Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B60—VEHICLES IN GENERAL
  • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
  • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
  • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
  • B60T8/34—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition
  • B60T8/36—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration having a fluid pressure regulator responsive to a speed condition including a pilot valve responding to an electromagnetic force
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D7/00—Control of flow
  • G05D7/06—Control of flow characterised by the use of electric means
  • G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
  • G05D7/0629—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means
  • G05D7/0635—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the type of regulator means by action on throttling means
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B19/00—Programme-control systems
  • G05B19/02—Programme-control systems electric
  • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
  • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D7/00—Control of flow
  • G05D7/06—Control of flow characterised by the use of electric means
  • G05D7/0617—Control of flow characterised by the use of electric means specially adapted for fluid materials
  • G05D7/0623—Control of flow characterised by the use of electric means specially adapted for fluid materials characterised by the set value given to the control element
• • H—ELECTRICITY
  • H01—ELECTRIC ELEMENTS
  • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
  • H01F7/00—Magnets
  • H01F7/06—Electromagnets; Actuators including electromagnets
  • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
  • H01F7/18—Circuit arrangements for obtaining desired operating characteristics, e.g. for slow operation, for sequential energisation of windings, for high-speed energisation of windings
  • H01F7/1844—Monitoring or fail-safe circuits
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/45—Nc applications
  • G05B2219/45006—Valves
• • H—ELECTRICITY
  • H01—ELECTRIC ELEMENTS
  • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
  • H01F7/00—Magnets
  • H01F7/06—Electromagnets; Actuators including electromagnets
  • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
  • H01F7/18—Circuit arrangements for obtaining desired operating characteristics, e.g. for slow operation, for sequential energisation of windings, for high-speed energisation of windings
  • H01F7/1844—Monitoring or fail-safe circuits
  • H01F2007/1866—Monitoring or fail-safe circuits with regulation loop

