EP1042767A1 - Einrichtung zum steuern eines elektromechanischen stellgeräts - Google Patents
Einrichtung zum steuern eines elektromechanischen stellgerätsInfo
- Publication number
- EP1042767A1 EP1042767A1 EP98966803A EP98966803A EP1042767A1 EP 1042767 A1 EP1042767 A1 EP 1042767A1 EP 98966803 A EP98966803 A EP 98966803A EP 98966803 A EP98966803 A EP 98966803A EP 1042767 A1 EP1042767 A1 EP 1042767A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- coil
- current
- predetermined
- time
- controller
- 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
Links
Classifications
-
- 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
-
- 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
-
- 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
- H01F7/1805—Circuit arrangements for holding the operation of electromagnets or for holding the armature in attracted position with reduced energising current
- H01F7/1811—Circuit arrangements for holding the operation of electromagnets or for holding the armature in attracted position with reduced energising current demagnetising upon switching off, removing residual magnetism
-
- 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
- F01L2800/00—Methods of operation using a variable valve timing mechanism
-
- 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
- H01F7/121—Guiding or setting position of armatures, e.g. retaining armatures in their end position
- H01F7/123—Guiding or setting position of armatures, e.g. retaining armatures in their end position by ancillary coil
Definitions
- the invention relates to a device for controlling an electromechanical actuator, which is provided in particular for controlling an internal combustion engine.
- a known actuator (DE 195 26 683 AI) has an actuator, which is designed as a gas exchange valve, and one
- the actuator has two electromagnets, between each of which an armature plate can be moved against the force of a restoring means by switching off the coil current on the holding electromagnet and switching on the coil current on the catching electromagnet.
- the coil current of the respective capturing electromagnet is kept constant by a predefined catch value for a predefined period of time and then regulated to a hold value by a two-position controller with hysteresis.
- the object of the invention is to provide a device for controlling an electromechanical actuator which minimizes the sound generation when an anchor plate strikes an electromagnet and at the same time ensures a long service life of the actuator.
- A is the contact surface of the core of the electromagnet on which the armature plate comes to rest
- N is the number of turns of the coil
- P v , ei is the electrical power loss
- ⁇ 0 is the permeability of air.
- the invention is based on the knowledge that the first summand of the relationship (Gl) is negligible compared to the second summand of the equation (Gl) if the quotient of the electrical power loss Pv, ei and the current I is low.
- the control signals of the controller are determined when the coil is in the operating state of the freewheel.
- the coil In the operating state of the freewheel, the coil is short-circuited via a freewheeling circuit of the power controller.
- the current I In the free-running mode, the current I can be detected by the coil with almost no loss.
- the approximation of the relationship (G1) given by the relationship (G2) has a high accuracy.
- FIG. 1 shows an arrangement of an actuator in an internal combustion engine
- FIG. 2 shows a block diagram of a controller which is arranged in the control device and an associated power control element
- FIG. 3 shows a flowchart of a program which is processed by a logic unit of the controller
- FIG. 4 shows a second embodiment of the controller
- FIG. 5 shows a block diagram of the logic unit of the controller according to FIG. 4,
- FIGS. 6a to c signal curves of the current I through the coil, the position X of the coil and the speed V of the armature plate plotted over time t.
- Elements of the same construction and function are provided with the same reference symbols in all figures.
- An actuator 1 ( Figure 1) comprises an actuator 11 and an actuator 12, which is designed for example as a gas exchange valve and has a shaft 121 and a plate.
- the actuator 11 has a housing 111 in which a first and a second electromagnet are arranged.
- the first electromagnet has a first core 112, in which a first coil 113 is embedded in an annular groove.
- the second electromagnet has a second core 14, in which a second coil 115 is embedded in a further annular groove.
- An anchor is provided, the anchor plate 116 of which is movably arranged in the housing 111 between the first core 112 and the second core 114.
- the armature further comprises an armature shaft 117 which is guided through recesses in the first and second core and which can be mechanically coupled to the shaft 121 of the valve.
