WO2019074370A2 - Procédé et dispositif pour fournir des informations sur un déplacement annulaire d'un moteur électrique à courant continu - Google Patents

Procédé et dispositif pour fournir des informations sur un déplacement annulaire d'un moteur électrique à courant continu Download PDF

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Publication number
WO2019074370A2
WO2019074370A2 PCT/NL2018/050673 NL2018050673W WO2019074370A2 WO 2019074370 A2 WO2019074370 A2 WO 2019074370A2 NL 2018050673 W NL2018050673 W NL 2018050673W WO 2019074370 A2 WO2019074370 A2 WO 2019074370A2
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WO
WIPO (PCT)
Prior art keywords
pulse
electromotor
time period
expected
determining
Prior art date
Application number
PCT/NL2018/050673
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English (en)
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WO2019074370A3 (fr
Inventor
Jinku HU
Original Assignee
Mci (Mirror Controls International Netherlands B.V
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
Priority claimed from NL2019723A external-priority patent/NL2019723B1/en
Application filed by Mci (Mirror Controls International Netherlands B.V filed Critical Mci (Mirror Controls International Netherlands B.V
Priority to JP2020520507A priority Critical patent/JP2020537142A/ja
Priority to KR1020207013608A priority patent/KR102664789B1/ko
Priority to US16/755,347 priority patent/US11592456B2/en
Priority to EP18812345.9A priority patent/EP3695232A2/fr
Priority to CN201880074951.XA priority patent/CN111356929A/zh
Publication of WO2019074370A2 publication Critical patent/WO2019074370A2/fr
Publication of WO2019074370A3 publication Critical patent/WO2019074370A3/fr
Priority to JP2022129309A priority patent/JP2022163189A/ja
Priority to US17/988,496 priority patent/US11808782B2/en
Priority to JP2022198586A priority patent/JP7321350B2/ja

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/489—Digital circuits therefor

