EP1212761A2 - Method for controlling an electromechanical actuator - Google Patents
Method for controlling an electromechanical actuatorInfo
- Publication number
- EP1212761A2 EP1212761A2 EP00943624A EP00943624A EP1212761A2 EP 1212761 A2 EP1212761 A2 EP 1212761A2 EP 00943624 A EP00943624 A EP 00943624A EP 00943624 A EP00943624 A EP 00943624A EP 1212761 A2 EP1212761 A2 EP 1212761A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- coil
- predetermined
- contact surface
- supplied
- 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
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
-
- 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
- F01L2201/00—Electronic control systems; Apparatus or methods therefor
-
- 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 method for controlling an electromechanical actuator, in particular for a gas exchange valve of an internal combustion engine.
- a known actuator (DE 195 26 683 AI) is assigned an actuator which is designed as a gas exchange valve.
- 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 regulated to a predefined catch value, namely for a predefined period of time which is dimensioned such that the armature plate hits a contact surface on the capturing electromagnet within the period.
- the coil current of the capturing electromagnet is then regulated to a holding value.
- the object of the invention is to provide a method for controlling an electromechanical actuator which minimizes the sound generation when an armature plate strikes an electromagnet and at the same time ensures reliable operation of the actuator.
- the object is achieved by the features of claim 1.
- Advantageous embodiments of the invention are characterized in the subclaims.
- the invention is based on the knowledge that to move the anchor plate from the first or second contact surface to the second or first contact surface with the requirement that the speed of impact of the anchor plate on the second contact surface is close to zero, the spring-mass oscillator Amount of energy must be supplied, which is withdrawn from the spring-mass oscillator by the electrical and mechanical losses. Energy can be supplied to the coil of the electromagnet very precisely if the armature plate is still outside the vicinity of the contact surface on the electromagnet.
- the invention is characterized in that a required first amount of electrical energy is supplied when the armature plate is still outside the vicinity of the contact surface on the electromagnet.
- a second predetermined amount of electrical energy is supplied to the coil after an operating state of the freewheel and before the armature plate bears against the contact surface on the electromagnet.
- the coil is then controlled again in the operating state of the freewheel until the armature plate comes into contact with the contact surface on the electromagnet.
- the second amount of electrical energy which is preferably supplied when the armature plate is in the vicinity of the contact surface on the electromagnet, the accuracy of the detection of the exact time of impact of the armature plate on the contact surface on the electromagnet can be increased.
- the sum of the first and second with the electrical energy is preferably determined so that it corresponds exactly to the amount of energy which is withdrawn by electrical and mechanical losses of the spring-mass oscillator.
- FIG. 1 shows an arrangement of an actuator in an internal combustion engine
- FIG. 2 shows a flowchart of a first embodiment of a method for controlling the actuator
- FIG. 3 shows a further flowchart of another embodiment of a method for controlling the actuator
- Figure 4 waveforms of the current through the coil, the time derivative of the current and the speed of the armature plate plotted over time.
- An actuator 1 ( Figure 1) comprises an actuator 11 and an actuator 12 that this embodiment is designed as a gas exchange valve, and has a shaft 121 and a plate 122.
- 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 114, in which a second coil 115 is embedded in a further annular groove.
- An armature is provided, the armature plate 116 of which is movably arranged in the housing 111 between a first contact surface 115 a of the first electromagnet and a second contact surface 115 b of the second electromagnet.
- the armature further comprises an armature shaft 117 which is guided through the recess in the first and second core 112, 114 and which can be mechanically coupled to the shaft 121 of the actuator 12.
- a first reset means 118 a and a second reset means 118 b bias the anchor plate 116 into an intended rest position N.
- Actuator 1 is rigidly connected to a cylinder head 21.
- An intake port and a cylinder with a piston are assigned to the cylinder head 21.
- the piston 24 is coupled to a crankshaft 26 via a connecting rod 25.
- a control device 3 is provided, which detects signals from sensors and generates control signals and whose dependency the first and second coils 113, 115 of the control device 1 are controlled in a power controller 5a, 5b.
- the sensors which are assigned to the control device 3 are designed as a first ammeter 4a, which detects an actual value I_AV1 of the current through the first coil 113, or as a second ammeter 4b, which detects an actual value I_AV2 of the current through the second coil 115 recorded. In addition to the sensors mentioned, other sensors can also be present.
- Power controller 5a has a first transistor T1, the gate connection of which is connected to an output of control device 3.
- the power controller 5a has a second transistor T2, the gate connection of which is electrically conductively connected to a further output of the control device 3.
- a resistor R is arranged between the source output of the second transistor T2 and the reference potential (supply voltage U v ).