- a first spring 118a and a second spring 118b bias the anchor plate 116 into a predetermined rest position R.
- Actuator 1 is rigidly connected to a cylinder head 21.
- An intake port 22 and a cylinder 23 with a piston 24 are assigned to the cylinder head 21.
- the piston 24 is coupled to a crankshaft via a connecting rod 25.
- a control device 3 which detects signals from sensors and generates control signals, depending on which the first or the second coil 113, 115 of the control device 1 are controlled by a power controller 5a, 5b.
- the sensors are designed as a first ammeter 4a, which detects a current through the first coil 113 or a current in the power controller 5a, or as a second ammeter 5b, which detects the current through the second coil 115 or in the power controller 5b. In addition to the sensors mentioned, other sensors may also be present.
- FIG. 2 shows the part of the control device 3 which is relevant for understanding the invention.
- a controller 3a is provided which, depending on the current I through the coil 113, which is detected by the ammeter 4a, generates control signals for the power controller 5a.
- the current I is differentiated in a differentiator 31.
- the quotient of the time derivative dl / dt of the current I and the current I is determined in a divider 32.
- a comparator 33 is provided, the input variable of which is a predetermined first threshold value SW1 and the output variable of the divider 32.
- the output signal KS of the comparator 33 is at a high level H if the predetermined first threshold value SW1 is smaller than the output variable of the divider 32. Otherwise, the output signal of the comparator 33 is at a low level.
- a logic unit 34 is provided, which generates the control signals for the power controller 5a as a function of the output signal KS of the comparator 33, a clock signal T ⁇ of an oscillator 35 and other operating variables.
- the structure of the logic unit 34 is explained below with reference to FIG. 3.
- the power controller 5a has a first transistor T1, the gate connection of which is electrically conductively connected to an output of the logic unit 34.
- the power controller 5a has a second transistor T2, the gate connection of which is electrically conductively connected to the logic unit 34.
- a first diode D1 and a second diode D2 are provided. Furthermore, there is a resistor R between the source output of the second
- the resistor R serves as a measuring resistor for the ammeter 4a.
- the first transistor is switched from drain to
- Source conductive. If the high level H is additionally present at the second transistor T2 at the gate-side connection, then the second transistor T2 conductive.
- the supply voltage U v then drops at the second coil, reduced by the voltage drop across the resistor R.
- the current I through the coil 113 then increases.
- the transistor T1 blocks and the diode D2 becomes conductive in free-running mode.
- the voltage drop across the coil 113 is then given by the forward voltage of the diode D2 and the transistor T2 and the voltage drop across the resistor R (in total, for example, two volts).
- the current I through coil 113 then decreases.
- the power controller 5b is designed analogously to the power controller 5a.
- FIG. 3 shows a flow chart of a program as it is processed in the logic unit 34. It is irrelevant whether the program is implemented in the form of hard-wired logic or is processed by a micro-controller.
- step S2 a constant current setting of the current through the coil is carried out, i.e. the current is regulated to a first catch value for a predetermined first time period TD1.
- a two-point controller with hysteresis is provided for this.
- step S4 the first transistor T1 is switched off and the second transistor T2 is switched on, and the coil is thus operated in the operating state of the freewheel.
- step S5 TD2 is used for a predetermined second time period waited.
- step S6 it is checked whether the current I through the coil 113 in freewheeling has fallen below a minimum limit current I limit . If this is not the case, it is checked in step S7 whether the control signal KS of the first comparator 33 is at level H. If this is the case, the armature is too fast and the first and second transistors T1, T2 are switched off in a step S8, ie set to "off" and thus energy is dissipated.
- step S9 If the condition of step S7 is not met, then the Armature too slow and the first and second transistor T1, T2 are switched on in a step S9, ie set to "on" and thus energy is supplied.
- a step S9 there is a wait for a predetermined third time period TD3 and in a step S10 for a predetermined fourth time period TD4.
