EP2619772A1 - Actuator device and driving method - Google Patents

Actuator device and driving method

Info

Publication number
EP2619772A1
EP2619772A1 EP11739060.9A EP11739060A EP2619772A1 EP 2619772 A1 EP2619772 A1 EP 2619772A1 EP 11739060 A EP11739060 A EP 11739060A EP 2619772 A1 EP2619772 A1 EP 2619772A1
Authority
EP
European Patent Office
Prior art keywords
actuator
bridge
actuator device
switch
switches
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
EP11739060.9A
Other languages
German (de)
French (fr)
Other versions
EP2619772B1 (en
Inventor
Michael Pantke
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.)
ZF Friedrichshafen AG
Original Assignee
ZF Friedrichshafen AG
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 ZF Friedrichshafen AG filed Critical ZF Friedrichshafen AG
Publication of EP2619772A1 publication Critical patent/EP2619772A1/en
Application granted granted Critical
Publication of EP2619772B1 publication Critical patent/EP2619772B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • H01F7/064—Circuit arrangements for actuating electromagnets
    • 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
    • H01F7/16—Rectilinearly-movable armatures
    • H01F7/1607—Armatures entering the winding
    • H01F7/1615—Armatures or stationary parts of magnetic circuit having permanent magnet
    • 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
    • H01F7/1872—Bistable or bidirectional current devices
    • 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
    • H01F7/16—Rectilinearly-movable armatures
    • H01F2007/1692—Electromagnets or actuators with two coils

Definitions

  • the present invention relates to an actuator device according to the preamble of claim 1. Furthermore, the present invention relates to a method for driving according to the preamble of claim 8.
  • connection switch In order to control electromagnetic, tristable actuators whose actuator position is to be detected, two H-bridges and a connection switch (S9 in FIG. 1) are currently used in the prior art in order to be able to set specific currents in each individual coil.
  • the connection switch is used to produce a series connection in order to be able to advantageously carry out an inherent path measurement or position determination according to the principle described in the document DE 10 2005 018 012 A1.
  • the present invention has the object, advantageous to develop the actuator devices of the type mentioned, in particular to enable a hardware-optimized control of the actuator, which is inexpensive to implement. It is another object of the invention to propose a method for controlling an actuator, Wel- Ches is easy to perform and allows a position determination of the actuator in the manner mentioned above.
  • an actuator device with an electromagnetic actuator which has two magnet coils and an actuator which can be displaced linearly between three stable positions, is proposed, characterized in that the actuator device for driving the magnet coils has a switching bridge with three, in particular exactly three, bridge branches connected in parallel, wherein each bridge branch has two, in particular exactly two, arranged in series switch, wherein in each of the two bridge diagonals each a magnetic coil is connected, in particular exactly one each.
  • the switching bridge is designed as a B6 switching bridge.
  • the actuator device in a further embodiment of the actuator device according to the invention at least the switches of a first of the three bridge arms, which is electrically connected via a magnetic coil in a first of the two bridge diagonals with a second of the three bridge branches and the switches of a third of the three bridge arms, which via a magnetic coil in the second of the two bridge diagonals is also connected to the second bridge branch, each connected to a freewheeling diode.
  • the actuator device is designed to determine the position of the actuator.
  • the actuator device for determining the position of the actuator to a Ansteu- ervorraum, which is designed to control the switching bridge such that both magnetic coils in series between a common electrical input and a common electrical output of the bridge arms switched and by a voltage applied to the common electrical input and output of the bridge arms supply voltage can be acted upon.
  • the actuator device for determining the position of the actuator further comprises a detection device, which is provided for determining voltage curves at both magnetic coils in the course of an application of the same with the voltage jump.
  • the actuator device for determining the position of the actuator further comprises an evaluation device, which determines the position of the actuator based on the determined voltage curves of both magnetic coils in a voltage jump, in particular by comparing at least one voltage waveform with a map.
  • a method for driving the magnetic coils of an electromagnetic actuator of an actuator device wherein in a first step to determine the position of the actuator and / or to displace the actuator in a stable center position, a current path via a respective switch of the the first and a switch of the third bridge branch and both solenoids is opened or formed while the other switches of the switching bridge are open, wherein the current path extends from a common input to a common output of the parallel bridge branches.
  • a method is proposed, wherein in the first step at least one switch is operated clocked in the opened current path, in particular the downstream switch.
  • a current path is opened or formed via a switch of the second bridge branch arranged in a bridge half and one switch of each of the first and third bridge branches of the other bridge half while the other switches of the switching bridge are open, wherein the current path extends from a common input to a common output of the parallel bridge arms.
  • the switch opening the current path for displacing the actuator into a first stable end position with respect to the current path opening switch for displacing the actuator in a second stable end position in the same bridge branch in the other bridge half are closed or operated clocked.
  • the actuator device according to the invention or the method for controlling the magnetic coils of the actuator device is particularly suitable for use in a motor vehicle, for example a passenger or commercial vehicle, in particular in a motor vehicle transmission, for example an automatic transmission, an automated manual transmission or a transfer case.
  • the actuator device or the method for controlling the magnetic coils of the actuator device for actuating a selector device an automated gearbox of a motor vehicle use, for example, instead of a pneumatic or hydraulic actuator, which space and weight can be saved.
  • a dial By such a dial, the required for inserting a certain gear shift elements, such as jaw clutches, the gearbox can be selected (selecting the shift gate).
  • FIGS. 2a and 2b show an example of the structure of a tri-stable electromagnetic actuator according to the prior art in two different switching positions.
  • FIG 3 shows, by way of example, an inventive switching bridge, which is connected to magnetic coils of the actuator, of an actuator device according to a possible embodiment of the invention.
  • FIG. 1 shows, by way of example, a circuit 1 according to the prior art for controlling a tristable actuator 2 (eg, FIG. 2a) and b)) of the aforementioned type, which are connected by means of a first H-bridge, comprising the switches S1, S2, S5, S6, and a second H-bridge comprising the switches S3, S4, S7, S8 is formed and a switch S9, which determines the position of an actuator 3 of the actuator 2 by series connection of the magnetic coils 4, 5 in the bridge diagonal with the switch closed S9 and exposure to a voltage jump in accordance with the principle described in DE 10 2005 018 012 A1 allows.
  • Such a tristable, electromagnetic actuator 2 generally comprises two magnetic coils 4, 5, in particular toroidal coils, and one by means of the two Magnetic coils 4, 5 between three stable positions linearly displaceable actuator 3.
  • Such a structure is illustrated schematically in Fig. 2a) and b).
  • the actuator 3 is magnetically displaceable due to suitable control or energization of the magnetic coils 4, 5 between two stable end positions and a stable center position.
  • Fig. 2a) and b) of the magnetic flux B as a function of the switching position and the Bestromungscardi X ⁇ of the magnetic coils 4, 5 by annular, arrows provided with lines shown by way of example.
  • the actuator 3 has, for example, a permanent magnet 7, for example, Fig. 2a) and b), which on an actuating rod 8 or anchor rod of the actuator 3 in the intended linear movement direction X of the control rod 8 and the actuator 3 between the two magnetic coils 4, 5 is arranged for linear displacement, wherein the permanent magnet 7 in particular a publisher direction of the control rod 8 aligned polarity N, S and wherein the magnetic coils 4, 5 are aligned in particular coaxially with the linearly movable control rod 8 and the actuator 3.
  • the magnetic coils 4, 5 have in particular opposite winding sense.
  • the actuator 2 is formed such that the actuator 3 is magnetically lockable in the stable center position by the permanent magnet 7.
  • the actuator device 6 has for driving the magnetic coils 4, 5 or for their energization further comprises a switching bridge 9 with three parallel bridge branches B1, B2, B3, each of the particular exactly three bridge branches B1, B2, B3 two switches arranged in series S1 ... S6, eg Fig. 3 and Fig. 4a) to c), in particular exactly two switches.
  • the switching bridge 9 according to the invention has a B6 topology in this respect or is designed as a B6 switching bridge.
  • the parallel-connected bridge branches B1, B2, B3 have, based on the intended current direction, a common electrical input 10 and a common electrical output 11, to which a supply voltage for energizing the magnetic coils 4, 5 can be applied, e.g. by a power supply device.
  • the first bridge branch B1 has, according to FIGS. 3 and 4a) to c) e.g. the switches S1 and S4, the second bridge branch the switches S2 and S5 and the third bridge branch the switches S3 and S6.
