EP0662697B1 - Method for controlling a bistable electromagnetic actuator and device to carry out such method - Google Patents

Method for controlling a bistable electromagnetic actuator and device to carry out such method Download PDF

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Publication number
EP0662697B1
EP0662697B1 EP94402896A EP94402896A EP0662697B1 EP 0662697 B1 EP0662697 B1 EP 0662697B1 EP 94402896 A EP94402896 A EP 94402896A EP 94402896 A EP94402896 A EP 94402896A EP 0662697 B1 EP0662697 B1 EP 0662697B1
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EP
European Patent Office
Prior art keywords
electromagnet
armature
cut
electromagnets
actuator
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Legal status (The legal status 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 status listed.)
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EP94402896A
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German (de)
French (fr)
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EP0662697A1 (en
Inventor
Nicolas Venuti
Jacques Beroff
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Automobiles Peugeot SA
Automobiles Citroen SA
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Automobiles Peugeot SA
Automobiles Citroen SA
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    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L9/00—Valve-gear or valve arrangements actuated non-mechanically
    • F01L9/20—Valve-gear or valve arrangements actuated non-mechanically by electric means

Definitions

  • the invention relates to a method for controlling an actuator.
  • electromagnetic bistable intended for example for the control of a valve of an internal combustion engine. It relates to also a control device and an actuator specially designed for carrying out this process.
  • the actuators concerned are of the known type with two stable states respectively obtained by the excitation of the coil of two electromagnets (FIGS. 1 a to 1 c ) in the air gap of which a movable armature is arranged (EP-A-376,716 ).
  • the time difference ⁇ T must be suitably chosen. If this time is too short, the energy accumulated by the movable armature can cause rebounds, if it is too large the capture may not take place.
  • the invention proposes to overcome the above drawbacks in a method for controlling an electromechanical actuator with two stable active positions and one rest position, actuator of the type comprising a movable armature linked to a member to be actuated, for example a valve of a internal combustion, this armature being arranged, in the air gap separating a first and a second electromagnets identical placed opposite, equidistant at rest from two electromagnets thanks to the opposing restoring forces of two identical springs, a process in which the switching of one to the other active position is carried out by controlling the excitation of the second electromagnet when a time ⁇ T, predetermined for normal operating conditions, has elapsed since the power cut command excitation of the first electromagnet and vice versa.
  • the interruption of the excitation current of the second electromagnet is controlled during the passage of the armature movable by a reference position which corresponds advantageously in the rest position of the frame.
  • the duration of the cut is calculated as a function of the elapsed time T C - T P between the instant T C of the start of the cut and the instant T P of the normal end of the previous command.
  • the duration ⁇ T C of the cutoff is an increasing function of the elapsed time T c - T P.
  • a device for implementing the method according to the invention is of the type comprising an actuator electromechanical, with two stable active positions and one rest position, including the movable armature linked to a member to actuate is arranged in the air gap of two electromagnets identical placed vis-à-vis in a housing and means of switching of the control magnets currents, and characterized in that it includes means for generating and deliver a signal to the switching means during the passage of the movable armature at a predetermined position of its travel.
  • the means for generating and delivering the signal have a position sensor linked to the housing the actuator which can advantageously be arranged, for detect the passage of the movable frame, equidistant from two electromagnets.
  • FIGS. 1 a , 1 b and 1 c A known electromechanical actuator with two stable positions and a rest position is shown in FIGS. 1 a , 1 b and 1 c and designated by the general reference 1.
  • a movable frame 3 consisting of a plate made of magnetic sheet is placed in the air gap e comprised between the two electromagnets arranged opposite.
  • Two identical helical springs 31 and 32 are arranged along the axis XX of the actuator on either side of the plate 3 so as to keep it at rest, that is to say when none of the coils is excited, equidistant from the two electromagnets ( Figure 1a).
  • the rod 5 disposed axially and fixed to the center of the plate 3 is connected to the member to be controlled, not shown.
  • Figure 1b shows a first stable position obtained when the coil 21 of the electromagnet 11 is energized while the coil 22 of the electromagnet 12 is not.
  • the armature 3 is in this case bonded to the armature of the electromagnet 11.
  • FIG. 1 c shows the second stable position obtained when the coil 22 is energized while the coil 21 is not.
  • the armature 3 is in this case bonded to the armature of the electromagnet 12.
  • the method usually used for switching from the first stable position to the second stable position will now be described with reference to FIGS. 2 a to 2 d .
  • the first position of the armature 3 is represented from O to T1 by the ordinate P1 and the second position by the ordinate P2 reached at time T2 .
  • the current control signals in the coils 21 and 22 are designated respectively by A1 and A2 . At state 1 of these signals the corresponding coil is energized.
  • the current of the coil 21 is first cut by passing the sienal A1 from state 1 to state O.
  • a certain time ⁇ T after this cut-off the current I of the coil 22 is controlled by passing the signal A2 from state O to state 1 and the charge of the coil 22 changes as shown in FIG. 2 d .
  • the time difference ⁇ T must be suitably chosen to avoid non-sticking of the armature (FIG. 3 a ), if the magnetic energy is insufficient, or rebounds ( Figure 3b ), if there is excess energy.
  • the operating conditions linked to the vehicle cause variations in the inrush current shown in FIG. 2 d , for example during a start-up at cold and / or if the battery charge is not optimal.
  • the procedure is to remedy these drawbacks in the manner which will be explained below with reference to FIGS. 5 a to 5 e .
  • the origin of the abscissa represents the instant when the coil of the electromagnet corresponding to the stable state previously produced is de-energized by passage of the corresponding control signal from state 1 to state O to l 'instant T P.
  • the control of the excitation of the other electromagnet is advanced with respect to the predetermined time ⁇ t (FIG. 5 b ) for optimal operation under normal conditions, as already explained, at time T a (FIG. 5 c ) .
  • the excitation current of this electromagnet is then cut at an instant T c determined by the displacement of the movable armature 3, for example during its passage through a point P R intermediate of its stroke from P1 to P2 (figure 5 a ).
  • the excitation current is then restored after a cut-off duration calculated as a function of the movement of the armature 3, for example as a function of the time elapsed between the cut at T P and the passage of the armature 3 through the reference position. P R.
  • the reference position P R will preferably be chosen equidistant from the two electromagnets and more generally it will correspond to the rest position of the movable frame 3 ( Figure 1 a ).
  • the duration of the cutoff as a function of the speed of movement of the reinforcement 3 is determined experimentally as a function operating characteristics of the member to be controlled.
  • ⁇ T C will be an increasing function of T c - T P.
  • the magnetic force is thus properly metered to avoid rebounds of the plate 3 while leaving a sufficient margin to compensate for disturbances in the movement of the plate.
  • I nit is the time which elapses between the end of the command of the previously excited coil and the moment when the plate 3 actually takes off from the magnetic circuit of this coil.
  • the device (FIG. 4) comprises an actuator 1 of the type described above and further comprising a position sensor 6 capable of emitting an electrical signal when the armature 3 passes to its rest position.
  • a control system 7 receives, in addition to the usual information for example coming from the control electronics of an internal combustion engine whose actuator 1 controls a valve, the signal emitted by the sensor 6 when the armature passes 3.
  • the system 7 produces the logic signals A1 and A2 controlling the coils 21 and 22 respectively, by means of a power stage 8.
  • the end of command A1 of the previously energized coil must first be identified, for example by carrying out edge detection.
  • the instant T P thus identified is chosen as the origin.
  • An up-down counter is then initialized to the value Init and then counted down, when the counter reaches zero, up to the time T C of passage of the plate 3 in front of the detector 6 is counted using a first clock.
  • T c -T P - Init at the output of the up-down counter.
  • the start of the dip is simultaneously triggered at time T c and a countdown is then made with a second clock.
  • the senor 6 is inserted in the outer wall of the housing 10 equidistant from the armatures of the coils 11 and 12.
  • a valve V and its seat S are shown in the intermediate position corresponding to the rest state of the actuator.
  • the valve stem coincides with the rod 5 driven by the movable frame 3.
  • the equilibrium position P1 corresponds to the closed valve and the position P2 when it is fully open.
  • the springs 31 and 32 are supported respectively, by their opposite end to the plate 3, on the housing 10 and on the engine cylinder head C.
  • the actuator usually comprises means for adjustment of the closing position of the valve V in support on its seat S.
  • These means may include wedges or washers 102 arranged under the flange 101 of the housing 10 before fixing on cylinder head C by screws such as 103.
  • It also usually comprises means for adjusting the the zero position corresponding to the rest state.
  • These means may consist of a screw 104 cooperating with a corresponding thread of the housing 10 and on which takes support the end of the spring 31 opposite the plate 3. The axial displacement of the support constituted by the screw 104 allows thus to adjust the rest position of the plate 3. After adjustment, screw 104 is blocked by a lock nut 105.
  • the senor 6 is centered in a bore of a cylindrical spacer 106 which determines the width of the air gap e between the armatures of the electromagnets 11,12, this air gap defining the total stroke of the plate 3 between its two extreme stable positions P1, P2 .