Definitions

  • the various aspects and embodiments thereof relate to providing information on annular displacement of a brushed DC electromotor based on processing of variations in energy supply.
  • Annular speed of the rotor of an electromotor may be determined by counting variations in energy supply, in supply current, voltage or both. By counting the variations, like ripples, the amount of revolutions of the rotor may be determined. With that, an amount of displacement of aan actuator coupled to the rotor, for example by means of a drive train, may be determined.
  • Patent application WO2016/080834 provides information on this matter.
  • a first aspect provides a method on an annular position of a brushed DC electromotor.
  • the method comprises monitoring a supply current for obtaining an indicator of an average annular speed, based on the indicator, determining an expected time period between two consecutive pulses in the supply current, obtaining a counted pulse amount by counting pulses in the supply current and determining a measured time period between two counted consecutive pulses.
  • the method further comprises adjusting the count in at least one of the following ways to obtain an adjusted counted pulse amount: if the measure time period is less than the expected time period by more than a first p re-determined threshold, adjust the counted pulse amount by not counting the second pulse and if the measured time period is more than the expected time period by more than a second pre-determined threshold, adjust the counted pulse amount by adding one.
  • no pulse may occur where a pulse is expected or no pulse is detected at a moment a pulse is expected.
  • the time between two consecutive pulses is usually twice as long or at least significantly longer than expected.
  • the counted amount of pulses is corrected by adding one to the counted amount of pulses.
  • the indicator is at least one of a supply current, a supply voltage and the ambient temperature
  • the method further comprising looking up, in a reference file, an annular speed corresponding to the at least one of the supply, and the supply voltage and the ambient temperature.
  • Electromotors have specific characteristics with respect to current and speed vs. torque. Roughly, speed and torque are related in a negative proportional relation and current and torque are related in a positive proportional relation. The point where the torque-speed curve and the torque-current curve meet one another is the working point of the
  • a current level provides information on the rotational speed.
  • an expected amount of pulses may be determined that is to be counted for one revolution of the rotor.
  • the indicator is a time related factor providing an indication of an average time period between two consecutive pulses.
  • a proper indication is provided when a next pulse may be expected. Should a pulse occur sooner than that, count can be adjusted. Alternatively, or additionally, other time related indicators may be used.
  • a second embodiment provides a method of determining a position of an actuable object arranged to be driven by a brushed DC electromotor.
  • the method comprises the method according to the first aspect and, based on the adjusted counted pulse amount, determining a position of the actuable object.
  • the counted amount also provides a proper indication of an actuable element coupled to the rotor of the electromotor, either directly or via a drive train.
  • An embodiment comprises obtaining an initial position of the actual object and determining the position of the actuable object based on the adjusted counted pulse amount and the initial position of the actual object. By counting the amount of pulses, the displacement may be calculated. By adding the displacement to the initial position, the new position may be determined.
  • Another embodiment comprises driving the actuable object by providing the electromotor with a supply current and monitoring the supply current. If the waveform of the supply current complies with at least one pre-determined condition, it is determined the actuable object has reached an outer position.
  • This embodiment provides information on an outer position. This information may be used for calibration of the actuable element or to stop the electromotor for preventing damage.
  • a third embodiment provides a device for providing information on an annular speed of a DC electromotor.
  • the device comprises a monitoring module arranged to monitor a supply current for obtaining an indicator of an average annular speed and a processing module.
  • the processing module is arranged to, based on the indicator, determine an expected time period between two consecutive pulses in the supply current, obtain an counted pulse amount by counting pulses in the supply current, determine a measured time period between two counted consecutive pulses.
  • the processing unit is further arranged to adjust the count in at least one of the following ways to obtain an adjusted counted pulse amount: if the measure time period is less than the expected time period by more than a first predetermined threshold, adjust the counted pulse amount by subtracting one and if the measured time period is more than the expected time period by more than a second pre-determined threshold, adjust the counted pulse amount by adding one.
  • a fourth aspect provides a control system for actuating an actuable element of a motorised vehicle.
  • the system comprises the device according to the third aspect, a DC electromotor and a drive train for coupling the DC electromotor to the actuable element.
  • the drive train comprises a first transmission element connected to the DC electromotor; and a second transmission element arranged to be connected to the actuable element.
  • the first transmission element and the second transmission element are arrange to engage with one another such that the first transmission element and the second transmission element move together if a coupling torque between the first transmission element and the second transmission element is below a pre-determined torque level and the first transmission element and the second transmission element slip relative to one another if the coupling torque is above a pre-determined torque level.