  • the switches S1... S6 are in each case between an open and a closed position, in particular of a e.g. Drive device controlled, switched back and forth and in particular transistor switch, e.g. FETs which have a controllable control input and in each case one input-output path which can be opened, closed or switched through by means of the control input.
  • the input-output paths per two switches S1... S6 of a bridge branch B1, B2, B3 are in this case connected in series within each bridge branch B1, B2, B3.
  • each of the particular two bridge diagonal D1, D2 of the switching bridge 9 is according to the invention depending on a solenoid coil 4, 5 of the actuator. 2 switched, for example, Fig. 3 or 4a) to c).
  • a respective magnet coil 4, 5 two center taps M1, M2, M3 defining a bridge diagonal D1, D2 are electrically connected to one another, ie the center tap M1 of the first bridge branch B1 with the center tap M2 of the second bridge branch B2 corresponding to the first bridge diagonal D1 and the center tap M2 of the second bridge leg B2 in turn with the center tap M3 of the third bridge branch B3 corresponding to the second bridge diagonal D2.
  • one magnet coil 4, 5 is connected in series between in each case two center taps M1, M2 or M2, M3, eg FIGS. 3, 4a) to c).
  • both the cost of materials and the control effort over the prior art, e.g. Fig. 1, are reduced, inasmuch as the number of necessary switch S or necessary components is considerably reduced.
  • a position determination of the actuator 3 by means of the described in DE 10 2005 018 012 A1 principle as well as the linear displacement of the actuator 3 between three stable positions when using the switching bridge 9 of the invention and the wiring, each with a magnetic coil 4, 5 in a respective bridge diagonal D1, D2 advantageous in a simple manner possible.
  • the actuator device 6 according to the invention also advantageously enables the rapid quenching of the current by simultaneous opening of all the switches S1... S6, i. a fast erase against utility grid level, e.g. Board network level.
  • the invention further provides that at least the switches S1 and S4 of the first bridge branch B1, which is electrically connected via the magnetic coil 4 in the first of the two bridge diagonals D1 to the second B2 bridge branch and the switches S3, S6 of the third bridge branch B3, which via the solenoid coil 5 in the second bridge diagonal D2 is also connected to the second bridge branch B2, each connected to a freewheeling diode (not shown).
  • a freewheeling diode not shown.
  • the freewheel In this case, the forward or backward diodes bridge in their forward direction the input and the output of a switch S1... S6 connected thereto in the opposite direction to the intended direction of current supply of the input-output paths of the switches S1... S6 while they are blocking in the intended current-carrying direction.
  • the actuator device 6 in a preferred embodiment, further for determining the position of the actuator 3 of the electromagnetic tristable actuator 2, in particular according to the in the
  • the actuator device 6 to a drive device (not shown), which is designed to control the switching bridge 9 and its switch S1 ... S6 such that both magnetic coils 4, 5 in series between the common electrical input 10 and the common electrical Output 1 1 of the bridge branches B1, B2, B3 switchable and can be acted upon by means of a voltage applied to the common electrical input 10 and output 1 1 of the bridge arms B1, B2, B3 supply voltage.
  • a driving device is e.g. in the form of computerized or microprocessor-based electronics and is used e.g. also used for controlling the switches S1... S6 for a displacement of the actuator 3 in accordance with the method described below.
  • the actuator device 6 designed to determine the position of the actuator 3 further comprises, in particular, a detection device (not shown), which is provided for determining voltage profiles on both magnet coils 4, 5 during or in response to the voltage jump.
  • the detection device is used for measurement purposes, e.g. each connected to an electrical input and an electrical output of each solenoid coil 4, 3.
  • the actuator device 6 for determining the position of the actuator 3 further comprises an evaluation device, which, on the basis of the determined voltage profiles, in the course of a by the Anêtvor- Direction applied voltage jump determines the position of the actuator 3.
  • an evaluation device which, on the basis of the determined voltage profiles, in the course of a by the Anêtvor- Direction applied voltage jump determines the position of the actuator 3.
  • To determine the evaluation device forms in particular the difference between the voltage curves determined at the two magnetic coils 4, 5 in order to determine the actuator position from the voltage curve thus obtained, in particular by comparison with a characteristic field.
  • a map is stored eg in a memory of the evaluation device.
  • the detection device, the drive device and the evaluation device act in particular to determine the position of the actuator 3, e.g. coordinated by a higher-level control, which may also be part of the actuator 6 according to the invention.
  • the detection device and / or the drive device and / or the evaluation device may be formed in the form of a single electronics or separated.
  • FIGS. 4a) to 4c in which, for example, the course of current and forces in the actuator device 6 according to the invention are shown as a function of the respective switching state of the switches S1... S6 when the supply voltage is present between the common input 10 and the common output 11.
  • the method according to the invention for driving the magnetic coils 4, 5 of an actuator 2 of an actuator device 6 according to the invention is explained, wherein in each of the two bridge diagonals D1, D2 of the switching bridge 9 in each case a magnetic coil 4, 5 of the actuator 2 is connected, by means of which the actuator 3 of the actuator 2 is displaceable.
  • FIG. 4a illustrates a method step according to the invention for displacing the actuator 3 into the stable center position and / or for determining the position of the actuator, ie for acting on both magnet coils 4, 5 with a voltage jump.
  • the switch S1 in particular permanently and the switch S6, ie the downstream switch, at least temporarily closed, the switch S6 is preferably operated clocked according to the invention, ie opens and closes to the current through the magnetic coils 4, 5, which in this switching state in the form of a series circuit to be able to adjust the supply network.
  • a clocked operation takes place in particular by a pulse-width-modulated control signal, which, for example, applied to a control input of the switch S6, for example, starting from a drive device.
  • a current path according to the invention in each case via a switch of the first B1 and a switch of the third B3 bridge branch and both solenoids 4, 5 opens, while the other switches of the switching bridge 9 are open or block a current flow.
  • the current path extends from the common input to the common output of the parallel bridge branches B1, B2, B3.
  • the current path runs in the illustrated possible embodiment according to FIG. 4a) via the switches S1 and S6 and the magnet coils 4, 5 from the common input 10 to the common output 1 1 of the parallel bridge branches B1, B2, B3, arrows I in FIG. 4a.
  • step of the method according to the invention which is exemplified both by the Fig. 4b with a first displacement direction + X for the actuator 3 as well as with opposite displacement direction -X through Fig. 4c, is for displacing the actuator 3 in a respective stable end position, a current path over in particular exactly one arranged in a or a first bridge half switch S2 or S5 of the second bridge branch B2 and each one switch S4 or S1 / S3 or S6 of the first B1 and third B3 bridge branch each of the other or a second bridge half opens, while the other switches S1, S3, S5 or S2, S4, S6 are open or interrupt.
  • One half of the bridge in this case comprises the switches S1, S2, S3 or the input-side switches each of a bridge branch B1, B2, B3, the other the switches S4, S5, S6 or the output-side switches each a bridge branch B1, B2, B3.
  • the current path, represented by the arrows I, extends from a common input 10 to a common output 1 1 of the parallel bridge branches B1, B2, B3.
  • the switch S2 for displacing the actuator 3 in the direction of the arrows K or displacement direction + X is in particular permanently closed, the switches S4 and S6 are also closed, at least temporarily.
  • the switches S4 and S6, i. that of the first B1 and third B3 bridge branch, according to the invention preferably alternately clocked. Due to the free-wheeling diodes of the switches S1 and S3, a freewheel is formed, which the supply network advantageously does not see when switching the switches S4 and S6 alternately (dashed line).
  • FIG. 4a which shows switching in the middle position, the current direction in the first coil 4 and thus the direction of force of the force acting on the actuator 3 from the first coil 4 are reversed, e.g. as shown in Fig. 2a.
  • FIG. 4c exemplarily illustrates the implementation of the alternative or additional method step when the actuator 3 is displaced in the opposite direction -X to assume the second stable end position.
  • the switch opening the current path represented by arrows I, for displacing the actuator 3 with respect to the switch opening the current path for displacing the actuator 3 into the first stable end position according to FIG. 4 b in the same bridge branch B1, B2, B3, however, the other half bridge closed or clocked operated, ie inverted with respect to the bridge diagonal D1, D2.
  • the switch S5 for the displacement of the actuator 3 is in particular permanently closed, the switches S1 and S3 are also closed, at least temporarily.
  • the switches S1 and S3 are preferably clocked alternately according to the invention. Due to the free-wheeling diodes of the switches S4 and S6, a freewheel is formed (dashed line), which the supply network with alternating timing of the switches S1 and S3 advantageously does not see.
  • the current direction in both coils 4, 5 and thus the direction of force of the forces K acting on the actuator 3 by both solenoids 4, 5 are reversed.
  • Such a switch position in which all the switches S1... S6 of the switching bridge 9 are open, shows e.g. Fig. 3.
  • the permanent magnet 7 of the actuator 3 can hold the position, i. through magnetic closure.