- the control of transistors T1, T2 remains unchanged while waiting in steps S9 and S1.
- the program is then continued in step S4.
- the program is ended in a step S14.
- FIG. 4 shows a second embodiment of controller 3a.
- a second comparator 36 is provided, the output signal of which depends on a predefined second threshold value SW2 and the output of the divider 32.
- An embodiment of the logic unit 34 assigned to this embodiment is shown in FIG. AD flip-flop 341 generates its output signal at the Q output depending on the clock signal TS of the oscillator 35 and the output signal of the comparator 33.
- a further D flip-flop 342 is provided, the output signal of which at its Q output depends on the clock signal TS of the oscillator 35 and the output signal of the second comparator 36.
- the input of a NOT element 343 is electrically conductive with the oscillator 35 connected, the output is electrically connected to an input of an AND gate 344.
- the second input of the AND gate 344 is electrically conductively connected to the output of the second D flip-flop 342.
- the output of the first D flip-flop 341 is electrically conductively connected to the input of a second NOT element 345.
- the output of the second NOT gate 345 like the oscillator 35, is electrically conductively connected to an OR gate 346.
- the outputs of the AND gate 344 and of the OR gate 346 are connected to the gate of the first transistor T1 and second transistor T2, respectively. If appropriate, a driver is also arranged between the outputs of the AND gate 344 and the OR gate 346 on the gate of the first transistor T1 and second transistor T2, respectively.
- the power controller is operated in the operating state of the freewheel whenever the level of the clock signal TS is at a high level.
- a three-point control takes place, i.e. either the transistor T1 is switched off and the second transistor T2 is switched on, i.e. Freewheeling mode or both transistors in pass mode, i.e. Power supply or both transistors blocked, i.e. Energy dissipation.
- first and second threshold values SW1, SW2 instead of the first and second threshold values SW1, SW2, only one threshold value can also be predetermined, and in addition a predetermined value at the respective inputs of the first Comparators 33 and 36 are added or subtracted.
- FIG. 6a the time profile of the current through the first coil 113 is plotted against the time t.
- FIG. 6b the position X of the anchor plate 116 is plotted against the time t.
- FIG. 6c the speed v of the anchor plate 116 is plotted against the time t.
- the armature plate 116 begins from its open position 0, that is to say its contact with the second electromagnet towards it
- Closing position C that is, to swing against the first electromagnet.
- a first catch value I_F1 for the current through the first coil 113 is specified.
- the current through the first coil 113 is regulated for a predetermined first time period TD1 (for example 2 ms) from the first catch value I_F1. From a point in time t 0 , the current through the first coil 113 is regulated by the regulator 3a.
- TD1 for example 2 ms
- Coil 113 operated in the operating state of the freewheel.
- the current through the coil 113 is detected and the time derivative of the current is determined.
- the ratio of the time derivative dl / dt determined in the freewheel and the current I is then greater than the predetermined first threshold value SW1. Accordingly, both the first transistor T1 and the second transistor T2 are switched off and the current drops sharply.
- the first coil 113 is again operated in the operating state of the freewheel and the current I and its derivative dl / dt are determined.
- the ratio of the time derivative of the current I and the current determined in the freewheeling is smaller than the predetermined threshold value SW1. Accordingly, both the first transistor and T1 as well as the second transistor T2 become conductive switched and the current through the coil increases until time t 4 .
- the current I through the freewheel coil becomes smaller than a limit value of the current through the freewheel coil.
- the limit value is the value of the current in freewheeling, as determined by tests, at which the armature plate hits the first coil.
- the limit value can be a predefined value or can be determined from a characteristic map depending on the operating variables.
- Setpoint value of the current through the coil is given an increased hold value I_H and regulated by the controller, not shown. This ensures that the anchor plate is securely caught and the impact of the anchor plate is dampened.
