EP1875480A2 - Quick-action bistable polarized electromagnetic actuator - Google Patents

Quick-action bistable polarized electromagnetic actuator

Info

Publication number
EP1875480A2
EP1875480A2 EP06743652A EP06743652A EP1875480A2 EP 1875480 A2 EP1875480 A2 EP 1875480A2 EP 06743652 A EP06743652 A EP 06743652A EP 06743652 A EP06743652 A EP 06743652A EP 1875480 A2 EP1875480 A2 EP 1875480A2
Authority
EP
European Patent Office
Prior art keywords
electromagnetic actuator
actuator according
stator
current
assembly
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP06743652A
Other languages
German (de)
French (fr)
Other versions
EP1875480B1 (en
Inventor
Gaël ANDRIEUX
Stéphane BIWERSI
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Moving Magnet Technologie SA
Original Assignee
Moving Magnet Technologie SA
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 Moving Magnet Technologie SA filed Critical Moving Magnet Technologie SA
Publication of EP1875480A2 publication Critical patent/EP1875480A2/en
Application granted granted Critical
Publication of EP1875480B1 publication Critical patent/EP1875480B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/20—Output circuits, e.g. for controlling currents in command coils
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L9/00—Valve-gear or valve arrangements actuated non-mechanically
    • F01L9/20—Valve-gear or valve arrangements actuated non-mechanically by electric means
    • 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
    • H01F7/13—Electromagnets; Actuators including electromagnets with armatures characterised by pulling-force characteristics
    • 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
    • H01F7/16—Rectilinearly-movable armatures
    • H01F7/1638—Armatures not entering the winding
    • H01F7/1646—Armatures or stationary parts of magnetic circuit having permanent magnet
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/20—Output circuits, e.g. for controlling currents in command coils
    • F02D2041/2068—Output circuits, e.g. for controlling currents in command coils characterised by the circuit design or special circuit elements
    • F02D2041/2079—Output circuits, e.g. for controlling currents in command coils characterised by the circuit design or special circuit elements the circuit having several coils acting on the same anchor
    • 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
    • H01F7/16—Rectilinearly-movable armatures
    • H01F2007/1692—Electromagnets or actuators with two coils
    • 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
    • H01F7/121—Guiding or setting position of armatures, e.g. retaining armatures in their end position
    • H01F7/122—Guiding or setting position of armatures, e.g. retaining armatures in their end position by permanent magnets
    • 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
    • H01F7/14—Pivoting armatures