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
  • Control Of Linear Motors (AREA)
  • Gear-Shifting Mechanisms (AREA)

Abstract

The invention relates to an actuator device (6) having an electromagnetic actuator (2) which comprises two magnetic coils (4, 5) and an actuating element (3) that can be displaced linearly between three stable positions by means of same, the actuator device (6) having a switching bridge (9) with three bridge branches (B1, B2, B3) connected in parallel for driving the magnetic coils (4, 5), wherein each bridge branch (B1, B2, B3) comprises two switches (S1 ... S6) arranged in series, wherein a magnetic coil (4, 5) is connected in each of the two bridge diagonals (D1, D2). The invention further relates to a method for driving the magnetic coils (4, 5) of an electromagnetic actuator (2) of an actuator device (6) according to the invention.

Description

Aktuatorvorrichtunq und Verfahren zur Ansteuerunq  Actuator device and method for driving
Die vorliegende Erfindung betrifft eine Aktuatorvorrichtung gemäß dem Oberbegriff von Anspruch 1 . Des Weiteren betrifft die vorliegende Erfindung ein Verfahren zur Ansteuerung gemäß dem Oberbegriff von Anspruch 8. The present invention relates to an actuator device according to the preamble of claim 1. Furthermore, the present invention relates to a method for driving according to the preamble of claim 8.
Aus der Druckschrift DE 10 2005 018 012 A1 ist ein elektromagnetischer bzw. elektrodynamischer Aktuator der vorliegenden Art bekannt, wobei die Position des Aktuatorstellglieds durch a) Beaufschlagung der zu diesem Zweck in Reihe geschalteten Magnetspulen mit einem Spannungssprung und b) Auswerten daraus resultierender, detektierter Spannungsverläufe mit geringem Aufwand ermittelbar ist. From the document DE 10 2005 018 012 A1 an electromagnetic or electrodynamic actuator of the present type is known, wherein the position of the actuator actuator by a) acting on the purpose connected in series for this purpose solenoid coils with a voltage jump and b) evaluating therefrom, detected voltage waveforms can be determined with little effort.
Aus der Druckschrift WO 2009/109444 ist weiterhin ein gattungsgemäßer elektromagnetischer Aktuator mit drei stabilen Stellungen bzw. ein tristabiler Aktuator bekannt, welcher zur Ausführung der vorliegenden Erfindung einsetzbar ist, und dessen Stellgliedposition mittels der Lehre der eingangs genannten Druckschrift ermittelbar ist. From the publication WO 2009/109444 a generic electromagnetic actuator with three stable positions or a tristable actuator is further known, which can be used for carrying out the present invention, and whose actuator position can be determined by means of the teaching of the cited document.
Zur Ansteuerung von elektromagnetischen, tristabilen Aktuatoren, deren Stellgliedposition erfasst werden soll, werden im Stand der Technik gegenwärtig zwei H-Brücken sowie ein Verbindungsschalter (S9 in Fig. 1 ) eingesetzt, um gezielt Ströme in jeder einzelnen Spule einstellen zu können. Der Verbindungsschalter dient zur Herstellung einer Reihenschaltung, um vorteilhaft eine inhärente Wegmessung bzw. Positionsbestimmung nach dem in der Druckschrift DE 10 2005 018 012 A1 dargestelltem Prinzip durchführen zu können. In order to control electromagnetic, tristable actuators whose actuator position is to be detected, two H-bridges and a connection switch (S9 in FIG. 1) are currently used in the prior art in order to be able to set specific currents in each individual coil. The connection switch is used to produce a series connection in order to be able to advantageously carry out an inherent path measurement or position determination according to the principle described in the document DE 10 2005 018 012 A1.
Ausgehend hiervon liegt der vorliegenden Erfindung die Aufgabe zugrunde, die Aktuatorvorrichtungen der eingangs genannten Art vorteilhaft weiterzubilden, insbesondere eine hardwareoptimierte Ansteuerung des Aktuators zu ermöglichen, welche kostengünstig zu realisieren ist. Ferner ist es Aufgabe der Erfindung ein Verfahren zur Ansteuerung eines Aktuators vorzuschlagen, wel- ches einfach durchzuführen ist und eine Positionsbestimmung des Stellglieds auf eingangs erwähnte Weise ermöglicht. Proceeding from this, the present invention has the object, advantageous to develop the actuator devices of the type mentioned, in particular to enable a hardware-optimized control of the actuator, which is inexpensive to implement. It is another object of the invention to propose a method for controlling an actuator, Wel- Ches is easy to perform and allows a position determination of the actuator in the manner mentioned above.
Diese Aufgabe wird erfindungsgemäß durch die Merkmale des Anspruchs 1 gelöst. Hinsichtlich des Verfahrens wird die Aufgabe durch die Merkmale des Anspruchs 8 gelöst. This object is achieved by the features of claim 1. With regard to the method, the object is solved by the features of claim 8.
Vorgeschlagen wird erfindungsgemäß eine Aktuatorvorrichtung mit einem elektromagnetischen Aktuator, welcher zwei Magnetspulen sowie ein mittels derselben zwischen drei stabilen Positionen linear verlagerbares Stellglied aufweist, dadurch gekennzeichnet, dass die Aktuatorvorrichtung zur Ansteuerung der Magnetspulen eine Schaltbrücke mit drei, insbesondere genau drei, parallel geschalteten Brückenzweigen aufweist, wobei jeder Brückenzweig zwei, insbesondere genau zwei, in Reihe angeordnete Schalter aufweist, wobei in jede der zwei Brückendiagonalen je eine Magnetspule geschaltet ist, insbesondere genau je eine. According to the invention, an actuator device with an electromagnetic actuator, which has two magnet coils and an actuator which can be displaced linearly between three stable positions, is proposed, characterized in that the actuator device for driving the magnet coils has a switching bridge with three, in particular exactly three, bridge branches connected in parallel, wherein each bridge branch has two, in particular exactly two, arranged in series switch, wherein in each of the two bridge diagonals each a magnetic coil is connected, in particular exactly one each.
Bei einer erfindungsgemäßen Ausführungsform der Aktuatorvorrichtung ist die Schaltbrücke als B6-Schaltbrücke ausgebildet. In an embodiment of the actuator device according to the invention, the switching bridge is designed as a B6 switching bridge.
Bei einer weiteren erfindungsgemäßen Ausführungsform der Aktuatorvorrichtung sind wenigstens die Schalter eines ersten der drei Brückenzweige, welcher via einer Magnetspule in einer ersten der zwei Brückendiagonalen mit einem zweiten der drei Brückenzweige elektrisch verbunden ist und die Schalter eines dritten der drei Brückenzweige, welcher via einer Magnetspule in der zweiten der zwei Brückendiagonalen ebenfalls mit dem zweiten Brückenzweig verbunden ist, jeweils mit einer Freilaufdiode beschaltet. In a further embodiment of the actuator device according to the invention at least the switches of a first of the three bridge arms, which is electrically connected via a magnetic coil in a first of the two bridge diagonals with a second of the three bridge branches and the switches of a third of the three bridge arms, which via a magnetic coil in the second of the two bridge diagonals is also connected to the second bridge branch, each connected to a freewheeling diode.
Bei noch einer weiteren erfindungsgemäßen Ausführungsform der Aktuatorvorrichtung ist die Aktuatorvorrichtung zur Ermittlung der Position des Stellglieds ausgebildet. Gemäß einem Aspekt der erfindungsgemäßen Aktuatorvorrichtung weist die Aktuatorvorrichtung zur Ermittlung der Position des Stellglieds eine Ansteu- ervorrichtung auf, welche zur Ansteuerung der Schaltbrücke derart ausgebildet ist, dass beide Magnetspulen in Reihe zwischen einen gemeinsamen elektrischen Eingang und einen gemeinsamen elektrischen Ausgang der Brückenzweige schaltbar und mittels einer an dem gemeinsamen elektrischen Eingang und Ausgang der Brückenzweige anlegbaren Versorgungsspannung mit einem Spannungssprung beaufschlagbar sind. In yet another embodiment of the actuator device according to the invention, the actuator device is designed to determine the position of the actuator. According to one aspect of the actuator device according to the invention, the actuator device for determining the position of the actuator to a Ansteu- ervorrichtung, which is designed to control the switching bridge such that both magnetic coils in series between a common electrical input and a common electrical output of the bridge arms switched and by a voltage applied to the common electrical input and output of the bridge arms supply voltage can be acted upon.
Gemäß einem weiteren Aspekt der erfindungsgemäßen Aktuatorvorrichtung weist die Aktuatorvorrichtung zur Ermittlung der Position des Stellglieds weiterhin eine Detektiervorrichtung auf, welche zur Ermittlung von Spannungsverläufen an beiden Magnetspulen im Zuge einer Beaufschlagung derselben mit dem Spannungssprung vorgesehen ist. According to a further aspect of the actuator device according to the invention, the actuator device for determining the position of the actuator further comprises a detection device, which is provided for determining voltage curves at both magnetic coils in the course of an application of the same with the voltage jump.
Gemäß noch einem weiteren Aspekt der erfindungsgemäßen Aktuatorvorrichtung weist die Aktuatorvorrichtung zur Ermittlung der Position des Stellglieds weiterhin eine Auswertevorrichtung auf, welche basierend auf den ermittelten Spannungsverläufen beider Magnetspulen bei einem Spannungssprung die Position des Stellglieds ermittelt, insbesondere durch Vergleich wenigstens eines Spannungsverlaufs mit einem Kennfeld. According to yet another aspect of the actuator device according to the invention, the actuator device for determining the position of the actuator further comprises an evaluation device, which determines the position of the actuator based on the determined voltage curves of both magnetic coils in a voltage jump, in particular by comparing at least one voltage waveform with a map.