  • a fifth aspect provides a rearview mirror module comprising the system according to the fourth aspect and a rearview mirror as the actuable element.
  • a sixth aspect provides a motorised vehicle comprising the control system according to the fourth aspect and the actuable element.
  • Figure 1 shows an electromotor connected to a rear view mirror via a drive train
  • Figure 2 shows a schematic view of a local control element in a vehicle network, connected to a battery and an electromotor.
  • Figure 3 shows a first flowchart depicting a method for adjusting ripple count and accurately determining rotor displacement
  • Figure 4 shows a graph depicting ripple time period vs. time
  • Figure 5 shows a second flowchart depicting an alternative method for determining ripple count
  • Figure 6 shows a second flowchart depicting a method for detection of slip.
  • FIG. 1 shows a DC electromotor 100 that is coupled to a rear view mirror 160 via a drive train 170.
  • the electromotor 100 comprises a housing 102, in which housing 102 a rotor 110 is provided. On the rotor 110, a first conductor 112 and a second conductor 114 are provided. Furthermore, one or more additional conductors are provided on the rotor 110. The conductors are provided for providing a current from the brush contact 116 to the first electromagnets 122 and the second electromagnet 126, provided as coils on the rotor 110. In the housing 102, also a first permanent magnet 124 and a second permanent magnet 128 are provided.
  • the DC electromotor 100 is a commonly known electromotor as generally
  • the drivetrain 170 comprises a slip coupling 130 provided between the rotor 110 and a worm wheel 140.
  • the diivetrain 170 further comprises a toothed wheel or a gear 150 that is preferably provided on an axle 158.
  • the connection between the worm wheel 140 and the gear 150 allows for a signification reduction in rotational speed, preferably in the order or a factor 50.
  • the first slip coupling 130 comprises a first slip part 132 connected to the rotor 100 and a second slip part 134 connected to the worm wheel 140.
  • the first slip part 132 and the second slip part 134 rotate together. If the torque between the worm wheel 140 and the rotor 110 exceeds a pre-determined torque threshold, the second slip part 134 stalls and the first slip part 132 continues to rotate, in which operational state the slip coupling 130 is in slip mode. If the shp couphng 130 goes into slip, usually first the full drive train 170 will stall. Subsequently, the slip coupling 130 will run into slip mode.
  • a second slip coupling is provided in the gear 150.
  • the gear 150 comprises in this embodiment an outer ring 152 and an inner ring 154. Between the inner ring 152 and the outer ring 154, the second slip coupling 156 is provided. The operation of the second slip coupling 156 is similar to that of the first shp coupling 130.
  • the rear view mirror 160 is connected to the inner ring 156.
  • electromotor 100 is used for actuating the rear view mirror 160
  • other actuable parts of a car or other motorised vehicle may be actuated.
  • Such actuable parts may be a full rear view module including mirror and mirror
  • shutters for a grille actuable spoilers or other air guiding flaps, screen wipers, doors, other, or a combination thereof.
  • Figure 2 shows a schematic view of a control system for operating the adjustment system shown by Figure 1.
  • Figure 2 shows a control module 200 for controlling operation of the adjustment system, a battery 220 for providing electrical power to the electromotor 110, a central vehicle control unit 212 that is coupled to the control module 200 via a vehicle bus 214, a button 216 or a set of buttons as a user input unit and the adjustment system 180.
  • the vehicle bus 214 may operate in accordance with the CAN protocol, the LIN protocol, another protocol or a combination thereof.
  • the battery 220 is shown as coupled to the control module 200 and it is coupled to the central vehicle control unit 212 as well.
  • the button 216 is connected to the central vehicle control unit 212 for providing user commands.
  • the control module 200 is coupled to the adjustment system 180.
  • the control module 200 comprises a switch 206 for switching power supply from the battery 220 to the electromotor 110 of the adjustment system 180. Between the switch 206 and the adjustment system 180, a current sensor 208 is provided. The current sensor 208 is arranged to sense current switched by the switch 206 and supplied to the electromotor 100. Optionally, an additional voltage sensor is provided. The switch 206 and the current sensor 208 are connected to a local control unit 202. To the local control unit 202, also a local memory 204 is connected.
  • control module 200 and the adjustment system 180 will be discussed in further detail in conjunction with a flowchart 300 shown by Figure 3.
  • the various parts of the flowchart are briefly summarised in the hst below.
  • step 304 a user input command is received.
  • the user input command is provided by means of the button 216 and communicated via the central vehicle control unit 212 and the vehicle bus 214 to the local control unit 202.
  • the command is provided by the button 216 irectly to the local control unit 202.
  • step 306 an initial position or the current position of the rear view mirror 160 is determined.
  • the position of rear view mirror 160 is retrieved from the local memory 204.
  • an end position is determined.
  • the end position may be determined in several ways.
  • the end position of the rear view mirror 160 may be based on a memory position, for example stored in the local memory 204.
  • the end position may be determined by a user command provided by means of the button 216.
  • the user command provided by means of the button 216 or another input device may indicate a particular absolute end position or a movement with a particular amount, thus indicating a relative end point of the movement.
  • an amount of pulse counts is determined.
  • the first conductor 112 the second conductor 114 and more conductors are provided.
  • at least three conductors are provided, for providing current to at least three windings.
  • the conductors on the rotor 110 are separated by an insulator.
  • an amount of pulses to occur in the supply current for a particular movement of the gear 150 or the rear view mirror 160, for example from the initial position to the end position is determined in step 310.
