EP3096197A2 - Systeme de commande pour vehicules - Google Patents

Systeme de commande pour vehicules Download PDF

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Publication number
EP3096197A2
EP3096197A2 EP16168831.2A EP16168831A EP3096197A2 EP 3096197 A2 EP3096197 A2 EP 3096197A2 EP 16168831 A EP16168831 A EP 16168831A EP 3096197 A2 EP3096197 A2 EP 3096197A2
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EP
European Patent Office
Prior art keywords
axis
control system
system axis
coil
disc
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
EP16168831.2A
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German (de)
English (en)
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EP3096197A3 (fr
EP3096197B1 (fr
Inventor
Henrik Andersen
Eric Vloemans
Marko Boving
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Grammer AG
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Grammer AG
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Publication date
Priority claimed from DE102016108472.7A external-priority patent/DE102016108472B4/de
Application filed by Grammer AG filed Critical Grammer AG
Publication of EP3096197A2 publication Critical patent/EP3096197A2/fr
Publication of EP3096197A3 publication Critical patent/EP3096197A3/fr
Application granted granted Critical
Publication of EP3096197B1 publication Critical patent/EP3096197B1/fr
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Anticipated expiration legal-status Critical

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04755—Magnetic sensor, e.g. hall generator, pick-up coil
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04766—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks providing feel, e.g. indexing means, means to create counterforce