Vorgeschlagen wird erfindungsgemäß ein Verfahren zur Ansteuerung der Magnetspulen eines elektromagnetischen Aktuators einer Aktuatorvorrichtung nach einem der vorhergehenden Ansprüche, wobei in einem ersten Schritt zur Ermittlung der Position des Stellglieds und/oder zu einem Verlagern des Stellglieds in eine stabile Mittenposition ein Strompfad über je einen Schalter des ersten und einen Schalter des dritten Brückenzweigs sowie beide Magnetspulen eröffnet bzw. ausgebildet wird während die weiteren Schalter der Schaltbrücke geöffnet sind, wobei der Strompfad von einem gemeinsamen Eingang zu einem gemeinsamen Ausgang der parallelen Brückenzweige verläuft. Vorgeschlagen wird weiterhin ein Verfahren, wobei in dem ersten Schritt wenigstens ein Schalter im eröffneten Strompfad getaktet betrieben wird, insbesondere der stromabwärtige Schalter. According to the invention, a method for driving the magnetic coils of an electromagnetic actuator of an actuator device according to one of the preceding claims, wherein in a first step to determine the position of the actuator and / or to displace the actuator in a stable center position, a current path via a respective switch of the the first and a switch of the third bridge branch and both solenoids is opened or formed while the other switches of the switching bridge are open, wherein the current path extends from a common input to a common output of the parallel bridge branches. Furthermore, a method is proposed, wherein in the first step at least one switch is operated clocked in the opened current path, in particular the downstream switch.
Gemäß einem Aspekt des erfindungsgemäßen Verfahrens wird in einem alternativen oder zusätzlichen Schritt zur Verlagerung des Stellglieds in eine stabile Endposition ein Strompfad über einen in einer Brückenhälfte angeordneten Schalter des zweiten Brückenzweigs und je einen Schalter des ersten und dritten Brückenzweigs je der anderen Brückenhälfte eröffnet bzw. ausgebildet während die weiteren Schalter der Schaltbrücke geöffnet sind, wobei der Strompfad von einem gemeinsamen Eingang zu einem gemeinsamen Ausgang der parallelen Brückenzweige verläuft. According to one aspect of the method according to the invention, in an alternative or additional step for shifting the actuator to a stable end position, a current path is opened or formed via a switch of the second bridge branch arranged in a bridge half and one switch of each of the first and third bridge branches of the other bridge half while the other switches of the switching bridge are open, wherein the current path extends from a common input to a common output of the parallel bridge arms.
Weiterhin wird ein erfindungsgemäßes Verfahren vorgeschlagen, wobei die den Strompfad eröffnenden Schalter im alternativen oder zusätzlichen Schritt im ersten und dritten Brückenzweig abwechselnd getaktet werden. Furthermore, a method according to the invention is proposed, wherein the switches opening the current path are alternately clocked in the alternative or additional step in the first and third bridge branch.
Gemäß noch einem Aspekt des erfindungsgemäßen Verfahrens werden die den Strompfad eröffnenden Schalter zur Verlagerung des Stellglieds in eine erste stabile Endposition in Bezug auf die den Strompfad eröffnenden Schalter zur Verlagerung des Stellglieds in eine zweite stabile Endposition in demselben Brückenzweig in der jeweils anderen Brückenhälfte geschlossen bzw. getaktet betrieben. According to yet another aspect of the method according to the invention, the switch opening the current path for displacing the actuator into a first stable end position with respect to the current path opening switch for displacing the actuator in a second stable end position in the same bridge branch in the other bridge half are closed or operated clocked.
Die erfindungsgemäße Aktuatorvorrichtung bzw. das Verfahren zur An- steuerung der Magnetspulen der Aktuatorvorrichtung eignet sich insbesondere zur Verwendung in einem Kraftfahrzeug, beispielsweise einem Personen- oder Nutzfahrzeug, im Speziellen in einem Kraftfahrzeuggetriebe, beispielsweise einem Automatgetriebe, einem automatisierten Schaltgetriebe oder einem Verteilergetriebe. The actuator device according to the invention or the method for controlling the magnetic coils of the actuator device is particularly suitable for use in a motor vehicle, for example a passenger or commercial vehicle, in particular in a motor vehicle transmission, for example an automatic transmission, an automated manual transmission or a transfer case.
So kann die Aktuatorvorrichtung bzw. das Verfahren zur Ansteuerung der Magnetspulen der Aktuatorvorrichtung zur Betätigung einer Wählvorrichtung eines automatisierten Schaltgetriebes eines Kraftfahrzeugs Verwendung finden, beispielsweise statt einer pneumatischen oder hydraulischen Betätigungsvorrichtung, wodurch Bauraum und Gewicht eingespart werden kann. Durch eine derartige Wählvorrichtung können die zum Einlegen einer bestimmten Gangstufe benötigten Schaltelemente, beispielsweise Klauenkupplungen, des Schaltgetriebes angewählt werden (Wählen der Schaltgasse). Thus, the actuator device or the method for controlling the magnetic coils of the actuator device for actuating a selector device an automated gearbox of a motor vehicle use, for example, instead of a pneumatic or hydraulic actuator, which space and weight can be saved. By such a dial, the required for inserting a certain gear shift elements, such as jaw clutches, the gearbox can be selected (selecting the shift gate).
Weitere Merkmale und Vorteile der Erfindung ergeben sich aus der nachfolgenden Beschreibung von Ausführungsbeispielen der Erfindung, anhand der Figuren der Zeichnungen, die erfindungswesentliche Einzelheiten zeigen, und aus den Ansprüchen. Die einzelnen Merkmale können je einzeln für sich oder zu mehreren in beliebiger Kombination bei einer Variante der Erfindung verwirklicht sein. Further features and advantages of the invention will become apparent from the following description of embodiments of the invention, with reference to the figures of the drawings, which show details essential to the invention, and from the claims. The individual features can be realized individually for themselves or for several in any combination in a variant of the invention.
Bevorzugte Ausführungsformen der Erfindung werden nachfolgend hand der beigefügten Zeichnungen näher erläutert. Es zeigen: Preferred embodiments of the invention will be described below with reference to the accompanying drawings. Show it:
Fig. 1 exemplarisch eine Ansteuerschaltung aus dem Stand der 1 shows an example of a drive circuit from the prior
Technik zur Ansteuerung eines tristabilen elektromagnetischen Aktuators;  Technology for controlling a tristable electromagnetic actuator;
Fig. 2a und 2b exemplarisch den Aufbau eines tristabilen elektromagnetischen Aktuators gemäß dem Stand der Technik in zwei verschiedenen Schaltstellungen;  2a and 2b show an example of the structure of a tri-stable electromagnetic actuator according to the prior art in two different switching positions.
Fig. 3 exemplarisch eine erfindungsgemäße, mit Magnetspulen des Aktuators beschaltete Schaltbrücke einer Aktuator- vorrichtung gemäß einer möglichen Ausführungsform der Erfindung; und  3 shows, by way of example, an inventive switching bridge, which is connected to magnetic coils of the actuator, of an actuator device according to a possible embodiment of the invention; and
Fig. 4a) bis c) exemplarisch mögliche Schaltzustände der mit den Magnetspulen beschalteten Schaltbrücke der erfindungsgemäßen Aktuatorvorrichtung zur Durchführung des erfindungsgemäßen Verfahrens. In den nachfolgenden Figurenbeschreibungen sind gleiche Elemente bzw. Funktionen mit gleichen Bezugszeichen versehen. 4a) to c) exemplarily possible switching states of the switched with the solenoid switching bridge of the actuator device according to the invention for carrying out the method according to the invention. In the following description of the figures, the same elements or functions are provided with the same reference numerals.
Die Fig. 1 zeigt exemplarisch eine Schaltung 1 gemäß dem Stand der Technik zur Ansteuerung eines tristabilen Aktuators 2 (z.B. Fig. 2a) und b)) der eingangs genannten Art, welche mittels einer ersten H-Brücke, umfassend die Schalter S1 , S2, S5, S6, und einer zweiten H-Brücke, umfassend die Schalter S3, S4, S7, S8 gebildet ist sowie einem Schalter S9, welcher die Positionsbestimmung eines Stellglieds 3 des Aktuators 2 durch Reihenschaltung der Magnetspulen 4, 5 in den Brückendiagonalen bei geschlossenem Schalter S9 und Beaufschlagung mit einem Spannungssprung entsprechend dem in der DE 10 2005 018 012 A1 geschilderten Prinzip ermöglicht. 1 shows, by way of example, a circuit 1 according to the prior art for controlling a tristable actuator 2 (eg, FIG. 2a) and b)) of the aforementioned type, which are connected by means of a first H-bridge, comprising the switches S1, S2, S5, S6, and a second H-bridge comprising the switches S3, S4, S7, S8 is formed and a switch S9, which determines the position of an actuator 3 of the actuator 2 by series connection of the magnetic coils 4, 5 in the bridge diagonal with the switch closed S9 and exposure to a voltage jump in accordance with the principle described in DE 10 2005 018 012 A1 allows.
Ein solcher tristabiler, elektromagnetischer Aktuator 2, dessen Aufbau und Prinzip beispielhaft in der Druckschrift WO 2009/109444 beschrieben sind und welcher zur Schaffung der erfindungsgemäßen Aktuatorvorrichtung 6 verwendbar ist, weist allgemein zwei Magnetspulen 4, 5 auf, insbesondere Ringspulen, sowie ein mittels der beiden Magnetspulen 4, 5 zwischen drei stabilen Positionen linear verlagerbares Stellglied 3. Ein solcher Aufbau ist schematisch in Fig. 2a) und b) verdeutlicht. Such a tristable, electromagnetic actuator 2, the structure and principle of which are described by way of example in WO 2009/109444 and which can be used to create the actuator device 6 according to the invention, generally comprises two magnetic coils 4, 5, in particular toroidal coils, and one by means of the two Magnetic coils 4, 5 between three stable positions linearly displaceable actuator 3. Such a structure is illustrated schematically in Fig. 2a) and b).
