WO2006000432A1 - Steuerungsvorrichtung und verfahren zur steuerung einer verstelleinrichtung eines kraftfahrzeugs - Google Patents
Steuerungsvorrichtung und verfahren zur steuerung einer verstelleinrichtung eines kraftfahrzeugs Download PDFInfo
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- WO2006000432A1 WO2006000432A1 PCT/EP2005/006850 EP2005006850W WO2006000432A1 WO 2006000432 A1 WO2006000432 A1 WO 2006000432A1 EP 2005006850 W EP2005006850 W EP 2005006850W WO 2006000432 A1 WO2006000432 A1 WO 2006000432A1
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- characteristic
- control device
- signal
- drive
- arithmetic unit
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
- H02H7/0851—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load for motors actuating a movable member between two end positions, e.g. detecting an end position or obstruction by overload signal
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H1/00—Details of emergency protective circuit arrangements
- H02H1/0092—Details of emergency protective circuit arrangements concerning the data processing means, e.g. expert systems, neural networks
Definitions
- the invention relates to a control device and a method for controlling ei ⁇ ner adjusting device of a motor vehicle.
- the invention has for its object to provide a particularly suitable method for controlling an adjustment of a motor vehicle. Furthermore, a control device is to be specified, which makes it possible to improve the control of an adjusting device of a motor vehicle.
- a control device of an adjustment device of a motor vehicle has a sensor for generating a signal dependent on a drive movement of a drive of the adjustment device and a computing unit which is set up for an evaluation function of a parameter in the time scale range of the transformed signal for controlling the drive.
- This function serves to control the adjusting device, in particular for controlling a motor vehicle seat adjustment, for controlling a window lifter or for controlling a door opener.
- a signal which is generated as a function of a drive movement of a drive of the adjusting device is to be transformed.
- the arithmetic unit preferably has a control function in order to control the drive as a function of a parameter in the time-scale range of the transformed signal.
- the signal is preferably generated as a function of a torque of the drive movement of the drive. This can be exploited that the torque correlated to a motor characteristic. For example, the torque correlates to the actual rotational speed or to the instantaneous motor current of the drive. The correlation is, for example, a proportionality between torque and motor current.
- a window function is used for the transformation.
- the window function is preferably adaptable, in particular by adjusting the boundaries of the window.
- the adaptation is preferably carried out as a function of determined parameters of the adjustment device, in particular as a function of determined binding within the adjustment path. Another possibility is to adapt the number of window functions and in particular to add further window functions.
- a particularly preferred development of the invention provides for a transformation of the generated signal by means of a wavelet transformation.
- a base wavelet is used.
- the term wavelet transformation describes a whole class of transformations. Important classes are, for example, Riesz, dyadic, simple, biorthogonal, semiorthogonal and orthogonal wavelets.
- a discrete version of the wavelet decomposition is preferably used.
- the wavelet transformation transforms the generated signal into the time scale range.
- a scale corresponds to a frequency component of the signal to be transformed. For example, the scale is inverse to one of these frequencies.
- the generated signal has several different components.
- the generated signal contains further signal components, such as interfering signals or DC components with a possible drift.
- the scales are designed such that the different signal components are resolved in different scales.
- a scale is designed for the expected nominal rotational frequency of the drive.
- a scale can be designed as a drive for the ripple of the drive current of a mechanically commutated electric motor. In combination or alternatively, it is advantageous to evaluate the lower-frequency components of the change in the absolute value of the motor current as a useful signal in one or more scales.
- the parameter to be evaluated of the transformed signal is preferably a measure of a proportion of one or more scales on the generated signal.
- two scales can be set in relation to one another by an algorithm in that the values of the one scale vary at least one threshold value for the evaluation of another scale.
- the parameter is a measure of the proportion of the generated signal with respect to a unit of time. The time unit is different for each scale. In this case, a smaller time unit is decisive for scales which are assigned to a higher-frequency signal component on the generated signal than comparatively low-frequency signal components.
- the characteristic variables for one or more scales are evaluated for the dependent control.
- different operating states are detected and evaluated for control.
