Fig. 4) define.
  • the Hall pulses are detection means 6 for determining whether these time intervals T are each shorter than an associated, respectively recalculated maximum time interval T max , fed, these detection means 6 may be formed for example by a microcontroller. These detection means (or the microcontroller 6) contain (or contain) a timer 7 and, upstream of it, means or a calculation module 8 for calculating the respective maximum time interval T max . On the other hand, the (Hall) sensor 5 forms means 9 for monitoring the motor angular velocity ⁇ and determining related time intervals T.
  • the maximum time interval T max is calculated in the calculation module 8 according to the above-mentioned relationship for T max , where the value the motor voltage U 1110 -I 1 of voltage measuring means 10, which are connected for example to the terminals of the motor 2, is supplied. (However, it is also possible, for example, to use the supply voltage of the electronic module for this purpose, which approximately corresponds to the voltage at the motor.)
  • An input unit 11 is also provided for fixing fixed values, such as the respective reference force F max or the system constants k] _, k2
  • the system constants k] _, k2 on the basis of the other constants mentioned in the above relationships, such as armature resistance R, motor constant k ⁇ , transmission ratio ü, radius r of the cable winding, etc
  • the system constants k] _ and k2 can be predicted empirically in advance Startup of the system to determine and store, so that the unit 11 then has these sizes as well as on the respectively input reference value for
  • the calculation module 8 thus calculates the maximum time interval T max for each time interval T or for each Hall pulse on the basis of, in particular, the measured motor voltage U 1nQ t and the parameters F max , k] _, k2, and the timer then becomes 7 is set via a connection 12, ie the maximum time interval T max is loaded into the timer 7. If now the next Hall pulse from the Hall sensor 5 is delivered in time, so this is supplied via a reset input to the timer 7, there is a new calculation of the maximum time interval T max in the module 8, and the timer 7 is set again.
  • the maximum time interval T max is calculated. This is followed, according to block 22, by the configuration of the timer 7, and according to a decision field 23, it is then determined whether the momen- tane time interval T, specifically the next Hall pulse, expires earlier (or occurs earlier) than the maximum time interval T max expires. If so, the system returns to block 21 and the procedure described is repeated. This is generally done until the motor is stopped at the end of the movement without jamming. However, if jamming occurs, query field 23 will indicate that T max expires before, ie timer 7 expires before the next Hall pulse occurs. In this case, a jamming is detected, see block 24, and according to block 25, the reversing of the motor 2 is initiated.
  • FIG. 4 in a diagram comparable to that of FIG. 1, but without dimensions, a force profile 30 is illustrated during an adjusting movement, for example, of a window lifter or sunroof, monitoring of pinching.
  • a force profile 30 is illustrated during an adjusting movement, for example, of a window lifter or sunroof, monitoring of pinching.
  • the last Hall pulse occurred at the Hall sensor 5 (FIG. 2), whereby, triggered, the associated maximum time interval T max was calculated as described. If the next Hall pulse at time t] _, this results in the on

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  • Power-Operated Mechanisms For Wings (AREA)
  • Window Of Vehicle (AREA)

Abstract

L'invention concerne la détection de pincement à commande temporelle dans un dispositif d'actionnement de lève-vitre, de toit ouvrant ou similaires, comportant un moteur électrique (2), une valeur correspondant à une force d'actionnement courante (F) étant surveillée en ce qui concerne le dépassement d'une valeur de référence prédéfinie. Selon l'invention, les intervalles temporels (T) correspondant à la vitesse angulaire momentanée du moteur (ω) produite lors du fonctionnement du moteur (2), sont déterminés en continu, et pour chaque intervalle temporel, un intervalle temporel maximal correspondant (Tmax) est calculé sur la base de la vitesse angulaire minimale admissible (ω min) correspondant à la valeur de référence. Lorsque l'intervalle temporel maximal (Tmax) est atteint ou dépassé par l'intervalle temporel (T) correspondant à la vitesse angulaire momentanée du moteur (ω), un pincement est détecté.
PCT/EP2010/058761 2009-07-31 2010-06-22 Procédé et dispositif de détection de pincement à commande temporelle WO2011012376A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009035449.2 2009-07-31
DE200910035449 DE102009035449B3 (de) 2009-07-31 2009-07-31 Verfahren und Vorrichtung zur zeitgesteuerten Einklemmerkennung

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Publication Number Publication Date
WO2011012376A1 true WO2011012376A1 (fr) 2011-02-03