- the resistor R serves as a measuring resistor for the ammeter 4a.
- the structure of the power controller 5b is the same as that of the power controller 5a.
- the reference numerals of the electrical components of the power controller 5b are each identified by a """H-bridge" to distinguish them.
- the first coil 113 is thus operated in the operating state of the freewheel.
- the voltage drop across the first coil 113 is then given by the forward voltage of the second diode D2, the second transistor T2 and the voltage drop across the resistor R (in total, for example, two volts).
- the current through the first coil 113 then decreases.
- both the voltage levels at the gate connection of the first and the second transistor T1, T2 are switched from high to low, both the first diode D1 and the second diode D2 become conductive and the current through the first coil 113 becomes very fast decreased. So commutation takes place.
- FIG. 2 shows a flow diagram of a first embodiment of the method for controlling the actuator 11, which is processed in the control device 3 in the form of a program. It is irrelevant whether the program is in the form wired logic is implemented or is implemented in the form of software and is processed by a micro-controller.
- the program is started in a step S1.
- data are read in from a data memory (not shown), which contain information about whether the anchor plate is in contact with the first contact surface 115a, i. h is in the closed position S, or whether the anchor plate 116 bears on the second contact surface 115b, d. H, . is 0 in the open position.
- a step S2a various threshold values SW1, SW2, SW3, SW4 are read in, which are either predefined or corrected in previous runs of the program.
- a predetermined catch value I_F is assigned to a target value I_SP1 of the current through the first coil 113.
- a first regulator 31 is provided in the control device 3, which regulates the current through the first coil 113 as a function of the setpoint I_SP1 and the actual value I_AV1 of the current through the first coil 113.
- the first controller 31 generates control signals for the gate-side connections of the first transistor T1 and the second transistor T2 with the voltage levels "low” or "high".
- the first controller 31 is also simply designed as a two-point controller. However, it can also be designed as a further controller known to the person skilled in the art.
- step 7a it is checked whether the electrical energy W supplied to the coil 113 is greater than the first threshold value SW1. If this is not the case, processing is continued in step S6 after a predetermined waiting time. However, if this is the case, ie a predetermined first quantity of electrical energy corresponding to the first threshold value SW1 has been supplied to the coil 113, the process branches to step S8.
- step SlO it is checked whether the current actual value I_AV1 of the current through the first coil is less than the predetermined second threshold value SW2.
- a step S12 it is checked whether the electrical energy W supplied to the coil 113 since the transition of the program from the step S10 to the step S11 is greater than the third threshold value SW3. If the condition is not met, the processing is continued in step S11 after a predetermined waiting time.
- step S15 the setpoint I_SP1 of the current through the first coil 113 is assigned an increased hold value I_HE.
- the increased holding value I_HE is chosen such that the anchor plate 116 does not come loose from the contact surface 115a after hitting the first contact surface 115a and drops to the rest position N.
- step S16 After a predetermined period of time, the holding value I_H is then assigned to the setpoint I_SP1 of the current through the first coil 113 in step S16.
- the program is ended in a step S17. Processing steps 1 to 17 ensures that the coil is supplied with exactly the electrical energy which compensates for the energy losses which occur when the armature plate 116 is moved from the open position 0 to the closed position S. This ensures that the speed of impact of the anchor plate on the contact surface 115a is extremely low, as a result of which only low noise emissions are generated.
- the electrical energy W supplied in step S6 is calculated with high precision since the armature plate is not yet in the vicinity of the first electromagnet in this area.
- the first amount of energy that is achieved when the supplied electrical energy W is greater than the first threshold value is significantly larger than the second amount of energy that is achieved when the supplied electrical energy reaches the third threshold value.
- the first threshold value SW1 is preferably nine times as high as the third threshold value SW3.
- step S11 the first armature plate 116 is ready in the vicinity of the coil 113, so that the electrical energy supplied can be determined less precisely than in step S6.
- the main advantage of this procedure is that the late supply of electrical sher energy and subsequent switching to the operating state of the freewheel in step S13, both the actual value of the current I_AV1 and its time derivative can be significantly increased. For example, by two to three times compared to supplying all the energy required during the processing of steps S6 and S7a. Alternatively, it can also be checked in step S14 whether the quotient of the derivation of the actual value I_AV1 according to the time and the actual value I_AV1 reaches a predetermined threshold value.