Das Stellglied 3 ist infolge geeigneter Ansteuerung bzw. Bestromung der Magnetspulen 4, 5 dabei zwischen zwei stabilen Endpositionen und einer stabilen Mittenposition magnetisch verlagerbar. In Fig. 2a) und b) ist der magnetische Fluss B in Abhängigkeit der Schaltstellung bzw. der Bestromungsrichtung X, · der Magnetspulen 4, 5 durch ringförmige, mit Pfeilen versehene Linien beispielhaft dargestellt. The actuator 3 is magnetically displaceable due to suitable control or energization of the magnetic coils 4, 5 between two stable end positions and a stable center position. In Fig. 2a) and b) of the magnetic flux B as a function of the switching position and the Bestromungsrichtung X, · of the magnetic coils 4, 5 by annular, arrows provided with lines shown by way of example.
Das Stellglied 3 weist z.B. einen Permanentmagneten 7 auf, z.B. Fig. 2a) und b), welcher an einer Stellstange 8 bzw. Ankerstange des Stellglieds 3 in der vorgesehenen linearen Bewegungsrichtung X der Stellstange 8 bzw. des Stellglieds 3 zwischen den beiden Magnetspulen 4, 5 zur linearen Verlagerung angeordnet ist, wobei der Permanentmagnet 7 insbesondere eine in Verlage- rungsrichtung der Stellstange 8 ausgerichtete Polarität N, S aufweist und wobei die Magnetspulen 4, 5 insbesondere koaxial mit der linear beweglichen Stellstange 8 bzw. dem Stellglied 3 ausgerichtet sind. Die Magnetspulen 4, 5 weisen insbesondere entgegen gesetzten Wicklungssinn auf. Vorzugsweise ist der Ak- tuator 2 derart ausgebildet, dass das Stellglied 3 in der stabilen Mittenposition durch den Permanentmagneten 7 magnetisch arretierbar ist. The actuator 3 has, for example, a permanent magnet 7, for example, Fig. 2a) and b), which on an actuating rod 8 or anchor rod of the actuator 3 in the intended linear movement direction X of the control rod 8 and the actuator 3 between the two magnetic coils 4, 5 is arranged for linear displacement, wherein the permanent magnet 7 in particular a publisher direction of the control rod 8 aligned polarity N, S and wherein the magnetic coils 4, 5 are aligned in particular coaxially with the linearly movable control rod 8 and the actuator 3. The magnetic coils 4, 5 have in particular opposite winding sense. Preferably, the actuator 2 is formed such that the actuator 3 is magnetically lockable in the stable center position by the permanent magnet 7.
Die erfindungsgemäße Aktuatorvorrichtung 6 weist zur Ansteuerung der Magnetspulen 4, 5 bzw. zu deren Bestromung weiterhin eine Schaltbrücke 9 mit drei parallel geschalteten Brückenzweigen B1 , B2, B3 auf, wobei jeder der insbesondere genau drei Brückenzweige B1 , B2, B3 zwei in Reihe angeordnete Schalter S1 ... S6 aufweist, z.B. Fig. 3 und Fig. 4a) bis c), insbesondere genau zwei Schalter. Die erfindungsgemäße Schaltbrücke 9 weist insofern eine B6- Topologie auf bzw. ist als B6-Schaltbrücke ausgebildet. Die parallel geschalteten Brückenzweige B1 , B2, B3 weisen bezogen auf die vorgesehene Stromrichtung einen gemeinsamen elektrischen Eingang 10 und einen gemeinsamen elektrischen Ausgang 1 1 auf, an welchen eine Versorgungsspannung zur Bestromung der Magnetspulen 4, 5 anlegbar ist, z.B. durch eine Energieversorgungsvorrichtung. The actuator device 6 according to the invention has for driving the magnetic coils 4, 5 or for their energization further comprises a switching bridge 9 with three parallel bridge branches B1, B2, B3, each of the particular exactly three bridge branches B1, B2, B3 two switches arranged in series S1 ... S6, eg Fig. 3 and Fig. 4a) to c), in particular exactly two switches. The switching bridge 9 according to the invention has a B6 topology in this respect or is designed as a B6 switching bridge. The parallel-connected bridge branches B1, B2, B3 have, based on the intended current direction, a common electrical input 10 and a common electrical output 11, to which a supply voltage for energizing the magnetic coils 4, 5 can be applied, e.g. by a power supply device.
Der erste Brückenzweig B1 weist gemäß Fig. 3 und 4a) bis c) z.B. die Schalter S1 und S4, der zweite Brückenzweig die Schalter S2 und S5 und der dritte Brückenzweig die Schalter S3 und S6 auf. Die Schalter S1 ...S6 sind jeweils zwischen einer Offen- und einer Schließstellung, insbesondere von einer z.B. Ansteuervorrichtung angesteuert, hin- und her schaltbar und insbesondere Transistorschalter, z.B. FETs, welche einen ansteuerbaren Steuereingang und jeweils eine mittels des Steuereingangs offen- und schließbare bzw. durch- schaltbare Eingangs-Ausgangs-Strecke aufweisen. Die Eingangs-Ausgangs- Strecken je zweier Schalter S1 ...S6 eines Brückenzweigs B1 , B2, B3 sind vorliegend innerhalb jedes Brückenzweigs B1 , B2, B3 in Reihe geschaltet. The first bridge branch B1 has, according to FIGS. 3 and 4a) to c) e.g. the switches S1 and S4, the second bridge branch the switches S2 and S5 and the third bridge branch the switches S3 and S6. The switches S1... S6 are in each case between an open and a closed position, in particular of a e.g. Drive device controlled, switched back and forth and in particular transistor switch, e.g. FETs which have a controllable control input and in each case one input-output path which can be opened, closed or switched through by means of the control input. The input-output paths per two switches S1... S6 of a bridge branch B1, B2, B3 are in this case connected in series within each bridge branch B1, B2, B3.
In jede der insbesondere genau zwei Brückendiagonalen D1 , D2 der Schaltbrücke 9 ist erfindungsgemäß je eine Magnetspule 4, 5 des Aktuators 2 geschaltet, z.B. Fig. 3 oder 4a) bis c). Mittels je einer Magnetspule 4, 5 sind insofern jeweils zwei eine Brückendiagonale D1 , D2 definierende Mittenabgriffe M1 , M2, M3 insbesondere unmittelbar miteinander elektrisch verbunden, i.e. der Mittenabgriff M1 des ersten Brückenzweigs B1 mit dem Mittenabgriff M2 des zweiten Brückenzweigs B2 entsprechend der ersten Brückendiagonale D1 und der Mittenabgriff M2 des zweiten Brückenzweigs B2 wiederum mit dem Mittenabgriff M3 des dritten Brückenzweigs B3 entsprechend der zweiten Brückendiagonale D2. Je eine Magnetspule 4, 5 ist dabei in Reihe zwischen jeweils zwei Mittenabgriffe M1 , M2 bzw. M2, M3 geschaltet, z.B. Fig. 3, 4a) bis c). In each of the particular two bridge diagonal D1, D2 of the switching bridge 9 is according to the invention depending on a solenoid coil 4, 5 of the actuator. 2 switched, for example, Fig. 3 or 4a) to c). By means of a respective magnet coil 4, 5, two center taps M1, M2, M3 defining a bridge diagonal D1, D2 are electrically connected to one another, ie the center tap M1 of the first bridge branch B1 with the center tap M2 of the second bridge branch B2 corresponding to the first bridge diagonal D1 and the center tap M2 of the second bridge leg B2 in turn with the center tap M3 of the third bridge branch B3 corresponding to the second bridge diagonal D2. In each case one magnet coil 4, 5 is connected in series between in each case two center taps M1, M2 or M2, M3, eg FIGS. 3, 4a) to c).
Mittels der erfindungsgemäßen Schaltbrücke 9 und der Beschaltung mit je einer Magnetspule 4, 5 in je einer Brückendiagonalen D1 , D2 können sowohl der Materialaufwand als auch der Ansteueraufwand gegenüber dem Stand der Technik, z.B. Fig. 1 , reduziert werden, insofern als die Zahl notwendiger Schalter S bzw. notwendiger Bauelemente erheblich reduziert ist. Eine Positionsbestimmung des Stellglieds 3 mittels des in der DE 10 2005 018 012 A1 geschilderten Prinzips als auch die lineare Verlagerung des Stellglieds 3 zwischen drei stabilen Positionen ist bei Verwendung der erfindungsgemäßen Schaltbrücke 9 und der Beschaltung mit je einer Magnetspule 4, 5 in je einer Brückendiagonalen D1 , D2 vorteilhaft auf einfache Weise möglich. Die erfindungsgemäße Aktu- atorvorrichtung 6 ermöglicht ferner vorteilhaft das schnelle Löschen des Stromes durch gleichzeitiges Öffnen aller Schalter S1 ...S6, i.e. ein schnelles Löschen gegen Versorgungsnetzpegel, z.B. Bordnetzpegel. By means of the switching bridge 9 according to the invention and the wiring with one magnetic coil 4, 5 in each of a bridge diagonal D1, D2, both the cost of materials and the control effort over the prior art, e.g. Fig. 1, are reduced, inasmuch as the number of necessary switch S or necessary components is considerably reduced. A position determination of the actuator 3 by means of the described in DE 10 2005 018 012 A1 principle as well as the linear displacement of the actuator 3 between three stable positions when using the switching bridge 9 of the invention and the wiring, each with a magnetic coil 4, 5 in a respective bridge diagonal D1, D2 advantageous in a simple manner possible. The actuator device 6 according to the invention also advantageously enables the rapid quenching of the current by simultaneous opening of all the switches S1... S6, i. a fast erase against utility grid level, e.g. Board network level.
Vorgesehen ist erfindungsgemäß weiterhin, dass wenigstens die Schalter S1 und S4 des ersten Brückenzweigs B1 , welcher via der Magnetspule 4 in der ersten der zwei Brückendiagonalen D1 mit dem zweiten B2 Brückenzweig elektrisch verbunden ist und die Schalter S3, S6 des dritten Brückenzweigs B3, welcher via der Magnetspule 5 in der zweiten Brückendiagonalen D2 ebenfalls mit dem zweiten Brückenzweig B2 verbunden ist, jeweils mit einer Freilaufdiode beschaltet sind (nicht dargestellt). Auf diese Weise kann eine Entlastung des Versorgungsnetzes bei Ansteuerung bzw. Bestromung der Schalter S1 ...S6 erfolgen, wie nachfolgend noch erläutert bzw. ersichtlich wird. Die Freilaufdio- den bzw. Rückwärtsdioden überbrücken dabei in ihrer Durchlassrichtung jeweils den Eingang und den Ausgang eines damit beschalteten Schalters S1 ...S6 entgegen gesetzt zur vorgesehenen Bestromungsrichtung der Eingang- Ausgangs-Strecken der Schalter S1 ...S6 während sie in der vorgesehenen Bestromungsrichtung sperren. The invention further provides that at least the switches S1 and S4 of the first bridge branch B1, which is electrically connected via the magnetic coil 4 in the first of the two bridge diagonals D1 to the second B2 bridge branch and the switches S3, S6 of the third bridge branch B3, which via the solenoid coil 5 in the second bridge diagonal D2 is also connected to the second bridge branch B2, each connected to a freewheeling diode (not shown). In this way, a relief of the supply network in control or energization of the switches S1 ... S6 take place, as will be explained or apparent below. The freewheel In this case, the forward or backward diodes bridge in their forward direction the input and the output of a switch S1... S6 connected thereto in the opposite direction to the intended direction of current supply of the input-output paths of the switches S1... S6 while they are blocking in the intended current-carrying direction.