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Valve Device For Special Equipments (AREA)
  • Magnetically Actuated Valves (AREA)

Description

L'invention concerne un procédé de commande d'un actionneur électromagnétique bistable destiné par exemple à la commande d'une soupape d'un moteur à combustion interne. Elle concerne également un dispositif de commande et un actionneur spécialement conçus pour la mise en oeuvre de ce procédé.The invention relates to a method for controlling an actuator. electromagnetic bistable intended for example for the control of a valve of an internal combustion engine. It relates to also a control device and an actuator specially designed for carrying out this process.

Les actionneurs concernés sont du type connu à deux états stables respectivement obtenus par l'excitation de la bobine de deux électro-aimants (figures 1a à 1c) dans l'entrefer desquels est disposée une armature mobile (EP-A-376 716).The actuators concerned are of the known type with two stable states respectively obtained by the excitation of the coil of two electromagnets (FIGS. 1 a to 1 c ) in the air gap of which a movable armature is arranged (EP-A-376,716 ).

Dans les procédés connus, on passe du premier état stable au deuxième état stable et inversement en établissant le courant de la bobine du deuxième électro-aimant un certain temps ΔT après la coupure du courant de la bobine du premier électro-aimant. Pour que la capture de l'armature lâchée par le premier électro-aimant s'effectue de manière optimale, il faut que l'écart de temps ΔT soit convenablement choisi. Si ce temps est trop faible, l'énergie accumulée par l'armature mobile peut causer des rebonds, s'il est trop grand la capture peut ne pas avoir lieu.In known methods, one passes from the first stable state to the second stable state and vice versa by establishing the current of the coil of the second electromagnet a certain time Δ T after the interruption of the current of the coil of the first electromagnet. For the capture of the armature released by the first electromagnet to be carried out in an optimal manner, the time difference Δ T must be suitably chosen. If this time is too short, the energy accumulated by the movable armature can cause rebounds, if it is too large the capture may not take place.

