WO2014091823A1 - Dispositif et procédé de détection de position d'aiguille d'actionneur électromagnétique - Google Patents

Dispositif et procédé de détection de position d'aiguille d'actionneur électromagnétique Download PDF

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Publication number
WO2014091823A1
WO2014091823A1 PCT/JP2013/078554 JP2013078554W WO2014091823A1 WO 2014091823 A1 WO2014091823 A1 WO 2014091823A1 JP 2013078554 W JP2013078554 W JP 2013078554W WO 2014091823 A1 WO2014091823 A1 WO 2014091823A1
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WO
WIPO (PCT)
Prior art keywords
mover
coil
voltage
current
time
Prior art date
Application number
PCT/JP2013/078554
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English (en)
Japanese (ja)
Inventor
然一 伊藤
酒井　雅也
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to CN201380039060.8A priority Critical patent/CN104487809B/zh
Priority to JP2014527382A priority patent/JP5813232B2/ja
Publication of WO2014091823A1 publication Critical patent/WO2014091823A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G01D5/2006—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils
    • G01D5/2013—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils by a movable ferromagnetic element, e.g. a core
    • 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
    • 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
    • H01F2007/185—Monitoring or fail-safe circuits with armature position measurement

Definitions

  • the present invention relates to a technique for confirming the operation of an electromagnetic actuator used, for example, in an on / off operation portion (such as an on-off valve or a switching valve) of various drive control devices, and in particular, a mover position of an electromagnetic actuator including a coil and a mover
  • an electromagnetic actuator used, for example, in an on / off operation portion (such as an on-off valve or a switching valve) of various drive control devices, and in particular, a mover position of an electromagnetic actuator including a coil and a mover
  • the present invention relates to a detection apparatus and method.
  • the magnitude of the amplitude of the coil current varies depending on the position of the mover (plunger) when a voltage having a constant frequency is applied to the coil.
  • the position of the mover is detected by measuring the amplitude of the coil current.
  • step voltage by applying a step voltage of one step (step voltage), the rising state of the current flowing in the coil is measured a plurality of times during one rising, and a plurality of measured
  • a technique for detecting a mover position by comparing a measured value with a measured value as a reference is known (for example, see Patent Document 2).
  • a magnetic saturation is obtained by comparing a plurality of measured values corresponding to the step voltage of each stage obtained from the current detection unit or the time measuring unit with a reference value. It is possible to discriminate between the mover attracting position when the inductance is reduced due to the inductance and the mover separation position when the inductance is lowered due to the increase in the air gap between the mover and the bottom of the stator. Even in a situation where two different air gap values (mover position) exist for the same inductance value, it is possible to accurately determine these two points and accurately detect the position of the mover. it can.
  • FIG. Embodiment 1 of the present invention will be described below with reference to the drawings.
  • 1 is a block diagram showing a schematic configuration of a mover position detecting device for an electromagnetic actuator according to Embodiment 1 of the present invention in a partial cross-sectional view.
  • the position detection device 1 is connected to an electromagnetic actuator 2, and the electromagnetic actuator 2 operates by a voltage E fed from a power source 3.
  • the electromagnetic actuator 2 includes a coil 20 wound around a stator 21 to form an electromagnet, a mover 22 made of a magnetic material (for example, iron) movably inserted into the coil 20, and a mover 22 in a protruding direction. And a tension spring 23 (hereinafter simply referred to as “spring”) that urges in the upward direction in the drawing.
  • a tension spring 23 hereinafter simply referred to as “spring”
  • the mover 22 when a voltage E is applied from the power source 3 to the coil 20, the mover 22 causes a current to flow through the coil 20 to generate a magnetic flux, thereby narrowing the air gap x with the bottom 21 a of the stator 21 (arrow).
  • the mover 22 is separated from the coil 20 by the biasing force of the spring 23 and returns to the initial position (see FIG. 1).
  • the horizontal axis indicates the air gap x between the mover 22 and the bottom 21 a of the stator 21, and the vertical axis indicates the inductance L of the coil 20.
  • the position detection device 1 in FIG. 1 can detect which of the two points is the actual air gap x (movable element position).
  • the position detection device 1 includes a position detection unit 10, a time measurement unit 13, and a current detection unit 14.
  • the power source 3 includes a voltage control unit 30 that determines the value of the voltage E in response to the electromagnetic actuator drive command.
  • the time measurement unit 13 uses the detection signal from the current detection unit 14 and the voltage E (E1, E2) from the power source 3 as input information, and the elapsed time from the start of change of the coil current i (rising of the voltages E1, E2). Times tl and th are measured and input to the position detection unit 10 as time measurement values. That is, the time measuring unit 13 measures the elapsed times tl and th in each step of the two-stage (multiple-stage) voltages E1 and E2 applied from the power supply 3.
  • the time measuring unit 13 calculates the times tl and th required for the current value to change by a predetermined amount ⁇ io after the coil current i corresponding to the application of the voltages E1 and E2 at each step is changed. Measurements are made with respect to the voltages E1 and E2 of the stepped stages.