Erfindungsgemäß ist die Aktuatorvorrichtung 6 bei einer bevorzugten Ausführungsform weiterhin zur Ermittlung der Position des Stellglieds 3 des elektromagnetischen tristabilen Aktuators 2, insbesondere nach dem in der According to the invention, the actuator device 6 in a preferred embodiment, further for determining the position of the actuator 3 of the electromagnetic tristable actuator 2, in particular according to the in the
DE 10 2005 018 012 A1 vorbeschriebenen Prinzip, ausgebildet. Dazu weist die Aktuatorvorrichtung 6 eine Ansteuervorrichtung auf (nicht dargestellt), welche zur Ansteuerung der Schaltbrücke 9 bzw. deren Schalter S1 ...S6 derart ausgebildet ist, dass beide Magnetspulen 4, 5 in Reihe zwischen den gemeinsamen elektrischen Eingang 10 und den gemeinsamen elektrischen Ausgang 1 1 der Brückenzweige B1 , B2, B3 schaltbar und mittels einer an dem gemeinsamen elektrischen Eingang 10 und Ausgang 1 1 der Brückenzweige B1 , B2, B3 anlegbaren Versorgungsspannung mit einem Spannungssprung beaufschlagbar sind. Eine derartige Ansteuervorrichtung ist z.B. in Form einer computerisierten oder mikroprozessorgestützten Elektronik gebildet und wird z.B. auch zur AnSteuerung der Schalter S1 ...S6 für eine Verlagerung des Stellglieds 3 gemäß unten beschriebenem Verfahren genutzt. DE 10 2005 018 012 A1 described above, formed. For this purpose, the actuator device 6 to a drive device (not shown), which is designed to control the switching bridge 9 and its switch S1 ... S6 such that both magnetic coils 4, 5 in series between the common electrical input 10 and the common electrical Output 1 1 of the bridge branches B1, B2, B3 switchable and can be acted upon by means of a voltage applied to the common electrical input 10 and output 1 1 of the bridge arms B1, B2, B3 supply voltage. Such a driving device is e.g. in the form of computerized or microprocessor-based electronics and is used e.g. also used for controlling the switches S1... S6 for a displacement of the actuator 3 in accordance with the method described below.
Die zur Ermittlung der Position des Stellglieds 3 ausgebildete Aktuatorvorrichtung 6 weist weiterhin insbesondere eine Detektiervorrichtung auf (nicht dargestellt), welche zur Ermittlung von Spannungsverläufen an beiden Magnetspulen 4, 5 bei bzw. im Zuge einer Beaufschlagung mit dem Spannungssprung vorgesehen ist. Die Detektiervorrichtung ist zu Messzwecken z.B. jeweils mit einem elektrischen Eingang und einem elektrischen Ausgang jeder Magnetspule 4, 3 verbunden. The actuator device 6 designed to determine the position of the actuator 3 further comprises, in particular, a detection device (not shown), which is provided for determining voltage profiles on both magnet coils 4, 5 during or in response to the voltage jump. The detection device is used for measurement purposes, e.g. each connected to an electrical input and an electrical output of each solenoid coil 4, 3.
Erfindungsgemäß weist die Aktuatorvorrichtung 6 zur Ermittlung der Position des Stellglieds 3 weiterhin eine Auswertevorrichtung auf, welche basierend auf den ermittelten Spannungsverläufen im Zuge eines durch die Ansteuervor- richtung beaufschlagten Spannungssprungs die Position des Stellglieds 3 ermittelt. Zur Ermittlung bildet die Auswertevorrichtung insbesondere die Differenz aus den an den beiden Magnetspulen 4, 5 ermittelten Spannungsverläufen um aus dem derart erhaltenen Spannungsverlauf die Stellgliedposition zu bestimmen, insbesondere durch Vergleich mit einem Kennfeld. Ein Kennfeld ist z.B. in einem Speicher der Auswertevorrichtung hinterlegt. According to the invention, the actuator device 6 for determining the position of the actuator 3 further comprises an evaluation device, which, on the basis of the determined voltage profiles, in the course of a by the Ansteuervor- Direction applied voltage jump determines the position of the actuator 3. To determine the evaluation device forms in particular the difference between the voltage curves determined at the two magnetic coils 4, 5 in order to determine the actuator position from the voltage curve thus obtained, in particular by comparison with a characteristic field. A map is stored eg in a memory of the evaluation device.
Die Detektiervorrichtung, die Ansteuervorrichtung und die Auswertevorrichtung wirken zur Ermittlung der Position des Stellglieds 3 insbesondere zusammen, z.B. von einer übergeordneten Steuerung koordiniert, welche ebenfalls Bestandteil der erfindungsgemäßen Aktuatorvorrichtung 6 sein kann. Die Detektiervorrichtung und/oder die Ansteuervorrichtung und/oder die Auswertevorrichtung können in Form einer einzigen Elektronik gebildet sein oder getrennt. The detection device, the drive device and the evaluation device act in particular to determine the position of the actuator 3, e.g. coordinated by a higher-level control, which may also be part of the actuator 6 according to the invention. The detection device and / or the drive device and / or the evaluation device may be formed in the form of a single electronics or separated.
Anhand der Fig. 4a) bis 4c), in welchen beispielhaft Stromverlauf und Kräfte in der erfindungsgemäßen Aktuatorvorrichtung 6 in Abhängigkeit des jeweiligen Schaltzustands der Schalter S1 ...S6 bei anliegender Versorgungsspannung zwischen dem gemeinsamen Eingang 10 und dem gemeinsamen Ausgang 1 1 dargestellt sind, wird das erfindungsgemäße Verfahren zur Ansteue- rung der Magnetspulen 4, 5 eines Aktuators 2 einer erfindungsgemäßen Aktuatorvorrichtung 6 erläutert, wobei in jede der zwei Brückendiagonalen D1 , D2 der Schaltbrücke 9 jeweils eine Magnetspule 4, 5 des Aktuators 2 geschaltet ist, mittels welcher das Stellglied 3 des Aktuators 2 verlagerbar ist. With reference to FIGS. 4a) to 4c), in which, for example, the course of current and forces in the actuator device 6 according to the invention are shown as a function of the respective switching state of the switches S1... S6 when the supply voltage is present between the common input 10 and the common output 11. the method according to the invention for driving the magnetic coils 4, 5 of an actuator 2 of an actuator device 6 according to the invention is explained, wherein in each of the two bridge diagonals D1, D2 of the switching bridge 9 in each case a magnetic coil 4, 5 of the actuator 2 is connected, by means of which the actuator 3 of the actuator 2 is displaceable.
Fig. 4a veranschaulicht einen erfindungsgemäßen Verfahrensschritt zur Verlagerung des Stellglieds 3 in die stabile Mittenposition und/oder zur Ermittlung der Position des Stellglieds, i.e. zur Beaufschlagung beider Magnetspulen 4, 5 mit einem Spannungssprung. Dabei ist der Schalter S1 insbesondere dauerhaft und der Schalter S6, i.e. der stromabwärtige Schalter, zumindest zeitweise geschlossen, wobei der Schalter S6 erfindungsgemäß vorzugsweise getaktet betrieben wird, i.e. öffnet und schließt, um den Strom durch die Magnetspulen 4, 5, welche bei diesem Schaltzustand in Form einer Reihenschal- tung am Versorgungsnetz liegen, einstellen zu können. Ein getakteter Betrieb erfolgt insbesondere durch ein pulsweitenmoduliertes Steuersignal, welches z.B. an einem Steuereingang des Schalters S6 anliegt, z.B. ausgehend von einer Ansteuervorrichtung. FIG. 4a illustrates a method step according to the invention for displacing the actuator 3 into the stable center position and / or for determining the position of the actuator, ie for acting on both magnet coils 4, 5 with a voltage jump. In this case, the switch S1 in particular permanently and the switch S6, ie the downstream switch, at least temporarily closed, the switch S6 is preferably operated clocked according to the invention, ie opens and closes to the current through the magnetic coils 4, 5, which in this switching state in the form of a series circuit to be able to adjust the supply network. A clocked operation takes place in particular by a pulse-width-modulated control signal, which, for example, applied to a control input of the switch S6, for example, starting from a drive device.
Bei diesem Schritt wird erfindungsgemäß insofern ein Strompfad über je einen Schalter des ersten B1 und je einen Schalter des dritten B3 Brückenzweigs sowie beide Magnetspulen 4, 5 eröffnet, während die weiteren Schalter der Schaltbrücke 9 geöffnet sind bzw. einen Stromfluss sperren. Der Strompfad verläuft von dem gemeinsamen Eingang zu dem gemeinsamen Ausgang der parallelen Brückenzweige B1 , B2, B3. In this step, a current path according to the invention in each case via a switch of the first B1 and a switch of the third B3 bridge branch and both solenoids 4, 5 opens, while the other switches of the switching bridge 9 are open or block a current flow. The current path extends from the common input to the common output of the parallel bridge branches B1, B2, B3.
Der Strompfad verläuft bei der dargestellten möglichen Ausführungsform gemäß Fig. 4a) über die Schalter S1 und S6 sowie die Magnetspulen 4, 5 von dem gemeinsamen Eingang 10 zu dem gemeinsamen Ausgang 1 1 der parallelen Brückenzweige B1 , B2, B3, Pfeile I in Fig. 4a. The current path runs in the illustrated possible embodiment according to FIG. 4a) via the switches S1 and S6 and the magnet coils 4, 5 from the common input 10 to the common output 1 1 of the parallel bridge branches B1, B2, B3, arrows I in FIG. 4a.