Plus particulièrement, dans l'utilisation pour la commande de soupapes d'un moteur, de nombreux facteurs perturbants peuvent intervenir et modifier l'écart de temps qui serait optimal. C'est ainsi que le courant de charge des bobines dépend de l'état et de la température de la batterie du véhicule. Les résistances mécaniques sont également fonction de la température et notamment de la température de l'huile, ce qui introduit d'importants écarts entre démarrage à froid et moteur chaud. Le choix d'un ΔT constant conduit donc à des fonctionnements défectueux.More particularly, in the use for the control of valves of an engine, many disturbing factors can intervene and modify the time difference which would be optimal. This is how the charging current of the coils depends on the condition and temperature of the vehicle battery. The mechanical resistances are also a function of the temperature and in particular of the oil temperature, which introduces large differences between cold start and hot engine. The choice of a constant Δ T therefore leads to faulty operations.

L'invention propose de remédier aux inconvénients ci-dessus dans un procédé de commande d'un actionneur électromécanique à deux positions actives stables et une position de repos, actionneur du type comportant une armature mobile liée à un organe à actionner, par exemple une soupape d'un moteur à combustion interne, cette armature étant disposée, dans l'entrefer séparant un premier et un deuxième électro-aimants identiques placés en vis-à-vis, à équidistance au repos des deux électro-aimants grâce aux forces de rappel opposées de deux ressorts identiques, procédé dans lequel la commutation de l'une à l'autre position active s'effectue en commandant l'excitation du deuxième électro-aimant lorsqu'un temps ΔT, prédéterminé pour les conditions normales de fonctionnement, s'est écoulé depuis la commande de coupure du courant d'excitation du premier électro-aimant et vice-versa.The invention proposes to overcome the above drawbacks in a method for controlling an electromechanical actuator with two stable active positions and one rest position, actuator of the type comprising a movable armature linked to a member to be actuated, for example a valve of a internal combustion, this armature being arranged, in the air gap separating a first and a second electromagnets identical placed opposite, equidistant at rest from two electromagnets thanks to the opposing restoring forces of two identical springs, a process in which the switching of one to the other active position is carried out by controlling the excitation of the second electromagnet when a time ΔT, predetermined for normal operating conditions, has elapsed since the power cut command excitation of the first electromagnet and vice versa.

Le procédé selon l'invention se caractérise par les étapes suivantes:

  • a)- la commande de l'excitation du deuxième électro-aimant est avancée par rapport au temps ΔT prédéterminé pour un fonctionnement optimal dans les conditions normales;
  • b)- on coupe le courant d'excitation du deuxième électro-aimant à un moment déterminé par la vitesse de déplacement de l'organe mobile:
  • c)- on rétablit le courant d'excitation après une durée de coupure fonction décroissante de la vitesse de déplacement de l'organe mobile.
    • The process according to the invention is characterized by the following stages:
  • a) - the control of the excitation of the second electromagnet is advanced with respect to the predetermined time ΔT for optimal operation under normal conditions;
  • b) - the excitation current of the second electromagnet is cut off at a moment determined by the speed of movement of the movable member:
  • c) - the excitation current is restored after a cut-off time that decreases as a function of the speed of movement of the movable member.

    • De préférence, la coupure du courant d'excitation du deuxième électro-aimant est commandée lors du passage de l'armature mobile par une position de référence qui correspond avantageusement à la position de repos de l'armature.Preferably, the interruption of the excitation current of the second electromagnet is controlled during the passage of the armature movable by a reference position which corresponds advantageously in the rest position of the frame.

    Selon une autre caractéristique importante, la durée de la coupure est calculée en fonction du temps écoulé TC - TP entre l'instant TC du début de la coupure et l'instant TP de la fin normale de la commande précédente. According to another important characteristic, the duration of the cut is calculated as a function of the elapsed time T C - T P between the instant T C of the start of the cut and the instant T P of the normal end of the previous command.

    De préférence dans ce cas, la durée ΔTC de la coupure est une fonction croissante du temps écoulé Tc - TP. Preferably in this case, the duration ΔT C of the cutoff is an increasing function of the elapsed time T c - T P.

    Un dispositif pour la mise en oeuvre du procédé selon l'invention est du type comportant un actionneur électromécanique, à deux positions actives stables et une position de repos, dont l'armature mobile liée à un organe à actionner est disposée dans l'entrefer de deux électro-aimants identiques placés en vis-à-vis dans un boítier et des moyens de commutation des courants de commande des électro-aimants, et se caractérise en ce qu'il comporte des moyens pour générer et délivrer aux moyens de commutations un signal lors du passage de l'armature mobile à une position prédéterminée de sa course.A device for implementing the method according to the invention is of the type comprising an actuator electromechanical, with two stable active positions and one rest position, including the movable armature linked to a member to actuate is arranged in the air gap of two electromagnets identical placed vis-à-vis in a housing and means of switching of the control magnets currents, and characterized in that it includes means for generating and deliver a signal to the switching means during the passage of the movable armature at a predetermined position of its travel.

    De préférence, les moyens pour générer et délivrer le signal comportent un capteur de position lié au boítier de l'actionneur qui peut avantageusement être disposé, pour détecter le passage de l'armature mobile, a équidistance des deux électro-aimants.Preferably, the means for generating and delivering the signal have a position sensor linked to the housing the actuator which can advantageously be arranged, for detect the passage of the movable frame, equidistant from two electromagnets.