  • the electromotor 100 may be provided with a supply current for driving the electromotor 100.
  • the procedure proceeds with determining an expected time between pulses in step 314. This may be done in several ways. Firstly, an amount of pulses is counted over a particular time interval and the average duration of a pulse is determined. The pulse duration may be determined as a duration from top to top, from a rising slope to another rising slope, from a falhng slope, otherwise or a combination thereof, with respect to the first pulse counted and the last pulse counted.
  • the amount of pulses is determined based on an estimated rotational speed of the electromotor 100, based on at least one of the supply current and supply voltage to the electromotor. This may be executed by means of the current sensor 208 and additionally or alternatively by the optional voltage sensor. Within the control module 200 and in the local memory 204 in particular, data is available to determine the rotational speed of the rotor 110. Electromotors have specific characteristics with respect to current and speed vs. torque. Roughly, speed and torque are related in a negative proportional relation and current and torque are related in a positive proportional relation.
  • the point where the torque-speed curve and the torque-current curve meet one another is the working point of the electromotor 100.
  • a current level provides information on the rotational speed.
  • an amount of pulses may be determined that is to be counted for one revolution of the rotor 110.
  • the expected time between pulses is multiplied by the amount of brush contacts in the electromotor 100.
  • the location of the brushes may change over time. For example, for a two-brush electromotor, the angular distance between two brushes may change. This results in a first time period between an odd and an even pulse number may be different from a second time period between an even and an odd pulse number. This issue is resolved by multiplying the expect time between pulses by the amount of brush contacts in the electromotor 100, improving accuracy of counting.
  • pulses are counted in the supply current to the electromotor 100.
  • the pulses are counted by means of the current sensor 208 and the local control unit 202.
  • Either one or both may be provided with further electronics for determining the occurrence of a pulse, like
  • comparators trigger units, other, or a combination thereof.
  • a counter value is increased by one in step 316. Prior to the first count, the counter value may be reset, for example by setting it to zero.
  • step 318 the time period between the counted pulse and the previous pulse is determined. Otherwise, the time from the counted pulse to the next pulse is determined. Subsequently, the determined time period is assessed to an acceptable pulse time range.
  • the electromotor 100 is intended to run at a more or less constant speed, provided with a more or less constant current, the pulse period will vary. One cause for this may be imperfections in the manufacturing of the electromotor, like slight
  • Another cause may be variations in supply current, for example due to disturbances caused by other devices powered by the battery 220.
  • a time between multiple pulses is determined.
  • a time period between a number of pulses is determined, which number of pulses is equal to the amount of brush contacts in the electromotor 100 - or a multiple thereof.
  • such counting method increases accuracy as it eliminates or at least reduces effects of wear and brush displacement.
  • Figure 4 shows a graph 400 depicting measured pulse duration vs. time lapsed in a practical example. Normal operation is provided in a first time period 410. Figure 4 shows the pulse duration during normal operation varies as a function of time, yet within a certain range. Hence, for
  • the pulse duration is preferably in a particular range, rather than at a particular value.
  • the acceptable pulse time range is preferably determined based on the expected pulse time as determined in step 314.
  • the acceptable pulse time range may be set to range from the expected pulse time - or the estimated pulse time - minus an absolute or relative margin - for example 5%, 10% or 20% - to the expected pulse time plus the margin.
  • step 320 it is determined whether the determined period between two consecutive pulses is below the acceptable pulse time range. In one preferred embodiment, these are two directly consecutive pulses. In another embodiment, the period is determined between multiple pulses, which multiple is preferably equal to the amount of brushes of the electromotor 100 or a multiple thereof.
  • step 342 the process branches to step 342, in which the counted amount is reduced by one.
  • a reason for doing so is because a too small time period between two determined pulses may provide an indication that the pulse occurred due to an error, rather than through a transition of the brush contact 116 from the first conductor 112 to the second conductor 114. This may be due to a manufacturing error in the system of the electromotor 100, a detection error, other, or a combination thereof.
  • step 326 If the determined period between two consecutive pulses is above the acceptable pulse time range, which is determined in step 326, the process branches to step 344 in which the counted value is increased by one. In this way, the counted pulse amount is corrected for erroneous counts or erroneously missed counts. This allows the counted pulse amount to provide a proper estimate for a number of revolutions of the rotor 110 and the worm wheel 140 and with that, the position of the rear view mirror 160.
  • step 324 in which the counted amount, after correction in case required, is compared to the amount determined in step 310. If the amounts match or differ by less than a predetermined threshold, either expressed in an amount or ratio
  • step 326 the procedure continues to step 326 in which the power supply to the electromotor 100 is switched off by means of the switch 206.
  • step 328 information on the position of the rear view mirror is stored in a memory hke the local memory 204 and the procedure ends in step 330. If it is determined in step 324 the counted amount of pulses is below or too far below the amount determined in step 310, the process branches back to step 316.