- This increased hold value is preferably specified for a predetermined period of time until the current through the coil is then adjusted to the hold value I_H by the controller (not shown ) from time t i2 to time t réelle 3 . It can be clearly seen from the course of the speed V of the armature plate 116 that the armature plate strikes the first electromagnet at almost zero speed.
- the actuator can also be designed as an injection valve.
- a separate controller can also be provided for each coil.
- Energy can also be supplied to the coil until the current through the coil (113) has increased by a predetermined threshold value when the quotient of the derivation of the current I and the current I falls below a predetermined threshold value, and energy to the coil (113) are dissipated until the current through the coil (113) has decreased by a predetermined threshold value when the quotient exceeds a predetermined threshold value.
- the supply or dissipation of energy to / from the coil 113 can take place by varying the level of the voltage drop across the coil 113 or by applying the coil 113 to a predetermined voltage which is not equal to the supply voltage.
- a predetermined amount of energy can be supplied or removed from the coil. It is advantageous if the energy to be supplied or removed is estimated by an observer. The observer estimates the energy, for example, depending on the deviation of the first or second threshold from the quotient of the derivative of the current I and the current I.
- the first and second threshold values that are present at the inputs of the comparators can alternatively also depend on variables such as the pressure in the cylinder 23 or other operating variables of the internal combustion engine or the control device.
- the derivation of the current I can be compared by the comparator with a threshold value that depends on the current I and / or other operating variables. Any combination of the measures mentioned can also be carried out.
- the controller 3a can also be designed as a continuous, time-discrete, P, PI, PD, PID or other known controller.
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Valve Device For Special Equipments (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Braking Arrangements (AREA)
Abstract
Description
Claims
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19757611 | 1997-12-23 | ||
DE19757611 | 1997-12-23 | ||
DE19819578 | 1998-04-30 | ||
DE19819578 | 1998-04-30 | ||
PCT/DE1998/003787 WO1999034378A1 (de) | 1997-12-23 | 1998-12-22 | Einrichtung zum steuern eines elektromechanischen stellgeräts |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1042767A1 true EP1042767A1 (de) | 2000-10-11 |
EP1042767B1 EP1042767B1 (de) | 2002-08-14 |
Family
ID=26042791
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP98966803A Expired - Lifetime EP1042767B1 (de) | 1997-12-23 | 1998-12-22 | Einrichtung zum steuern eines elektromechanischen stellgeräts |
Country Status (6)
Country | Link |
---|---|
US (1) | US6744615B1 (de) |
EP (1) | EP1042767B1 (de) |
JP (1) | JP4108931B2 (de) |
DE (1) | DE59805213D1 (de) |
ES (1) | ES2182400T3 (de) |
WO (1) | WO1999034378A1 (de) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10011577A1 (de) * | 2000-03-09 | 2001-09-13 | Heinz Leiber | Verfahren zur Steuerung einer elektromagnetischen Stelleinrichtung |
DE10012047A1 (de) * | 2000-03-14 | 2001-09-20 | Heinz Leiber | Verfahren zur Steuerung einer elektromagnetischen Stelleinrichtung |
JP4281246B2 (ja) * | 2000-12-21 | 2009-06-17 | トヨタ自動車株式会社 | 機関バルブの駆動制御装置 |