    L'invention sera mieux comprise dans la description détaillée qui suit et se réfère aux dessins annexés donnés uniquement à titre d'exemple, et dans lesquels:

    • les figures 1a à 1c montrent un actionneur connu dans ses positions stables;
    • le graphique de la figure 2a montre la position P de l'armature en fonction du temps;
    • les graphiques des figures 2b et 2c montrent les signaux de commande d'un procédé connu pour commander un tel actionneur;
    • le graphique de la figure 2d montre l'intensité du courant d'une bobine en fonction du temps;
    • les figures 3a et 3b montrent les défauts de capture de l'armature dans le procédé connu;
    • la figure 4 est un schéma synoptique d'un dispositif pour la mise en oeuvre de l'invention.
    • les figures 5a à 5e sont des diagrammes montrant le fonctionnement du procédé conforme à l'invention;
    • la figure 6 montre en coupe axiale un actionneur conforme à l'invention appliqué à la commande d'une soupape.
    The invention will be better understood in the detailed description which follows and refers to the appended drawings given solely by way of example, and in which:
    • Figures 1 a to 1 c show an actuator known in its stable positions;
    • the graph in FIG. 2 a shows the position P of the armature as a function of time;
    • the graphs of FIGS. 2 b and 2 c show the control signals of a known method for controlling such an actuator;
    • the graph in FIG. 2 d shows the intensity of the current of a coil as a function of time;
    • Figures 3 a and 3 b show the capture defects of the armature in the known method;
    • Figure 4 is a block diagram of a device for implementing the invention.
    • Figures 5 a to 5 e are diagrams showing the operation of the method according to the invention;
    • Figure 6 shows in axial section an actuator according to the invention applied to the control of a valve.

    Un actionneur électromécanique connu à deux positions stables et une position de repos est représenté aux figures 1a,1b et 1c et désigné par la référence générale 1.A known electromechanical actuator with two stable positions and a rest position is shown in FIGS. 1 a , 1 b and 1 c and designated by the general reference 1.

    Il comporte, fixés dans un boítier 10, deux électro-aimants 11 et 12 identiques comportant chacun une bobine d'excitation 21,22. Une armature mobile 3 constituée d'un plateau en tôle magnétique est disposée dans l'entrefer e compris entre les deux électro-aimants disposés en vis-à-vis. Deux ressorts hélicoïdaux identiques 31 et 32 sont disposés selon l'axe XX de l'actionneur de part et d'autre du plateau 3 de façon à le maintenir au repos, c'est à dire lorsqu'aucune des bobines n'est excitée, à équidistance des deux électro-aimants (figure 1a). La tige 5 disposée axialement et fixée au centre du plateau 3 est reliée à l'organe à commander, non représenté.It comprises, fixed in a housing 10, two identical electromagnets 11 and 12 each comprising an excitation coil 21,22. A movable frame 3 consisting of a plate made of magnetic sheet is placed in the air gap e comprised between the two electromagnets arranged opposite. Two identical helical springs 31 and 32 are arranged along the axis XX of the actuator on either side of the plate 3 so as to keep it at rest, that is to say when none of the coils is excited, equidistant from the two electromagnets (Figure 1a). The rod 5 disposed axially and fixed to the center of the plate 3 is connected to the member to be controlled, not shown.

    La figure 1b montre une première position stable obtenue lorsque la bobine 21 de l'électro-aimant 11 est excitée alors que la bobine 22 de l'électro-aimant 12 ne l'est pas. L'armature 3 est dans ce cas collée à l'armature de l'électro-aimant 11. La figure 1c montre la deuxième position stable obtenue lorsque la bobine 22 est excitée alors que la bobine 21 ne l'est pas. L'armature 3 est dans ce cas collée à l'armature de l'électro-aimant 12. Figure 1b shows a first stable position obtained when the coil 21 of the electromagnet 11 is energized while the coil 22 of the electromagnet 12 is not. The armature 3 is in this case bonded to the armature of the electromagnet 11. FIG. 1 c shows the second stable position obtained when the coil 22 is energized while the coil 21 is not. The armature 3 is in this case bonded to the armature of the electromagnet 12.

    Le procédé habituellement utilisé pour effectuer la commutation de la première position stable à la deuxième position stable va maintenant être décrit en référence aux figures 2a à 2d. La première position de l'armature 3 est représentée de O à T1 par l'ordonnée P1 et la deuxième position par l'ordonnée P2 atteinte au temps T2. Les signaux de commande du courant dans les bobines 21 et 22 sont désignés respectivement par A1 et A2. A l'état 1 de ces signaux la bobine correspondante est excitée. Pour faire passer l'armature 3 de P1 à P2, on coupe d'abord le courant de la bobine 21 en faisant passer le sienal A1 de l'état 1 à l'état O. Un certain temps ΔT après cette coupure, on commande le courant I de la bobine 22 en faisant passer le signal A2 de l'état O à l'état 1 et la charge de la bobine 22 évolue comme représenté à la figure 2d.The method usually used for switching from the first stable position to the second stable position will now be described with reference to FIGS. 2 a to 2 d . The first position of the armature 3 is represented from O to T1 by the ordinate P1 and the second position by the ordinate P2 reached at time T2 . The current control signals in the coils 21 and 22 are designated respectively by A1 and A2 . At state 1 of these signals the corresponding coil is energized. To pass the armature 3 from P1 to P2 , the current of the coil 21 is first cut by passing the sienal A1 from state 1 to state O. A certain time ΔT after this cut-off, the current I of the coil 22 is controlled by passing the signal A2 from state O to state 1 and the charge of the coil 22 changes as shown in FIG. 2 d .

