WO2017167908A1 - Procédé pour déterminer l'angle de rotation dans un moteur électrique - Google Patents

Procédé pour déterminer l'angle de rotation dans un moteur électrique Download PDF

Info

Publication number
WO2017167908A1
WO2017167908A1 PCT/EP2017/057589 EP2017057589W WO2017167908A1 WO 2017167908 A1 WO2017167908 A1 WO 2017167908A1 EP 2017057589 W EP2017057589 W EP 2017057589W WO 2017167908 A1 WO2017167908 A1 WO 2017167908A1
Authority
WO
WIPO (PCT)
Prior art keywords
signal
sensor
electric motor
output
filter
Prior art date
Application number
PCT/EP2017/057589
Other languages
German (de)
English (en)
Inventor
Wolfgang Schulter
Original Assignee
Hochschule Ravensburg-Weingarten
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 Hochschule Ravensburg-Weingarten filed Critical Hochschule Ravensburg-Weingarten
Publication of WO2017167908A1 publication Critical patent/WO2017167908A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • 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
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • 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

Definitions

  • the invention relates to a method for determining the angle of rotation in an electric motor, in particular in an electric motor of a window lift of a motor vehicle, comprising the following steps: a) detecting at least one operating variable of the electric motor by a sensor, b) outputting the detected signal by the sensor, and c) evaluating the output signal.
  • Window regulators lies in the realization of a pinch protection.
  • the function of the anti-trap protection is to stop and / or reverse the closing movement of the window when the closing force or clamping force exceeds a certain limit.
  • the limit value of the permissible clamping force of the window depends on its position: as the risk of entrapment only in the range of certain opening widths of the
  • the window must enter a rubber seal to its
  • the drive of the window is usually by an electric motor via a
  • self-locking gear such as a worm gear
  • both the determination of the clamping force and the determination of the position of the window takes place indirectly on the basis of the evaluation of operating variables of the electric motor.
  • the indirect determination of the clamping force is often carried out in particular due to the high cost of a direct determination by force sensors or torque sensors.
  • the current strength of the electric motor can provide conclusions about the clamping force.
  • the angular position of the electric motor can provide conclusions about the position of the window.
  • An electric motor drive for the window regulator of a motor vehicle is known, for example, from EP 0 359 853 B1.
  • the drive described there has a pinch protection.
  • the speed and the direction of rotation of the electric motor are detected by Hall sensors.
  • the data collected by the Hall sensors are transmitted through leads from the drive housing
  • EP 0 359 853 B1 contains no information about the mode of operation of the sensors and the evaluation of the data.
  • EP 0 714 052 B2 and EP 0 865 137 B1 disclose methods for monitoring or controlling the closing operation of windows and sliding roofs.
  • the clamping force is derived from the operating state of the engine taking into account all engine parameters.
  • the sensors used are digital sensors that measure the operating variables in equidistant
  • phase-shifted signals that are evaluated in an electronic unit and form the basis for the direction of rotation detection. Since different signal patterns are formed depending on the direction of rotation, the direction of rotation can be reliably determined.
  • the use of sensors that output digital signals has several disadvantages. One disadvantage is that errors inevitably arise in the conversion of originally analog signals into digital signals (e.g.
  • a continuous-value signal must be converted into a discrete-value signal because, in contrast to an analog signal, a digital signal can only assume certain stepped values (quantization levels) , ie the use of discrete values, is therefore associated with a rounding that causes an error.
  • the invention has the object, the above-mentioned and previously described method to design and
  • step b) of the sensor an analog signal is output.
  • the method is used to determine the angle of rotation in an electric motor.
  • the electric motor may be, for example, the electric motor of a
  • the method comprises the following steps: a) detecting at least one operating variable of the electric motor by a sensor, b) outputting the detected signal by the sensor, and c) evaluating the output signal.
  • step a) can be
  • the magnetic field of the electric motor can be detected.
  • Operating variables are sometimes referred to in professional circles as operating parameters.
  • an analog signal is output by the sensor in step b).
  • the output signal is the signal which can be tapped off at the output of the sensor.
  • step b) a time-continuous and value-continuous signal is output by the sensor.
  • Time-continuous signals have the advantage that even very fast
  • the senor is an analogue Hall sensor.
  • Hall sensors use the Hall effect to measure magnetic fields.
  • the Hall effect causes the Hall sensor to have a
  • the method can be advantageously supplemented by the following step: ba) converting the analog signal output by the sensor into a digital signal.
  • the conversion into a digital signal has the advantage that in subsequent process steps (for example filtering, evaluation) digital components can be used.
