阅读说明：本技术 用于将促动器设备的促动器运动到额定位置中的方法和设备以及促动器设备 (Method and device for moving an actuator of an actuator device into a nominal position, and actuator device ) 是由 费利克斯·博克曼 于 2018-05-16 设计创作，主要内容包括：本方案涉及一种用于将促动器设备(100)的促动器(115)运动到额定位置(200)中的方法,其中,促动器设备(100)包括至少一个马达(105)、传动装置(110)和促动器(115)。方法包括至少一个确定的步骤、获知的步骤、识别的步骤和产生的步骤。在确定的步骤中,通过使用马达电压(205)、马达电流(210)和马达温度(215)来确定马达(105)的转速(202)。在获知的步骤中,通过使用转速(202)和传动装置(110)的传动比因数来获知促动器(115)的速度(225)。在识别的步骤中,通过使用速度(225)和行进时间(230)来识别促动器(115)的经更新的位置(235)。在产生的步骤中,产生控制信号(135),控制信号被构造成用于通过使用经更新的位置(235)引起将促动器(115)运动到额定位置(200)中。(The present disclosure relates to a method for moving an actuator (115) of an actuator system (100) into a target position (200), wherein the actuator system (100) comprises at least one motor (105), a gear (110) and the actuator (115). The method comprises at least one of the steps of determining, learning, identifying and generating. In the determining step, a rotational speed (202) of the motor (105) is determined by using the motor voltage (205), the motor current (210), and the motor temperature (215). In the learning step, the speed (225) of the actuator (115) is learned by using the rotational speed (202) and a gear ratio factor of the transmission (110). In the identifying step, an updated position (235) of the actuator (115) is identified by using the speed (225) and the travel time (230). In the generating step, a control signal (135) is generated, which is configured to cause the actuator (115) to be moved into the setpoint position (200) by using the updated position (235).)

1. Method (500) for moving an actuator (115) of an actuator device (100) into a nominal position (200), wherein the actuator device (100) comprises at least one motor (105), a transmission (110) and the actuator (115) coupled with the motor (105) via the transmission (110), and wherein the method (500) comprises the steps of:

determining (505) a rotational speed (202) of the motor (105) by using a motor voltage (205), a motor current (210) and a motor temperature (215);

-learning (510) the speed (225) of the actuator (115) by using the rotational speed (202) and a gear ratio factor (315) of the transmission (110);

identifying (515) an updated position (235) of the actuator (115) by using the speed (225) and travel time (230); and is

Generating (520) a control signal (135) configured for causing a movement of the actuator (115) to the nominal position (200) by using the updated position (235).

2. The method (500) according to claim 1, the method (500) having a step (525) of comparing, wherein a comparison between the nominal position (200) and the updated position (235) is performed, wherein a control signal (135) for controlling the motor (105) is determined by using a comparison result of the comparison.

3. The method (500) according to any one of the preceding claims, wherein, in the step of identifying (515), the updated position (235) is identified by integrating the speed (225) with respect to the travel time (230).

4. The method (500) according to any one of the preceding claims, wherein in the step of determining (505), the rotational speed (202) is determined by using a family of characteristics (300).

5. The method (500) according to any one of the preceding claims, wherein in the step of determining (505) an intermediate rotational speed is determined by using the motor current (210), the motor temperature (215) and a further comprehensive characteristic curvature (400), wherein the rotational speed (202) is determined by using the intermediate rotational speed, the motor voltage (205) and a correction factor (410).

6. The method (500) according to any one of the preceding claims, wherein the control signal (135) is generated in the step of generating (520), the control signal being configured for providing a voltage to a motor (105) coupled with the actuator (115) via the transmission (110) for shifting the actuator (115) into a nominal position (200).

7. An apparatus (120) configured for driving and/or implementing the steps of the method (500) according to any one of the preceding claims in a respective unit (220, 245, 250).

8. Actuator device (100) having at least one motor (105), a transmission (110) and an actuator (115), wherein the motor (105) is coupled with the actuator (115) via the transmission (110) and having a device (120) according to claim 7, which is used for generating a control signal (135) for the motor (105).