- a Algorithm or a parameter set stored in the control device for the evaluation of the behavior of the An ⁇ drive motor, in particular for the startup behavior, the nominal operation, the braking behavior and externally acting on the adjusting and thus on the engine forces, as in the case of a blockage or stiffness.
- different spring rates of the mechanical system of the adjusting device are evaluated. Different spring rates can be inherent in the mechanical system of the adjusting device, for example by detecting a blockage on a hard mechanical stop within a scale. Further spring rates may be caused by external influences, for example as a result of objects or body parts jammed by the adjusting device. Typical Fe ⁇ derraten for soft and hard clamped body parts are 65 N / mm and 10 N / mm. If a transmission of the mechanical system within the adjustment path has repetitive characteristics, these can be evaluated as one or more natural frequencies of one or more transmissions of this mechanical system, preferably in one respective scale. For this purpose, the gear can also be designed specifically to allow such an evaluation.
- a further development provides that one or more scales are back-transformed in order, in particular, to subtract interference signals determined for a renewed transformation from the generated signal.
- the freed of the interference signals useful signal can then either be transformed again or alternatively or in combination directly to the control of the drive, in particular for controlling the speed of the drive, for example by means of a phase coupling, can be used.
- the drive is stopped for control. Subsequently, the drive direction is reversed when the pinching of an object or body part is detected by the adjusting device.
- a characteristic of the parameter for the pinching case is detected.
- the characteristic is, for example, the increase or decrease of the parameter above or below one or more threshold values.
- the characteristic of the characteristic is a characteristic of the time profile of the characteristic of the transformed signal.
- a characteristic of the temporal course of the parameter is, in particular, a value of the characteristic value which occurs at a certain point in time and which is not expected by the control device at this adjustment point or at this adjustment time.
- this is in combination or alternatively the characteristic of the time course, a value of a temporal change of the characteristic.
- the temporal change of the parameter is, for example, one or more integrations or the first, second or one or more further derivatives according to time and / or location, each evaluated individually or combined, for example by means of algorithms or thresholds can be.
- the characteristic is an exceeding and / or undershooting of one or more threshold values by the parameter and / or a temporal change of the parameter.
- the characteristic is a value of a transform of the parameter.
- another transformation can be used here, which allows a simple evaluation or whose output values can be used directly for the control.
- the evaluation of the characteristic by means of this transformation is also advantageously combined with the aforementioned evaluation by means of a threshold value or a simple algorithm.
- At least one of the evaluation thresholds is adjusted in accordance with an advantageous development.
- An adaptation is achieved, for example, by overwriting the register value for the threshold value.
- the adaptation of the at least one threshold value preferably takes place as a function of the drive movement and / or of an operating mode of the adjusting device and / or of one or more further characteristics of the motor vehicle.
- the adaptation can be carried out as a function of known or ascertained mechanical parameters or parameters of the mechanical system or of external conditions of the drive.
- the adaptation takes place as a function of a certain spring rate in the case of blocking the adjustment movement.
- an adjustment of the threshold value as a function of determined binding of the mechanics of the o adjustment.
- the at least one threshold value is adapted as a function of a specific surface integral of the values of the parameter.
- This area integral is preferably formed within a scale.
- integration over the area of several scales is also advantageous.
- the evaluation by means of the area integral is combined particularly advantageously with the evaluation of the parameter in which a case of pinching a body part takes place through the combined, in particular AND-linked, evaluation of the area integral and the parameter.
- the adaptation takes place according to further embodiments, in particular as a function of one or more spring rates of the mechanical system of the adjusting device measured, acting on the mechanical system of the adjusting Ge weighting force, a measured temperature of the mechanical system and / or the drive of the adjusting device, a measured or determined (pulse-width modulation) supply voltage of the drive, a current position to be adjusted Part of the adjustment or a combination of the aforementioned sizes.
- a mother wavelet is used, which is also called a basic wavelet.
- Another parameter of the wavelet transformation is the scaling function, which is also called a father wavelet.
- the mother wavelet is adapted to operating conditions or operating events.
- An advantageous embodiment therefore provides that the mother wavelet of the wavelet transformation is designed or adapted as a function of the signal and / or of a course of the signal in the event of a blocking of the adjustment movement.
- the signal is preferably the generated signal. However, it may alternatively or in combination also be the transformed signal.