  • the position detection unit 10 includes a plurality of tables (first table 11, first table 11) indicating the relationship between the plurality of measurement values (time tl, th) obtained by the time measurement unit 13 and the position of the mover 22 (air gap x). 2 table 12), and the position of the movable element 22 is obtained by comparing a plurality of measured values with a plurality of tables.
  • the horizontal axis shows time
  • (a) shows the waveform of the voltage E1 applied to the coil 20
  • (b) shows the waveform of the coil current i when the voltage E1 is applied.
  • Patent Document 2 unlike the present invention, the times tul and tuh required for the coil current i to change by a predetermined amount ⁇ iul and ⁇ iuh at the time of rising of the coil current i due to the application of the one-stage voltage E1 are used. The position of the mover 22 is detected.
  • FIG. 14 is a block diagram showing a specific functional configuration of the mover position detecting device for an electromagnetic actuator according to the second embodiment of the present invention. Components similar to those described above (see FIG. 3) are the same as those described above. Or with an “A” after the reference and will not be described in detail. Moreover, the whole structure which is not shown in figure is as having shown in FIG.
  • the time measurement unit 13A inputs a detection signal to the current detection unit 14A when a predetermined time to has elapsed from the start of the change of the coil current i.
  • the current detection unit 14A has a current change amount ⁇ il when a predetermined time to has elapsed from the start of the change of the coil current i when the first-stage voltage E1 is applied, and the coil current when the second-stage voltage E2 is applied.
  • the current change amount ⁇ ih at the time when a predetermined time to has elapsed from the start of the change of i is input to the position detection unit 10A.
  • the coil current i includes the inductance L and the coil 20 as shown in FIG. A rise corresponding to the time constant determined by the resistance occurs.
  • the current detection unit 14A detects the coil current i when the detection signal is received from the time measurement unit 13A, and the current during the predetermined time to from the coil current i when each of the step-like voltages E1 and E2 is applied.
  • the change amounts ⁇ il and ⁇ ih are measured.
  • the current detection unit 14A inputs the current change amounts ⁇ il and ⁇ ih (each measurement value) from when the voltages E1 and E2 are applied to the position detection unit 10A.
  • the position detection unit 10A compares each measurement value with the first table 11A and the second table 12A to obtain the air gap x (position of the mover 22).
  • the current detection unit 14A starts after the coil current i starts to change due to the stepped voltages E1 and E2.
  • the current change amounts ⁇ il and ⁇ ih until the predetermined time to elapse are measured with respect to the voltages E1 and E2 of the stepped stages.
  • the position of the mover 22 can be detected. Furthermore, the mover position can be uniquely detected based on a plurality of comparison results using a plurality of tables (first table 11A, second table 12).
  • Embodiment 3 In the first embodiment (FIGS. 3 to 7), the position of the mover 22 is detected using a plurality of tables (first table 11 and second table 12). However, as shown in FIG. You may detect the position of the needle
  • FIG. 16 is a block diagram showing a specific functional configuration of the mover position detecting device for an electromagnetic actuator according to the third embodiment of the present invention. Components similar to those described above (see FIG. 3) are the same as those described above. Or a “B” after the reference numeral, and detailed description thereof is omitted. Moreover, the whole structure which is not shown in figure is as having shown in FIG.
  • the position detection device 1 ⁇ / b> B includes a position detection unit 10 ⁇ / b> B, a time measurement unit 13, and a current detection unit 14.
  • the position detection unit 10B includes only the first table 11 serving as a comparison reference with respect to the measurement time tl when the first-stage voltage E1 is applied. The comparison result between the time tl and the first table 11, and the time tl Based on the comparison result with the time th, the position of the mover 22 is detected.
  • the coil current i is applied to the inductance L of the coil 20 as shown in FIG. 4B. Further, a rise corresponding to a time constant determined by the resistance occurs.
  • the current detection unit 14 detects the coil current i, and at the time t1 when the current value changes by a predetermined amount ⁇ io from the time of application of the first-stage voltage E1, the time measurement unit 13 The detection signal is input to. Similarly, a detection signal is input to the time measurement unit 13 at time t2 when the coil current i changes by a predetermined amount ⁇ io from the time of application of the second-stage voltage E2.
  • the time measurement unit 13 When the time measurement unit 13 receives a signal from the power supply 3 that the first-stage voltage E1 has been applied from the power source 3, the time measurement unit 13 starts time measurement, and detects the detection signal at time t1 when the coil current i changes by a predetermined amount ⁇ io. When received from 14, the time measurement is terminated. Further, when a signal indicating that the second-stage voltage E2 is applied is received from the power supply 3, another time measurement is started, and a detection signal at a time point t2 when the coil current i changes by a predetermined amount ⁇ io is received from the current detection unit 14. When received, the time measurement is terminated.
  • the time measuring unit 13 changes the time tl required for the coil current i to change by the predetermined amount ⁇ io at the first stage voltage E1 and the coil current i by the predetermined amount ⁇ io at the second stage voltage E2.