Definitions

  • the present invention relates to the field of polarized electromagnetic actuators, more particularly intended for applications requiring short travel times over a significant travel, and, for example, the electrical actuation of the valves of an internal combustion engine.
  • polarized electromagnetic actuators for actuation are known, as described, for example, in US Pat. No. 5,078,235.
  • An actuator according to this example comprises two fixed electromagnets disposed on either side of a movable ferromagnetic armature capable of coming into contact with one or the other of the electromagnets according to the supply of two coils each mounted on one of the stators. electromagnets.
  • Return springs are also distributed on either side of the electromagnetic system ensuring a position of balance without current in the middle of the total travel of the mobile armature.
  • these solutions have several defects. For example, they require a holding current when the actuator is in the extreme position (for example, a closed valve). In addition, they require an initialization phase during startup of the system, intended to move the mobile mass from a central position to the high position and offer limited controllability possibilities.
  • electrical actuators of polarized valves to overcome these defects, and to provide specific advantages to polarized bistable actuators: holding in end position without power consumption, better controllability of the system ...
  • An actuator according to this example comprises two fixed electromagnets, at least one of which is polarized by a pair of magnets judiciously placed, arranged on either side of a movable ferromagnetic member which can come into contact with the first electromagnet or the second according to the selected control sequences.
  • the present example makes it possible to electrically modulate the currentless attraction forces generated by the magnets through the electromagnets on the movable member but also to reduce the power consumption by stable positions without current.
  • each of the magnets interacts only with an electromagnet, which induces a non-optimal use of the magnetic flux generated by the magnets. It is the same for coils that do not offer optimal cooperative use with the two polarized electromagnets.
  • the object of the present invention is to optimize the efficiency of the magnets implanted in the polarized electromagnetic structure and to propose an optimized and simplified control mode.
  • the actuator according to the invention has a single fixed stator part judiciously polarized by at least one magnet and associated with at least one coil, and a movable ferromagnetic part composed of two ferromagnetic armatures integral with the same mobile element and arranged on either side of the stator.
  • the electromagnetic actuator comprises a first stable position without current when the so-called "upper” armature of the mobile part is in contact with the upper part of the stator thereby defining a first remarkable magnetic circuit associated with a first preferential flux path.
  • the electromagnetic actuator comprises a second stable position without current when the "lower" armature of the movable part is in contact with the lower part of the stator thus defining a second remarkable magnetic circuit associated with a second path of preferential flow.
  • the magnet cooperates fully (near leaks) with the moving part at the end of the stroke.
  • the same magnet cooperates alternately with one or the other of the ferromagnetic parts at the end of the stroke.
  • the magnet cooperates "totally" with the moving part at the end of the stroke, then "totally” with the other moving part.
  • this type of structure has the particularity of producing a very large power without current in each of the stable positions without current at the end of the race.
  • this type of actuator has the particularity of having a relatively small force over a large part of its travel, as shown in FIGS. 1 & 2.
  • the counter-electromotive force exerted on the mobile part in motion is greatly reduced over most of the race.
  • the fixed part is formed by a ferromagnetic core surrounded by a transversely magnetized thin magnet, said core being further surrounded by at least one coaxial electrical coil with the magnet permanent, said fixed part further comprising an outer yoke surrounding said permanent magnet and said fixed coil to form polar horns adapted to cooperate magnetically with one or the other of the ferromagnetic armatures of the movable part.
  • the stator assembly has a rectangular section.
  • the stator assembly has a circular section.
  • the moving assembly is constituted by an axis passing through the stator assembly and supporting at least one ferromagnetic armature having a section corresponding to the section of the yoke of the stator part.
  • the electromagnetic actuator has two sets of independently connected excitation coils.
  • each of the outstanding magnetic circuits is associated with an excitation coil that is suitably connected (in series or in parallel) with its neighbor, thereby defining a single electrical phase.
  • the arrangement of the coils in the electrical phase is realized in such a way that the magnetic flux generated by the first coil is withdrawn from the current-free flow of the first remarkable magnetic circuit while the magnetic flux generated by the second coil is added to the flow without current of the second magnetic circuit remarkable.
  • the actuator can be controlled using a single bipolar current.
  • the actuator according to this preferred variant is single-phase and traversed by a current bipolar. This also makes it possible to reduce the number of power transistors and the cost of the electronics (at most 4 transistors).
  • the current supplying the electrical phase of the actuator can be modulated, and this without necessarily having to change its polarity, in order to slow down or accelerate the movable member during its course from one end of the race to the next. the other. It has a better controllability of the actuator while maintaining a good current dynamics.
  • This control mode makes it possible to set up a "soft landing” strategy and therefore drastically reduce the noise caused by the landing of the mobile part on the stator part.