Definitions

  • the invention relates to a control system for vehicles, in particular utility vehicles, comprising a control lever element arranged along a first system axis, wherein the first system axis is rigidly connected at a reference point to a second system axis and a third system axis, starting from a home position of the control system, the control system by means of a Rotation about the reference point is deflected.
  • Vehicles equipped with multiple movable elements in terms of functional components or assemblies conventionally have a control system and controls for driving these movable elements. Examples of such vehicles are about a forklift or a tractor. As another example, here is an excavator called excavating machine, as he is known to be used for excavation work.
  • This excavator has (see also FIGS. 1a and 1b ), for example, four movable elements: a vehicle cabin which is pivotable to the left and to the right, a first boom pivotally mounted on the vehicle cabin, a second boom arm pivotally mounted on the first boom, and finally an excavator bucket pivotally mounted on the second boom arm.
  • the latter three elements are preferably arranged pivotable upwards and downwards. So there are two differently directed movements per element possible, so a total of eight.
  • joysticks or control sticks or control lever elements are known from the prior art, which resemble a gearshift lever from the car and the user of the vehicle (driver), such as an excavator (excavator operator) manually operated within the vehicle cabin are arranged. These are, for example, by the muscle power of the driver, from a starting position (home position, neutral position) to the left and to the right and forward and backward pivotally mounted.
  • the standard ISO 10968 deals, for example, with the assignment of the input movements or basic functions of the joystick to the output movements or machine functions of the excavator. This standard is also the illustrations according to FIGS. 1a and 1b taken.
  • a joystick 25a which can be operated with the left hand
  • a joystick 25b which can be operated with the right hand
  • Both joysticks 25a, 25b can be pivoted from a basic position, in which the central axis of the joysticks 25a, 25b is arranged perpendicular to the image plane, to the front v or to the rear h as well as to the left l and to the right r.
  • These input movements v, h, I, r are each associated with output movements of the movable elements 11a, 11b, 11c, 11d disposed on the vehicle 13.
  • the movable member 11a corresponds to the vehicle cabin 14, the movable member 11b to the first boom 15, the movable member 11c to the second boom 16, and the movable member 11d to the bucket 26.
  • the first cantilever arm 15 is arranged with its first end 15a pivotable on the vehicle cabin 14, wherein at the second end 15b of the first cantilever arm 15 of the second cantilever arm 16 is pivotally mounted with a first end 16a.
  • the excavator bucket 26 is pivotally mounted. While the vehicle cabin 14 is pivotable about an axis parallel to the height direction 19c of the vehicle 13, the first 15 and second boom 16 and the bucket 26 are pivotally arranged about axes perpendicular to the height direction 9c of the vehicle 13.
  • a basic position of the vehicle cabin 14 generally corresponds to the position in which the longitudinal direction 19a of the vehicle cabin 14 is arranged parallel to the longitudinal extent of the vehicle 13 or of the chains shown and viewed in the direction of the driver in the direction of forward travel. Also, the width direction 19b and the height direction 19c of the vehicle 13 are illustrated.
  • a pivoting movement of the left joystick 25a to the left I solves according to the standard pivoting 11a1 of the vehicle cab 14 to the left and a pivoting movement of the left joystick 25a to the right r triggers a pivoting movement 11 a2 of the vehicle cab 14 to the right according to standards. If a pivoting movement of the left joystick 25a forward v, the second boom 16 is a pivoting 11 c1 imposed on the front of the vehicle cabin 14 away, while at a pivoting movement of the left joystick 25a to the rear h pivoting 11c2 of the second boom 16 to the rear in Direction vehicle cab 14 takes place.
  • a pivoting movement of the right-hand joystick 25b to the left according to the standard triggers a pivoting movement 11d1 of the excavator bucket 26 towards the rear of the vehicle cabin 14 and a pivoting movement of the right-hand joystick 25b to the right triggers pivoting movement 11d2 of the bucket 26 forwardly away from the vehicle cab 14 , If a pivoting movement of the right-hand joystick 25b to the front v, the first boom 15 is a pivoting 11 b2 rearwardly directed towards the vehicle cabin 14, while a pivoting movement of the right joystick 25b to the rear h pivoting 11 b1 of the first arm 15 forward from the vehicle cab 14 away takes place.
  • control lever element should be detectable with respect to its pivoting from the starting position to the left or to the right or to the front or to the rear.
  • control lever element should be traceable back to its original position or home position when the driver releases the control lever element in a pivoted position, thus therefore no longer acts on the control lever element its muscle power.
  • control lever element should be activatable and / or programmable controllable via the control system; the means that without the action of muscle power, the control lever element from the initial position to the left or right or forward and / or backward to be pivoted, in which case preferably the sequence of movements should be preprogrammed.