  • the time th required until this time is measured, and information on the measurement times tl and th is input to the position detector 10B.
  • the position detection unit 10B compares the measurement value (time tl) measured by the time measurement unit 13 with the first table 11, and compares the measurement values (time tl and time th). In comparison, the position of the mover 22 is obtained.
  • the position detection unit 10B determines the first measurement value tla and the first value obtained by the time measurement unit 13.
  • the inductance L of the coil 20 decreases as the coil current i increases as shown in FIG. That is, the inductance L of the coil 20 is different between the rise time of the coil current i when the voltage E1 of the first stage is applied and the rise time of the coil current i when the voltage E2 of the second stage is applied.
  • the air gap x position of the movable element 22
  • the position detection unit 10B includes only the first table 11
  • the position detection unit 10B only needs to include the second table 12.
  • the position detector 10B is the time measuring unit 13 (or the current detector 14A).
  • At least one table (first table 11) indicating the relationship between the plurality of measurement values (time tl, th) obtained in step 1 and the position of the movable element 22, and the measurement values corresponding to the first table 11 ( The time tl) is compared with the first table 11 and a plurality of measured values (time tl and time th) are compared to determine the position of the mover 22.
  • the current dependency of the inductance L of the coil 20 can be determined using only the first table 11 without using a plurality of tables as a table indicating the relationship between the measured value and the air gap x.
  • the position of the movable element 22 can be uniquely determined even when magnetic saturation occurs with a simpler configuration.
  • the time tl required for the coil current i to change by a predetermined amount ⁇ io when the first-stage voltage E1 is applied is compared with the first table 11, but the present invention is not limited to this.
  • a table corresponding to the measurement values to be used may be provided. That is, the elapsed times tl and th after the voltage application are used as the measurement values for position detection.
  • the current changes ⁇ il and ⁇ ih from the current detection unit 14A are used. It may be used. Also in this case, the position of the mover 22 can be uniquely determined using only one of the first table 11A and the second table 12A.
  • Embodiment 4 FIG.
  • the position of the mover 22 is detected by using a plurality of continuous stepped voltages.
  • FIG. 17 is a waveform diagram showing the relationship between the voltage E and the coil current i when a plurality of discontinuous stepped voltages E1 and E2 are applied to the coil 20 of the electromagnetic actuator 2 according to the fourth embodiment of the present invention. is there.
  • the horizontal axis represents time, (a) shows the waveforms of the voltages E1, E2, and E3 applied to the coil 20, and (b) shows the coil current i when the voltages E1, E2, and E3 are applied. Each waveform is shown.
  • the voltages E1 and E2 are not continuously applied as stepped voltages used for detecting the position of the mover 22, but the voltage E1 and the voltage E2 are discontinuous. After the voltage E1 is applied to the coil 20, the voltage value is within a range in which the mover 22 does not operate, and the voltage E3 is applied after the voltage E3 not used for detecting the position of the mover 22 is applied. To do.
  • a first-stage voltage E1 is applied to the coil 20 as shown in FIG.
  • the voltage E2 is not applied to the coil 20 as it is, but the voltage E2 is applied to the coil 20 after the voltage E3 is applied.
  • a stepped voltage is illustrated as the voltage E3.
  • the voltage E1 is changed from the voltage E1 to the voltage E3, the voltage is not limited to the step shape, and a voltage having another shape such as a lamp shape is given. May be.
  • the time measuring unit 13 when the time measuring unit 13 receives each signal from the power source 3 that the voltage E1 and the voltage E2 are applied to the coil 20 in the same manner as in the first embodiment, the time measuring unit 13 responds accordingly. Time measurement is started, and when each detection signal is received from the current detection unit 14 that the coil current i has changed by a predetermined amount ⁇ io defined in advance, the time measurement is terminated.
  • the time measuring unit 13 required time tl required for the coil current i to change by a predetermined amount ⁇ io when the voltage E1 is applied, and until the coil current i changes by the predetermined amount ⁇ io when the voltage E2 is applied. Time th and time are measured respectively.
  • the time measurement unit 13 inputs measurement values (time tl, time th) corresponding to the voltages E1 and E2 to the position detection unit 10. Then, the position detection unit 10 compares each measurement value with the first table 11 and the second table 12, and obtains the air gap x (position of the mover 22).
  • the power source 3 according to the fourth embodiment (FIG. 17) of the present invention applies a discontinuous stepped voltage of a plurality of stages, and the time measuring unit 13 generates a coil by the stepped voltage of each stage. The time until the current i changes by a predetermined amount ⁇ io is measured for each stepped voltage.
  • the position detection unit 10 includes a plurality of tables indicating the relationship between the plurality of measurement values obtained by the time measurement unit 13 and the position of the mover 22 (air gap x). The position of the mover 22 is obtained by comparing with the table.
  • Embodiments 1 to 4 (FIGS. 1 to 17) of the present invention have been individually described.
  • the configurations of Embodiments 1 to 4 can be arbitrarily combined. In this case, it goes without saying that the effects of the respective embodiments can be obtained in duplicate.