9. Computer program which is set up for carrying out and/or controlling the method (500) according to one of claims 1 to 6.

10. Machine-readable storage medium, on which a computer program according to claim 9 is stored.

Technical Field

The invention relates to a method and a device for moving an actuator of an actuator device into a nominal position, and to an actuator device having a corresponding device.

Background

In an actuator coupled to the dc motor via a transmission, a rotational movement of the permanently excited dc motor is converted by the transmission into a translational actuating movement of the actuator. In order to keep the sensor technology low, a separate signal is used for the position detection of the actuator. It is only sensed whether the actuator is in the target position or in the starting position.

Disclosure of Invention

Against this background, the present solution provides an improved method and device for moving an actuator of an actuator device into a nominal position according to the independent claims and an actuator device with an improved device. Advantageous embodiments result from the dependent claims and the following description.

The method proposed here advantageously makes it possible to reconstruct the current position of the actuator coupled to the motor by using motor variables in the form of motor voltage, motor current and motor temperature, which can be sensed in a simple manner, in order to move the actuator into the setpoint position.

Method for moving an actuator of an actuator device into a nominal position, wherein the actuator device comprises at least one motor, a transmission and an actuator coupled with the motor via the transmission, the method comprising the steps of:

determining a rotational speed of the motor by using the motor voltage, the motor current, and the motor temperature;

knowing the speed of the actuator by using the rotational speed and a transmission ratio factor of the transmission;

identifying an updated position of the actuator by using the speed and travel time; and is

Generating a drive signal configured for causing the actuator to move into the nominal position by using the updated position.

The motor voltage may represent a voltage signal read in via an interface to a voltage sensor. The motor current may represent a current signal read in via an interface to a current sensor. The motor temperature may represent a temperature signal read in via an interface to a temperature sensor. According to various embodiments, the motor temperature may be an external temperature or an internal temperature of the motor. The rotational speed of the motor may relate to the rotational movement of the shaft of the motor. The speed of the actuator may be caused by a rotational movement of a motor shaft transmitted to the actuator via a transmission. The updated position may be understood as the current position of the actuator. It can be assumed here that the starting position of the actuator is known. The travel time may represent a travel time from a starting position. In the step of generating, a drive signal is generated, which is configured to cause the actuator to move into the nominal position by using the updated position. The drive signal may be, for example, a control voltage, a control current or a drive signal for driving a regulator for regulating the operation of the motor. With the method presented here, it is possible to verify where the actuator is by using the described motor variables. Starting from this, the actuator can then be moved into the desired position. For this purpose, a simple regulating circuit can be used.

The method can therefore have a step of comparison, which can be carried out, for example, before the step of generating, wherein a comparison between the setpoint position and the updated position is carried out in the step of comparing. The control signal for controlling the motor can then advantageously be determined by using the comparison result of the comparison. For example, in the step of comparing, a subtraction operation between the updated position and the nominal position may be performed to determine a control signal which is advantageously configured for moving the actuator by using a comparison result showing a difference between the updated position and the nominal position.

In the step of identifying, the updated position may be identified, for example, by integrating the speed of the actuator with respect to the travel time.

According to an advantageous embodiment of the method proposed here, the rotational speed can be determined in the determination step by using a characteristic map. For example, the rotational speed can be determined by means of a characteristic map, which can be in the form of a stored numerical table. The rotational speed can thus be quickly and easily assigned by means of the characteristic line. Since the motor temperature is not always precisely measurable, it is sufficient here to distinguish between high and low temperatures depending on the temperature range required and to reduce the characteristic diagram accordingly. Thus, according to an embodiment, the motor temperature may have a value range comprising only two values.

For example, in the determining step, an intermediate rotational speed may first be determined by using the motor current, the motor temperature and a further characteristic map, wherein the rotational speed may be determined by using the intermediate rotational speed, the motor voltage and the correction factor. The temporarily determined rotational speed may be understood as an intermediate rotational speed. The correction factor may here represent the quotient of the measured voltage and the design voltage. The correction factor is used to reduce complexity, so that, for example, a further characteristic curve family only has to be measured or stimulated at one voltage.