  • a control system for vehicles comprising a control lever element arranged along a first system axis, wherein the first system axis is rigidly connected at a reference point to a second system axis and a third system axis, starting from a home position of the control system the control system is deflectable by means of a rotation about the reference point, wherein at least one actuator element for actively moving the respective system axis and / or at least one return element for resetting the respective system axis to the basic position of the control system by means of an upper end with at least one of the second or third system axis a longitudinal axis is connected.
  • active force generators or active restoring force generators are connected to the control lever element.
  • a rotation of the control lever element about the reference point due to the rigid connection of the first system axis with the second and the third system axis automatically causes a rotation of the entire system to the reference point.
  • the second and the third system axis are also arranged rigidly to one another.
  • the control system starting from the basic position, can preferably be deflected in all directions.
  • the end of the first system axis facing away from the reference point is defined as the first system point, whereby any other point on the first system axis could also be used for the consideration.
  • the control system and with it the first system point can therefore preferably experience a deflection about the second system axis and / or a deflection about the third system axis, both with respect to a positive (corresponds to a forward rotation) and a negative rotation (corresponds to a rotation to the rear) around the respective system axis.
  • a superposition of the described deflections is preferably possible.
  • a rotation of the first system point starting from the basic position in a range of + 90 ° and -90 ° around the second and also about the third system axis is possible. More preferably, this rotation is infinitely possible.
  • a rotation of the first system point takes place exclusively about the third system axis and thus preferably in the plane which is spanned by the first and the second system axis.
  • fx (px) is the equation of motion of the first system point, where the function value fx (px) maps the coordinates of the first system point with respect to the first system axis and px the coordinates of the first system point with respect to the second system axis.
  • fx (px) and px respectively, they are within the limits of 0 to R.
  • the arrows according to the FIGS. 2a and 2b and the three-dimensional coordinate system according to Fig. 2a illustrate these equations of motion fx (px) and fy (py).
  • the axis px is parallel to the second system axis X, the axis py parallel to the third system axis Y and the axis fx, fy arranged parallel to the first system axis Z.
  • the distance R from the first system point SP to the reference point 2 is shown.
  • the system axis automatically to the basic position without intervention of an active or controlled element.
  • the return is preferably carried out when no force is applied, which causes a deflection of the system axis (s).
  • This force is thus, for example, the muscle power of the vehicle driver or the force provided by the actuator element.
  • control system according to the invention can preferably be deflected by means of a rotation initiated by the control lever element about the reference point. This is the case when the driver manually moves the control lever element.
  • rotation is initiated by one or more actuator elements connected to the second and / or third system axis. This in turn is possible by the actuator element actively causing a movement of the respective system axis.
  • control system can be deflected by all system axes to the same extent, it has proved to be advantageous if the first, the second and the third system axis are each arranged perpendicular to one another.
  • the basic position of the control system is predefinable and characterized as the position which exists when none of the three system axes undergoes a deflection, thus also the basic position of the first, second and third system axis is present, and if the restoring elements no return work or no return work more Afford.
  • the basic position of the control system corresponds to the position in which the first system axis in the height direction, the second system axis in the longitudinal direction and the third system axis in the width direction of a driver's cab of the vehicle are arranged.
  • a preferred embodiment provides that at least one measuring device for measuring the position of the second and / or the third system axis is respectively connected to at least one of the second or third system axis by means of an upper end of a longitudinal axis.
  • the measuring device preferably detects the deflection of the respective system axis. At predefined distance of the upper end of the longitudinal axis of the measuring device to the reference point thus the angle can be determined by which the respective axis has been deflected. By superposing the equations of motion of the various axes as described above, the overall displacement of the system can be further calculated.
  • At least one of the longitudinal axes is rigidly connected to the respective system axis connected thereto with respect to a translation movement along the at least one longitudinal axis and is movably connected with respect to a rotational movement about the respective system axis connected thereto.
  • actuator elements is also used below if the actuator elements and / or restoring elements and / or the measuring devices are mentioned.
  • the degrees of freedom of the elements are therefore preferably limited to the extent that a displacement between the upper end of the longitudinal axis and the system axis connected to them is not possible.
  • a movement initiated on the elements from the rest of the control system so the upper end of its longitudinal axis and the rigidly connected to this upper end elements will move with.