  • step ba a digital signal with a quantization of at least 2 bits, in particular of at least 8 bits, be generated.
  • Common microcontrollers typically provide integrated 10-bit or 12-bit AD converters.
  • the method can be advantageously supplemented by the following step: bb) filtering of the signal output by the sensor.
  • step: bb) filtering of the signal output by the sensor Although the output of analog signals provides a high level of information, there is a risk that the unfiltered signal will contain errors, for example due to noise.
  • the magnetic field for example, by the
  • step bb) can be carried out according to an embodiment of the method with a low-pass filter or with a band-pass filter.
  • Low-pass filters are those filters that allow signal components with frequencies below their cut-off frequency to pass approximately unattenuated, while attenuating portions with higher frequencies.
  • a bandpass however, a filter is called, which allows only signals of a frequency band pass. The frequency ranges below and above the passband are blocked or significantly attenuated. Since many disturbances in electric motors are high-frequency, low-pass filters provide or
  • a further embodiment of the method provides that the filtering takes place with a variable transfer function, in particular with a
  • Transfer function which depends on the engine speed. Since many disturbances in electric motors - for example disturbances by commutation - of the
  • a particularly effective filtering can be achieved by taking into account the engine speed.
  • the dependence can for example be designed such that the cutoff frequency of the filter - for example, the Low pass filter - adapted to the engine speed (eg equated to the engine speed).
  • Analog filters have the advantage that the analog signal output by the sensor can be processed directly.
  • digital filters require a conversion of the analog signal into a digital signal, they are characterized by smaller fluctuations as well as the possibility of
  • a filter known from EP 0 901 225 B1 can be used as a digital filter.
  • step bb) and / or in step c) the signal of a single sensor is filtered and / or evaluated. Due to the high information content of the analog output signal of the sensor is a single sensor for the determination of the rotation angle
  • step c) the
  • the evaluation of the zero crossings has the advantage, in particular in the case of periodic signals, that the evaluation functions independently of the magnitude of the amplitude of the signal oscillations.
  • the evaluation unit does not need to be adapted to the size of the amplitude.
  • the method can be advantageously supplemented by the following step: d) initiation of certain countermeasures in recognizing a
  • a trapping case can For example, be defined by the presence of certain parameters or operating variables (eg, exceeding a certain motor current in a certain angular position). The introduction of countermeasures in such a pinching case serves to increase safety and compliance with legal requirements.
  • FIG. 1 shows the schematic structure of a system for carrying out the
  • FIG. 2a shows the exemplary signal curve of the unfiltered sensor voltage of FIG
  • FIG. 2b shows the exemplary signal profile of the filtered sensor voltage of FIG.
  • FIG. 2c shows the exemplary profile of the angle of rotation and the rotational speed, which were determined from the signal curve from FIG. 2b.
  • Fig. 1 shows the schematic structure of a system for carrying out the method according to the invention.
  • the system initially comprises a sensor 1, which is an analog Hall sensor.
  • the sensor 1 is preferably arranged in an electric motor of an electric window of a motor vehicle.
  • the system also includes a filter 2, which is a low-pass filter.
  • the system has a detector 3, which is a zero-crossing detector.
  • the system comprises two evaluation units 4, which are a speed detector 4A and a rotation angle detector 4B.
  • the system shown schematically in FIG. 1 may carry out the following procedure:
  • the output signal UHaii of the linear sensor 1 is fed to the filter 2, the cut-off frequency fG of the filter 2 being determined by the system currently being determined by the system
  • Instantaneous speed nDet of the electric motor determined.
  • the instantaneous speed noet is then transmitted again to the filter 2 in order to adapt the transfer function of the filter 2 to the instantaneous rotational speed nDet. For example, the 3 dB
  • Drehwinkelermittler 4B can determine the current angle of rotation ⁇ reliably.
  • FIG. 2 a and FIG. 2 b show exemplary signal profiles of the unfiltered (FIG. 1 a) and the filtered (FIG. 2 b) sensor voltage of the system from FIG. 1.
  • 2c shows the exemplary time profile of the angle of rotation (p (t) and the rotational speed n (t), which were determined from the signal curve from FIG.
  • Waveforms are based on the inclusion of a non-stationary, rotating
  • Magnetic field such as occurs during startup of an electric motor, by a linear Hall sensor - for example, the sensor 1 of the system of FIG. 1.
  • FIG. 2a shows the time profile of the unfiltered output signal ⁇ Haii (t).
  • FIG. 2 c shows the time profile of the filtered output signal UFuetter (t), in which no disturbance is recognizable.
  • the time profile shown in FIG. 2 c is obtained by the following steps: First, the filter 2, which is, for example, a digital one
  • controllable low-pass filter is tuned to a cut-off frequency fG near zero.
  • the filtered and shown in Fig. 2b curve of the output signal ÜFuter (t) of the filter 2 is obtained even before the start of