    Pour que la capture de l'armature 3 par l'électro-aimant 12 se fasse de façon optimale, l'écart de temps ΔT doit être convenablement choisi pour éviter le non collage de l'armature (figure 3a), si l'énergie magnétique est insuffisante, ou des rebonds (figure 3b), s'il y a excès d'énergie.In order for the armature 3 to be captured by the electromagnet 12 in an optimal manner, the time difference ΔT must be suitably chosen to avoid non-sticking of the armature (FIG. 3 a ), if the magnetic energy is insufficient, or rebounds (Figure 3b ), if there is excess energy.

    En outre, dans l'application à la commande électromagnétique des soupapes d'un moteur à combustion interne, les conditions de fonctionnement liées au véhicule amènent des variations du courant d'appel représenté en figure 2d, par exemple lors d'un démarrage à froid et/ou si la charge de la batterie n'est pas optimale.In addition, in the application to the electromagnetic control of the valves of an internal combustion engine, the operating conditions linked to the vehicle cause variations in the inrush current shown in FIG. 2 d , for example during a start-up at cold and / or if the battery charge is not optimal.

    On est donc conduit à anticiper le passage de l'état O à l'état 1 du signal A2 (ou du signal A1), par rapport au ΔT déterminé de façon optimale dans les conditions normales (moteur chaud, charge normale de la batterie) de façon à disposer d'assez d'énergie au moment du contact de l'armature 3 avec le circuit magnétique de l'électro-aimant 12 (ou 11) dans toutes les conditions, ce qui conduit à l'inconvénient des rebonds si les conditions sont normales. We are therefore led to anticipate the transition from state O to state 1 of signal A2 (or of signal A1 ), with respect to the ΔT determined optimally under normal conditions (hot engine, normal battery charge) so as to have enough energy at the time of contact of the armature 3 with the magnetic circuit of the electromagnet 12 (or 11) in all conditions, which leads to the disadvantage of rebounds if the conditions are normal.

    Selon l'invention, on procède, pour remédier à ces inconvénients, de la façon qui va être exposée ci-dessous en référence aux figures 5a à 5e.According to the invention, the procedure is to remedy these drawbacks in the manner which will be explained below with reference to FIGS. 5 a to 5 e .

    Sur ces figures l'origine des abscisses représente l'instant où la bobine de l'électro-aimant correspondant à l'état stable précédemment réalisé est désexcitée par passage du signal de commande correspondant de l'état 1 à l'état O à l'instant TP. La commande de l'excitation de l'autre électro-aimant est avancée par rapport au temps Δt (figure 5b) prédéterminé pour un fonctionnement optimal dans les conditions normales, comme déjà exposé, à l'instant Ta (figure 5c).In these figures, the origin of the abscissa represents the instant when the coil of the electromagnet corresponding to the stable state previously produced is de-energized by passage of the corresponding control signal from state 1 to state O to l 'instant T P. The control of the excitation of the other electromagnet is advanced with respect to the predetermined time Δt (FIG. 5 b ) for optimal operation under normal conditions, as already explained, at time T a (FIG. 5 c ) .

    On coupe ensuite le courant d'excitation de cet électro-aimant à un instant Tc déterminé par le déplacement de l'armature mobile 3, par exemple lors de son passage par un point PR intermédiaire de sa course de P1 en P2 (figure 5a). On rétablit ensuite le courant d'excitation après une durée de coupure calculée en fonction du déplacement de l'armature 3, par exemple en fonction du temps écoulé entre la coupure en TP et le passage de l'armature 3 par la position de référence PR .The excitation current of this electromagnet is then cut at an instant T c determined by the displacement of the movable armature 3, for example during its passage through a point P R intermediate of its stroke from P1 to P2 (figure 5 a ). The excitation current is then restored after a cut-off duration calculated as a function of the movement of the armature 3, for example as a function of the time elapsed between the cut at T P and the passage of the armature 3 through the reference position. P R.

    Si l'actionneur bistable utilisé est parfaitement symétrique comme celui décrit aux figures 1a à 1c, la position de référence PR sera de préférence choisie à équidistance des deux électro-aimants et plus généralement elle correspondra à la position de repos de l'armature mobile 3 (figure 1a).If the bistable actuator used is perfectly symmetrical like that described in FIGS. 1 a to 1 c , the reference position P R will preferably be chosen equidistant from the two electromagnets and more generally it will correspond to the rest position of the movable frame 3 (Figure 1 a ).

    La durée de la coupure en fonction de la vitesse de déplacement de l'armature 3 est déterminée expérimentalement en fonction des caractéristiques de fonctionnement de l'organe à commander.The duration of the cutoff as a function of the speed of movement of the reinforcement 3 is determined experimentally as a function operating characteristics of the member to be controlled.