- At least two different parent wavelets of the wavelet transformation are used for at least two transformations into the time-domain domain.
- the transformation preferably takes place via at least partially the same input data, which in particular can be signals generated by a sensor as well as previously transformed signals.
- the mother wavelet is adapted as Dichtungswavelet to the course of the generated signal for an adjustment of the part to be adjusted in a seal. If the Verstell ⁇ movement stopped, for example due to a detected movement by means of a first Mutterwavelets, is checked by means of the second Dichtungswavelets whether the blockage is due to the retraction into a seal. As a function of this check, the adjusting movement is subsequently reversed by the adjusting device being operated in the opposite direction for an adjusting movement becomes. However, the reversing does not take place if the entry into the seal is detected by means of the check.
- the mother wavelet is adapted as Blockwavelet to the course of the generated signal for an adjustment of the part to be adjusted to a mechanical stop.
- mechanical stops for example the lower mechanical stop of a window lifter, have a low elasticity.
- the characteristic profile of the transformed signal enables precise recognition of the position at this mechanical stop by means of a specific block wavelet.
- a third, particularly advantageous embodiment of this development provides that the mother wavelet is adapted as standard wavelet to the course of the generated signal in the event of pinching one or more body parts. This is particularly useful for pinch cases in which a particularly hard article is clamped at a low spring rate and only short reaction times are available for the controlling electronics.
- Such a function is, for example, the memory function in which by means of a key press, for example, a vehicle seat is moved to the stored position.
- This at least one mother wavelet enables a precise evaluation of the current position at this blocking.
- other significant characteristics of the adjustment movement are also used for normalization, for example a known stiffness within the adjustment path.
- a blocking of the adjusting movement of at least one determined mechanical stop of the adjustment In order to normalize the position of the component to be adjusted on one of the stops, according to a further advantageous development of the time-scale range of the transformed signal, a blocking of the adjusting movement of at least one determined mechanical stop of the adjustment.
- This stop has a characteristic for this spring rate, which is determined by the control device and evaluated for normalization.
- the various evaluation functions make it possible to distinguish from the combined evaluation of a plurality of scales of the transformed signal between a trapping case and a blockage at one of the mechanical stops. For example, the characteristic value of a scale is compared with a threshold value and the comparison result is verified with the evaluation of the characteristic value of a further scale. This verification, which takes place, for example, by an AND operation (VERUNDung) of the respective evaluation results, reduces the probability of a faulty reaction of the adjusting device to external influences.
- the signal is dependent on a drive current of the drive of the adjusting device.
- the characteristic curve of the drive current determined, for example, by means of a current sensor is characteristic of the different operating states, such as, for example, the starting behavior, the rated operation, the braking behavior or the behavior in the event of blockage or sluggishness. In the case of increased torque, for example due to sluggishness, the motor current increases significantly.
- the rising slope has frequency components which can be evaluated, in particular by the wavelet transformation, as described above, in order in particular to detect a pinch-in case and to control the adjustment accordingly.
- the drive current is also advantageously evaluated for determining the position of the adjusting part to be adjusted.
- the signal is dependent on a, in particular due to the commutation of the drive, ripple of the drive current.
- the frequency of the current ripple is a function of rotational, slot and pole number, ie the algorithm for evaluation advantageously detects a speed range from standstill of the motor up to the rated speed to detect all extremes of current ripple.
- a position within the adjustment path of the adjusting device is determined from the transformed signal.
- the determined wavinesses are counted in order to increment or decode the current position. In order to determine the current position as accurately as possible relative to the real position of the part of the adjusting device to be adjusted, the most accurate possible detection of the ripple of the drive current is required.
- a position characteristic of the transformed signal is evaluated as a parameter by counting the exceeding and / or undershooting of one or more position threshold values.
- the threshold value (s) should be set in such a way that the signal dependent on the ripple of the drive current undershoots and / or exceeds this threshold value or these threshold values when the drive motor is operated.
- At least one threshold value is adjusted.
- the adaptation is preferably carried out as a function of certain measured values and / or predetermined parameters.