Definitions

• Solenoid valves are controlled by means of an electrical voltage, and according to their design so that hydraulic or pneumatic media or mechanical components are controlled or regulated. As more and more demands are placed on these dynamic driving interventions
• ABS and ESP systems are thus also more and more demands placed on their controller.
• ABS and ESP systems are thus also more and more demands placed on their controller.
• the method described herein for driving a valve with a magnetic valve drive through which electrical current is passed to open, close and hold the valve in an open or closed position comprises the steps of: a) receiving an opening signal,
• the method if it further comprises the following step:
• step c) in the calculation of the drive signal additionally the current signal received in step b3) is used.
• Normally solenoid valves are used in brake control systems, which can be described by the behavior of a PTI element (R-L control loop).
• a control of the solenoid valves This means that an actual current through the solenoid valves is measured and taken into account. This is necessary because there are very different loads depending on the operating conditions. Different loads, for example, by temperature-induced changes in the coil resistance or by
• the problem is the susceptibility to vibration of a control. Need regulator One or more control cycles to adjust the setpoints. In the
• controllers should therefore be ensured that they are stable over the series tolerances.
• an opening signal is first received.
• An opening signal is a signal which relates to the opening state of the valve. It can be a signal to open or a signal to close the valve.
• a feedforward signal is determined / calculated.
• the pilot signal is an estimated, particularly suitable control signal with which the valve drive is controlled.
• Steps bl) and b2) form a two-stage process for determining the pilot control signal.
• step b1) a determination is made of an adapted opening signal which is adapted to physical limits of the valve or of the valve drive.
• step b2) a pre-control signal for pre-controlling an electric current for driving an electric valve drive for opening the valve is determined in response to the adapted opening signal
• Pre-control can not swing. Thus, at least the stability would be almost independent of the series tolerances.
• a control is necessary for a control of the valve, because the pilot control can not take into account all possible influences acting on the valve, sufficient.
• step c) in the calculation of the drive signal additionally the current signal received in step b3) is used.
• step c) in the calculation of the drive signal, the measured current (measured according to step b3)) and a modeled current (generated according to steps b1) and b2)) which corresponds very well to reality by the feedforward control are preferably compared with each other and a possible deviation in a change of system parameters (resistance) interpreted.
• System parameters are determined by a deviation between the measured current and the calculated current.
• the further process steps e) and f) can be described as follows. f) calculating a new set of feedforward system parameters (e.g., resistance).
• the method steps e) and f) can be carried out before, after or parallel to method step d).
• step c the pilot signal and the measured electric current signal flow together to under
• the drive signal is provided to the valve drive.
• the drive signal may be, for example, an output voltage that is applied to the valve drive.
• the method is particularly advantageous if the pilot control signal is determined using a valve model.
• a valve model simulates the behavior of the valve at the respective operating point. With the help of the valve model, the behavior of the valve in response to a drive signal can be predicted.
• the valve model preferably consists of at least one linear differential equation which describes the time-delayed behavior of the valve on the drive signal. This time-delayed behavior relates in particular to the electric current through the valve drive, which is due to a change in the
• Control signal changed with a time delay.
• Delay behavior of the first order of the valve is modeled.
• a first-order delay behavior is also referred to as PTI behavior.
• PTI behavior the valve drive can be efficiently modeled as a valve model.
• a PTI behavior can be simulated simply and cost-effectively in one. It has been found that a sufficiently good prediction of the valve behavior in response to the activation signal is possible by means of a PTI behavior.
• the valve model may also include multiple delay elements with PTI behavior, which are linked together to simulate valve behavior.
• the valve model may also include higher order lag elements (PT2, PT3, etc.).
• Valve drive is modeled. If the valve actuator and the valve model have multiple time constants, these time constants will agree
• Valve drive and valve model also preferably coincide with each other. It is also possible that the valve drive actually has a higher-order delay behavior, which in particular comprises a plurality of small time constants, and by a PTI element having a longer time constant
• any other time constants can be stored, especially if the feedforward control
• one of the time constants stored in the pilot control coincides with the time constant of the "real" valve drive.
• this time constant is associated with the valve model, which simulates the behavior of the "real" valve drive.
• the method is particularly advantageous when in the
• Valve model is an estimate of the inductance of the valve drive is used.
• Calculation step be re-estimated.
• the state variable filter is connected upstream of a valve model.
• the state variable filter is particularly preferred for
• step bl) to generate the adjusted opening signal is Performing step bl) to generate the adjusted opening signal.
• the valve model is used to carry out step b2) in order to directly generate the feedforward signal or, in the event that no additional controller is used, also the drive signal.
• the state variable filter is a control-technical element, which is typically the same order as the controlled system itself. With the help of the state variable filter, it is possible to generate a desired waveform that the route should take (here preferably the opening state of the valve).
• the state variables which are to be impressed on the line with the aid of the feedforward control are adapted with the state variable filter so that these take into account real physical conditions or in particular also physical limits.
• Opening signal is, for example, a jump function.
• the real valve however, can not be opened abruptly due to design-related physical limits. Preference is therefore in step bl) of the
• State variable filter from the opening signal generates a customized opening signal, which takes into account the physical limits. From an opening signal, which is a jump function from 0 (closed) to 1