    Par exemple, dans le cas de la commande d'une soupape d'admission de diamètre 32 mm et de 0,14 kg de masse, soupape correspondant à la plus petite des deux soupapes d'admission d'un moteur à quatre cylindres de cylindrée voisine de 1,9l, et dont la course de 6,5 millimètres doit être parcourue dans un temps constant de 5 millisecondes, l'instant TP de la coupure du signal A1 étant pris comme origine, les ordres de grandeurs peuvent être les suivants: Commande normale ΔT = 0,8 à 1,4 ms Commande avancée TA = 0,5 ms Interruption commandée Tc = 3 ms Durée de l'interruption ΔTc = 0,4 ms For example, when ordering an intake valve with a diameter of 32 mm and a mass of 0.14 kg, the valve corresponding to the smaller of the two intake valves of a four-cylinder engine close to 1.9 l , and whose travel of 6.5 millimeters must be covered in a constant time of 5 milliseconds, the instant T P of the cutoff of signal A1 being taken as origin, the orders of magnitudes can be the following: Normal order ΔT = 0.8 to 1.4 ms Advanced order TA = 0.5 ms Controlled interruption T c = 3 ms Duration of the interruption ΔT c = 0.4 ms

    D'une façon générale pour obtenir une durée de coupure fonction décroissante de la vitesse de déplacement de l'organe mobile, ΔTC sera une fonction croissante de Tc -TP . On dose ainsi convenablement l'effort magnétique pour éviter les rebonds du plateau 3 tout en laissant une marge suffisante pour compenser les perturbations du mouvement du plateau.In general, to obtain a cut-off duration that decreases as a function of the speed of movement of the movable member, ΔT C will be an increasing function of T c - T P. The magnetic force is thus properly metered to avoid rebounds of the plate 3 while leaving a sufficient margin to compensate for disturbances in the movement of the plate.

    En pratique on pourra retenir une fonction linéaire croissante de la forme ΔTc = (Tc - TP - Init ) x K où K est une constante telle que O < K < 1 et TP une donnée du contrôle moteur.In practice we can retain an increasing linear function of the form ΔT vs = (T vs - T P - I nit ) x K where K is a constant such that O < K < 1 and T P a motor control data.

    I nit est le temps qui s'écoule entre la fin de la commande de la bobine précédemment excitée et le moment où le plateau 3 décolle effectivement du circuit magnétique de cette bobine. I nit is the time which elapses between the end of the command of the previously excited coil and the moment when the plate 3 actually takes off from the magnetic circuit of this coil.

    On va maintenant décrire un dispositif conçu pour la mise en oeuvre d'un procédé conforme à l'invention.
    Le dispositif (figure 4) comporte un actionneur 1 du type décrit précédemment et comportant en outre un capteur de position 6 apte à émettre un signal électrique lors du passage de l'armature 3 à sa position de repos. Un système de contrôle 7 reçoit, outre les informations habituelles par exemple en provenance de l'électronique de contrôle d'un moteur à combustion interne dont l'actionneur 1 commande une soupape, le signal émis par le capteur 6 au passage de l'armature 3.    We will now describe a device designed for implementing a method according to the invention.
    The device (FIG. 4) comprises an actuator 1 of the type described above and further comprising a position sensor 6 capable of emitting an electrical signal when the armature 3 passes to its rest position. A control system 7 receives, in addition to the usual information for example coming from the control electronics of an internal combustion engine whose actuator 1 controls a valve, the signal emitted by the sensor 6 when the armature passes 3.

    Le système 7 élabore les signaux logiques A1 et A2 commandant respectivement les bobines 21 et 22, par l'intermédiaire d'un étage de puissance 8.The system 7 produces the logic signals A1 and A2 controlling the coils 21 and 22 respectively, by means of a power stage 8.

    On va décrire maintenant une méthode qui peut être utilisée par le système de contrôle 7 pour déclencher le creux au temps TC et calculer sa durée ΔTC . Pour déterminer la durée TC -TP -Init, on pourrait bien sûr utiliser une méthode analogique mais on sait que les méthodes numériques sont plus précises et plus sûres, notamment en utilisant une horloge et un compteur décompteur. Pour multiplier TC -TP -Init par le facteur K, il est alors avantageux d'utiliser deux bases de temps, l'une pour compter, l'autre pour décompter.We will now describe a method which can be used by the control system 7 to trigger the dip at time T C and calculate its duration ΔT C. To determine the duration T C - T P - Init , one could of course use an analogical method but we know that the numerical methods are more precise and more reliable, in particular by using a clock and a down counter. To multiply T C - T P - Init by the factor K , it is then advantageous to use two time bases, one to count, the other to count.

    La fin de la commande A1 de la bobine précédemment excitée doit d'abord être repérée, par exemple en effectuant une détection de front. L'instant TP ainsi repéré est choisi comme origine. On initialise alors un compteur-décompteur à la valeur Init puis on décompte, lorsque le compteur arrive à zéro, on compte jusqu'au temps TC de passage du plateau 3 devant le détecteur 6 en utilisant une première horloge. On obtient donc Tc-TP -Init en sortie du compteur-décompteur. Le début du creux est simultanément déclenché au temps Tc et on décompte alors avec une deuxième horloge. La fréquence des deux horloges étant dans le rapport K, on obtient bien une durée: ΔTc = (Tc - TP - Init) x K The end of command A1 of the previously energized coil must first be identified, for example by carrying out edge detection. The instant T P thus identified is chosen as the origin. An up-down counter is then initialized to the value Init and then counted down, when the counter reaches zero, up to the time T C of passage of the plate 3 in front of the detector 6 is counted using a first clock. We thus obtain T c -T P - Init at the output of the up-down counter. The start of the dip is simultaneously triggered at time T c and a countdown is then made with a second clock. The frequency of the two clocks being in the K ratio, we obtain a duration: ΔT vs = (T vs - T P - Init) x K

    Il est intéressant d'utiliser le même circuit pour la commande de deux bobines en multiplexant les deux entrées et les deux sorties de commandes A1 et A2.It is interesting to use the same circuit for the control of two coils by multiplexing the two inputs and the two control outputs A1 and A2 .

