EP1042767B1 - Dispositif pour la commande d'un actionneur electromecanique - Google Patents

Dispositif pour la commande d'un actionneur electromecanique Download PDF

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Publication number
EP1042767B1
EP1042767B1 EP98966803A EP98966803A EP1042767B1 EP 1042767 B1 EP1042767 B1 EP 1042767B1 EP 98966803 A EP98966803 A EP 98966803A EP 98966803 A EP98966803 A EP 98966803A EP 1042767 B1 EP1042767 B1 EP 1042767B1
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EP
European Patent Office
Prior art keywords
coil
current
threshold value
energy
quotient
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.)
Expired - Lifetime
Application number
EP98966803A
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German (de)
English (en)
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EP1042767A1 (fr
Inventor
Joachim Melbert
Stefan Butzmann
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.)
Siemens AG
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Siemens AG
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Publication date
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Publication of EP1042767A1 publication Critical patent/EP1042767A1/fr
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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
    • 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 a electromechanical actuator, in particular for controlling an internal combustion engine is provided.
  • a known actuator (DE 195 26 683 A1) has an actuator, which is designed as a gas exchange valve, and one Actuator.
  • the actuator has two electromagnets, between which each against the force of a restoring means holding an armature plate by switching off the coil current Electromagnets and switching on the coil current at the trap Electromagnet can be moved.
  • the coil current of the respective catching electromagnet is determined by a predetermined one Catch value constant over a specified period of time held and then by a two-point controller with hysteresis regulated to a hold value.
  • the object of the invention is a device for control of an electromechanical actuator that the sound generation when an anchor plate hits one Electromagnets minimized and at the same time a long service life of the actuator.
  • the invention is based on the knowledge that the first summand of the relationship (G1) is negligible compared to the second summand of the equation (G1) if the quotient of the electrical power loss P V, el and the current I is low.
  • the quotient of the electrical power loss P V, el and the current I is almost zero when the coil is operated in the operating state of the freewheel.
  • the control signals of the controller are determined when the coil is in the operating state of the freewheel. In the operating state of the freewheel is the coil via a freewheeling circuit of the power controller shorted. Detection can be done in freewheel mode of the current I through the coil are almost lossless. So has the approximation of the relationship given by the relationship (G2) (G1) high accuracy.
  • time derivative of the current dI / dt and the current I through the coil in freewheeling depends on the sign of the deviation electrical energy supplied to the actuator coil for a limited time or discharged from the actuator coil. For this, the Freewheeling operation canceled and the coil connected to the supply voltage created (energy supply) or the stored energy dissipated to the supply voltage (energy dissipation).
  • An actuator 1 ( Figure 1) comprises an actuator 11 and an actuator 12, for example as a gas exchange valve is formed 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 in a annular groove a first coil 113 is embedded.
  • the second electromagnet has a second core 14, in which in a another annular groove, a second coil 115 is embedded is.
  • An anchor is provided, the anchor plate 116 in the housing 111 is movable between the first core 112 and the second core 114 is arranged.
  • the anchor includes the further an anchor shaft 117, which by recesses of the first and second core is guided and the one with the shaft 121 of the valve can be mechanically coupled.
  • Actuator 1 is rigidly connected to a cylinder head 21.
  • the cylinder head 21 is an intake port 22 and a cylinder 23 associated with a piston 24.
  • the piston 24 is coupled to a crankshaft via a connecting rod 25.
  • a control device 3 is provided, the signals from sensors detected and control signals generated, depending on them the first or the second coil 113, 115 of the actuating device 1 can be controlled by a power controller 5a, 5b.
  • the Sensors are designed as a first ammeter 4a, the one Current through the first coil 113 or a current in the Power controller 5a detected, or as a second ammeter 5b, the current through the second coil 115 or in the power controller 5b detected. In addition to the sensors mentioned above there are other sensors.
  • FIG. 2 shows the relevant for understanding the invention Part of the control device 3.
  • a controller 3a is provided which depends on the current I through the coil 113, the is detected by the ammeter 4a, control signals for the Power controller 5a generated.
  • the current I is differentiated in a differentiator 31.
  • a divider 32 becomes the quotient of the time derivative dI / dt of current I and current I determined.
  • a comparator 33 is provided, the input variable of which is a predetermined one first threshold SW1 and the output of the divider 32 are.
  • 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 size of the divider 32. Otherwise, the output signal from the comparator 33 at a low level.
  • a logic unit 34 is provided, which depends on the Output signal KS of the comparator 33, a clock signal TS one Oscillators 35 and other operating variables, the control signals generated for the power controller 5a.
  • 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 with an output of the logic unit 34 electrically is conductively connected.
  • the power controller 5a has one second transistor T2, whose gate connection is electrical is conductively connected to the logic unit 34.
  • a first diode D1 and a second diode D2 are provided.
  • a resistor R between the source output of the second Transistor T2 and the reference potential arranged. The resistance R serves as a measuring resistor for the ammeter 4a.
  • the first transistor becomes conductive from the drain to the source. If the high level H is also present at the second transistor T2 at the gate-side connection, the second transistor T2 also becomes conductive.