  • rotation of the respective system axis about the reference point or about one of the other two system axes shifts the top point of the longitudinal axis of the elements connected thereto in dependence on the amount of deflection and position of the element relative to the reference point.
  • a self-rotation of the respective system axis ie a rotation of the respective system axis about itself, preferably has no influence on the position of the longitudinal axes of the elements connected to it.
  • a rotation of the system axes relative to the upper ends of the longitudinal axes of the actuator elements and / or restoring elements is preferably possible. This is preferably realized by the connection point between the upper end of the longitudinal axis of the actuator elements and / or restoring elements and the respective system axis is designed as a ball joint or as a along the respective system axis aligned sliding sleeve with a corresponding game.
  • the longitudinal axes of the elements with the associated system axis with respect to a translational movement along this system axis are each rigidly connected, and therefore arranged non-displaceable along this system axis.
  • a further preferred embodiment provides that the longitudinal axes of the elements are arranged displaceably in this regard.
  • the second end of the longitudinal axes of the elements is slidably mounted along the longitudinal axis.
  • at least one, preferably all remaining degrees of freedom is otherwise locked, which can be realized, for example, by a sliding bush in which the second end of the longitudinal axis is displaceably mounted.
  • at maximum deflection upward and at maximum deflection down the longitudinal axis is at least partially disposed between an upper and a lower end of the slide bushing.
  • an upper and / or lower end stop which can be realized for example by two rigidly connected to the longitudinal axis and arranged on this outside of the sliding bush stop discs, which reaching the corresponding end stop by contact of the respective stop disc with the corresponding Ensure upper or lower end of the sliding bushing.
  • the longitudinal axes of the actuator element connected to the second system axis, restoring element and the measuring device are each arranged parallel to one another and / or perpendicular to the second system axis.
  • the described arrangement perpendicular to the second system axis ensures that a deflection of the second system axis with the largest possible transmission ratio is converted into a deflection of the upper end of the longitudinal axes of the actuator element, restoring element and the measuring device, which among other things reduces the measurement inaccuracy. Furthermore, can be optimally utilized by the explained parallel arrangement of the longitudinal axes of the space. In addition, this allows the simplest possible conversion of the deflection of the measuring device to the deflection of the actuator element or the return element.
  • the longitudinal axes of the actuator element, restoring element and the measuring device connected to the third system axis are arranged parallel to one another and / or perpendicular to the third system axis.
  • the first and / or the second actuator element is designed as a magnetic drive element, which comprises a magnet movably arranged to a first coil and rigidly connected to the longitudinal axis of the actuator element magnet, wherein a position of the magnet relative to him concentric surrounding first coil by means of a change in a current intensity of the first coil flowing current at least in the direction of the longitudinal axis of the actuator element is variable.
  • the longitudinal axis of the actuator element and thus in particular its upper end point, also undergoes a change in position, which advantageously takes place in the direction of the longitudinal axis of the actuator element.
  • This change in position of the upper end point of a magnetic drive element is further transmitted due to the described degrees of freedom of the control system in a change in position of the system axis connected to the respective actuator element.
  • the change in the current and thus the change in position of the magnet are precisely determinable, which is a targeted intervention of the actuator element in the control system guaranteed.
  • programs can be created, which are stored in the control device of the control system and map predefined and / or signal-dependent motion sequences of the magnetic drive element.
  • first and / or second actuator element can be controlled by means of a corresponding first signal of a control device of the control system.
  • movements of the first and / or the second actuator element along the respective longitudinal axis are preferably programmably executable by the first signal of the control device of the control system.
  • the current is preferably also switched off, so that, for example, in the event of an initiated force due to a manual actuation of the control system, starting from the control lever element no in this case unwanted drag on the part of the magnetic drive element is constructed.
  • the entire system can either transmit a movement of the control lever element to said elements or else a movement of the actuator element (programmed) can be generated, which results in a movement of the control lever element.
  • the active system actuator element
  • the passive system reset element
  • the programming of movements is possible, which are transmitted by means of the active force generator to the control lever element. It is thus possible for the excavator operator to do another job while, for example, the excavator bucket automatically moves from top to bottom and preprogrammed repeatedly, or the driver's cab turns from left to right after a certain sequence of movements of the bucket has elapsed.