- step S1 If it is recognized in step S1 that the armature plate 116 is in the closed position S, a branch of the program (not shown) is processed which corresponds to steps S2a to S17 with the difference that in step S3 the setpoint I_SP1 of the current through the Coil is the zero value I_N, in step S4 the target value I_SP2 is assigned the catch value I_F and that in steps S6 and Sll the integral of the product of the target value I_AV2 of the current through the second coil 115 and the voltage drop on the second coil
- the transistors T1 'and T2' are driven instead of the transistors T1 and T2.
- FIG. 3 shows a further flow chart of a further embodiment of the method for controlling the actuator 11, which is processed in the form of a program.
- step S20 the program is started and data are read from the data memory which contain information about the current position of the anchor plate 116. The steps described below are carried out when the anchor plate
- first and second time periods ⁇ tl and ⁇ t2 are read from the data memory.
- the first and the second time periods ⁇ tl and ⁇ t2 are fixed and in Attempts are determined in advance and / or corrected or determined in previous program runs.
- step S22 the setpoint I_SP1 of the current through the first coil 113 is assigned the zero value I_N.
- Controller 31 of control device 3 then regulates the current through first coil 113 to the zero value I_N.
- the catch value I_F is assigned in the setpoint I_SP2 of the current through the second coil.
- the second controller 32 of the control unit then regulates the current through the second coil 115 to the catch value I_F.
- a step S24 the current time t is assigned to the time t1.
- a step S25 it is checked whether the current time t is greater than the sum of the time tl and the first time period ⁇ tl. If this is not the case, the processing is continued in step S25 after a predetermined waiting time.
- step S25 if the condition of step S25 is met, i. H.
- the second coil 115 was energized for the first time period ⁇ tl with the catch value I_F of the current, which corresponds to a first amount of electrical energy, so the second coil 115 is controlled in step S8 in the operating state of the freewheel. In the operating state of the freewheel, electrical energy is no longer supplied to the coil 115 and the energy stored in the coil is supplied to the spring-mass oscillator.
- a step S27 it is checked whether the current actual value I_AV2 of the current through the second coil 115 is smaller than the second threshold value SW2. If this is not the case, the processing is continued again in step S27 after a predetermined waiting time. If this is the case, however, the current time t is assigned to the time t2 in a step S28. Furthermore, the switchover from the operating state of the freewheeling of the second coil 115 to the normal paint control mode with the setpoint I_SP2 assigned with the catch value I_F.
- step S30 it is checked whether the current time t is greater than the sum of the time t2 and the second time period ⁇ t2. If this is not the case, the revision is continued again in step S30 after a predetermined waiting time.
- step S30 if the condition of step S30 is fulfilled, the second time period ⁇ t2 being predetermined such that exactly the second amount of energy has been supplied to the second coil 115 after the second time period ⁇ t2 has expired, a branch is made to a step S31 in which the second coil 115 is controlled in the operating state of the freewheel.
- step S33 the actual value I_AV2 deviates from an actual value of the current through the coil which is predetermined by tests if the speed of the armature does not correspond to the predetermined low speed. This is the case if either too little energy or too much energy was supplied to the coil. Correction of the first time period ⁇ tl can thus ensure that the impact speed of the anchor plate is approximated to a desired impact speed in a subsequent program run. It is therefore particularly advantageous if the first time period ⁇ tl is corrected, since the supply of electrical energy outside the near range rich in the closed and open positions can be done much more precisely.
- a step S34 with the setpoint I_SP2 of the current through the second coil 115 the increased hold value I_H is assigned for a predetermined period of time.
- the hold value I_H is then assigned to the setpoint value of the current through the second coil after the predetermined period of time in step S34.
- the program is ended in a step S36.
- a step S33a can be provided in which the catch value I_F is corrected as a function of the actual value I_AV2.
- the catch value I_F can alternatively also assume different values for supplying the first quantity of electrical energy during steps S23 to S26 and for supplying the second quantity of electrical energy during steps S28 to S30. It is also particularly advantageous if the first quantity of electrical energy is supplied to the first or second coil by energizing the coil with the catch value I_F of the current until a predetermined magnetic flux is reached in the coil.
- FIG. 4 shows, by way of example, the signal profiles of the current I, the time derivative of the current and the speed of the armature plate 116 over time t, specifically for the embodiment according to FIG. 3.
- the impact of the armature plate 116 on the second contact surface at the time t10 recognized based on the condition of step S32.
- step 32 is deemed to be fulfilled if the derivation of the actual value I_AV2, starting from smaller values, exceeds the fourth threshold value. From the current course it is clearly evident that the supply of electrical Energy during the second period of time .DELTA.t2 and the subsequent switchover to the operating state of the freewheel, the derivation of the actual value I_RV2 of the current through the second coil assumes a significantly higher value than during the freewheeling before the time t2. This has the advantage that measurement errors due to interference have only an insignificant effect on the measurement signal. Such interference is caused, for example, by noise in the measurement signal and / or electromagnetic fields.