  • the supply voltage U V then decreases on the second coil, reduced by the voltage drop across the resistor R. The current I through the coil 113 then increases.
  • the power controller 5b is correspondingly analog trained to the power controller 5a.
  • FIG. 3 shows a flow diagram of a program as it is is processed in the logic unit 34. It is irrelevant whether the program is in the form of hard-wired logic is realized or processed by a micro-controller becomes.
  • the program is started in a step S1.
  • Step S2 is a constant current setting of the current through the coil, i.e. the current is for a given first Period TD1 regulated to a first catch value.
  • a two-point controller with hysteresis is provided.
  • step S4 The first transistor T1 is then switched off and the second transistor T2 is switched on in a step S4, and the coil is thus operated in the operating state of the freewheel.
  • step S5 there is a wait for a predetermined second time period TD2.
  • 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 the H level. 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 energy is thus dissipated.
  • step S9 If the condition of step S7 is not met, the armature is too slow and the first and second transistors T1, T2 are switched on in a step S9, ie set to "on" and thus supplied with energy.
  • step S9 there is a wait for a predetermined third time period TD3 and in step S10 for a predetermined fourth time period TD4. While waiting in steps S9 and S10, the activation of the transistors T1, T2 remains unchanged. The program is then continued in step S4.
  • step S6 If the current through the coil is smaller than the minimum limit current I limit in step S6, the current is set to an increased holding current for a predetermined fifth time period TD5 in steps S11 and S12. This ensures that the anchor is caught safely. In a step S13, the current through the coil is then set to a lower holding current.
  • the program is ended in a step S14.
  • FIG. 4 shows a second embodiment of the regulator 3a shown.
  • the output signal depends on one predetermined second threshold value SW2 and the output of divider 32.
  • One associated with this embodiment Embodiment of the logic unit 34 is shown in FIG. 5.
  • AD flip-flop 341 generates depending on the clock signal TS of the oscillator 35 and the output signal of the comparator 33 its output signal at the Q output.
  • Another D flip-flop 342 is provided, its output signal 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 gate 343 is electrically conductive with oscillator 35 connected, the output is electrically conductive with an input an AND gate 344 connected.
  • the second entrance of the AND gate 344 is electrically conductive with the output of the second D flip-flops 342 connected.
  • the output of the first D flip-flop 341 is electrically conductive connected to the input of a second NOT gate 345.
  • the output of the second NOT gate 345 is the same as the oscillator 35 is electrically conductive with an OR gate 346 connected.
  • the outputs of the AND gate 344 and the OR gate 346 are on the gate of the first transistor T1 respectively led second transistor T2. If applicable between the outputs of the AND gate 344 and the OR gate 346 to the gate of the first transistor T1 respectively second transistor T2 each have a driver arranged.
  • the clock signal TS is low Is a three-point control, so either transistor T1 is off and the second transistor T2 is switched on, i.e. Free-running operation or both transistors in pass mode, i.e. Energy 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 a threshold value can be specified, and additionally a predetermined value at the respective inputs of the first Comparators 33 and 36 added or subtracted become.
  • 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.
  • Figure 6c the speed v of the anchor plate 116 is plotted against the time t.
  • the armature plate 116 begins to oscillate from its open position O, that is to say its contact with the second electromagnet, to its closed position C, that is to say contact with 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
  • the coil 113 is 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 dI / dt determined in freewheeling 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 dI / dt are determined.
  • the ratio of the time derivative of the current I and the current determined in freewheeling is less than the predetermined threshold value SW1. Accordingly, both the first transistor and T1 and also the second transistor T2 are turned on and the current through the coil increases until time t 4 .
  • the current I through the coil in freewheeling becomes smaller than a limit value of the current through the coil in freewheeling.
  • 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.
  • an increased hold value I_H is specified as the setpoint value of the current through the coil and is 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 12 to time t 13 .
  • the actuator can also be used as Injector may be formed. It can also be one separate controller can be provided for each coil. Likewise can energy is supplied to the coil until the current flows through the coil (113) has increased by a predetermined threshold value, if the quotient of the derivative of current I and current I falls below a predetermined threshold, and the coil (113) Energy can be dissipated until the current through the Coil (113) decreases by a predetermined threshold if the quotient has a predetermined threshold exceeds.
  • the supply or discharge of Energy to / from coil 113 by varying the height of the Voltage that drops across the coil 113, or the connection the coil 113 to a predetermined voltage that is not equal the supply voltage.
  • the coil can each a given energy can be supplied or removed. It is advantageous if the energy to be supplied or removed is estimated by an observer. The observer guesses the energy, for example, depends on the deviation of the first or second threshold from the quotient of the derivative of current I and current I.
  • the first and second thresholds at the inputs of the comparators can alternatively also depend of variables such as the pressure in the cylinder 23 or other operating variables the internal combustion engine or the actuator.
  • the derivation of the current I with a Threshold value that depends on the current I and / or others Operating variables can be compared by the comparator.
  • the controller 3a can also be used as a continuous, time-discrete, P, PI, PD, PID or other known controller can be formed.