In the step of generating, a control signal may be generated, the control signal being configured to provide a voltage to a motor for displacing the actuator into the nominal position, the motor being coupled with the actuator via a transmission.

The device is designed to control and/or carry out the steps of the method according to any one of the variants in the respective unit.

The device may be an electrical device which processes an electrical signal, for example a sensor signal, and outputs a control signal in dependence thereon. The device may have one or more suitable interfaces, which may be configured in hardware and/or software. In a hardware-wise configuration, the interface may be, for example, part of an integrated circuit in which the functions of the device are implemented. The interface may also be an integrated switching circuit of its own or at least partially formed by discrete components. In a software-like configuration, the interface may be, for example, a software module present on the microcontroller alongside other software modules.

The actuator device has at least one motor, a transmission and an actuator, wherein the motor is coupled with the actuator via the transmission. Furthermore, the actuator device has the device just presented in the foregoing, which is configured for generating a control signal for the motor.

A computer program product with a program code which can be stored on a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory and which, when the program is implemented on a computer or a device, is used to carry out the method according to any of the embodiments described above is also advantageous.

Drawings

Embodiments of the solution presented herein are illustrated in the drawings and explained in detail in the following description. Wherein:

fig. 1 shows a schematic view of an actuator device according to an embodiment;

fig. 2 shows a schematic view of an actuator arrangement according to an embodiment;

fig. 3 shows a schematic illustration of a device for moving an actuator of an actuator device into a nominal position according to an embodiment;

FIG. 4 shows a schematic diagram of an apparatus according to an embodiment; and

fig. 5 shows a flow chart of a method for moving an actuator of an actuator device into a nominal position according to an exemplary embodiment.

In the following description of preferred embodiments of the invention, the same or similar reference numerals are used for elements which are shown in different figures and which function similarly, wherein repeated descriptions of these elements are omitted.

Detailed Description

Fig. 1 shows a schematic view of an actuator device 100 according to an embodiment. The actuator apparatus 100 has at least one motor 105, a transmission 110, an actuator 115, and an apparatus 120. The motor 105 is coupled with an actuator 115 via a transmission 110. The transmission 110 is configured to convert the rotational motion 125 of the motor 105 into a linear motion 130 of the actuator 115. According to this embodiment, the transmission 110 is coupled with the shaft 132 of the motor 105.

The apparatus 120 is configured to generate a control signal 135 for the motor 105. The control signal 135 is designed to control the operation of the motor 105 in such a way that the actuator 115 is moved from the current position into the setpoint position.

Fig. 2 shows a schematic view of an actuator device 100 according to an embodiment. The actuator device may be the actuator device 100 depicted in fig. 1.

To move the actuator 115 into the nominal position 200, the apparatus 120 is configured for determining the rotational speed 202 of the motor 105 by using the motor voltage 205, the motor current 210 and the motor temperature 215. To this end, the device 120 according to the present embodiment is a position reconstruction means 220 which is configured for reading in respective signals which are sensed and provided by or have been sensed by the motor voltage sensor, the motor current sensor and the temperature sensor according to the embodiment.

Furthermore, the device 120, in turn the position reconstruction means 220 of the device 120 according to this embodiment, is configured for knowing a speed 225 of the actuator 115, for example a speed 225 of the linear movement of the actuator 115, by using the rotational speed 202 and a transmission ratio factor of the transmission 110. Using the speed 225 and the travel time 230, the apparatus 120 is configured to identify an updated position 235 of the actuator 115. To this end, according to this embodiment, the position reconstruction means 220 reads in a signal representing the travel time 230. By using the updated position 235, the apparatus 120 is configured for generating a control signal 135 configured for causing the actuator 115 to move into the nominal position 200. According to this embodiment, the device 120 has for this purpose a regulator device 245 configured for outputting the control signal 135 to the motor 105.

Optionally, the device 120 according to this embodiment also has a comparison means 250 configured for performing a comparison between the nominal position 200 and the updated position 235 beforehand. For this purpose, the comparison device 250 reads in the corresponding signal and determines the control signal 135 by using the comparison result of the comparison. For example, a signal representative of nominal position 200 may be read from a memory device. The signal representing the updated position 235 may be provided by the position reconstruction device 220.