    Selon un mode préféré de réalisation d'un actionneur conforme à l'invention représenté à la figure 6 à échelle un, le capteur 6 est inséré dans la paroi extérieure du boítier 10 à équidistance des armatures des bobines 11 et 12. Une soupape V et son siège S sont représentés dans la position intermédiaire correspondant à l'état de repos de l'actionneur. La queue de la soupape est confondue avec la tige 5 entraínée par l'armature mobile 3. La position d'équilibre P1 correspond à la soupape fermée et la position P2 à sa pleine ouverture.According to a preferred embodiment of an actuator according to the invention shown in FIG. 6 on a scale, the sensor 6 is inserted in the outer wall of the housing 10 equidistant from the armatures of the coils 11 and 12. A valve V and its seat S are shown in the intermediate position corresponding to the rest state of the actuator. The valve stem coincides with the rod 5 driven by the movable frame 3. The equilibrium position P1 corresponds to the closed valve and the position P2 when it is fully open.

    Les ressorts 31 et 32 prennent respectivement appui, par leur extrémité opposée au plateau 3, sur le boítier 10 et sur la culasse C du moteur.The springs 31 and 32 are supported respectively, by their opposite end to the plate 3, on the housing 10 and on the engine cylinder head C.

    L'actionneur comporte de la façon habituelle des moyens de réglage de la position de fermeture de la soupape V en appui sur son siège S. Ces moyens peuvent comporter des cales ou rondelles 102 disposées sous la bride 101 du boítier 10 avant fixation sur la culasse C par des vis telles que 103. Il comporte également de façon habituelle des moyens de réglage de la position zéro correspondant à l'état de repos. Ces moyens peuvent être constitués par une vis 104 coopérant avec un taraudage correspondant du boítier 10 et sur laquelle prend appui l'extrémité du ressort 31 opposée au plateau 3. Le déplacement axial de l'appui constitué par la vis 104 permet ainsi de régler la position de repos du plateau 3. Après réglage, la vis 104 est bloquée par un contre-écrou 105.The actuator usually comprises means for adjustment of the closing position of the valve V in support on its seat S. These means may include wedges or washers 102 arranged under the flange 101 of the housing 10 before fixing on cylinder head C by screws such as 103. It also usually comprises means for adjusting the the zero position corresponding to the rest state. These means may consist of a screw 104 cooperating with a corresponding thread of the housing 10 and on which takes support the end of the spring 31 opposite the plate 3. The axial displacement of the support constituted by the screw 104 allows thus to adjust the rest position of the plate 3. After adjustment, screw 104 is blocked by a lock nut 105.

    Pour que la position du capteur 6 sur la paroi du boítier 10 corresponde aussi exactement que possible à la position zéro du plateau 3, ce capteur 6 est centré dans un alésage d'une entretoise cylindrique 106 qui détermine la largeur de l'entrefer e entre les armatures des électro-aimants 11,12, cet entrefer délimitant la course totale du plateau 3 entre ses deux positions stables extrêmes P1,P2.So that the position of the sensor 6 on the housing wall 10 corresponds as exactly as possible to the zero position of the tray 3, the sensor 6 is centered in a bore of a cylindrical spacer 106 which determines the width of the air gap e between the armatures of the electromagnets 11,12, this air gap defining the total stroke of the plate 3 between its two extreme stable positions P1, P2 .

    Claims (10)

    1. Method for controlling an electromechanical actuator (1) with two stable active positions and a rest position, said actuator being of the type comprising a mobile armature (3) connected to a body to be actuated, for example a valve (V) of an internal combustion engine, this armature being arranged in the air-gap (e) separating a first and a second identical electromagnet (11, 12) placed facing each other, equidistant in the rest position from the two electromagnets through the opposing return forces of two identical springs (31, 32), in which method the switching from one to the other active position is effected by controlling the excitation of the second electromagnet when a predetermined time ΔT for normal operating conditions has elapsed since the command to cut off the excitation current of the first electromagnet and vice versa, characterised in that it comprises the following stages:
      a) the command to excite the second electromagnet is brought forward in relation to the predetermined time ΔT for optimal operation in normal conditions;
      b) the excitation current for the second electromagnet is cut off at a given moment by the speed of displacement of the mobile body (3, 5);
      c) the excitation current is re-established after a cut-off period ΔTc that is a decreasing function of the speed of displacement of the mobile body.
    2. Method according to Claim 1, characterised in that the cutting off of the excitation current for the second electromagnet is controlled by the passage of the mobile armature through a reference position (PR).
    3. Method according to Claim 2, characterised in that the reference position (PR) corresponds to the rest position of the armature (3).
    4. Method according to any one of Claims 1 to 3, characterised in that the duration of the cut-off is calculated as a function of elapsed time Tc - TP between the moment Tc of the start of the cut-off and the moment TP of the end of the preceding command.
    5. Method according to Claim 4, characterised in that the duration ΔTc of the cut-off is an increasing function of time Tc - TP.
    6. Device for implementing the method according to Claims 1 to 5, comprising an electromechanical actuator (1) with two stable active positions and a rest position, the mobile armature of which, connected to a body to be actuated (V) is arranged in the air-gap (e) of two identical electromagnets (11, 12) placed facing each other inside a housing (10) and means for switching the control currents of the electromagnets, characterised in that it comprises means (6) for generating and delivering to the switching means a signal when the mobile armature passes into a predetermined position (PR) on its course.
    7. Device according to Claim 6, characterised in that the means for generating and delivering the signal comprise a position sensor (6) connected to the housing of the actuator.
    8. Device according to Claim 7, characterised in that the sensor (6) is arranged so as to detect the passage of the mobile armature (3) into a position equidistant from the two electromagnets.
    9. Device according to Claim 8, characterised in that the sensor (6) is inserted into the external wall of the housing (10).
    10. Device according to Claim 8 or Claim 9, characterised in that the sensor (6) is centred within a cross-piece (106) delimiting the total course of the plate (3) between its two extreme stable positions (P1, P2).
    EP94402896A 1994-01-07 1994-12-15 Method for controlling a bistable electromagnetic actuator and device to carry out such method Expired - Lifetime EP0662697B1 (en)