- An advantageous development provides that an adaptation of at least one threshold value takes place if a ripple has not previously been detected. Ripple is expected within a certain time interval from previous ripples. If the ripple is not detected within the time interval, according to an advantageous embodiment, the sensitivity of the detection is increased by adjusting the threshold value (s). For adaptation, for example, the register entries representing the threshold values are overwritten in a microcontroller. If, for example, two threshold values are used as the window comparator, the window for increasing the sensitivity is preferably reduced.
- An alternative that can also be combined to adapt the threshold values can advantageously be carried out by adapting the at least one threshold value as a function of a specific area integral of the values of the characteristic variable.
- the consultancynin ⁇ tegral allows Computerized Multi-frequency interference components in the useful signal.
- an area integral is also advantageously used to determine the waviness, by comparing the current value of the area integral with one or more thresholds.
- the adaptation of the at least one threshold value preferably takes place as a function of the drive movement and / or an operating mode of the adjusting device and / or one or more further characteristics of the motor vehicle.
- the dependency on the drive movement is caused, for example, by the behavior of the drive motor, in particular the starting behavior, the uniform adjustment, the braking behavior or the adjustment into a stop.
- the operating mode is characterized, for example, by automatic runs, manual adjustment, touch-trigger operation or normalization runs and stored as control parameters in the microcontroller.
- the parameter of the motor vehicle is, for example, the ignition switch position or the measurement signal of an acceleration sensor.
- a further preferred development provides that a position characteristic of the transformed signal is evaluated for position determination by counting a position increment when the position parameter exceeds and / or undershoots a lower position threshold value and an upper position threshold value.
- the position characteristic is dependent on the ripple of the drive current.
- the ripple of the drive signal is transformed into a band in the scale time domain.
- the upper and lower position threshold values must preferably be successively exceeded and / or undershot in order to detect a position increment to be counted.
- a position increment is only counted if the exceeding and / or undershooting of the lower position threshold value and of the upper position threshold value takes place within a certain period of time.
- a signal steepness is determined, for which a position increment is detected.
- an area integral is preferably evaluated.
- the detection of the position increment can be effected by means of a comparison of the value of the area integral with a surface integral threshold value.
- values of a position characteristic for determining a ripple of the signal are evaluated within a time interval. The time interval is preferably arranged around an expected ripple.
- the signal values of the transformed signal can be evaluated, which, for example, enables a reduction of the computing power.
- a width of the time interval is adjusted as a function of the amplitude of the position characteristic. In the case of strongly disturbed signals, this makes a more reliable evaluation possible, while in the case of a high signal-to-noise ratio the used computing power is reduced.
- An embodiment which can also be combined with the adaptation of the width of the interval makes it possible to adapt the temporally first limit of the time interval independently of the second limit of the time interval during the start of the adjustment movement. As a result, it is preferable to respond to an acceleration behavior or to a braking behavior of the adjusting device.
- a ripple detected within the time interval is corrected in time if a deviation from the temporal succession of preceding or subsequent ripples is determined.
- FIG. 1 shows a ripple component of a current signal of a mechanical commutated electric motor
- FIG. 2 shows a schematic representation of a transformed signal, which is dependent on the movement of an electric motor, at different spring rates of a clamped object or body part,
- FIG. 3 a schematic representation of an electric motor
- FIG. 4 shows different scales of a wavelet transformation
- 5 shows a measurement signal of a Hall sensor in the time domain and in the scale range
- Figure 6 is a Messsigna! a motor current as well as the evaluation of the Waveiet transform of the measurement signal mitteis threshold.
- wavelet transformation which represents an integral transformation with locally compact carrier
- WT wavelet transformation
- the mapping properties of the wavelet transform depend on the choice of wavelet kernel and wavelet base.
- the continuous wavelet transformation uses shifts and expansions of a certain function family, the so-called wavelet bases, to transform functions, i. the transformation uses functions of the form
- Wavelets are quadratic integrable functions in the L 3 (R) space 1, that is
- ⁇ ⁇ represents the Fourier transform ⁇ / (t). If a wavelet satisfies this condition, then the function can be recovered from its Fourier transform.
- the multiscale analysis (MSA) on the basis of dyadic wavelets is preferably used.
- MSA multiscale analysis
- a signal s (t) from a subspace Vi of L 2 ( ⁇ ) is split into its high and low frequency components.