  • the driver may also be warned of a possible, currently not conscious danger to him by the active system, a vibration of the control lever element or a blocking of a movement of the control lever element is carried out in at least one direction. This is advantageous when the driver with the bucket, which is moved by the control lever element, abuts against a fixed obstacle, whereupon the movement of the bucket is stopped. If the excavator driver continues to push the control lever element in the same direction, the control system recognizes that the force for exerting this movement is always increasing until it finally exceeds a predeterminable upper limit.
  • control system sends an order to change the inductance of the first coil in the active force generator, thus counteracting the muscular force of the excavator operator as described above, and blocking, for example, the movement in the direction harmful to the bucket to the obstacle. It would be conceivable, however, also a mere vibration movement of the control lever element as a warning to the excavator operator.
  • the active system can assist the passive system by providing additional forces, at least in the last section, and facilitate the job of the excavator operator.
  • the first and / or the second passive return element comprise a longitudinal axis of the return element forming slide rod which is movably mounted within a hollow cylindrical housing along its longitudinal axis, wherein in the basic position of the control system within the housing, a second upper disc and a second lower disc between which a compression spring is biased, each contacting the housing, and wherein a first upper disc adjacent to the second upper disc and a first lower disc adjacent to the second lower disc each on a side facing away from the compression spring are arranged adjacent to them second disc, wherein the first upper and the first lower disc are rigidly connected to the slide rod.
  • the housing has an upper and a lower end face, wherein the second upper disc with an interior of the upper end face and the second lower disc with an interior of the lower end face are arranged contacting, and wherein, in a basic position of the restoring element, the first upper disk is arranged in contact with the second upper disk and the first lower disk is arranged in contact with the second lower disk.
  • the two second disks are preferably pushed onto the slide rod only, but do not form any connection or friction connection with it, but rather are movable relative to the slide rod and in particular are mounted displaceably. Also the housing opposite the two second discs are preferably movable and in particular displaceably mounted, but are in the basic position of the control system in each case in contact with an interior of the respective end face.
  • recesses are arranged on the end faces of the housing for the arrangement of the longitudinal axis. These are preferably designed circular and have a diameter which is of course greater than a diameter of the slide rod. Further, it is preferable that a diameter of the second disks is larger than the diameter of the recesses and the diameter of the sliding rod. More preferably, a diameter of the first slices is smaller than a diameter of the recesses and larger than the diameter of the sliding rod.
  • the first upper disc rigidly connected to the sliding rod can move the adjacent second upper disc downwardly and arrange it spaced from the housing, if the longitudinal axis of the restoring element, for example, by a manual operation of the driver and a correspondingly applied force along the direction of the longitudinal axis moves down.
  • the contact between the first lower and the second lower disc is interrupted.
  • the pressure spring arranged between the two second disks is compressed even more in this case and thus builds up a counterforce to move the longitudinal axis. If the displacement of the sliding rod triggering force is no longer present, the opposing force of the compression spring ensures that the compression spring relaxes again and the second discs are pushed apart until the second discs abutment again contact the housing and in particular the basic position of the respective system axis is present. It is therefore as described without the arrangement of an active element passive return to the normal position possible.
  • the first and / or the second measuring device comprise an electrical resonant circuit having at least one sensor, a second coil with a variable length and a capacitor connected in series to the second coil, wherein by means of the sensor, a change in the length the second coil can be detected directly or indirectly and transmitted via a corresponding second signal to the control device of the control system.
  • the length of the second coil is variable, if a movement of the system axis connected to the measuring device and thus the longitudinal axis of the measuring device takes place upwards or downwards, so that a value of the change of the length of the coil unambiguously and in particular one-to-one value of a deflection can be assigned to the system axis.
  • the second coil is designed here as a cylindrical air coil whose length is very large compared to the diameter of the cross section of the coil.
  • the determination of the changed resonance frequency is determined based on the sensor value by means of the control device and evaluated with respect to the associated value of the displacement of the control system or the system axis.
  • the self-inductance of a coil can also be changed by a core located in the coil (iron core), since such a magnetic conductor increases the magnetic flux.
  • a core located in the coil (iron core)
  • the displacement of the core thus causes a change in the magnetic flux and thus the inductance of the coil.
  • the core can be directly or indirectly mechanically connected to the control lever element.
  • Fig. 2a shows the schematic structure of a control system according to the invention S according to a first embodiment.