• (Open) corresponds to the state variable filter, for example, generates a 0 to 1 corresponding opening signal, which corresponds to a course of a PT-1 behavior.
• control device for controlling a valve with an electric valve drive, which for carrying out the
• Such a control device preferably forms an independent module, which is provided or set up to generate a suitable drive signal for the valve drive in response to an opening signal.
• Opening signal describes the specification of how the valve should behave and it is usually provided by a higher-level control unit.
• the control unit discussed here receives the opening signal and furthermore prefers a current signal which represents the actual situation in the valve drive or the current actually present in the valve or in the valve drive.
• FIG. 8 shows a state variable filter with an actuator limitation
• FIG. 10 shows a step response behavior corresponding to FIG. 9 in another representation
• Pilot control 17 and a controller 18 for controlling a distance 24 corresponds to the valve 5 and the valve drive.
• control unit 13 is formed by the controller 18 and the pilot control 17.
• An opening signal 8 is from the left to the controller 18 and the
• the pilot control 17 acts directly on the track 24.
• the track 24 is monitored by a sensor 19. This can be
• a current sensor that generates a current signal 10, which is based on the electric current 7, which is considered here as the output of the distance 24. From the current signal 10 and the opening signal 8, a control error 20 is calculated, which serves as input to the controller 18.
• a control signal 11 for the distance 24 (the valve 5 or the valve drive of the valve 5) is determined from the feedforward signal determined by the feedforward control 17 and the output of the controller 18.
• the controller block includes the actuator ,
• the controller 18 is shown in Fig. 3 as part of the overall circuit with.
• Fig. 3 shows a variant of the control circuit of Fig. 2, wherein like elements are designated here by the same reference numerals.
• the route 24 is assumed here as PTI element 21.
• the precontrol here is a combination of state variable filter 23 and inverter 22. Such precontrol is also called predictive feedforward control.
• the state variable filter 23 calculates a waveform, which may also be called “trajectory”. This signal curve or this trajectory corresponds to a desired course taking into account physical limits which the output variables 7 are to fulfill. With the inverter 22, the trajectory is converted into the actual manipulated variable.
• FIG. 4 illustrates a pure feedforward control 17 for controlling a section 24 without a controller being provided.
• a PTI behavior can be described as follows:
• FIG. 5 shows a diagram of the electrical properties of a valve drive with resistance R, inductance L, applied voltage U and from the voltage resulting current i.
• R resistance
• L inductance
• Fig. 6 The representation of distance and inverter block is shown in Fig. 6, where the feedforward control 17 is shown with the inverter 22 and the state variable filter 23 again. From the state variable filter 23, for example, adapted opening signals 27, which have been detected by the state variable filter 23 from opening signals 8, are passed on to the inverter 22 (step bll). The inverter 22 then performs step b2).
• Desired behavior sets or that the attitude of the desired behavior is physically possible.
• the block that does this is the
• the state variable filter 23 which may also be referred to as a signal generator.
• the state variable filter 23 has as input a signal y w (t) and calculates the outputs i (t) and so that these
• This state variable filter 23 is shown in more detail in FIG. 7. If the rule distance has a PTI behavior, can for the
• State variable filter 23 also PTL behavior can be used.
• the manipulated variable in this case, the voltage in the vehicle
• this manipulated variable limit ie the maximum possible voltage
• the maximum possible voltage of the maximum possible gradients can form a vector, which is considered here as a whole as an adapted opening signal 27.
• the adapted opening signal 27 may be a vector which relates to several individual variables includes the opening state of the valve. Basically (in all
• the opening signal 8 may also be a vector which comprises a plurality of individual variables relating to the opening state of the valve.
• Control concept and the control method described here consisting of state variable filter, inverter block and a route with PTI behavior.
• Fig. 10 shows the same behavior as Fig. 9. However, Fig. 10 shows, in a straight line, the starting interval of the behavior shown in Fig. 9 in detail.
• the dynamics can be selectively selected / adapted in situ, so that either very high dynamics or very low dynamics can be predetermined.
• the targeted setting of low dynamics can for
• Valve control with pilot control and controller (controller optimized for compensating the control deviation or disturbance variables)
• Solenoid valves used. It is particularly useful when the
• Step 1 calculates the desired trajectory of the current.
• Step 2 calculates the required (drive) voltage for the setpoint trajectory of the current.
• valve 11 shows the clear structure of real path 24 comprising the valve 5 and the valve 6 and adjacent valve model 12, which is implemented by this implementation in hardware in a control unit 13.
• the valve model 12 may also be supplemented by a so-called observer, which permanently monitors the real route 24 and matches the valve model 12 and the real route 24.
• the observer serves to observe the behavior of the path 24, or of the valve 5 or of the valve drive 6.
• the observer is realized with in the valve model 12.
• the current deviation is interpreted as a resistance deviation
• the correction quantity and unit is contained in the amplifier gain K_Observ.
• the AR is integrated and the term R + AR is formed. Now, by skillful transformation, a fracdidt is calculated which then enters the observer.

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• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Electromagnetism (AREA)
• Manufacturing & Machinery (AREA)
• Human Computer Interaction (AREA)
• Power Engineering (AREA)
• Fluid Mechanics (AREA)
• Transportation (AREA)
• Mechanical Engineering (AREA)
• Magnetically Actuated Valves (AREA)
• Feedback Control In General (AREA)
• Regulating Braking Force (AREA)

Applications Claiming Priority (2)

Publications (1)

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• 2018
  • 2018-04-20 DE DE102018206114.9A patent/DE102018206114A1/de active Pending
• 2019
  • 2019-04-05 US US17/048,663 patent/US11650606B2/en active Active
  • 2019-04-05 JP JP2020555798A patent/JP7101806B2/ja active Active
  • 2019-04-05 CN CN201980026754.5A patent/CN112020460B/zh active Active
  • 2019-04-05 EP EP19716873.5A patent/EP3781446A1/de not_active Withdrawn
  • 2019-04-05 WO PCT/EP2019/058591 patent/WO2019201620A1/de active Application Filing

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