    Applications Claiming Priority (2)

    Application Number Priority Date Filing Date Title
    FR9400103 1994-01-07
    FR9400103A FR2714998B1 (en) 1994-01-07 1994-01-07 Method for controlling a bistable electromagnetic actuator and device for its implementation.

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    EP0662697A1 EP0662697A1 (en) 1995-07-12
    EP0662697B1 true EP0662697B1 (en) 1998-04-08

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    DE (1) DE69409485T2 (en)
    FR (1) FR2714998B1 (en)

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    US6024059A (en) * 1997-11-12 2000-02-15 Fuji Jukogyo Kabushiki Kaisha Apparatus and method of controlling electromagnetic valve
    EP1014395A2 (en) * 1998-12-24 2000-06-28 DaimlerChrysler AG Method and apparatus for reducing the noise of electromagnetically operated devices
    FR2796752A1 (en) 1999-07-23 2001-01-26 Peugeot Citroen Automobiles Sa Impact control and regulation system for electromagnetic actuator uses bi-stable mechanism having supple metallic blade to reduce speed of plate moving in gap defined by electromagnets
    US6363895B1 (en) 1998-08-13 2002-04-02 Siemens Aktiengesellschaft Device for controlling a regulator

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    DE19741570A1 (en) * 1997-09-20 1999-03-25 Heinz Leiber Electromagnetic actuator for controlling valve
    JP3379397B2 (en) * 1997-08-12 2003-02-24 トヨタ自動車株式会社 Hydraulic brake device
    DE19739840C2 (en) * 1997-09-11 2002-11-28 Daimler Chrysler Ag Method for controlling an electromagnetically actuated actuating device, in particular a valve for internal combustion engines
    DE19821548C2 (en) * 1998-05-14 2000-05-31 Daimler Chrysler Ag Method and device for controlling an electromagnetic valve
    DE19832196A1 (en) * 1998-07-17 2000-01-20 Bayerische Motoren Werke Ag Controlling armature motion in electromagnetically operated valve of internal combustion engine
    DE19832198A1 (en) * 1998-07-17 2000-01-20 Bayerische Motoren Werke Ag Controlling armature motion in electromagnetic actuator used to operate internal combustion engine valve
    US6292345B1 (en) 1998-09-02 2001-09-18 Siemens Aktiengesellschaft Method for controlling an electromechanical actuator
    FR2799302B1 (en) * 1999-10-04 2002-01-18 Peugeot Citroen Automobiles Sa ELECTRIC ACTUATOR IN PARTICULAR FOR A MOTOR VEHICLE ENGINE VALVE
    DE10248328A1 (en) * 2002-10-17 2004-04-29 Bayerische Motoren Werke Ag Electromagnetic valve train device with non-rotating neutral position adjustment screw
    FR2870563B1 (en) * 2004-05-19 2006-06-30 Peugeot Citroen Automobiles Sa VALVE ACTUATING DEVICE
    DE102012023052A1 (en) * 2012-11-26 2014-05-28 Volkswagen Aktiengesellschaft Actuator for valve drive of internal combustion engine, has biasing unit that is arranged for biasing rod-shaped actuator and/or oscillator mass at the neutral position
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    US6024059A (en) * 1997-11-12 2000-02-15 Fuji Jukogyo Kabushiki Kaisha Apparatus and method of controlling electromagnetic valve
    US6363895B1 (en) 1998-08-13 2002-04-02 Siemens Aktiengesellschaft Device for controlling a regulator
    EP1014395A2 (en) * 1998-12-24 2000-06-28 DaimlerChrysler AG Method and apparatus for reducing the noise of electromagnetically operated devices
    US6560088B1 (en) 1998-12-24 2003-05-06 Daimlerchrysler Ag Method and circuit arrangement for reducing noise produced by electromagnetically actuated devices
    FR2796752A1 (en) 1999-07-23 2001-01-26 Peugeot Citroen Automobiles Sa Impact control and regulation system for electromagnetic actuator uses bi-stable mechanism having supple metallic blade to reduce speed of plate moving in gap defined by electromagnets

    Also Published As

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    FR2714998B1 (en) 1996-02-09
    DE69409485T2 (en) 1998-09-17
    DE69409485D1 (en) 1998-05-14
    EP0662697A1 (en) 1995-07-12
    FR2714998A1 (en) 1995-07-13

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