According to this embodiment, the regulator device 245 generates a control signal 135 which provides a voltage for displacing the actuator 115 into the nominal position 200 to the motor 105 which is coupled with the actuator 115 via the transmission 110.

The steps performed by the device 120 can be performed continuously, so that the current updated position 235 can be determined continuously and can be used to track the actuator into the setpoint position 200. For example, an updated position 235 that corresponds to reality may be determined until the last determined updated position 235 coincides with the nominal position 200.

In the following, embodiments of the actuator device 100 and the device 120 are described again in a further expression:

the device 120 proposed herein is configured for controlling or executing a method for reconstructing a translated actuator position from measured motor variables.

Unlike devices in which the rotational speed of the motor is known from the voltage and/or the torque of the motor is known from the current from the characteristic line, respectively, the device 120 presented here knows the rotational speed 202 from the combination of the motor current 210 and the motor voltage 205 and additionally also from the motor temperature 215. The rotational speed 202 is converted to the gear ratio of the transmission 110. The system is extended with a time measurement in the form of travel time 230, by which it is possible to learn the updated position 235 from the speed 225 by integrating over time.

Advantageously, the device 120 thus takes into account the temperature dependence of the motor characterization (characteristic line). Thus, not only a signal proportional to the rotational speed is detected, but also a clear detection of the motor operating point is performed. In addition, a time measurement is made, which is the basis for knowing the updated position 235. The transmission ratio of the transmission 110 and the conversion into a translational movement are also taken into account.

The product relates to an actuator 115, which actuator 115 converts a rotational movement of the permanently excited dc motor 105 into a translational adjusting movement via the transmission 110. In order to keep the sensor technology less expensive, position detection is often carried out using discrete signals. Therefore, it is only sensed whether the actuator 115 is in the target position or in the start position.

In order to make the actuator device 100 shown here adjustable, the position and/or speed 225 is continuously known. The adjustment provides advantages in terms of accuracy and acoustics. Since the load is unknown and also not constant, the control is usually not optimal in the known system. From the variables of the motor current 210, the motor voltage 205 and the motor temperature 215, which can be easily determined, the instantaneous rotational speed 202 can be determined by the device 120 proposed here via characteristic lines. From this, the current position in the form of the updated position 235 can again be known via the gear ratio and integration over time.

Thus, the solution presented here describes a method that can be implemented by the device 120 for reconstructing the speed 225 and/or the position of the actuator 115 from the variables to be measured in the form of the motor current 210, the motor voltage 205 and the motor temperature 215.

The basic fact case can be described as follows: the clear speed and torque characteristic line is obtained through voltage and temperature. The motor current 210 is proportional to the torque. Now, it is possible to unambiguously determine the current operating point on the speed-torque characteristic curve, to which the rotational speed 202 is unambiguously assigned. In short, the motor speed can be unambiguously assigned for each combination of voltage, current and temperature. This is used with the aid of a characteristic map having three of the input variables. See also fig. 3 for this purpose.

Additionally, the speed 225 of the translating part of the actuator 115 is known via the transmission ratio of the transmission 110, which may also be referred to as actuator transmission, the transmission ratio of the spur gear stage in the special case according to this embodiment, and the lead of the screw. The system also includes a time measurement from the start time during the application of the voltage. The speed 225 can now be integrated over time, since the starting position in the actuator 115 is known, from which the current position in the form of the updated position 235 can be deduced. This variable is now used for position regulation in the regulation loop as shown in this figure. The reconstructed signal may also become inaccurate due to inaccurate measurements/inaccurate characteristic lines. However, this provides sufficient accuracy for the adjustment of the superposition. In combination with binary target position and starting position detection, the target position can be accurately approximated by correction. Since speed 225 is also known, this speed can also be used as a regulating variable.

Fig. 3 shows a schematic illustration of a device 120 for moving an actuator of an actuator device into a nominal position according to an embodiment. The device may be the device 120 depicted in fig. 2.