  • step 318 After step 318 has been executed by determining time period between two pulses, the process preferably forks to step 352 as well, in addition to proceeding to step 320.
  • the time period between pulses is determined over time. This may be executed by means of linear regression or another algorithm for determining a derivative value, local or average, of the time period between pulses vs. time.
  • step 354 the derivative value is tested. If the derivative value of the pulse time against time lapsed is below a particular threshold, the procedure loops back to step 318. And if the change and in particular the increase of the time period between two consecutive pulses is too high, this may be a sign of slip of the slip coupling 130 and/or of the second slip coupling 156. Slip of the slip couplings occurs if the torque on the slip couplings is above a particular threshold. Such may be the case if the rear view mirror 160 moves against an abutment and cannot move any further or only with excessive force which may lead to damage. Shp starts in the second time period 420 as depicted in Figure 4.
  • step 356 the process continues to step 356 in which power supply to the electromotor is switched off.
  • step 356 the position of the rear view mirror 160 is stored in a memory.
  • the position data stored may be an angle of the mirror or merely an indication the rear view mirror 160 is at a particular outer position of its trajectory.
  • the procedure subsequently ends in step 360.
  • Flowchart 500 as shown by Figure 5 shows another method for providing a more accurate ripple count.
  • the various parts of the flowchart are briefly summarised in the hst below.
  • the procedure starts in a terminator 502 and continues to step 504 in which a user input command is received.
  • the user input command is provided by means of the button 216 and communicated via the central vehicle control unit 212 and the vehicle bus 214 to the local control unit 202. Alternatively , the command is provided by the button directly to the local control unit 202.
  • step 506 an initial position or the current position of the rear view mirror 160 is determined. Preferably, the position of rear view mirror 160 is retrieved from the local memory 204.
  • an end position is determined.
  • the end position may be determined in several ways.
  • the end position of the rear view mirror 160 may be based on a memory position, for example stored in the local memory 204.
  • the end position may be determined by a user command provided by means of the button 216.
  • the user command provided by means of the button 216 or another input device may indicate a particular absolute end position or a movement with a particular amount, thus indicating a relative end point of the movement.
  • an amount of pulse counts or revolutions of the rotor 110 is determined.
  • the first conductor 112, the second conductor 114 and more conductors are provided on the rotor 110 of the electromotor 100.
  • the conductors on the rotor 110 are separated by an insulator.
  • an amount of pulses to occur in the supply current for a particular movement is determined in step 510.
  • the electromotor 100 may be provided with a supply current for driving the electromotor 100.
  • the procedure proceeds with obtaining the motor winding resistance in step 514.
  • the motor winding resistance value is obtained from a memory in which a typical value of the resistance of the windings of the electromotor has been stored.
  • the resistance value is determined while powering the motor such that the back EMF - electromagnetic force - is negligible.
  • a sampling frequency is determined in step 516 with which the supply current of the electromotor is sampled.
  • this step may also be executed prior to step 512.
  • This may be a standard value, stored in a memory, or a dynamic value.
  • This step may comprise setting the actual sampling value, merely reading a value from a memory, obtaining the value otherwise or a combination thereof.
  • a sample is taken from the supply voltage of the electromotor and the supply current to the electromotor in step 518.
  • the value of the supply voltage may be actually separately measured or, alternatively or additionally, obtained from a control network of the vehicle as the battery voltage.
  • the value of the supply current to the electromotor is sampled in step 520.
  • step 520 the approximate back EMF is determined by multiplying the sampled current value with the sampled voltage value. This approximation is allowed for the following reason:
  • the back EMF - BEMF - is determined as:
  • V bat BEMF + R - I + ⁇ ⁇ With Vbat being the supply or battery voltage, R being the winding resistance, / being the supply current, ⁇ being a constant and di/dt the derivative of the supply current over time.
  • V bat - R - I K e - f
  • Ke is a constant related to motor characteristics.
  • Ke may be stored in a memory for retrieval for use in processing.
  • Ke may be determined on the fly with the formula directly above by obtaining the resistance of the windings, the battery voltage, the annular frequency and the average current.
  • the sampling frequency f s divided by the annual frequency / of the motor defining the number of samples per revolution or per ripple period indicated as n, the following equation is derived for the sum of products of supply current and supply voltage per revolution or ripple period of the
  • the sum of the back EMF per sample is at the end of each revolution or ripple period a constant. And at each revolution or ripple period, a pulse is to be detected. If at the end of each revolution or ripple period no ripple is detected and the sum of the back EMF per sample is substantially equal to the product of K e and /s, a pulse is missed. If the sum of the back EMF per sample is not substantially equal to the product of K e and fs or a multiple thereof and a pulse is detected, an erroneous pulse has been detected.
  • step 524 The back EMF per sample as calculated above - battery voltage minus resistance multiplied by the current - is added to a memory value in step 524 that is initially set to zero. Subsequently, the process checks whether a ripple is detected in step 526. If this is not the case, the process branches back to step 518 via step 530.