Vorgesehen ist dabei, einen Freilauf mittels der Rückwärtsdiode des Schalters S3 auszubilden (gestrichelte Linie). In Abhängigkeit der Wicklung der Spulen 4, 5 stellt sich eine Kraftwirkung auf das Stellglied 3 in die Mittelstellung ein, Pfeile K. Beide Magnetspulen 4, 5 stoßen den Permanentmagneten 7 des Stellglieds 3 ab. Es bilden sich symmetrische Spannungsverläufe an den Spulen 4, 5 bei Beaufschlagung mit einem Spannungssprung. Der magnetische Fluss innerhalb der Anordnung korrespondiert z.B. mit dem der Darstellung von Fig. 2b. Provided is to form a freewheel by means of the backward diode of the switch S3 (dashed line). Depending on the winding of the coils 4, 5, a force is applied to the actuator 3 in the middle position, arrows K. Both magnetic coils 4, 5 repel the permanent magnet 7 of the actuator 3 from. It form symmetrical voltage waveforms on the coils 4, 5 when subjected to a voltage jump. The magnetic flux within the array corresponds, e.g. with the representation of Fig. 2b.
Bei dem weiteren alternativen oder zusätzlichen Verfahrensschritt des erfindungsgemäßen Verfahrens, welcher exemplarisch sowohl durch die Fig. 4b mit einer ersten Verlagerungsrichtung +X für das Stellglied 3 als auch mit entgegen gesetzter Verlagerungsrichtung -X durch die Fig. 4c veranschaulicht wird, wird zur Verlagerung des Stellglieds 3 in eine jeweilige stabile Endposition ein Strompfad über insbesondere genau einen in einer bzw. einer ersten Brückenhälfte angeordneten Schalter S2 bzw. S5 des zweiten Brückenzweigs B2 und je einen Schalter S4 bzw. S1 / S3 bzw. S6 des ersten B1 und dritten B3 Brückenzweigs je der anderen bzw. einer zweiten Brückenhälfte eröffnet, während die weiteren Schalter S1 , S3, S5 bzw. S2, S4, S6 geöffnet sind bzw. unterbrechen. Eine Brückenhälfte umfasst dabei die Schalter S1 , S2, S3 bzw. die eingangsseitigen Schalter je eines Brückenzweigs B1 , B2, B3, die andere die Schalter S4, S5, S6 bzw. die ausgangsseitigen Schalter je eines Brückenzweigs B1 , B2, B3. Der Strompfad, dargestellt durch die Pfeile I, verläuft dabei von einem gemeinsamen Eingang 10 zu einem gemeinsamen Ausgang 1 1 der parallelen Brückenzweige B1 , B2, B3. In the further alternative or additional method step of the method according to the invention, which is exemplified both by the Fig. 4b with a first displacement direction + X for the actuator 3 as well as with opposite displacement direction -X through Fig. 4c, is for displacing the actuator 3 in a respective stable end position, a current path over in particular exactly one arranged in a or a first bridge half switch S2 or S5 of the second bridge branch B2 and each one switch S4 or S1 / S3 or S6 of the first B1 and third B3 bridge branch each of the other or a second bridge half opens, while the other switches S1, S3, S5 or S2, S4, S6 are open or interrupt. One half of the bridge in this case comprises the switches S1, S2, S3 or the input-side switches each of a bridge branch B1, B2, B3, the other the switches S4, S5, S6 or the output-side switches each a bridge branch B1, B2, B3. The current path, represented by the arrows I, extends from a common input 10 to a common output 1 1 of the parallel bridge branches B1, B2, B3.
Bei dem in Fig. 4b exemplarisch dargestellten Schritt wird der Schalter S2 zur Verlagerung des Stellglieds 3 in der Richtung der Pfeile K bzw. Verlagerungsrichtung +X insbesondere dauerhaft geschlossen, die Schalter S4 und S6 sind ebenfalls geschlossen, zumindest zeitweise. Um die Versorgungsnetzbelastung, z.B. eine Bordnetzbelastung, gering zu halten, werden die Schalter S4 und S6, i.e. die des ersten B1 und dritten B3 Brückenzweigs, erfindungsgemäß vorzugsweise abwechselnd getaktet. Durch die Freilaufdioden der Schalter S1 und S3 bildet sich ein Freilauf aus, welchen das Versorgungsnetz bei abwechselnder Taktung der Schalter S4 und S6 vorteilhaft nicht sieht (gestrichelte Linie). Im Vergleich zur Fig. 4a, welche ein Schalten in Mittelstellung zeigt, kehrt sich die Stromrichtung in der ersten Spule 4 und damit die Kraftrichtung der von der ersten Spule 4 auf das Stellglied 3 einwirkenden Kraft um, z.B. wie in Fig. 2a dargestellt. In the example illustrated in FIG. 4b, the switch S2 for displacing the actuator 3 in the direction of the arrows K or displacement direction + X is in particular permanently closed, the switches S4 and S6 are also closed, at least temporarily. To protect the utility network load, e.g. an on-board network load to keep low, the switches S4 and S6, i. that of the first B1 and third B3 bridge branch, according to the invention, preferably alternately clocked. Due to the free-wheeling diodes of the switches S1 and S3, a freewheel is formed, which the supply network advantageously does not see when switching the switches S4 and S6 alternately (dashed line). Compared with FIG. 4a, which shows switching in the middle position, the current direction in the first coil 4 and thus the direction of force of the force acting on the actuator 3 from the first coil 4 are reversed, e.g. as shown in Fig. 2a.
Fig. 4c veranschaulicht exemplarisch die Durchführung des alternativen oder zusätzlichen Verfahrensschritts bei Verlagerung des Stellglieds 3 in entgegen gesetzter Richtung -X zur Einnahme der zweiten stabilen Endposition. Gemäß Fig. 4c sind die den Strompfad, dargestellt durch Pfeile I, eröffnenden Schalter zur Verlagerung des Stellglieds 3 in Bezug auf die den Strompfad eröffnenden Schalter zur Verlagerung des Stellglieds 3 in die erste stabile Endposition gemäß Fig. 4b in demselben Brückenzweig B1 , B2, B3 jedoch der jeweils anderen Brückenhälfte geschlossen bzw. getaktet betrieben, i.e. invertiert bezüglich der Brückendiagonalen D1 , D2. Bei dem in Fig. 4c dargestellten zusätzlichen oder alternativen Verfahrensschritt zur Verlagerung des Stellglieds 3 in Richtung der Kraft K, wird der Schalter S5 zur Verlagerung des Stellglieds 3 insbesondere dauerhaft geschlossen, die Schalter S1 und S3 sind ebenfalls geschlossen, zumindest zeitweise. Um die Versorgungsnetzbelastung, z.B. eine Bordnetzbelastung, gering zu halten, werden die Schalter S1 und S3 erfindungsgemäß vorzugsweise abwechselnd getaktet. Durch die Freilaufdioden der Schalter S4 und S6 bildet sich ein Freilauf aus (gestrichelte Linie), welchen das Versorgungsnetz bei abwechselnder Taktung der Schalter S1 und S3 vorteilhaft nicht sieht. Im Vergleich zur Fig. 4b kehrt sich die Stromrichtung in beiden Spulen 4, 5 und damit die Kraftrichtung der durch beide Magnetspulen 4, 5 auf das Stellglied 3 einwirkenden Kräfte K um. FIG. 4c exemplarily illustrates the implementation of the alternative or additional method step when the actuator 3 is displaced in the opposite direction -X to assume the second stable end position. According to FIG. 4 c, the switch opening the current path, represented by arrows I, for displacing the actuator 3 with respect to the switch opening the current path for displacing the actuator 3 into the first stable end position according to FIG. 4 b in the same bridge branch B1, B2, B3, however, the other half bridge closed or clocked operated, ie inverted with respect to the bridge diagonal D1, D2. In the additional or alternative method step shown in FIG. 4c for displacing the actuator 3 in the direction of the force K, the switch S5 for the displacement of the actuator 3 is in particular permanently closed, the switches S1 and S3 are also closed, at least temporarily. In order to keep the supply network load, for example a vehicle electrical system load, low, the switches S1 and S3 are preferably clocked alternately according to the invention. Due to the free-wheeling diodes of the switches S4 and S6, a freewheel is formed (dashed line), which the supply network with alternating timing of the switches S1 and S3 advantageously does not see. In comparison to FIG. 4b, the current direction in both coils 4, 5 and thus the direction of force of the forces K acting on the actuator 3 by both solenoids 4, 5 are reversed.
Erfindungsgemäß ist vorgesehen, die Bestromung der Magnetspulen 4, 5 einzustellen, sobald die vorgesehene stabile End- oder Mittenposition durch das Stellglied 3 eingenommen ist. Eine solche Schalterstellung, in welcher alle Schalter S1 ...S6 der Schaltbrücke 9 geöffnet sind, zeigt z.B. Fig. 3. In der jeweiligen End- oder Mittenposition kann der Permanentmagnet 7 des Stellglieds 3 die Position halten, i.e. durch magnetischen Schluss. According to the invention, the energization of the magnetic coils 4, 5 set as soon as the intended stable end or center position is occupied by the actuator 3. Such a switch position, in which all the switches S1... S6 of the switching bridge 9 are open, shows e.g. Fig. 3. In the respective end or center position, the permanent magnet 7 of the actuator 3 can hold the position, i. through magnetic closure.
Es sei angemerkt, dass die Erfindung für den Fachmann erkennbar auch mit invertierter Stromrichtung und entsprechend geändertem Wicklungssinn der Magnetspulen ausführbar ist. In diesem Fall sind der gemeinsame Eingang 10 und der gemeinsame Ausgang 1 1 z.B. vertauscht. Diese und weitere für den Fachmann ohne weiteres erkennbar mögliche Ausführungsformen werden, soweit sie vom Erfindungsgedanken umfasst ist, von der Erfindung mit beansprucht. Bezuqszeichen It should be noted that the invention can be implemented by a person skilled in the art with an inverted current direction and a correspondingly changed winding sense of the magnet coils. In this case, the common input 10 and the common output 1 1, for example, reversed. These and other embodiments which will be readily apparent to those skilled in the art, insofar as they are embraced by the spirit of the invention, are claimed by the invention. REFERENCE CHARACTERS
1 Schaltung (Stand der Technik)1 circuit (prior art)
2 Aktuator 2 actuator
3 Stellglied  3 actuator
4, 5 Magnetspule  4, 5 magnetic coil
6 Aktuatorvorrichtung  6 actuator device
7 Permanentmagnet  7 permanent magnet
8 Stellstange  8 control rod
9 Schaltbrücke  9 switching bridge
10 gemeinsamer Eingang  10 shared entrance
1 1 gemeinsamer Ausgang  1 1 common output
I Strompfad  I current path
K Kraft  K force
N, S Magnetpole  N, S magnetic poles
X Verlagerungsrichtung  X displacement direction
B1 ... ,B3 Brückenzweig  B1 ..., B3 bridge branch
D1 , D2 Brückendiagonale  D1, D2 bridge diagonal
M1 .. .M3 Mittenabgriff  M1 .. .M3 center tap
S1 ... ,S6 Schalter  S1 ..., S6 switch

