EP0852288A2 - Méthode d'adaptation de valeur de consigne pour la commande d'un actuateur motorisé - Google Patents

Méthode d'adaptation de valeur de consigne pour la commande d'un actuateur motorisé Download PDF

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Publication number
EP0852288A2
EP0852288A2 EP97122229A EP97122229A EP0852288A2 EP 0852288 A2 EP0852288 A2 EP 0852288A2 EP 97122229 A EP97122229 A EP 97122229A EP 97122229 A EP97122229 A EP 97122229A EP 0852288 A2 EP0852288 A2 EP 0852288A2
Authority
EP
European Patent Office
Prior art keywords
setpoint
motor
control element
control
current
Prior art date
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.)
Granted
Application number
EP97122229A
Other languages
German (de)
English (en)
Other versions
EP0852288A3 (fr
EP0852288B1 (fr
Inventor
Henning Irle
Dietmar KRÜGER
Peter Overmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hella GmbH and Co KGaA
Original Assignee
Hella KGaA Huek and Co
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 Hella KGaA Huek and Co filed Critical Hella KGaA Huek and Co
Publication of EP0852288A2 publication Critical patent/EP0852288A2/fr
Publication of EP0852288A3 publication Critical patent/EP0852288A3/fr
Application granted granted Critical
Publication of EP0852288B1 publication Critical patent/EP0852288B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
    • F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
    • F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
    • F02D11/107—Safety-related aspects
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
    • F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
    • F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
    • F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
    • F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
    • F02D2011/101—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the means for actuating the throttles
    • F02D2011/102—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the means for actuating the throttles at least one throttle being moved only by an electric actuator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2250/00—Engine control related to specific problems or objectives
    • F02D2250/16—End position calibration, i.e. calculation or measurement of actuator end positions, e.g. for throttle or its driving actuator