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Electromagnets (AREA)

Abstract

Selon la présente invention, par l'application d'une tension graduée à une pluralité de niveaux à une bobine, l'obtention d'une pluralité de valeurs de mesure sur la base de la variation d'un courant de bobine lorsque chaque niveau de tension est appliqué, la comparaison d'une première table et d'une seconde table dans lesquelles les valeurs de mesure sont associées à des variations dans l'inductance de la bobine, et ainsi la détermination de manière unique de la position d'une aiguille d'un actionneur électromagnétique, il est possible de différencier la position d'adhérence de l'aiguille durant une chute d'inductance due à une saturation magnétique et la position de séparation de l'aiguille durant une chute d'inductance due à l'élargissement d'un entrefer entre l'aiguille et un fond de stator.
PCT/JP2013/078554 2012-12-11 2013-10-22 Dispositif et procédé de détection de position d'aiguille d'actionneur électromagnétique WO2014091823A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201380039060.8A CN104487809B (zh) 2012-12-11 2013-10-22 电磁致动器的可动元件位置检测装置和方法
JP2014527382A JP5813232B2 (ja) 2012-12-11 2013-10-22 電磁アクチュエータの可動子位置検出装置

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JP2012-270207 2012-12-11
JP2012270207 2012-12-11

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WO2014091823A1 true WO2014091823A1 (fr) 2014-06-19