Claims

Patentansprüche claims
1 . Aktuatorvorrichtung (6) mit einem elektromagnetischen Aktuator (2), welcher zwei Magnetspulen (4, 5) sowie ein mittels derselben zwischen drei stabilen Positionen linear verlagerbares Stellglied (3) aufweist, dadurch gekennzeichnet, dass die Aktuatorvorrichtung (6) zur Ansteuerung der Magnetspulen (4, 5) eine Schaltbrücke (9) mit drei parallel geschalteten Brückenzweigen (B1 , B2, B3) aufweist, wobei jeder Brückenzweig (B1 , B2, B3) zwei in Reihe angeordnete Schalter (S1 ... S6) aufweist, wobei in jede der zwei Brückendiagonalen (D1 , D2) je eine Magnetspule (4, 5) geschaltet ist. 1 . Actuator device (6) with an electromagnetic actuator (2) which has two magnet coils (4, 5) and a linearly displaceable by the same between three stable positions actuator (3), characterized in that the actuator device (6) for driving the magnetic coils ( 4, 5) has a switching bridge (9) with three bridge branches (B1, B2, B3) connected in parallel, each bridge branch (B1, B2, B3) having two switches (S1 ... S6) arranged in series, wherein each one of them has the two bridge diagonals (D1, D2) each have a magnetic coil (4, 5) is connected.
2. Aktuatorvorrichtung (6) nach Anspruch 1 , dadurch gekennzeichnet, dass die Schaltbrücke (9) als B6-Schaltbrücke ausgebildet ist. 2. Actuator device (6) according to claim 1, characterized in that the switching bridge (9) is designed as a B6 switching bridge.
3. Aktuatorvorrichtung (6) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass wenigstens die Schalter (S1 , S4) eines ersten (B1 ) der drei Brückenzweige (B1 , B2, B3), welcher via einer Magnetspule (4) in einer ersten (D1 ) der zwei Brückendiagonalen (D1 , D2) mit einem zweiten (B2) der drei Brückenzweige (B1 , B2, B3) elektrisch verbunden ist und die Schalter (S3, S6) eines dritten (B3) der drei Brückenzweige (B1 , B2, B3), welcher via einer Magnetspule (5) in der zweiten (D2) der zwei Brückendiagonalen (D1 , D2) ebenfalls mit dem zweiten Brückenzweig (B2) verbunden ist, jeweils mit einer Freilaufdiode beschaltet sind. 3. Actuator device (6) according to one of the preceding claims, characterized in that at least the switches (S1, S4) of a first (B1) of the three bridge branches (B1, B2, B3), which via a magnetic coil (4) in a first (D1) of the two bridge diagonals (D1, D2) is electrically connected to a second (B2) of the three bridge branches (B1, B2, B3) and the switches (S3, S6) of a third (B3) of the three bridge branches (B1, B2 , B3), which via a magnetic coil (5) in the second (D2) of the two bridge diagonals (D1, D2) is also connected to the second bridge branch (B2) are each connected to a freewheeling diode.
4. Aktuatorvorrichtung (6) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Aktuatorvorrichtung (6) zur Ermittlung der Position des Stellglieds (3) ausgebildet ist. 4. Actuator device (6) according to any one of the preceding claims, characterized in that the actuator device (6) for determining the position of the actuator (3) is formed.
5. Aktuatorvorrichtung (6) nach Anspruch 4, dadurch gekennzeichnet, dass die Aktuatorvorrichtung (6) zur Ermittlung der Position des Stellglieds (3) eine Ansteuervorrichtung aufweist, welche zur Ansteuerung der Schaltbrücke (9) derart ausgebildet ist, dass beide Magnetspulen (4, 5) in Reihe zwi- sehen einen gemeinsamen elektrischen Eingang (10) und einen gemeinsamen elektrischen Ausgang (1 1 ) der Brückenzweige (B1 , B2, B3) schaltbar und mittels einer an dem gemeinsamen elektrischen Eingang (10) und Ausgang (1 1 ) der Brückenzweige (B1 , B2, B3) anlegbaren Versorgungsspannung mit einem Spannungssprung beaufschlagbar sind. 5. Actuator device (6) according to claim 4, characterized in that the actuator device (6) for determining the position of the actuator (3) has a drive device which is designed to control the switching bridge (9) such that both magnetic coils (4, 5) in series between see a common electrical input (10) and a common electrical output (1 1) of the bridge arms (B1, B2, B3) switchable and by means of a at the common electrical input (10) and output (1 1) of the bridge arms (B1, B2 , B3) supply voltage can be acted upon by a voltage jump.
6. Aktuatorvorrichtung (6) nach einem der Ansprüche 4 und 5, dadurch gekennzeichnet, dass die Aktuatorvorrichtung (6) zur Ermittlung der Position des Stellglieds (3) weiterhin eine Detektiervorrichtung aufweist, welche zur Ermittlung von Spannungsverläufen an beiden Magnetspulen (4, 5) im Zuge einer Beaufschlagung mit dem Spannungssprung vorgesehen ist. 6. Actuator device (6) according to any one of claims 4 and 5, characterized in that the actuator device (6) for determining the position of the actuator (3) further comprises a detecting device, which for determining voltage curves at both magnetic coils (4, 5) is provided in the course of an application with the voltage jump.
7. Aktuatorvorrichtung (6) nach einem der Ansprüche 4 bis 6, dadurch gekennzeichnet, dass die Aktuatorvorrichtung (6) zur Ermittlung der Position des Stellglieds (3) weiterhin eine Auswertevorrichtung aufweist, welche basierend auf den ermittelten Spannungsverläufen bei einem Spannungssprung die Position des Stellglieds (3) ermittelt, insbesondere durch Vergleich wenigstens eines Spannungsverlaufs mit einem Kennfeld. 7. Actuator device (6) according to any one of claims 4 to 6, characterized in that the actuator device (6) for determining the position of the actuator (3) further comprises an evaluation device, which based on the determined voltage waveforms in a voltage jump, the position of the actuator (3) determined, in particular by comparison of at least one voltage profile with a map.
8. Verfahren zur Ansteuerung der Magnetspulen (4, 5) eines elektromagnetischen Aktuators (2) einer Aktuatorvorrichtung (6) nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass in einem ersten Schritt zur Ermittlung der Position des Stellglieds (3) und/oder zu einem Verlagern des Stellglieds (3) in eine stabile Mittenposition ein Strompfad über je einen Schalter (S1 ; S4) des ersten (B1 ) und einen Schalter (S3; S6) des dritten (B3) Brückenzweigs sowie beide Magnetspulen (4, 5) eröffnet wird, während die weiteren Schalter (S2, S3, S4, S5; S1 , S2, S5, S6) geöffnet sind, wobei der Strompfad von einem gemeinsamen Eingang (10) zu einem gemeinsamen Ausgang (1 1 ) der parallelen Brückenzweige (B1 , B2, B3) verläuft. 8. A method for controlling the magnetic coils (4, 5) of an electromagnetic actuator (2) of an actuator device (6) according to one of the preceding claims, characterized in that in a first step for determining the position of the actuator (3) and / or a displacement path via a respective switch (S1; S4) of the first (B1) and a switch (S3; S6) of the third (B3) bridge branch as well as both magnet coils (4, 5) opens in a stable middle position while the further switches (S2, S3, S4, S5; S1, S2, S5, S6) are open, the current path being from a common input (10) to a common output (1 1) of the parallel bridge branches (B1, B2, B3).
9. Verfahren nach Anspruch 8, dadurch gekennzeichnet, dass in dem ersten Schritt wenigstens ein Schalter (S6) im eröffneten Strompfad getaktet betrieben wird, insbesondere der stromabwärtige Schalter. 9. The method according to claim 8, characterized in that in the first step, at least one switch (S6) is operated clocked in the opened current path, in particular the downstream switch.
10. Verfahren nach einem der Ansprüche 8 oder 9, dadurch gekennzeichnet, dass in einem alternativen oder zusätzlichen Schritt zur Verlagerung des Stellglieds (3) in eine stabile Endposition ein Strompfad über einen in einer Brückenhälfte angeordneten Schalter (S2; S5) des zweiten Brückenzweigs (B2) und je einen Schalter (S4, S6; S1 , S2) des ersten (B1 ) und dritten (B3) Brückenzweigs je der anderen Brückenhälfte eröffnet wird, während die weiteren Schalter (S1 , S3, S5; S2, S4, S6) geöffnet sind, wobei der Strompfad von einem gemeinsamen Eingang (10) zu einem gemeinsamen Ausgang (1 1 ) der parallelen Brückenzweige (B1 , B2, B3) verläuft. 10. The method according to any one of claims 8 or 9, characterized in that in an alternative or additional step to displace the actuator (3) in a stable end position, a current path via a arranged in a bridge half switch (S2, S5) of the second bridge branch ( B2) and one switch each (S4, S6; S1, S2) of the first (B1) and third (B3) bridge branch each of the other half of the bridge is opened, while the further switches (S1, S3, S5; S2, S4, S6) are open, wherein the current path from a common input (10) to a common output (1 1) of the parallel bridge branches (B1, B2, B3) extends.
1 1 . Verfahren nach Anspruch 10, dadurch gekennzeichnet, dass die den Strompfad eröffnenden Schalter (S2, S4, S6; S1 , S3, S5) im alternativen oder zusätzlichen Schritt im ersten (B1 ) und dritten (B3) Brückenzweig abwechselnd getaktet werden. 1 1. Method according to Claim 10, characterized in that the switches (S2, S4, S6, S1, S3, S5) which open the current path are alternately clocked in the alternative or additional step in the first (B1) and third (B3) bridge branch.
12. Verfahren nach einem der Ansprüche 10 bis 1 1 , dadurch gekennzeichnet, dass die den Strompfad eröffnenden Schalter (S2, S4, S6) zur Verlagerung des Stellglieds (3) in eine erste stabile Endposition in Bezug auf die den Strompfad eröffnenden Schalter (S1 , S3, S5) zur Verlagerung des Stellglieds (3) in eine zweite stabile Endposition in demselben Brückenzweig (B1 , B2, B3) in der jeweils anderen Brückenhälfte geschlossen bzw. getaktet betrieben werden. 12. The method according to any one of claims 10 to 1 1, characterized in that the switch opening the current path (S2, S4, S6) for displacing the actuator (3) in a first stable end position with respect to the current path opening switch (S1 , S3, S5) for shifting the actuator (3) into a second stable end position in the same bridge branch (B1, B2, B3) in the respective other bridge half are operated closed or clocked.
13. Verwendung einer Aktuatorvorrichtung (6) nach einem der Ansprüche 1 bis 7 oder eines Verfahrens nach einem der Ansprüche 8 bis 12 in einem Kraftfahrzeug, insbesondere einem Kraftfahrzeuggetriebe. 13. Use of an actuator device (6) according to any one of claims 1 to 7 or a method according to any one of claims 8 to 12 in a motor vehicle, in particular a motor vehicle transmission.
14. Verwendung einer Aktuatorvorrichtung (6) nach einem der Ansprüche 1 bis 7 oder eines Verfahrens nach einem der Ansprüche 8 bis 12 in einem automatisierten Schaltgetriebe eines Kraftfahrzeugs zur Betätigung einer Wählvorrichtung des automatisierten Schaltgetriebes. 14. Use of an actuator device (6) according to any one of claims 1 to 7 or a method according to any one of claims 8 to 12 in an automated manual transmission of a motor vehicle for actuating a selector of the automated manual transmission.
EP11739060.9A 2010-09-21 2011-08-03 Actuator device and driving method Active EP2619772B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010041086A DE102010041086A1 (en) 2010-09-21 2010-09-21 Actuator device and method for driving
PCT/EP2011/063341 WO2012038135A1 (en) 2010-09-21 2011-08-03 Actuator device and driving method

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EP2619772A1 true EP2619772A1 (en) 2013-07-31
EP2619772B1 EP2619772B1 (en) 2016-11-02

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CN (1) CN103119666B (en)
DE (1) DE102010041086A1 (en)
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WO2012038135A1 (en) 2012-03-29
DE102010041086A1 (en) 2012-03-22
CN103119666B (en) 2016-10-12
US20130201590A1 (en) 2013-08-08
EP2619772B1 (en) 2016-11-02
US8964348B2 (en) 2015-02-24
CN103119666A (en) 2013-05-22

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