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013178388A1 (fr) * 2012-05-30 2013-12-05 C. Rob. Hammerstein Gmbh & Co. Kg Dispositif et procédé permettant de faire fonctionner un dispositif de réglage électromécanique
CN114177027A (zh) * 2021-12-22 2022-03-15 深圳市倍轻松科技股份有限公司 一种按摩器控制方法及其相关设备

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013220515A1 (de) 2013-10-11 2015-04-16 Continental Automotive Gmbh Verfahren und System zur Ermittlung einer Motorkonstante eines elektrischen Motors
DE102016212046A1 (de) 2016-07-01 2018-01-04 Continental Automotive Gmbh Verfahren und Vorrichtung zur Erkennung einer von einem mit einem elektrischen Motor elektrisch verstellbaren Teil auf einen ggf. daran anliegenden Körper ausgeübten Kraft
DE102016213761A1 (de) 2016-07-27 2018-02-01 Continental Automotive Gmbh Verfahren und Vorrichtung zur Erkennung einer Einklemmung und/oder Schließkraftbegrenzung eines durch einen elektrischen Motor bewegbaren Teils
DE102018101069A1 (de) 2018-01-18 2019-07-18 Webasto SE Vorrichtung und Verfahren zur Konfiguration eines Einklemmerkennungssystems

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EP1017145A2 (fr) * 1998-12-28 2000-07-05 Alps Electric Co., Ltd. Méthode de détection d'obstacles utilisée dans un dispositif d'entraínement de lève-glace et dispositif d'entraínement de lève-glace
WO2002095925A1 (fr) * 2001-05-21 2002-11-28 Leopold Kostal Gmbh & Co. Kg Procede pour determiner la position de rotation de l'arbre de transmission d'un moteur a courant continu commute
US20030222610A1 (en) * 2002-05-31 2003-12-04 Whinnery Joseph P. Motor speed-based anti-pinch control apparatus and method with endzone ramp detection and compensation
DE102004002127A1 (de) * 2004-01-14 2005-08-18 Brose Fahrzeugteile Gmbh & Co. Kg, Coburg Verfahren und Vorrichtung sowie Steuerungsprogramm und Computerprogramm-Produkt zur Steuerung einer elektrischen Antriebseinrichtung

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DE19539577B4 (de) * 1995-10-25 2007-04-05 Robert Bosch Gmbh Verfahren zum Überwachen des Bewegungswegs eines Teils
DE10108975A1 (de) * 2001-02-23 2002-09-05 Conti Temic Microelectronic Verfahren zur Steuerung eines Elektromotors

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1017145A2 (fr) * 1998-12-28 2000-07-05 Alps Electric Co., Ltd. Méthode de détection d'obstacles utilisée dans un dispositif d'entraínement de lève-glace et dispositif d'entraínement de lève-glace
WO2002095925A1 (fr) * 2001-05-21 2002-11-28 Leopold Kostal Gmbh & Co. Kg Procede pour determiner la position de rotation de l'arbre de transmission d'un moteur a courant continu commute
US20030222610A1 (en) * 2002-05-31 2003-12-04 Whinnery Joseph P. Motor speed-based anti-pinch control apparatus and method with endzone ramp detection and compensation
DE102004002127A1 (de) * 2004-01-14 2005-08-18 Brose Fahrzeugteile Gmbh & Co. Kg, Coburg Verfahren und Vorrichtung sowie Steuerungsprogramm und Computerprogramm-Produkt zur Steuerung einer elektrischen Antriebseinrichtung

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013178388A1 (fr) * 2012-05-30 2013-12-05 C. Rob. Hammerstein Gmbh & Co. Kg Dispositif et procédé permettant de faire fonctionner un dispositif de réglage électromécanique
US9513608B2 (en) 2012-05-30 2016-12-06 Johnson Controls Metals & Mechanisms GmbH & Co. KG Device and method for operating an electromechanical adjustment device
CN104396108B (zh) * 2012-05-30 2018-01-09 江森自控金属装置两合公司 用于操作机电调整装置的装置和方法
CN114177027A (zh) * 2021-12-22 2022-03-15 深圳市倍轻松科技股份有限公司 一种按摩器控制方法及其相关设备
CN114177027B (zh) * 2021-12-22 2024-01-19 深圳市倍轻松科技股份有限公司 一种按摩器控制方法及其相关设备

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