  • step 528 the process continues to step 528 to verify whether the memory value is the same as or a multiple of the product oiKe and /s. If the memory value is a multiple of the product of Ke and fs, a previous ripple in the supply current may have been missed. In that case, the rotor of the electromotor has made a number of revolutions or the supply current has had ripples equal to the multiple. In that case, the value of the multiple is added to the number of determined revolutions of the electromotor or ripples in the supply current in step 532.
  • every second ripple or every first ripple is ignored. More general, only every n ih ripple is assessed, in which n is the amount of brushes of the electromotor 100 or a multiple thereof. In this embodiment, the value of n in the summation equation above is preferably equal to an amount of samples per revolution.
  • step 526 and step 528 may be exchanged, to the same effect: if a ripple is detected, the memory value is checked and the ripple is counted if the memory value substantially equals the product of Ke and /s. Alternatively, if the memory value substantially equals the product of Ke and fs, a ripple is expected - and counted if detected.
  • Substantially equals means within this particular context that a certain threshold is to be taken into account to take product parameter spread into account. For example the winding resistance may vary from product to product.
  • the threshold may be a fixed value or a dynamic value, for example linearly related to the instantaneous memory value.
  • step 534 the multiple is reset to 1 in step 534 and the memory value is reset to 0.
  • step 538 the number of ripples - or revolutions - is tested to the value obtained in step 510.
  • step 540 the procedure continues to step 540 in which the power supply to the electromotor 100 is switched off by means of the switch 206.
  • step 542 information on the position of the rear view mirror is stored in a memory like the local memory 204 and the procedure ends in step 544. If it is determined in step 538 the counted amount of pulses is below or too far below the amount determined in step 510, the process branches back to step 518.
  • a detected pulse is not counted if the memory value does not substantially equal the determined value. Additionally or alternatively, a pulse is - or multiple pulses are - added to the (corrected) counted amount of pulses if no pulse is detected and the memory value substantially equals the determined value or the multiple thereof.
  • Figure 4 furthermore shows a third time period 430 in which the pulse duration has dropped compared to a maximum duration at the end of the second time period 420. Subsequently, in a fourth time period 440, a higher pulse duration is detected which is followed by a fifth time period 450 in which a lower pulse duration is detected.
  • stall-slip situation in which one or more of the slip couplings alternatingly slip or do not slip.
  • the outer ring 152 (figure 1) stalls and the rotor 110 turns, which configuration is achieved by slipping of at least one of the slip couplings.
  • the slip couplings do not slip and the rotor 110 stalls.
  • the shp in the third time period 430 is more than in the fourth time period 440.
  • the actual behaviour depends on the materials used in the shp couplings, the force with which two slipping parts engage, other factors or a combination thereof.
  • a more elaborate procedure may be used, of which an example is depicted by the a third flowchart 600 depicted by Figure 6.
  • the elements of the second flowchart 600 are briefly summarised in the list below.
  • the procedure depicted by the second flowchart 600 may be executed in parallel to the procedure depicted by the first flowchart 300, in series or completely independent from the procedure depicted by the first flowchart
  • step 606 ripple period information is acquired.
  • the ripple period as a time period, may be determined in any way as described above, as actual time between two consecutive ripples or as an average or estimated time period, for example based on determining time to elapse for count of a particular number of ripples.
  • step 608 the ripple period information is stored with a timestamp, accumulated with data on previous ripple periods.
  • a linear regression of time vs. ripple period is executed. This is preferably a linear regression, though other methods may be used as well for determining a local or average slope of the ripple period vs. time.
  • step 612 it is tested whether a slip flag has been set. If this is not the case, the procedure branches to step 632. In step 632, it is tested whether the slope determined in step 610 is above a particular, preferably pre-determined, threshold. If this is not the case, the procedure branches back to step 606. If the slope is above a particular threshold, the system time is saved as start time in step 634 and the slip flag is set in step 636. Subsequently, the process branches back to step 606.
  • step 612 If in step 612 it is determined the slip flag has been set, the procedure proceeds to step 614 in which the slope determined in step 610 is positive. If the slope is determined to be positive, the process branches back to step 606. If the slope is determined to be not positive (either negative or zero), the system time is saved as end time in step 616. Subsequently, in step 618 is tested whether the interval between the saved start time and the saved end time is above a particular, for example pre-determined, threshold. If this is not the case, the slip flag is cleared in step 642 and the procedure branches back to step 606.
  • step 620 a lower boundary of the ripple period is determined and to step 622 in which an upper boundary of the ripple period is determined. Based on the determined lower boundary and the determined upper boundary, ripple count is determined in step 624. Subsequently, the procedure ends in terminator 626.
  • the invention may also be embodied with less components than provided in the embodiments described here, wherein one component carries out multiple functions.
  • the invention be embodied using more elements than depicted in the Figures, wherein functions carried out by one component in the embodiment provided are distributed over multiple components.