  • a control lever element 1 ("joystick handle") arranged along a first system axis Z is shown, wherein a central pivot point (“central pivot point”) is arranged as a reference point 2 of the control system S at a lower end of the first system axis Z.
  • the system axis Z is arranged in the direction of height expansion of the control lever element 1.
  • a second system axis X and a third system axis Y are arranged in the form of linear slide rods, which are present both at a right angle, ie perpendicular to each other and at a right angle to the first system axis Z are arranged.
  • the system axes X, Y, Z are interconnected by means of a rigid connection in the reference point 2.
  • the control system S can be deflected by means of a rotation about the reference point 2.
  • the elements 5, 6, 7, 8 present substantially cylindrical, wherein the central axes 5a, 6a, 7a, 8a of the elements 5, 6, 7, 8 in the illustrated basic position SG of the control system S respectively parallel to each other and parallel to first system axis Z and in each case perpendicular to the system axes X, Y are arranged.
  • Measuring devices 9 arranged at the second X and at the third system axis Y by means of connections 3c and 4c ("Spring-based LC-tank for X-axis position measurement") and 10 ("Spring-based LC-tank for Y-axis position measurement”) are also cylindrical in the present case, wherein the center axes 9a and 10a are arranged in the basic position SG shown in each case perpendicular to the second X and the third system axis Y.
  • the measuring devices 9; 10 are for measuring the position of the second and / or the third system axis X; Y formed and connected thereto by means of an upper end 9a1, 10a1 a longitudinal axis 9a, 10a.
  • the actuator elements 5; 7 each have a smaller distance from the reference point 2 than the return elements 6 arranged on the same system axis X, Y; 8 and measuring devices 9; 10.
  • the return elements 6; 8 each have a smaller distance from the reference point 2 than the measuring devices 9 arranged on the same system axis X, Y; 10.
  • this also applies to the connection points 3a, 3b, 3c, 4a, 4b, 4c.
  • the arrangement of the actuator elements 5, 7 shown has the advantage that the path that has to be covered by the actuator element 5, 7 in order to actively move the system axes X, Y can be low and can be compensated, for example, by a correspondingly high torque.
  • the arrangement of the return elements 6 shown; 8, on the other hand, is a successful compromise.
  • the way, by the return element 6; 8 must be traveled in order to move the system axes X, Y passively in their basic position, to be as low as possible, so that the basic position can be reached again in a relatively short time.
  • a sufficiently high force in the restoring element 6, 8 during the deflection be buildable, which, for example, by using a correspondingly dimensioned compression spring 34 (see Fig. 5 ) can be realized.
  • connections 3a, 3b, 3c and 4a, 4b, 4c between the elements 5, 6, 7, 8, 9, 10 and the second system axis X and the third system axis Y are configured such that in the case of an inclination of the respective system axis X, Y, the axes 5a, 6a, 9a or 7a, 8a, 10a of the elements 5, 6, 9 or 7, 8, 10 directly connected to this system axis X, Y are directed downwards or upwards be moved.
  • the elements 5, 6, 7, 8, 9, 10 are thus in this case connected in parallel to the control lever element 1, wherein at the respective lower end 5a2, 6a2, 7a2, 8a2, 9a2, 10a2 of the axes 5a, 6a, 7a, 8a, 9a, 10a presently a fixed bearing is arranged in each case.
  • the elements 6, 8 serve to provide a passive restoring force for restoring the initial position SG of the control lever element 1.
  • the elements 5, 7 serve to provide an active force for the programmed movement of the control lever element 1.
  • the elements 9 , 10 are used for position measurement with respect to the degree of pivoting of the control lever element 1 from its basic position SG.
  • control system S, S 'according to the invention is thus characterized by a high degree of compactness.
  • the structure of the control system S 'according to Fig. 2b corresponds to the structure of the control system S according to Fig. 2a , although no measuring devices 9, 10 can be seen.
  • the measuring devices 9, 10 not as in Fig. 2a shown in parallel to the elements 6, 8, but in series with these elements 6, 8, so for example below the actuator elements 6, 8 are arranged, wherein the same longitudinal axis for both elements 5 and 9 or 7 and 10 can be used.
  • the measuring devices 9, 10 in series with the elements 5 and 7, for example below these elements 5 and 7.
  • the measurement results of the elements 9, 10 can thus be described as input signals 12 ', 12 "(schematically illustrated in FIG Fig. 2a ) the basis for the control of the system axes X, Y and the control lever element 1 by the actuator elements 6, 8 by means of suitable output signals 56 (see Fig. 5a ) by the higher-level control device CU.
  • Fig. 3 shows the structure of the return element 6 of the Fig. 2a , wherein also the return element 8 can be constructed as described below. Likewise, the following description for the return elements 6, 8 according to Fig. 2b hold true.
  • the return element 6 comprises a sliding rod 31 ("sliding rod”), which forms the longitudinal axis 6a of the return element 6 and within a hollow cylindrical Housing 33 (“Housing”) and is mounted movably mounted to this housing 33 along its longitudinal axis 31 a.
  • Both elements 31, 33 are cylindrical in the present case, wherein central axes or longitudinal axes 31 a, 33 a of the elements 31, 33 are aligned.
  • a spring 34 in the form of a spiral spring or compression spring under preload ("preloaded spring") between a second upper 32a and a second lower disc 32b or rings ("ring”) arranged.
  • the housing 33 in this case has an upper 36a and a lower end face 36b, wherein the second upper disc 32a with an interior of the upper end face 36a and a second lower disc 32b with an interior of the lower end face 36a is arranged in contact.