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  • 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)

Claims (10)

  1. Dispositif pour commander un dispositif de réglage électromécanique qui comprend un organe de réglage (12) et un dispositif d'entraínement (11), comprenant
    un électro-aimant qui comprend une bobine (113),
    une armature mobile et
    un moyen de rappel qui est accouplé mécaniquement à l'armature,
    caractérisé en ce qu'il est prévu un régulateur (3a) qui, dans le fonctionnement du dispositif, règle le courant passant dans la bobine (113) et qui, pour cela, produit des signaux de commande destinés à un dispositif de réglage de la puissance (5a, 5b) qui, pendant le mouvement de l'armature, dépendent du courant et de la dérivée par rapport au temps du courant passant dans la bobine (113) dans l'état de fonctionnement de la roue libre.
  2. Dispositif selon la revendication 1, caractérisé en ce que, lorsque l'armature s'est déplacée pendant plus longtemps qu'une durée prédéterminée (TD1) pour atteindre la fin du mouvement de l'armature, les signaux de commande dépendent du courant et de la dérivée par rapport au temps du courant passant dans la bobine (113) dans l'état de fonctionnement de la roue libre.
  3. Dispositif selon l'une des revendications 1 et 2, caractérisé en ce que, dans l'état de fonctionnement de la roue libre, la différence de potentiel aux bornes de la bobine est déterminée par la différence de potentiel aux bornes de composants électroniques mis à l'état conducteur du dispositif de réglage de la puissance et d'une résistance R.
  4. Dispositif selon l'une des revendications 1 à 3, caractérisé en ce que les signaux de commande dépendent du quotient de la dérivée du courant par rapport au temps par le courant passant dans la bobine (113).
  5. Dispositif selon la revendication 4, caractérisé en ce que de l'énergie est apportée à la bobine lorsque le quotient est inférieur à une valeur de seuil prédéterminée et que de l'énergie est évacuée de la bobine lorsque le quotient est supérieur à une valeur de seuil prédéterminée.
  6. Dispositif selon l'une des revendications 4 ou 5, caractérisé en ce que de l'énergie est apportée à la bobine pendant une durée prédéterminée (TD2) lorsque le quotient est inférieur à la valeur de seuil prédéterminée et que de l'énergie est évacuée de la bobine pendant une autre durée prédéterminée (TD3) lorsque le quotient est supérieur à la valeur de seuil prédéterminée.
  7. Dispositif selon l'une des revendications 4 ou 5, caractérisé en ce que de l'énergie est apportée à la bobine (113) jusqu'au moment où le courant passant dans la bobine (113) s'est élevé d'une autre valeur de seuil prédéterminée lorsque le quotient est inférieur à la valeur de seuil prédéterminée et que de l'énergie est évacuée de la bobine (113) jusqu'au moment où le courant passant dans la bobine (113) s'est abaissé de l'autre valeur de seuil prédéterminée lorsque le quotient est supérieur à la valeur de seuil prédéterminée.
  8. Dispositif selon l'une des revendications précédentes, caractérisé en ce que le régulateur (3a) est constitué par un régulateur à deux points.
  9. Dispositif selon l'une des revendications précédentes, caractérisé en ce que le régulateur (3b) est constitué par un régulateur à trois points.
  10. Dispositif selon l'une des revendications précédentes, caractérisé en ce que le dispositif d'entraínement comprend un autre électro-aimant comportant une autre bobine (115) et un autre moyen de rappel et en ce qu'il est prévu un autre régulateur qui règle le courant passant dans l'autre bobine (115).
EP98966803A 1997-12-23 1998-12-22 Dispositif pour la commande d'un actionneur electromecanique Expired - Lifetime EP1042767B1 (fr)

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 (fr) 1997-12-23 1998-12-22 Dispositif pour la commande d'un actionneur electromecanique

Publications (2)

Publication Number Publication Date
EP1042767A1 EP1042767A1 (fr) 2000-10-11
EP1042767B1 true EP1042767B1 (fr) 2002-08-14

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP98966803A Expired - Lifetime EP1042767B1 (fr) 1997-12-23 1998-12-22 Dispositif pour la commande d'un actionneur electromecanique

Country Status (6)

Country Link
US (1) US6744615B1 (fr)
EP (1) EP1042767B1 (fr)
JP (1) JP4108931B2 (fr)
DE (1) DE59805213D1 (fr)
ES (1) ES2182400T3 (fr)
WO (1) WO1999034378A1 (fr)

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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 (fr) * 2001-12-17 2003-06-26 Ribapharm Inc. Bibliotheques nucleosidiques et composes obtenus au moyen de strategies combinatoires mcc realisees sur support solide
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

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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

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Publication number Publication date
ES2182400T3 (es) 2003-03-01
JP2002500437A (ja) 2002-01-08
DE59805213D1 (de) 2002-09-19
JP4108931B2 (ja) 2008-06-25
US6744615B1 (en) 2004-06-01
WO1999034378A1 (fr) 1999-07-08
EP1042767A1 (fr) 2000-10-11

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