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017001052A3 (fr) * 2015-06-27 2017-06-15 Auma Riester Gmbh & Co. Kg Actionneur et procédés correspondants
JP2017173320A (ja) * 2016-03-24 2017-09-28 ザ・スウォッチ・グループ・リサーチ・アンド・ディベロップメント・リミテッド タッチプレートなどのための電磁誘導式変位センサー用の検出回路

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016218761A1 (de) * 2016-09-28 2018-03-29 Zf Friedrichshafen Ag Verfahren und Steuergerät zum Betreiben einer Aktorvorrichtung und Aktorsystem
IT201600109364A1 (it) * 2016-10-28 2018-04-28 Ksb Ag Metodo ed apparato per l'adattamento delle caratteristiche magnetiche di un motore sincrono a riluttanza
FR3065110B1 (fr) * 2017-04-11 2019-04-19 Schneider Electric Industries Sas Procede et dispositif de commande d'un actionneur, et appareil de protection electrique comportant un tel dispositif

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US5481187A (en) * 1991-11-29 1996-01-02 Caterpillar Inc. Method and apparatus for determining the position of an armature in an electromagnetic actuator
JP2004219089A (ja) * 2003-01-09 2004-08-05 Kura Gijutsu Kenkyusho:Kk 回路素子の定数及び定数差検出回路及びそれを用いた位置検出装置及び導体の欠陥或いは有無の識別検査装置及びトルクセンサ
GB2435772A (en) * 2005-01-03 2007-09-05 Scania Cv Ab Method and computer program for determining position of a movable core in a coil
JP2009131133A (ja) * 2007-11-28 2009-06-11 Toyota Motor Corp 電磁アクチュエータ制御装置及び方法
WO2011084239A2 (fr) * 2009-12-17 2011-07-14 Caterpillar Inc. Systèmes et procédés permettant de détecter le mouvement d'une armature de solénoïde

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JP2001281074A (ja) * 2000-03-30 2001-10-10 Yamaha Motor Co Ltd 荷重検出装置
JP2005317612A (ja) * 2004-04-27 2005-11-10 Kayaba Ind Co Ltd ソレノイドのプランジャ位置検出装置およびソレノイドのプランジャ位置検出方法
EP2137499B1 (fr) * 2006-12-21 2017-03-15 Micro-Epsilon Messtechnik GmbH & Co. KG Procédé et système de détecteur pour la détermination de la position et/ou de la modification de la position d'un objet mesuré par rapport à un détecteur
JP5488103B2 (ja) * 2010-03-25 2014-05-14 ヤマハ株式会社 電磁アクチュエータの変位位置検出装置

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Publication number Priority date Publication date Assignee Title
US5481187A (en) * 1991-11-29 1996-01-02 Caterpillar Inc. Method and apparatus for determining the position of an armature in an electromagnetic actuator
JP2004219089A (ja) * 2003-01-09 2004-08-05 Kura Gijutsu Kenkyusho:Kk 回路素子の定数及び定数差検出回路及びそれを用いた位置検出装置及び導体の欠陥或いは有無の識別検査装置及びトルクセンサ
GB2435772A (en) * 2005-01-03 2007-09-05 Scania Cv Ab Method and computer program for determining position of a movable core in a coil
JP2009131133A (ja) * 2007-11-28 2009-06-11 Toyota Motor Corp 電磁アクチュエータ制御装置及び方法
WO2011084239A2 (fr) * 2009-12-17 2011-07-14 Caterpillar Inc. Systèmes et procédés permettant de détecter le mouvement d'une armature de solénoïde

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017001052A3 (fr) * 2015-06-27 2017-06-15 Auma Riester Gmbh & Co. Kg Actionneur et procédés correspondants
JP2017173320A (ja) * 2016-03-24 2017-09-28 ザ・スウォッチ・グループ・リサーチ・アンド・ディベロップメント・リミテッド タッチプレートなどのための電磁誘導式変位センサー用の検出回路

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CN104487809B (zh) 2016-09-07
JP5813232B2 (ja) 2015-11-17
CN104487809A (zh) 2015-04-01
JPWO2014091823A1 (ja) 2017-01-05

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