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

L'invention concerne un procédé pour déterminer l'angle de rotation (φ) dans un moteur électrique, notamment un moteur électrique d'un lève-vitre d'un véhicule à moteur, comportant les étapes suivantes : a) détection d'au moins une caractéristique de fonctionnement du moteur électrique au moyen d'un capteur (1), b) émission du signal détecté (UHall) au moyen du capteur (1), et c) évaluation du signal émis (UHall). Pour permettre une détermination fiable de l'angle de rotation même dans des conditions de fonctionnement difficiles, le capteur (1) émet un signal analogique (UHall) à l'étape (b).
PCT/EP2017/057589 2016-03-30 2017-03-30 Procédé pour déterminer l'angle de rotation dans un moteur électrique WO2017167908A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016105797.5A DE102016105797A1 (de) 2016-03-30 2016-03-30 Verfahren zur Bestimmung des Drehwinkels bei einem Elektromotor
DE102016105797.5 2016-03-30

Publications (1)

Publication Number Publication Date
WO2017167908A1 true WO2017167908A1 (fr) 2017-10-05

Family

ID=58632929

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/057589 WO2017167908A1 (fr) 2016-03-30 2017-03-30 Procédé pour déterminer l'angle de rotation dans un moteur électrique

Country Status (2)

Country Link
DE (1) DE102016105797A1 (fr)
WO (1) WO2017167908A1 (fr)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0359853B1 (fr) 1988-09-21 1993-02-03 Siemens Aktiengesellschaft Entraînement à moteur électrique en particulier servo d'entraînement pour un véhicule
EP0714052B1 (fr) 1994-11-26 1999-02-10 TEMIC TELEFUNKEN microelectronic GmbH Méthode de surveillance de l'ouverture et de la fermeture dans un système comprenant au moins un élément mobile électro-motorisé
EP0865137B1 (fr) 1997-03-13 2000-05-24 TEMIC TELEFUNKEN microelectronic GmbH Procédé pour controller la procédure de fermeture de dispositifs de fermeture avec au moins un membre actionné par moteur électrique
US20020190679A1 (en) * 2000-10-27 2002-12-19 Hubert Lamm Method for controlling an adjustment process of a part
DE10218881A1 (de) * 2002-04-26 2003-11-06 Valeo Motoren & Aktuatoren Verfahren und Einrichtung zur Bestimmung der Drehzahl und/oder Drehrichtung und/oder Position der Welle eines Elektromotors
EP0901225B1 (fr) 1997-09-02 2007-07-04 Conti Temic microelectronic GmbH Dispositif de filtrage numérique accordable
US20130335063A1 (en) * 2012-06-15 2013-12-19 Sick Stegmann Gmbh Position encoder
US20150160255A1 (en) * 2013-12-06 2015-06-11 Denso Corporation Rotation speed detection apparatus
EP2975364A1 (fr) * 2014-07-14 2016-01-20 ams AG Dispositif capteur de position et procédé pour fournir un signal de position filtré