According to this embodiment, the device 120 determines the rotational speed 220 by using the family of characteristics 300 already described in fig. 2. According to an embodiment, the family of characteristics 300 is predetermined and stored, for example, in a storage device. Further, the device 120 identifies the updated location 235 by integrating the speed 225 with respect to the travel time 230 in the integration means 310. To determine the speed 225 from the rotational speed 202, a gear ratio factor 315 is used, which relates to the gear ratio of the transmission.

The knowledge of the rotational speed 202 from the three alternative variables motor voltage 205, motor current 210 and motor temperature 215 can be implemented in different ways, for which reference is made to this figure and fig. 4. The motor temperature 215 is often measured inaccurately. Depending on the temperature range required, for example, it is sufficient to distinguish between high and low temperatures and to reduce the characteristic diagram 300 accordingly. The speed-torque characteristic is proportional to the motor voltage 205.

Fig. 4 shows a schematic illustration of a device 120 for moving an actuator of an actuator device into a nominal position according to an embodiment. Here, the device may be the device 120 described in fig. 2.

According to this embodiment, the device 120 determines the intermediate rotational speed by using the motor current 210, the motor temperature 215 and the further characteristic diagram 400, wherein the rotational speed 202 is determined by using the intermediate rotational speed, the motor voltage 205 and the correction factor 405. According to an embodiment, the family of characteristics 400 is predetermined and stored, for example, in a storage device.

A correction factor 405 may be formed for complexity reduction and represents the measured voltage divided by the design voltage. According to an embodiment, the correction factor 405 is predetermined. Therefore, the characteristic map 400 only needs to be measured or simulated at one voltage.

Fig. 5 shows a flow chart of a method 500 for moving an actuator of an actuator device into a nominal position according to an exemplary embodiment. The actuator device may relate to the actuator device described in one of fig. 1 to 2. The method 500 may be performed and/or controlled by one of the devices described in one of fig. 1-4.

The method 500 includes at least one of determining 505, learning 510, identifying 515, and generating 520. In a determining step 505, a rotational speed of the motor is determined by using the motor voltage, the motor current, and the motor temperature. In learning step 510, the speed of the actuator is learned using the rotational speed and a gear ratio factor of the transmission. In an identifying step 515, an updated position of the actuator is identified by using the speed and travel time. In a step 520 of generating, a control signal is generated, which is configured to cause the actuator to move into the nominal position by using the updated position.

Step 525 of the embodiment and additional comparisons described below is optional.

According to this embodiment, the rotational speed is determined in a determination step 505 by using a characteristic map. To this end, according to this exemplary embodiment, in a determination step 505, an intermediate rotational speed is determined by using the motor current, the motor temperature and a further characteristic map, wherein the rotational speed is determined by using the intermediate rotational speed, the motor voltage and the correction factor.

According to this embodiment, in an identifying step 515, the updated location is identified by integrating the velocity with respect to the travel time.

In a step 520 of generating, a control signal is generated, which is designed to provide a voltage to a motor coupled to the actuator via a transmission for displacing the actuator into a nominal position.

Furthermore, the method 500 according to this embodiment comprises a step 525 of comparing, wherein a comparison between the nominal position and the updated position is performed, wherein the control signal for controlling the motor is learned by using the comparison result of the comparison.

If an example includes "and/or" as a connecting word between a first feature and a second feature, it can be understood that the example has not only the first feature but also the second feature according to an embodiment and either only the first feature or only the second feature according to a further embodiment.

List of reference numerals

100 actuator arrangement

105 motor

110 driving device

115 actuator

120 device

125 rotational movement

130 linear motion

135 control signal

200 nominal position

205 motor voltage

210 motor current

215 motor temperature

220 position reconstruction device

225 speed

230 travel time

235 updated location

245 regulator device

250 comparing device

300 family of characteristic curves

310 integration device

315 gear ratio factor

400 further family of characteristic curves

410 correction factor

500 method for moving an actuator of an actuator arrangement into a target position

505 of the step of determining

510 step of learning

515 identification of steps

520 step of Generation

525 comparison step