WO2021058723A1 - Procédé de détermination de la position d'un induit d'un actionneur linéaire électromagnétique - Google Patents

Procédé de détermination de la position d'un induit d'un actionneur linéaire électromagnétique Download PDF

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Publication number
WO2021058723A1
WO2021058723A1 PCT/EP2020/076865 EP2020076865W WO2021058723A1 WO 2021058723 A1 WO2021058723 A1 WO 2021058723A1 EP 2020076865 W EP2020076865 W EP 2020076865W WO 2021058723 A1 WO2021058723 A1 WO 2021058723A1
Authority
WO
WIPO (PCT)
Prior art keywords
current
armature
pulse width
modulation signal
width modulation
Prior art date
Application number
PCT/EP2020/076865
Other languages
German (de)
English (en)
Inventor
Erik HECHTL
Original Assignee
Magna powertrain gmbh & co kg
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 Magna powertrain gmbh & co kg filed Critical Magna powertrain gmbh & co kg
Publication of WO2021058723A1 publication Critical patent/WO2021058723A1/fr

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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
    • G01D5/20—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 by varying inductance, e.g. by a movable armature
    • G01D5/2006—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 by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils
    • G01D5/2013—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 by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils by a movable ferromagnetic element, e.g. a core
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H01F7/18—Circuit arrangements for obtaining desired operating characteristics, e.g. for slow operation, for sequential energisation of windings, for high-speed energisation of windings
    • H01F7/1844—Monitoring or fail-safe circuits
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H01F7/18—Circuit arrangements for obtaining desired operating characteristics, e.g. for slow operation, for sequential energisation of windings, for high-speed energisation of windings
    • H01F7/1844—Monitoring or fail-safe circuits
    • H01F2007/185—Monitoring or fail-safe circuits with armature position measurement
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H01F7/18—Circuit arrangements for obtaining desired operating characteristics, e.g. for slow operation, for sequential energisation of windings, for high-speed energisation of windings
    • H01F7/1844—Monitoring or fail-safe circuits
    • H01F2007/1861—Monitoring or fail-safe circuits using derivative of measured variable