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0359853B1 (fr) 1988-09-21 1993-02-03 Siemens Aktiengesellschaft Entraînement à moteur électrique en particulier servo d'entraînement pour un véhicule
EP0714052B1 (fr) 1994-11-26 1999-02-10 TEMIC TELEFUNKEN microelectronic GmbH Méthode de surveillance de l'ouverture et de la fermeture dans un système comprenant au moins un élément mobile électro-motorisé
EP0865137B1 (fr) 1997-03-13 2000-05-24 TEMIC TELEFUNKEN microelectronic GmbH Procédé pour controller la procédure de fermeture de dispositifs de fermeture avec au moins un membre actionné par moteur électrique
EP0901225B1 (fr) 1997-09-02 2007-07-04 Conti Temic microelectronic GmbH Dispositif de filtrage numérique accordable
US20020190679A1 (en) * 2000-10-27 2002-12-19 Hubert Lamm Method for controlling an adjustment process of a part
DE10218881A1 (de) * 2002-04-26 2003-11-06 Valeo Motoren & Aktuatoren Verfahren und Einrichtung zur Bestimmung der Drehzahl und/oder Drehrichtung und/oder Position der Welle eines Elektromotors
US20130335063A1 (en) * 2012-06-15 2013-12-19 Sick Stegmann Gmbh Position encoder
US20150160255A1 (en) * 2013-12-06 2015-06-11 Denso Corporation Rotation speed detection apparatus
EP2975364A1 (fr) * 2014-07-14 2016-01-20 ams AG Dispositif capteur de position et procédé pour fournir un signal de position filtré

Also Published As

Publication number Publication date
DE102016105797A1 (de) 2017-10-05

Similar Documents

Publication Publication Date Title
EP2659318B1 (fr) Procédé et dispositif destinés à fournir une information de déplacement, notamment pour détecter le blocage d'un système de fermeture
EP0857368B1 (fr) Procede de commande d'un systeme d'entrainement a courant continu
EP1745336B1 (fr) Ensemble circuit et procede pour commander et/ou reguler electriquement le mouvement d'une unite commandee electriquement
DE102006059145B4 (de) Verfahren und Einrichtung zum Ermitteln einer von einem Elektromotor hergeleiteten Antriebskraft
DE102007019798A1 (de) Verfahren zum Steuern eines elektrischen Türantriebes
DE102006033022A1 (de) Verfahren und Vorrichtung zum Schutz gegen Einklemmen bei einem motorbetriebenen Schließsystem
EP1292459B1 (fr) Procede pour la determination de la position d'un element entraine par l'arbre d'entrainement d'un moteur a courant continu
EP0561361B1 (fr) Procédé et dispositif pour commander des actionneurs de porte
EP1287610B1 (fr) Procede pour la determination de la position d'un element entraine par l'arbre d'entrainement d'un moteur a courant continu
WO2009065699A2 (fr) Procédé et dispositif de détermination de la position d'un élément de fermeture mobile d'un véhicule
DE3433204C2 (fr)
DE202008004451U1 (de) Verstelleinrichtung
EP2102725B1 (fr) Procédé et dispositif pour suivre la position d'un élément entraîné par un moteur électrique
DE3929986A1 (de) Schaltvorrichtung fuer elektromotorisch angetriebene schliessteile von kraftfahrzeugen
WO2017167908A1 (fr) Procédé pour déterminer l'angle de rotation dans un moteur électrique
WO2006086944A1 (fr) Procede et dispositif pour determiner la position d'un entrainement de reglage
EP1745337B1 (fr) Procede et circuit pour la commande et/ou la regulation electrique du mouvement d'un groupe commande electroniquement
EP2096414B1 (fr) Procédé et dispositif destinés à la détermination de la position de rotation d'un élément rotatif
DE102015226108A1 (de) Einklemmschutzverfahren zur Durchführung bei einer motorischen Stellvorrichtung für ein verstellbares Fahrzeugteil sowie zugehörige Stellvorrichtung
WO2006086956A1 (fr) Systeme de toit a element de fermeture reglable pour vehicules
WO2017198421A1 (fr) Procédé permettant de faire fonctionner un dispositif de fermeture et dispositif de fermeture
DE102009008366B3 (de) Elektromotorisches Schließsystem mit Einklemmschutz
DE10351232B4 (de) Verfahren zur Blockerkennung bei einem von einem Elektromotor angetriebenen System
DE3719956A1 (de) Einrichtung und verfahren zur blockiererkennung
DE102011013419B4 (de) Verfahren zum Bestimmen der Position eines durch die Antriebswelle eines Gleichstrommotors angetriebenen Elements

Legal Events

Date Code Title Description
NENP Non-entry into the national phase

Ref country code: DE

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

Ref document number: 17719493

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 17719493

Country of ref document: EP

Kind code of ref document: A1