  • This type of actuator also has the particularity of grouping at its center the stator part, namely a ferromagnetic part comprising one or more permanent magnets but also one or more coils. This specificity makes it possible to concentrate the magnetic excitation fluxes in a localized and controlled zone. This is a particularity that can be exploited when integrating into at least one of the magnetic circuits of a remarkable remarkable position sensor, for example Hall effect or inductive type.
  • the actuator comprises an elastic return system exerting a force on each of the ends of the movable member intended to keep the latter close to its mid-race and conferring on the actuator thus designated the mass system quality. -spring.
  • the above-defined actuator with judiciously sized elastic elements, has two stable steady state of equilibrium positions and an increased dynamic of displacement.
  • the actuator comprises two compression springs each exerting a balanced force on each of the two moving armatures. In this way, the movable armatures can advantageously be used not as a single magnetic member but also as a mechanical stop for the springs.
  • the springs are placed on the same side of the movable member and each separated by a third part connected to the movable member.
  • the elastic return system described here gives the mobile unit a maximum speed in the middle of the race, which is high over most of the race and almost zero in the vicinity of the ends of the race, so it should be noted that is quite adapted to the principle of the actuator described here. Indeed, the force against electro-motor being proportional by nature. the speed of the moving part and of a nature to slow down it, this one being reduced on a major part of the race or even quasi-null as soon as the race becomes relatively consequent, it makes it possible to reduce as much as possible the losses of nature to penalize the dynamics of the system.
  • the structure has an extrusive geometric invariance and thus advantageously makes it possible to produce the magnetic circuit of the actuator in a soft laminated magnetic material.
  • the structure may be polarized by two flat magnets placed symmetrically with respect to the main axis of the actuator.
  • the actuator can be defined axisymmetrically with the aid of a single magnetic ring substantially radially magnetized.
  • the electromagnetic actuator comprises a ring magnet axis of revolution collinear with the main axis of the actuator and magnetized substantially radially.
  • the magnets distribute a magnetic field in the stator which then loops back into the air around the stator poles.
  • the magnetic flux generated by the magnets describes a magnetic circuit that can be advantageously used during a magnetization phase. Therefore, it can be advantageously when the magnets are already integrated in the magnetic structure. In this way, it saves a certain time on the magnetization phase since a single polarized stator is required but also saves time on the assembly phases which are therefore simplified by handling magnets not magnetized.
  • This type of actuator has a useful travel substantially equal to the sum of the air gap separating the so-called “lower” armature from the lower part of the stator assembly and the gap separating the "upper” armature from the upper part of the stator assembly.
  • the mechanical stops defining the ends of races will have to be adapted.
  • the mechanical stops of start and end of stroke will be realized by the direct contact of the ferromagnetic armatures on the ferromagnetic stator part.
  • the mechanical stops will be realized by the addition of a non-magnetic third located between the ferromagnetic armatures and the ferromagnetic stator part.
  • these third parties may for example be made by the mechanical addition of a part or by a deposit of material.
  • the stator and / or mobile parts have a non-magnetic portion ensuring a residual air gap in the race ends.
  • the mechanical stops may be subject to a positional offset and no longer be made directly between the armatures and the stator assembly.
  • the mechanical stops are made between one or more members connected to the movable part and one or more members connected to the stator part.
  • this device also allows adjustment of the useful stroke and the holding force without current at stable positions at the stroke ends.
  • the mobile part is articulated about an axis of rotation substantially located in the center of the median plane of the structure.
  • the two armatures are integral with a rotary axis and come into contact with the stator part by a beveling magnetic poles of the stator part ( Figure 11) or rotor.
  • the angle of the bevels makes it possible to size the angular stroke of the actuator according to the needs of the designer.
  • the magnetic structure remains substantially the same as for a linear actuation.
  • the present variant can also be associated with an elastic return system, using for example, and not exclusively, compression springs or spiral springs.
  • the electromagnetic actuator comprises at least one position sensor integrated in the stator structure.
  • the electromagnetic actuator comprises at least one position sensor integrated in the mobile structure.
  • the current and / or position information allows optimized control, and in particular minimization of the impact speed at the end of travel.
  • FIG. 1 represents the shape of the variation of the force constant of an actuator according to the invention as a function of the position of the movable part
  • FIG. 2 represents the shape of the variation of the profiles of forces without current, of the elastic return system and the coupling of these two forces evoked as a function of the position of the movable member
  • FIG. 4 represents a sectional view of a variant of an actuator according to the invention
  • FIG. 5 represents a sectional view of an actuator according to one particular variant of the invention
  • FIG. 7 represents a sectional view of a variant of an actuator according to the invention in which an inductive sensor solution in the form of added coils is implemented ( 15,16) detecting the variations of magnetic flux flowing in the remarkable magnetic circuits. In doing so it is easy to deduce the position of the movable member
  • Figure 8 shows a sectional view of a variant of an actuator according to the invention, defined in that it has a single coil and a 9 shows a sectional view of the actuator where the mobile part is in the up position