- the smooth part is described by an orthogonal projection P 0 S on a smaller space V 0 containing the same function Vi.
- the orthogonal complement Vo in Vi is called Wo, which includes the rough elements.
- the projection from s to Where is then QoS. So you can write:
- FIG. 4 shows schematically such a decomposition by means of a multiscale analysis.
- the scales SC comprise different time intervals.
- the scale 530 corresponds to high-frequency signal components
- the scale 500 substantially comprises the very low-frequency signal components.
- the scales 520 and 510 lying between them relate to further free transverse components of the transformed signal.
- FIG. 4 illustrates that the low-frequency signal components of the scale 500 are transformed over a greater period of time than the scales 530 of the high-frequency signal components.
- the areas of the individual signal components are correlated with one another.
- ⁇ denotes the orthogonal wavelet associated with ⁇ . It can now be combined with the calculation of the discrete wavelet transform, i. with the evaluation of the scalar products
- the decomposition algorithm is given. Starting from the sequence C 0 one can compute the discrete wavelet decomposition recursively by discrete convolution. In addition, another decomposition rule is possible with further interpolation points between the individual calculations.
- the Haar wavelet is described by the following formula:
- FIG. 5 To illustrate an anti-pinch function, several signal waveforms are shown in FIG. In the upper part of FIG. 5, a signal is shown which depends on the rotational speed of an electric motor of an adjusting device of a motor vehicle.
- This generated signal 4 is generated in that the distance between edges is measured in time, which depend on a rotation angle of the rotating motor: These are caused by the fact that a four-pole ring magnet in this case is sensed by a Hall sensor, and that the Hall voltages measured by the Hall sensor as a function of the respective assigned to the rotation angle polarity of the ring magnet change. Due to the different size of the four segments, the initially constant movement of the rotating motor shows a rectangular progression of the measured times correlated to the segment sizes between the individual changes in the polarities of the ring magnet.
- the lower part of FIG. 5 shows four transformed signals 41, which were obtained from the generated signal 4 of the upper part of FIG.
- each transformer is assigned a pole segment of the ring magnet in this case.
- the transformed signal 41 is essentially constant for the rotational speed of the electric motor of the adjusting device of the motor vehicle which is essentially constant at the beginning.
- a short acceleration caused by the mechanical system is also recognizable by the four transformed curves.
- the transformed signal values of all 4 segments are below the threshold value S3.
- This situation can be detected by a control device as Einklemmfall and the drive in nach ⁇ following process step are controlled in the opposite direction, so that it comes to a reversing of the adjustment movement in Einklemmfall.
- the measured values and the transformed signal 41 of the movement of the opposite direction are shown in the rear edge region of FIG.
- FIG. 2 shows two different curves 200 and 210, which are assigned to different spring rates in the event of a blockage. 2, the scale values D are plotted against the temporally progressive sampling points SP. For this purpose, two curves are shown in FIG. 2, wherein the curve 200 correlates to a spring rate of 10 N / mm and the curve 210 to values with a spring rate of 65 N / mm.
- the curves 200 and 210 thus refer to a hard and a relatively soft clamped object.
- the signals which depend on the movement of the adjusting device are transformed by means of the wavelet transformation and generate the schematically represented curve courses for the two trapping cases illustrated in FIG.
- the signals of the generated signal which depend on the adjustment movement, can be, for example, the time intervals 4 shown in FIG. 5 between several Hall edges of a Hall sensor signal which interacts with the ring magnet described above.
- FIG. 3 shows a simple motor model with two poles.
- the stator made of solid iron carries an electromagnet or - as in this case - a permanent magnet, which provides the flooding, which is needed to build ei ⁇ nes magnetic field.
- the main poles N and S are widened inwardly by so-called pole shoes 140 in order to detect the largest possible number of armature windings 100.
- the magnetic return is ensured by the housing or by the yoke ring 130.
- An iron body layered from dynamo sheet encloses the shaft of the motor.
- the magnetic circuit is thus constructed - except for the time required for rotation of the engine air gap between the armature 110 and main pole 140 - made of iron.
- the conductor bars form the armature windings 100 together with the connections.