- the invention is not restricted to the exemplary embodiments described, in particular to a combination of the exemplary embodiments according to FIGS. 2 and 3.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (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)
- Magnetically Actuated Valves (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19927982 | 1999-06-18 | ||
DE19927982 | 1999-06-18 | ||
PCT/DE2000/001649 WO2000079548A2 (en) | 1999-06-18 | 2000-05-23 | Method for controlling an electromechanical actuator |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1212761A2 true EP1212761A2 (en) | 2002-06-12 |
EP1212761B1 EP1212761B1 (en) | 2007-07-11 |
Family
ID=7911759
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP00943624A Expired - Lifetime EP1212761B1 (en) | 1999-06-18 | 2000-05-23 | Method for controlling an electromechanical actuator |
Country Status (5)
Country | Link |
---|---|
US (1) | US6648297B1 (en) |
EP (1) | EP1212761B1 (en) |
JP (1) | JP2003502855A (en) |
DE (1) | DE50014482D1 (en) |
WO (1) | WO2000079548A2 (en) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10235188B3 (en) * | 2002-07-26 | 2004-04-01 | Hydac Electronic Gmbh | Method for determining the position of an actuating element of an electrically drivable actuator, associated circuit arrangement and device |
US6880564B2 (en) * | 2002-09-20 | 2005-04-19 | Advanced Neuromodulation Systems, Inc. | Dosage control apparatus |
DE10259796B4 (en) * | 2002-12-19 | 2006-03-09 | Siemens Ag | Method for controlling an electromechanical actuator |
FR2906593B1 (en) | 2006-10-03 | 2008-12-05 | Valeo Sys Controle Moteur Sas | DEVICE AND METHOD FOR CONTROLLING A VALVE WITH CONTROL OF CONSUMABLE ENERGY. |
US11170956B2 (en) | 2014-06-25 | 2021-11-09 | Te Connectivity Germany Gmbh | Switching arrangement |
DE102014212132A1 (en) * | 2014-06-25 | 2015-12-31 | Te Connectivity Germany Gmbh | switching arrangement |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02112606A (en) * | 1988-10-20 | 1990-04-25 | Isuzu Ceramics Kenkyusho:Kk | Electromagnetic power-driven valve control device |
US5481187A (en) * | 1991-11-29 | 1996-01-02 | Caterpillar Inc. | Method and apparatus for determining the position of an armature in an electromagnetic actuator |
JP3134724B2 (en) * | 1995-02-15 | 2001-02-13 | トヨタ自動車株式会社 | Valve drive for internal combustion engine |
DE19526683A1 (en) | 1995-07-21 | 1997-01-23 | Fev Motorentech Gmbh & Co Kg | Detecting striking of armature on electromagnetically actuated positioning device e.g. for gas exchange valves in IC engine |
DE19640659B4 (en) | 1996-10-02 | 2005-02-24 | Fev Motorentechnik Gmbh | Method for actuating an electromagnetic actuator influencing the coil current during the armature movement |
DE29703585U1 (en) | 1997-02-28 | 1998-06-25 | Fev Motorentech Gmbh & Co Kg | Electromagnetic actuator with magnetic impact damping |
DE19723931A1 (en) | 1997-06-06 | 1998-12-10 | Siemens Ag | Device for controlling an electromechanical actuator |
US6363895B1 (en) * | 1998-08-13 | 2002-04-02 | Siemens Aktiengesellschaft | Device for controlling a regulator |
-
2000
- 2000-05-23 EP EP00943624A patent/EP1212761B1/en not_active Expired - Lifetime
- 2000-05-23 JP JP2001505026A patent/JP2003502855A/en not_active Withdrawn
- 2000-05-23 US US10/009,672 patent/US6648297B1/en not_active Expired - Fee Related
- 2000-05-23 DE DE50014482T patent/DE50014482D1/en not_active Expired - Lifetime
- 2000-05-23 WO PCT/DE2000/001649 patent/WO2000079548A2/en active IP Right Grant
Non-Patent Citations (1)
Title |
---|
See references of WO0079548A2 * |
Also Published As
Publication number | Publication date |
---|---|
WO2000079548A3 (en) | 2002-04-04 |
DE50014482D1 (en) | 2007-08-23 |
JP2003502855A (en) | 2003-01-21 |
US6648297B1 (en) | 2003-11-18 |
WO2000079548A2 (en) | 2000-12-28 |
EP1212761B1 (en) | 2007-07-11 |
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