Definitions

  • the present invention relates to a method for determining the posi tion of an armature of an electromagnetic linear actuator.
  • Electromagnetic linear actuators are used, for example, in motor vehicles, especially as inductive solenoids or actuators in separating clutches, for shutting down parts of a drive train, or in parking locks.
  • Such actuators use an armature that is linearly moveable in a current-flowing coil and can be moved to a specific position by applying a current to the coil and the electromagnetic force caused by this, often in conjunction with a counteracting force such as a spring force.
  • actuators of this type have to provide feedback that is as accurate as possible about the current position of the linearly movable armature to a control unit.
  • an armature of such a linear actuator of a form-fitting coupling can be important in order to achieve a safety goal, for example that a specified spin speed of a coupling must be undercut.
  • a displacement sensor is usually used to determine the position of an armature of an electromagnetic linear actuator.
  • a method for determining the armature position in an electromagnet is also known from DE 10 2007 016 787 A1, the magnetic flux distribution dependent on the armature position being used to determine the position.
  • the object is achieved by a method for determining the position of an armature of an electromagnetic linear actuator, the armature being linearly movable in a coil of the linear actuator, the coil for moving the armature being controlled with an electrical pulse-width modulation signal, two of which Current measured values are measured during a period of the pulse width modulation signal, a current change value being determined from the two current measured values, an assignment of current change values to armature positions being stored in a characteristic map, and the current position of the armature to the current change value being determined by means of this characteristic field .
  • the position of the armature of the linear actuator is determined by measuring two current values. There is therefore no additional distance sensor required. Two current measurements are measured during one period of a pulse width modulation signal. The change in the measured current values, preferably on a negative edge of the pulse width modulation signal, is dependent on the position of the armature in the linear actuator or in its coil.
  • a previously defined and stored map in particular a 2D map, is used that holds current change values for armature positions, preferably for different voltages or pulse widths of the pulse width modulation signal. This method for determining the position of an armature is also suitable for varying pulse widths and thus for current-controlled linear actuators.
  • the current change value preferably relates to the falling edge of the pulse width modulation signal.
  • the two current measured values thus indicate a measure for the drop in the current value during a period.
  • the two current measured values that are measured during a period of the pulse width modulation signal are preferably a current maximum and a current minimum.
  • the position of the armature can be determined during a linear motion of the armature, that is to say dynamically.
  • the determination can also take place with a stationary anchor, i.e. statically.
  • An assignment of static, averaged current change values to armature positions is preferably stored in the characteristic diagram, i.e. current change values values that were determined and averaged over several signal periods according to a transient behavior of the current intensity.
  • An assignment of current change values to armature positions for different voltages or different pulse widths is particularly preferably stored in the characteristic map.
  • the electrical pulse width modulation signal for controlling the coil is preferably current-regulated, so that the pulse width of the pulse width modulation signal, that is to say the voltage, varies from period to period.
  • the pulse width modulation signal can, however, also be voltage-regulated, which simplifies the determination of the position of the armature due to the constant pulse width.
  • a mean current pulse width can be determined as the mean value over several periods of the pulse width modulation signal and the current position of the armature for the current change value for this mean current pulse width can be determined using the characteristic field.
  • FIG. 1 is a diagram of a time-dependent current signal for four actuation processes with different restricted armature end positions for a method according to the invention.
  • FIG. 2 is a detailed illustration which shows a section of FIG. 1 in a stationary state.
  • Fig. 3 shows a table for measured values that are required for position determination.
  • FIG. 4 is a diagram that shows current change values of the falling edges as a function of the armature position for different (constant) demand voltages and thus a characteristic diagram for a method according to the invention.
  • Fig. 5 is a diagram that shows a comparison between ge measured time-dependent position and according to the invention, certain position of the armature in three actuation processes with different restricted end positions.
  • a method for determining the position of an armature of an electromagnetic linear actuator is specified, the armature being linearly movable in a coil of the linear actuator, the coil for moving the armature being controlled with an electrical pulse width modulation signal, with two current measured values Imax, imine currency rend a period of the pulse width modulation signal to be measured, from the two measured current values I m ax, imine and their time stamps tmax, tmin, a current change value DI / at is determined, wherein in a map, a mapping of current change values AI / at to Ankerposi- functions x is stored, and the current position of the armature for the current change value DI / At is determined by means of this map.
  • Wl 3.88 mm to 0.00 mm
  • W2 3.88 mm to 0.88 mm
  • W3 3.88 mm to 2.13 mm
  • W4 3.88 mm to 3.88 mm .
  • the demand voltage U is 5 V. Due to changes in the differential inductance, the current rate of increase of the current depends, as can be clearly seen in FIG. 2, on the position of the armature x or the armature end position Wl, ..., W4 from.
  • Fig. 4 shows the rate of increase in current AI / At of the falling edges of the current signal as a function of the position of the armature x, for different (constant) requirement voltages Ul, U2, U3 and U4.
  • Ul constant requirement voltage
  • the solid lines each show static measurements, i.e. current change values AI / At averaged over several periods according to the transient behavior.
  • the dashed lines show dynamic measurements. Measurements were made at room temperature in each case.
  • the curves shown, preferably the static measurements, that is to say the solid lines, are stored in a characteristic map for use by a control unit in a method according to the invention.
  • Fig. 5 finally shows a comparison between measured time-dependent positions of the armature (solid lines) and positions (circles) determined by the method according to the invention, the current rate of change being used to determine the position, with three actuation processes with different end positions E 1, E2 and E3.
  • the starting point for determining the position according to the invention is the characteristics map according to FIG. 4, which is stored in a memory as a look-up table (LUT).
  • LUT look-up table
  • FIG. 3 shows a table of the measured values that are required for determining the position.
  • the current change rate AI / At is determined from these measured values at each point in time, to which a position is assigned with the aid of the family of characteristics (FIG. 4).
  • AI / At (Imin - Imax) / (tmin - t max ) shown below in FIG Current change value AI / At.
  • the position x of the armature can then be determined by interpolation into the characteristic curve in FIG. 4.
  • the LUT Since the estimated position is expected to fluctuate around the real position, the LUT is extrapolated to a position range x e (-2.6) mm.
  • the current range must also be expanded to I e (0.7) A, since reaching the limit of the LUT due to current fluctuations must be avoided.
  • the data from the LUT can be used immediately.
  • the pulse width must first be evaluated as a function of time and converted into a corresponding mean demand voltage before the interpolation can be performed.
  • the measured pulse width usually fluctuates strongly (standard deviation 0.1 ms). Therefore, before using the LUT, the mean value must be evaluated over 2 to 15 periods in order to reduce the standard deviation of the calculated position.
  • a holding current of 2.5 A is usually set after an actuation process in order to prevent the armature or piston or tappet from being pulled back into its starting position by the spring. The analysis of this holding current using the rate of rise method does not provide any information about the armature position.
  • the temperature dependency of the rate of change of current DI / At can also be taken into account in a method according to the invention, for example in an extended LUT.
  • a largely linear dependence of the current rate of change AI / At on the temperature was found, with measurements in the range of 20 - 60 ° C.
  • the method proposed here can therefore be improved by a simple temperature compensation, in particular by taking into account a temperature-dependent linear factor, at different ambient temperatures.
  • the use of the static data (solid lines) in the LUT (Fig. 4) instead of the dynamic (dashed lines) leads to only minor differences in the results for the position determination at low demand voltages U. Le- only the data points for the end position 0 mm, i.e.