- the rotating part is referred to as the armature 110 already mentioned above.
- a commutator which is also called a commutator.
- This consists of mutually insulated lamellae or copper segments and is firmly connected to the shaft.
- the coils of the armature winding 100 are connected at their beginning and end fixed to the single segment.
- the brush 150 and the commutator form a sliding contact.
- the commutator When the conductor changes through the neutral zone, its current direction is changed.
- the commutator thus serves as a mechanical switch.
- the mechanical commutation of the above-described basic electric motor generates a ripple of the drive current, wherein the distance of these maxima or minima correlates with a rotation angle of the electric motor.
- the uppermost part of FIG. 6 shows a motor current during the start-up phase of the adjusting device.
- the motor current 2 has a ripple.
- the ripple of this signal is retained even if this generated signal 2 is transformed by means of wavelet transformation. 5
- the wavelet transform is shown in the central region of FIG.
- the signal 1 of the wavelet transform clearly shows that a ripple of this signal is also retained in the transformed region and can be evaluated.
- the signal is evaluated by means of the illustrated threshold value, in that when the threshold value is exceeded by the transformed signal 1, an output signal of a threshold value switch is generated, which is shown in the lower part of FIG.
- This output signal 3 of the threshold value switch is a binary signal which correlates in time with the above-described exceeding of the threshold by the transformed signal 1. Consequently, the distances of the output signal 3 of the threshold value 5 switch are correlated to rotational angles of the electric motor.
- FIG. 1 is a purely schematic representation of the transformed signal 1, wherein the amplitude of the transformed signal A is shown plotted against the time t.
- the instantaneous current or the instantaneous current change of the motor current is evaluated.
- the relationship between the instantaneous motor current and the torque applied by the motor is used. If, for example, the motor current increases significantly, the torque of the motor is proportionally increased.
- the deceleration of the motor speed 0 can be evaluated by increasing the time intervals between detected ripples of the drive current and used to detect a blockage, in particular a trapping case.
- pinch detection using the wavelet transform is used for low s spring rates of pinched objects or body parts.
- use in particular for spring rates ⁇ 60 Nm and in particular ⁇ 10 Nm is particularly advantageous.
- the transformed signal is additionally integrated in order to filter out vibration and impact forces.
- the integration value obtained from the integration is compared with an integration threshold value.
- a particularly advantageous development of the invention provides that two different investigations of an eclamping case take place at the same time. This involves a parallel evaluation of the measured data on the one hand by means of the wavelet transform and, on the other hand, by means of an algorithm which evaluates the measured data in the time domain.
- the evaluation in the time domain is designed for larger spring rates than the evaluation by means of wavelet transformation.
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- Control Of Electric Motors In General (AREA)
- Power-Operated Mechanisms For Wings (AREA)
- Control Of Direct Current Motors (AREA)
Abstract
Description
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Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US11/571,146 US20080119995A1 (en) | 2004-06-24 | 2005-06-24 | Control Apparatus And Method For Controlling An Adjusting Device In A Motor Vehicle |
EP05753787A EP1761985A1 (de) | 2004-06-24 | 2005-06-24 | Steuerungsvorrichtung und verfahren zur steuerung einer verstelleinrichtung eines kraftfahrzeugs |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE202004009922U DE202004009922U1 (de) | 2004-06-24 | 2004-06-24 | Steuerungsvorrichtung zur Steuerung einer Verstelleinrichtung eines Kraftfahrzeugs |