Definitions

  • the invention relates to a method for adapting the setpoint for regulating the Position of a motorized actuator, especially a motor actuated throttle valve in a motor vehicle.
  • Possible measures include: B. measurement in end-of-line test, Measuring or adaptation in the operation of the control element or the attachment of Limit switches in the area of the end stops.
  • the positions of the end stops can change during the operation of the Change control element, e.g. B. by drifting the position of the actuator detecting sensor, mechanical changes, after replacing the Control element, due to aging or by penetrating into the control range Foreign body.
  • the actuator against one When the end stop is energized it can become mechanical depending on the force Damage to the control element or the end stops.
  • control elements classified as particularly safety-relevant e.g. one motor-operated throttle valve in a motor vehicle
  • Attaching the control element to an end stop as safety-critical are considered (error message "throttle valve cannot be closed"), which can have serious ramifications for the driver starting with the activation of the warning lamp, over the activation of the Emergency running up to the shutdown of the engine control.
  • control element characteristic value motor current, Pulse width modulation of the motor control or the integral part of the controlled variable
  • a predetermined limit above the normal level exceeds the setpoint of the control element position to its current actual value (with a small distance) is set so that the control of actuating elements is limited becomes.
  • the control element is immediately moved to a position in front of the Blocked position is retracted, causing the actuator to strike against an end stop or blocking is lifted immediately.
  • the Control electronics are effective due to the constant high motor current be avoided.
  • This corrective measure can also switch off the activation of the Control element are avoided, so that the functionality of the control system advantageously largely preserved.
  • the method according to the invention can, in particular, depending on the field of application can be advantageously supplemented by further measures.
  • So z. B. also the amount of the offset value for the setpoint of Current direction of the motor are made dependent, so that the width of the Resetting the actuator from a stop depends on whether a upper or lower limit stop has been reached.
  • the adapted setpoint is the new position of the End stop for the respective current direction is saved.
  • the method according to the invention initially causes the actuating element to be reset each time an obstacle is struck, with a constant blocking every time is avoided.
  • the control system does not save the position of the Control element at the moment of striking, so that the control element always again against a z. B. adjusted end stop, which then each time the adaptation function adjusts the setpoint again.
  • This supplementary measure now makes the adapted setpoint a new one Position of the end stop in the respective current direction of the Control element stored, so that multiple strikes of the control element against the end stop is avoided, unless the end stop in the meantime would have further adjusted or would have been adjusted.
  • a multiple swinging switch between the adapted Setpoint and the external setpoint at the setpoint input of the controller it is also advantageous to switch from the adapted setpoint to the external setpoint only after a specified debounce time has elapsed or to check explicitly whether the setpoint specified by the external system Actuator leads further away from the blocking position than the adapted setpoint.
  • the single figure shows a block diagram of a system for controlling a Motorized actuator, which the inventive method for Executes setpoint adaptation.
  • the figure shows a system for controlling an actuated by a motor (M) Control element (S), which can be assumed as an example that it this is a throttle valve in a motor vehicle.
  • M motor
  • S Control element
  • the control element (S) is between a lower and an upper end stop (U, O) flexible.
  • the position (IW) of the control element (S) is determined by a Actual value transmitter (P), executable and shown here as a potentiometer, recorded and on given the input of a controller (R), which is based on the difference between a setpoint (SW) which is also present at the input of the controller (R) and the Actual position value (IW) generates a control signal for the motor (M).
  • This Control signal can be an analog or, as here, a digital signal, which the information about pulse width modulation (PWM) and Current direction (DIR) included.
  • PWM pulse width modulation
  • DIR Current direction
  • One is assigned to the controller (R) Adaptation function (A), which is symbolically represented here as an assembly, actually but is preferably implemented by a software function.
  • the adaptation function (A) receives signals via the control of the motor (M), by the controller (R) (amount of the motor current or pulse width of the motor control (PWM) or the integral part of the controlled variable) as well as information about the direction of current supply to the motor (M), for example via a logical one Direction signal (DIR), as well as the actual value (IW) of the position of the control element (S) fed.
  • the adaptation function calculates a so-called "adapted Setpoint "(ASW), which results from the actual value (IW) of the position of the control element (S) plus an offset value (OS_SW) towards the inside of the Controlled system.
  • the controller (R) usually receives its setpoint (SW) from an external System (ES) for example an engine control system as an external setpoint (ESW) given.
  • ES external System
  • EW external setpoint
  • A adaptation function
  • the position of the end stops (U, O) is stored in the controller (R). To increase the accuracy can also be provided that the end positions (U, O) at every start-up of the control system and the assigned ones Position values are saved.
  • the controller (R) receives as Setpoint (SW) the external setpoint (ESW) of the external system (ES) supplied and controls the control element (S) in this target position, the input of the Controller (R) also sends a signal from the actual value transmitter (P) via the current position (IW) of the control element (S) is fed.
  • a characteristic characteristic of the motor control here the Pulse width of the motor control (PWM)
  • PWM Pulse width of the motor control
  • ASW adapted setpoint
  • the offset value (OS_SW) has a negative sign if the Movement of the control element (S) before blocking in the direction of one larger setpoint (SW) and a positive sign if the movement of the Control element (S) in the direction of a smaller setpoint (SW) led.
  • Switching to the adapted setpoint (ASW) ends the blocking immediately after recognizing the same, whereby one the engine (M) and that Control element (S) easily and effectively prevents damaging permanent blocking becomes.
  • the control system gives way to a recognized obstacle, so to speak that an emergency shutdown is generally not required and the system remains available.
  • the system does not remain with the control by means of an adapted one Setpoint (ASW), but switches, but at the earliest according to a predetermined Final bounce time, the setpoint specification back to the external system (ES) as soon as this specifies a setpoint (ESW) which controls the control element (S) into a position, which is farther from the blocking position than that by the adapted setpoint (ASW) specified position.
  • ASW adapted one Setpoint
  • the detected blocking position i. H. the Position (IW) of the control element (S) at the moment of blocking as a new value of the upper or lower end stop (U or O) so that during the continued operation of the control system, a renewed striking of the Control element (S) against the obstacle is avoided.
  • this remains Fall of the setting range of the control element (S) even after a possible elimination of the obstacle during the continued operation of the control system.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
  • Control Of Position Or Direction (AREA)
EP97122229A 1997-01-04 1997-12-17 Méthode d'adaptation de valeur de consigne pour la commande d'un actuateur motorisé Expired - Lifetime EP0852288B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19700210A DE19700210A1 (de) 1997-01-04 1997-01-04 Verfahren zur Adaption des Sollwertes zur Regelung der Position eines motorisch betätigten Stellelementes
DE19700210 1997-01-04

Publications (3)

Publication Number Publication Date
EP0852288A2 true EP0852288A2 (fr) 1998-07-08
EP0852288A3 EP0852288A3 (fr) 1999-11-03
EP0852288B1 EP0852288B1 (fr) 2003-05-21

Family

ID=7816867

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97122229A Expired - Lifetime EP0852288B1 (fr) 1997-01-04 1997-12-17 Méthode d'adaptation de valeur de consigne pour la commande d'un actuateur motorisé

Country Status (3)