WO2003052053A2 (en) * | 2001-12-17 | 2003-06-26 | Ribapharm Inc. | Nucleoside libraries and compounds by mcc combinatorial strategies on solid support |
DE10315584B4 (de) * | 2003-04-05 | 2015-01-08 | Mahle Filtersysteme Gmbh | Verfahren zum Betätigen einer elektromagnetischen Stelleinrichtung und Vorrichtung zu dessen Durchführung |
DE10315585A1 (de) * | 2003-04-05 | 2004-10-14 | Mahle Filtersysteme Gmbh | Verfahren zum Betätigen einer elektromagnetischen Stelleinrichtung |
US7126805B2 (en) * | 2003-04-10 | 2006-10-24 | Honda Motor Co., Ltd. | Solenoid driving device |
DE10332489A1 (de) * | 2003-07-16 | 2005-02-24 | Mahle Filtersysteme Gmbh | Verfahren zum Anschwingen einer elektromagnetischen Stelleinrichtung |
US7766388B1 (en) * | 2006-01-18 | 2010-08-03 | Marino Paul W | Modular base assembly for vehicle model-making |
US20110149458A1 (en) * | 2009-12-17 | 2011-06-23 | Caterpillar Inc. | Systems and methods for detecting solenoid armature movement |
JP5019303B2 (ja) * | 2010-03-03 | 2012-09-05 | Smc株式会社 | 電磁弁駆動回路、電磁弁及び電磁弁の駆動方法 |
FR3055736B1 (fr) * | 2016-09-02 | 2018-09-28 | Schneider Electric Industries Sas | Procede de commande d'un dispositif d'actionnement, dispositif d'actionnement et appareil de commutation associes |
DE102018211686A1 (de) * | 2018-07-13 | 2020-01-16 | Robert Bosch Gmbh | Steuervorrichtung und Verfahren zum elektrischen Schalten eines zweistufigen Magnetventils |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4659969A (en) * | 1984-08-09 | 1987-04-21 | Synektron Corporation | Variable reluctance actuator having position sensing and control |
ES8703213A1 (es) * | 1985-04-25 | 1987-02-16 | Kloeckner Wolfgang Dr | Procedimiento para el accionamiento de una maquina motriz de combustion interna |
US4907901A (en) * | 1986-12-24 | 1990-03-13 | Ncr Corporation | Method and apparatus for measuring displacement of a moveable member of an electromagnetic device by using perturbations in the device's energizing current |
US5481187A (en) * | 1991-11-29 | 1996-01-02 | Caterpillar Inc. | Method and apparatus for determining the position of an armature in an electromagnetic actuator |
DE4322199C2 (de) * | 1993-07-03 | 2003-06-18 | Bosch Gmbh Robert | Verfahren und Einrichtung zur Ansteuerung eines elektromagnetischen Verbrauchers |
DE19526683A1 (de) | 1995-07-21 | 1997-01-23 | Fev Motorentech Gmbh & Co Kg | Verfahren zur Erkennung des Ankerauftreffens an einem elektromagnetisch betätigbaren Stellmittel |
DE19530798A1 (de) * | 1995-08-22 | 1997-02-27 | Fev Motorentech Gmbh & Co Kg | Verfahren zur Erkennung des Auftreffens eines Ankers auf einen Elektromagneten an einer elektromagnetischen Schaltanordnung |
JP2002529842A (ja) * | 1998-11-06 | 2002-09-10 | シーメンス オートモーティヴ コーポレイション | 電気機械アクチュエーターの流量制御のための補償方法 |
-
1998
- 1998-12-22 ES ES98966803T patent/ES2182400T3/es not_active Expired - Lifetime
- 1998-12-22 JP JP2000526933A patent/JP4108931B2/ja not_active Expired - Fee Related
- 1998-12-22 DE DE59805213T patent/DE59805213D1/de not_active Expired - Lifetime
- 1998-12-22 US US09/582,258 patent/US6744615B1/en not_active Expired - Fee Related
- 1998-12-22 EP EP98966803A patent/EP1042767B1/de not_active Expired - Lifetime
- 1998-12-22 WO PCT/DE1998/003787 patent/WO1999034378A1/de active IP Right Grant
Non-Patent Citations (1)
Title |
---|
See references of WO9934378A1 * |
Also Published As
Publication number | Publication date |
---|---|
ES2182400T3 (es) | 2003-03-01 |
EP1042767B1 (de) | 2002-08-14 |
JP2002500437A (ja) | 2002-01-08 |
DE59805213D1 (de) | 2002-09-19 |
JP4108931B2 (ja) | 2008-06-25 |
US6744615B1 (en) | 2004-06-01 |
WO1999034378A1 (de) | 1999-07-08 |
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