DE202004009922.5 | 2004-06-24 |
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WO2006000432A1 true WO2006000432A1 (de) | 2006-01-05 |
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PCT/EP2005/006850 WO2006000432A1 (de) | 2004-06-24 | 2005-06-24 | Steuerungsvorrichtung und verfahren zur steuerung einer verstelleinrichtung eines kraftfahrzeugs |
Country Status (4)
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US (1) | US20080119995A1 (de) |
EP (1) | EP1761985A1 (de) |
DE (1) | DE202004009922U1 (de) |
WO (1) | WO2006000432A1 (de) |
Cited By (2)
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EP0477176B1 (de) * | 1989-03-02 | 1993-08-25 | NORINA Bautechnik GmbH | Verfahren zur herstellung eines aufgeständerten fussbodens |
DE112009001057B4 (de) * | 2008-06-05 | 2014-05-15 | Grammer Aktiengesellschaft | Steuervorrichtung und ein Steuerverfahren zur Steuerung einer Verstelleinrichtung eines Fahrzeugsitzes |
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DE102006006723A1 (de) * | 2006-02-13 | 2007-08-23 | Conti Temic Microelectronic Gmbh | Verfahren und Vorrichtung zur Überwachung eines in einem Kraftfahrzeug angeordneten betätigbaren Verstellantriebs |
DE102007030656A1 (de) * | 2007-07-02 | 2009-01-08 | Brose Fahrzeugteile Gmbh & Co. Kommanditgesellschaft, Hallstadt | Verfahren zum Erkennen eines Einklemmfalles sowie Verstelleinrichtung |
DE102008018818A1 (de) * | 2008-04-15 | 2009-10-22 | Continental Teves Ag & Co. Ohg | Elektrisches Motoransteuerungsverfahren mit Lastmomentanpassung |
DE102008001202A1 (de) | 2008-04-16 | 2009-10-22 | Zf Friedrichshafen Ag | Verfahren zum Ermitteln eines Nutzsignals |
DE102008031870B4 (de) * | 2008-07-05 | 2012-01-05 | Leopold Kostal Gmbh & Co. Kg | Verfahren zum Erkennen einer Hindernissituation eines elektromotorisch angetriebenen bewegten Elementes |
DE102012014240B4 (de) * | 2012-07-18 | 2020-02-13 | Audi Ag | Anschlaganordnung |
DE102016220817A1 (de) * | 2016-10-24 | 2018-04-26 | Robert Bosch Gmbh | Vorrichtung und Verfahren zur Erkennung eines Fahrereignisses eines Fahrzeugs |
DE102021132437A1 (de) | 2021-12-09 | 2023-06-15 | Jungheinrich Aktiengesellschaft | Verfahren zum Betreiben eines Flurförderzeugs |
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US5667244A (en) * | 1995-03-27 | 1997-09-16 | Aisin Seiki Kabushiki Kaisha | Method and apparatus for detecting an impact on a vehicle |
EP0903459A1 (de) * | 1996-06-07 | 1999-03-24 | Toyota Jidosha Kabushiki Kaisha | Gerät zum öffnen und schliessen eines fensters |
WO2005071812A1 (de) * | 2004-01-27 | 2005-08-04 | Robert Bosch Gmbh | Verfahren zur auswertung von drehzahl- und drehlageinformationen eines dc-motors |
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2004
- 2004-06-24 DE DE202004009922U patent/DE202004009922U1/de not_active Expired - Lifetime
-
2005
- 2005-06-24 US US11/571,146 patent/US20080119995A1/en not_active Abandoned
- 2005-06-24 EP EP05753787A patent/EP1761985A1/de not_active Withdrawn
- 2005-06-24 WO PCT/EP2005/006850 patent/WO2006000432A1/de active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5667244A (en) * | 1995-03-27 | 1997-09-16 | Aisin Seiki Kabushiki Kaisha | Method and apparatus for detecting an impact on a vehicle |
EP0903459A1 (de) * | 1996-06-07 | 1999-03-24 | Toyota Jidosha Kabushiki Kaisha | Gerät zum öffnen und schliessen eines fensters |
WO2005071812A1 (de) * | 2004-01-27 | 2005-08-04 | Robert Bosch Gmbh | Verfahren zur auswertung von drehzahl- und drehlageinformationen eines dc-motors |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0477176B1 (de) * | 1989-03-02 | 1993-08-25 | NORINA Bautechnik GmbH | Verfahren zur herstellung eines aufgeständerten fussbodens |
DE112009001057B4 (de) * | 2008-06-05 | 2014-05-15 | Grammer Aktiengesellschaft | Steuervorrichtung und ein Steuerverfahren zur Steuerung einer Verstelleinrichtung eines Fahrzeugsitzes |
Also Published As
Publication number | Publication date |
---|---|
DE202004009922U1 (de) | 2005-11-03 |
EP1761985A1 (de) | 2007-03-14 |
US20080119995A1 (en) | 2008-05-22 |
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