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Linear Motors (AREA)

Abstract

L'invention concerne un procédé de détermination de la position (x) d'un induit d'un actionneur linéaire électromagnétique : l'induit peut être déplacé linéairement dans une bobine de l'actionneur linéaire ; la bobine est commandée par un signal électrique de modulation d'impulsions en largeur afin de déplacer l'induit ; deux valeurs de mesure de courant (Imax, Imin) sont mesurées pendant une période du signal de modulation d'impulsions en largeur ; une valeur de changement de courant (ΔI/Δt) est déterminée à partir des deux valeurs de mesure de courant (Imax, Imin) ; dans une carte de caractéristiques, une attribution de valeurs de changement de courant (ΔI/Δt) à des positions d'induit (x) est stockée ; et la position actuelle (x) de l'induit est déterminée sur la base de la valeur de variation de courant (ΔI/Δt) au moyen de ladite carte de caractéristiques.
PCT/EP2020/076865 2019-09-25 2020-09-25 Procédé de détermination de la position d'un induit d'un actionneur linéaire électromagnétique WO2021058723A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019214642 2019-09-25
DE102019214642.2 2019-09-25

Publications (1)

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WO2021058723A1 true WO2021058723A1 (fr) 2021-04-01

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5578904A (en) * 1991-11-29 1996-11-26 Caterpillar Inc. Method and apparatus for determining the position of an armature of an electromagnetic actuator in response to the magnitude and time derivative of the actuator coil current
EP0908904A2 (fr) * 1997-10-06 1999-04-14 Husco International, Inc. Méthode et dispositif de mesure de la position de l'armature pour actionneurs électromagnétiques à réluctance
DE102007016787A1 (de) 2007-04-05 2008-10-09 Schultz, Wolfgang E., Dipl.-Ing. Verfahren zur Bestimmung der Ankerlage in einem Elektromagneten
WO2011121188A1 (fr) * 2010-04-01 2011-10-06 Schneider Electric Industries Sas Actionneur electromagnetique comportant des moyens de controle de position et procede utilisant un tel actionneur

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5578904A (en) * 1991-11-29 1996-11-26 Caterpillar Inc. Method and apparatus for determining the position of an armature of an electromagnetic actuator in response to the magnitude and time derivative of the actuator coil current
EP0908904A2 (fr) * 1997-10-06 1999-04-14 Husco International, Inc. Méthode et dispositif de mesure de la position de l'armature pour actionneurs électromagnétiques à réluctance
DE102007016787A1 (de) 2007-04-05 2008-10-09 Schultz, Wolfgang E., Dipl.-Ing. Verfahren zur Bestimmung der Ankerlage in einem Elektromagneten
WO2011121188A1 (fr) * 2010-04-01 2011-10-06 Schneider Electric Industries Sas Actionneur electromagnetique comportant des moyens de controle de position et procede utilisant un tel actionneur

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