Country Link
EP (1) EP0852288B1 (fr)
DE (2) DE19700210A1 (fr)
ES (1) ES2197291T3 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1791251A1 (fr) * 2004-09-13 2007-05-30 HONDA MOTOR CO., Ltd. Controleur
EP2290208A1 (fr) * 2009-08-28 2011-03-02 Honda Motor Co., Ltd. Commande de papillon électronique au ralenti

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10208993B4 (de) * 2002-02-28 2008-01-03 Audi Ag Diagnose eines Motorsteuerungssystems mit Lagerückmeldung
DE10236078B4 (de) * 2002-08-07 2013-08-29 Robert Bosch Gmbh Verfahren, Computerprogramm, und Steuer- und Regelgerät zum Prüfen der Bewegung eines gegen mindestens einen mechanischen Anschlag beweglichen Elements, sowie Brennkraftmaschine
US7418944B2 (en) * 2006-10-04 2008-09-02 Aisan Kogyo Kabushiki Kaisha Electronic throttle control apparatus
DE102012103464A1 (de) * 2012-04-19 2013-10-24 Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Hallstadt Stellantrieb einer Luftdurchlassvorrichtung und Verfahren zur Steuerung eines Stellantriebs

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3608555A1 (de) * 1986-03-14 1987-09-17 Bosch Gmbh Robert Verfahren zur strombegrenzung eines elektromotors
DE4005255A1 (de) * 1990-02-20 1991-08-22 Vdo Schindling Schaltungsanordnung zum betrieb eines stellgliedes
EP0572951A2 (fr) * 1992-06-01 1993-12-08 Nippondenso Co., Ltd. Dispositif pour déterminer une position de référence d'un actuateur à commande asservie
DE4303560A1 (de) * 1993-02-08 1994-08-11 Bosch Gmbh Robert Verfahren und Vorrichtung zur Steuerung einer Verstelleinrichtung

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3305725A1 (de) * 1983-02-18 1984-08-23 Bayerische Motoren Werke AG, 8000 München Antriebsvorrichtung fuer eine klappe in kraftfahrzeugen
GB2147432B (en) * 1983-09-28 1987-01-14 Aisin Seiki Controlling movement
US5229957A (en) * 1986-04-17 1993-07-20 Robert Bosch Gmbh Method for tolerance compensation of a position transducer
DE4040219A1 (de) * 1990-12-15 1992-06-17 Bosch Gmbh Robert System zur messwerterfassung im bereich eines kraftfahrzeugs
DE4220246A1 (de) * 1992-06-20 1993-12-23 Bosch Gmbh Robert Einrichtung zur Steuerung einer Verstelleinrichtung in einem Flugzeug
DE4242068A1 (de) * 1992-12-14 1994-06-16 Bosch Gmbh Robert Verfahren und Vorrichtung zur Steuerung einer Verstelleinrichtung in einem Fahrzeug
JP2871993B2 (ja) * 1993-03-31 1999-03-17 日本電気株式会社 サーボモータの位置制御装置
DE4315182A1 (de) * 1993-05-07 1994-11-10 Bosch Gmbh Robert Elektromotorischer Antrieb
DE4430235B4 (de) * 1993-08-26 2004-06-24 Denso Corp., Kariya Drosselklappen-Steuereinrichtung für Brennkraftmaschinen
DE4420122B4 (de) * 1994-06-09 2006-01-26 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung einer Endstellung einer Verstelleinrichtung in Fahrzeugen

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3608555A1 (de) * 1986-03-14 1987-09-17 Bosch Gmbh Robert Verfahren zur strombegrenzung eines elektromotors
DE4005255A1 (de) * 1990-02-20 1991-08-22 Vdo Schindling Schaltungsanordnung zum betrieb eines stellgliedes
EP0572951A2 (fr) * 1992-06-01 1993-12-08 Nippondenso Co., Ltd. Dispositif pour déterminer une position de référence d'un actuateur à commande asservie
DE4303560A1 (de) * 1993-02-08 1994-08-11 Bosch Gmbh Robert Verfahren und Vorrichtung zur Steuerung einer Verstelleinrichtung

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1791251A1 (fr) * 2004-09-13 2007-05-30 HONDA MOTOR CO., Ltd. Controleur
EP1791251A4 (fr) * 2004-09-13 2010-03-03 Honda Motor Co Ltd Controleur
EP2290208A1 (fr) * 2009-08-28 2011-03-02 Honda Motor Co., Ltd. Commande de papillon électronique au ralenti

Also Published As

Publication number Publication date
EP0852288A3 (fr) 1999-11-03
EP0852288B1 (fr) 2003-05-21
ES2197291T3 (es) 2004-01-01
DE19700210A1 (de) 1998-07-09
DE59710121D1 (de) 2003-06-26

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