  • first upper 35a and a first lower plate 35b are rigidly connected on the rod 31 with this sliding rod 31 and limit the movement of the sliding rod 31 to the housing 33.
  • first upper disc 35a is adjacent to the second upper one Disc 32a and the first lower disc 35b adjacent to the second lower disc 32b each on a side facing away from the compression spring 34 of the adjacent to them second disc 32a; 32b are arranged.
  • first upper disc 35a contacting the second upper disc 32a and the first lower disc 35b contacting the second lower disc 32b are arranged.
  • Fig. 4 shows the structure 41 of a measuring system or a measuring device 9 for determining the position of the pivot lever element 1 according to Fig. 2a , Wherein the measuring system or the measuring device 10 can be configured in such a way. Likewise, the following description for the measuring devices 9, 10 according to Fig. 2b hold true.
  • the measuring device 9 here comprises a circuit with a coil 43 ("Conductive Coil (Inductor)”), which has a variable length l 'and an inductance L.
  • the coil 43 is in the case in the form of a helical spring.
  • a capacitor 42 connected to the coil 43 in series (“Capacitor”) with capacitance C is arranged.
  • the displacement or compression 45 (“Mechanical Deformation of the Conductive Coil") of this designed as a spring coil 43 is analogous to the displacement or compression of the spring with the character 34 from the Fig. 3 , so that in particular the displacement of the coil 43 to a housing, not shown, by means of suitable sensors 44 ("Detector") can be determined. In particular, it can also be determined (for example, by arranging two sensors) whether the compression of the coil 43, ie the change in length ⁇ l 'of the coil 43, by moving the upper end of the coil 43 downward or by shifting the lower end of the coil 43 is caused to the top. This can in turn be closed to the direction in which the control lever element 1 connected to the measuring device 9 is pivoted.
  • a compression of the coil 43 but also causes a change .DELTA.L of the inductance L of the coil 43, which in turn can be inferred at a known capacitance C to a change in the resonant frequency f 0 .
  • This determination of the change in the resonant frequency f 0 thus ultimately allows the determination of the position or the position change of the control lever element 1.
  • the measuring device 9 and its electrical oscillating circuit LC comprises at least one sensor 44, by means of which the change .DELTA.l 'of the length l' of the coil 43 directly or indirectly, so for example via the change ⁇ L of the inductance L, detectable and via a corresponding second signal 46th to a higher-level control device shown CU of the control system S is transferable.
  • the passive reset system can be supported by an active power delivery system.
  • the associated actuator element 5 can be configured, for example, in the form of a magnetic drive element M, as shown in FIGS Fig. 5a, 5b and 5c illustrated. It shows the FIG. 5a a top view, Fig. 5b a cross-sectional view through the in Fig. 5a plane illustrated by the arrows AA and Fig. 5c a perspective view of the magnetic drive element M.
  • a cylindrical permanent magnet 51 (“permanent magnet”) is arranged inside a non-magnetic carrier 53 ("magnetic carrier”) adjacent to magnetic material 52 (magnetic flux optimizer (magnetic material)).
  • a magnetic ring 54 Around the non-magnetic support 53 is disposed a magnetic ring 54 ("magnetic ring").
  • a coil 55 in the form of electrically conductive windings (“circular electrically conductive windings") is arranged.
  • the magnet 51 is movably arranged to coil 55 concentrically surrounding it and rigidly connected to a longitudinal axis 5a of the actuator element 5, not shown.
  • the position of the magnet 51 can be changed at least in the direction of the longitudinal axis 5a of the actuator element 5 and elements connected to it.
  • a shaft can be arranged on the magnet 51 or in the interior of the bore arranged in the magnet 51 and rigidly connected to the magnet 51. This shaft can as the axes 5a, 7a according to Fig. 2a / 2b be arranged. A movement of the magnet 51 can thus be transmitted to the axes 5a, 7a and thus to the control lever element 1 as described above.
  • Fig. 6 shows a possible curve of the torque T '("torque") as a function of the displacement travel x ("Travel") and the Verschwenkwegs of the control lever element 1 using a diagram with the axes T for torque and x for adjustment. The latter is present for simplicity equal to a pivoting angle of the control lever element.
  • the torque T increases with a high gradient m2 up to a maximum value Tmax and then decreases with a negative slope m3 which is also high in magnitude, up to a torque Tmin, which in this case is the lowest value within the example curve T '. having. Subsequently, the torque increases again with a strong slope m4.
  • the active force system is programmed so that it either actively opposes the driver (see passages with gradients m2, m4) or actively supports the driver, depending on the distance traveled x or depending on the path segment Gradients m3).
  • this serves to warn the driver of a danger (as described above); but it can also be a kind of information for him to indicate him by means of the abrupt torque change, that now leave a first working level with leaving a first path range and a second working level is entered upon entering a second path range. For example, this means for him that now the lights on the excavator are turned on or need to be.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)
EP16168831.2A 2015-05-11 2016-05-10 Systeme de commande pour vehicules Active EP3096197B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015107364 2015-05-11
DE102016108472.7A DE102016108472B4 (de) 2015-05-11 2016-05-09 Steuersystem für Fahrzeuge