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  • Control Of Electric Motors In General (AREA)

Abstract

L'entraînement d'un moteur électrique et d'un moteur électrique à balais provoque en particulier des ondulations dans le courant d'alimentation. La quantité d'impulsions est proportionnelle à la quantité de révolutions du rotor du moteur électrique. Avec un moteur ne présentant aucun défaut, la quantité d'impulsions est identique à chaque révolution. Les défauts du moteur électrique, dans les balais, le rotor, les enroulements et/ou d'autres composants entraînent des fluctuations d'impulsions dans le courant d'alimentation à chaque révolution du rotor. En comparant une quantité attendue d'impulsions à des impulsions comptées et en utilisant divers paramètres physiques du moteur électrique, divers procédés peuvent être utilisés pour corriger une quantité comptée d'impulsions ou fournir par ailleurs une valeur appropriée représentant le déplacement du rotor du moteur électrique. Le temps entre les impulsions comptées peut également être utilisé pour déterminer le glissement d'un accouplement à glissement constitué d'un train d'entraînement auquel le moteur électrique peut être couplé.
PCT/NL2018/050673 2017-10-13 2018-10-12 Procédé et dispositif pour fournir des informations sur un déplacement annulaire d'un moteur électrique à courant continu WO2019074370A2 (fr)

Priority Applications (8)

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JP2020520507A JP2020537142A (ja) 2017-10-13 2018-10-12 Ｄｃ電気モータの回転変位に関する情報を提供するための方法および装置
KR1020207013608A KR102664789B1 (ko) 2017-10-13 2018-10-12 Dc 전기모터의 환형 변위에 관한 정보를 제공하기 위한 방법 및 장치
US16/755,347 US11592456B2 (en) 2017-10-13 2018-10-12 Method and device for providing information on an angular displacement of a dc electromotor
EP18812345.9A EP3695232A2 (fr) 2017-10-13 2018-10-12 Procédé et dispositif pour fournir des informations sur un déplacement annulaire d'un moteur électrique à courant continu
CN201880074951.XA CN111356929A (zh) 2017-10-13 2018-10-12 用于提供关于直流电动机的环形位移的信息的方法和装置
JP2022129309A JP2022163189A (ja) 2017-10-13 2022-08-15 Ｄｃ電気モータの回転変位に関する情報を提供するための方法および装置
US17/988,496 US11808782B2 (en) 2017-10-13 2022-11-16 Method and device for providing information on an angular displacement of a DC electromotor
JP2022198586A JP7321350B2 (ja) 2017-10-13 2022-12-13 Ｄｃ電気モータの回転変位に関する情報を提供するための方法および装置

Applications Claiming Priority (4)

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NL2019723A NL2019723B1 (en) 2017-10-13 2017-10-13 Method and device for providing information on an annular displacement of a DC electromotor
NL2019723 2017-10-13
NL2020654 2018-03-23
NL2020654A NL2020654B1 (en) 2017-10-13 2018-03-23 Method and device for providing information on an annular displacement of a DC electromotor

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US16/755,347 A-371-Of-International US11592456B2 (en) 2017-10-13 2018-10-12 Method and device for providing information on an angular displacement of a dc electromotor
US17/988,496 Continuation US11808782B2 (en) 2017-10-13 2022-11-16 Method and device for providing information on an angular displacement of a DC electromotor

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200300881A1 (en) * 2017-10-13 2020-09-24 Mci (Mirror Controls International) Netherlands B.V. Method and device for providing information on an annular displacement of a dc electromotor
US11592456B2 (en) * 2017-10-13 2023-02-28 Mci (Mirror Controls International) Netherlands B.V. Method and device for providing information on an angular displacement of a dc electromotor
US11808782B2 (en) 2017-10-13 2023-11-07 Mci (Mirror Controls International) Netherlands B.V. Method and device for providing information on an angular displacement of a DC electromotor

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