Publications (3)

Publication Number Publication Date
EP3096197A2 true EP3096197A2 (fr) 2016-11-23
EP3096197A3 EP3096197A3 (fr) 2017-02-08
EP3096197B1 EP3096197B1 (fr) 2020-11-25

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Application Number Title Priority Date Filing Date
EP16168831.2A Active EP3096197B1 (fr) 2015-05-11 2016-05-10 Systeme de commande pour vehicules

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020208600A1 (fr) * 2019-04-11 2020-10-15 Walvoil S.P.A. Appareil de commande permettant d'actionner des systèmes de valve hydraulique
IT202000023773A1 (it) * 2020-10-08 2022-04-08 Walvoil Spa Apparecchiatura di comando per l’azionamento di sistemi idraulici valvolari
IT202000023860A1 (it) * 2020-10-09 2022-04-09 Walvoil Spa Apparecchiatura di comando per l’azionamento di sistemi idraulici valvolari
EP3992749A1 (fr) 2020-10-08 2022-05-04 Walvoil S.p.A. Element de contrôle pour opérer des systèmes de valves hydrauliques

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Publication number Priority date Publication date Assignee Title
US3277248A (en) * 1965-07-19 1966-10-04 Western Electric Co Switch control unit with improved pivot arm actuator structure
US5805140A (en) * 1993-07-16 1998-09-08 Immersion Corporation High bandwidth force feedback interface using voice coils and flexures
JP3995752B2 (ja) * 1997-03-14 2007-10-24 アビックス株式会社 マンマシン・インタフェースの入力装置
FR2888009B1 (fr) * 2005-06-30 2007-09-07 Dassault Aviat Dispositif de commande comportant deux manches couples pour permettre de placer des organes commandes dans des positions souhaitees
US8087619B2 (en) * 2008-07-30 2012-01-03 Honeywell International, Inc. Active control stick assembly including traction drive

Non-Patent Citations (1)

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Title
None

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020208600A1 (fr) * 2019-04-11 2020-10-15 Walvoil S.P.A. Appareil de commande permettant d'actionner des systèmes de valve hydraulique
WO2020208601A1 (fr) * 2019-04-11 2020-10-15 Walvoil S.P.A. Appareil de commande modulaire pour actionner des systèmes de vanne hydraulique
IT202000023773A1 (it) * 2020-10-08 2022-04-08 Walvoil Spa Apparecchiatura di comando per l’azionamento di sistemi idraulici valvolari
EP3992749A1 (fr) 2020-10-08 2022-05-04 Walvoil S.p.A. Element de contrôle pour opérer des systèmes de valves hydrauliques
IT202000023860A1 (it) * 2020-10-09 2022-04-09 Walvoil Spa Apparecchiatura di comando per l’azionamento di sistemi idraulici valvolari
US11860664B2 (en) 2020-10-09 2024-01-02 Walvoil S.P.A. Control apparatus for actuating hydraulic valve systems

Also Published As

Publication number Publication date
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EP3096197B1 (fr) 2020-11-25

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