  • FIG. 10 represents a sectional view of the actuator where the mobile part is in the low position
  • Figure 12 shows the distribution of magnetic flux lines through the structure when the movable member is in the low position.
  • FIG. 13 represents the distribution of the magnetic flux lines through the structure when the mobile member is in the up position.
  • Figure 14 represents the distribution of the magnetic field when the moving part is centered on its path.
  • the actuator presented by way of non-limiting example in FIG. 3 comprises a stator part consisting of parts made of soft ferromagnetic material (1,3).
  • the piece (1) forms a core.
  • the piece (3) forms a breech.
  • This set defines a stator magnetic circuit polarized by two flat magnets (3a, 3b) introduced into the central part of the structure. These are magnetized substantially symmetrically relative to the plane perpendicular to the section plane of Figure 3 and passing through the main axis of the actuator.
  • the cylinder head (3) extends on both sides of the core
  • the parts constituting the stator part may be, for example, made of soft magnetic steel laminated iron type silicon or soft magnetic steel sintered type iron phosphorus to limit losses by eddy currents.
  • a movable ferromagnetic part consists of 2 armatures (2a, 2b) distributed on either side of the stator part, and integral with a non-magnetic axis (11), made of non-magnetic stainless steel for example.
  • Figure 14 shows a representation of the actuator in the middle of the race. In this position, the distribution of the field lines without current through the ferromagnetic structure is symmetrical with respect to the plane perpendicular to the plane of section and parallel to the axis. This position of unstable magnetic equilibrium is supported by the addition of two springs (7a, 7b) which are placed and prestressed so that the middle position of the race is mechanically stable without current.
  • a fixed part (9a, 9b) which is the symbolic representation of a non-magnetic frame in which the present invention.
  • the frame could be for example the motor housing and the shaft (11) would be integral with the valve to move.
  • the movable moving part is integral with the axis (11) and is linearly guided by guiding devices that the example designates (10) as fitted bearings.
  • FIG. 10 shows the low extremal position of the mobile part and in this case the upper armature (2a) is in contact with, or not far from the contact, the stator part. This stable position is maintained thanks to the very high current-free force in this contact or quasi-contact position.
  • Figure 8 is then the counterpart of Figure 9 but this time for an axis in the high position and a low armature (2b) in contact with the stator part.
  • Two coils (5a, 5b) are placed in two housings provided for this purpose.
  • a first coil (5a) is wound on a pole portion (13) of the stator so that the winding axis is collinear with that of the movement.
  • a second coil (5b) is installed on a second polar pole portion (14).
  • the two coils are preferably connected together (in series or in parallel) to form a single phase, so that when a current flows in an arbitrarily positive direction in the phase, the magnetic flux generated by the electric current is added to the currentless flux generated by the magnets in the pole portion 13 and retract the flow without current generated by the magnets in the pole portion 14.
  • an arbitrarily negative current in the phase will add the flow with current and without current in the pole portion 14 but retract into the pole portion 13.
  • a negative current generates a magnetic flux that comes subtract from the flow without power.
  • the holding force without current is amputated by an amount directly related to the intensity of the current flowing in the electrical phase. In doing so, it will correspond to a value of electric current allowing the restoring force generated by the spring system to take precedence over the holding force without current.
  • the movable member will therefore leave this stable equilibrium position (13) without current to quickly gain speed and direct towards the other end of the race (14) and its second stable equilibrium position.
  • the current flowing in the phase then becomes motor since the latter generates a magnetic flux to add to the flow without current on the appendix Polar 14.
  • the overall speed of the movable member is then related to the stiffness of the springs, but also to the current flowing through the electrical phase.
  • the current can cancel without the moving part leaving its second position of steady equilibrium without current (14).
  • the race is made in the other direction.
  • one or more position sensors integrated into the structure (as for example described in FIG. 7), or added to the structure, makes it possible to optimize the control of the actuator, and in particular the management of the actuator. the speed of impact of the moving part on the stator part, by a servo operation in a closed loop.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Power Engineering (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)

Abstract

The invention relates to an electromagnetic actuator comprised of a mobile assembly, a fixed ferromagnetic stator assembly, at least one electric field coil, and of at least one permanent magnet, having two stable positions of equilibrium without current at its ends of travel. The invention is characterized in that the mobile assembly has two distinct ferromagnetic armatures placed on both sides of the stator assembly and each forms, together with the stator assembly, at least one magnetic circuit, and is characterized in that the permanent magnet magnetically cooperates with one of the other ferromagnetic mobile parts in a stable position of equilibrium without current at the end of travel.

Description

ACTiONNEUR ÉLECTROMAGNÉTIQUE POLARISÉ BISTABLE À ACTIONNEMENT RAPIDE BISTABLE POLARIZED ELECTROMAGNETIC ACTUATOR WITH QUICK ACTUATION

La présente invention concerne le domaine des actionneurs électromagnétiques polarisés, plus particulièrement destinés à des applications nécessitant de brefs temps de déplacements sur une course significative, et, par exemple, à l ' actionnement électrique des soupapes d'un moteur à combustion interne. On connaît dans l'état de l'art des solutions d' actionneurs de soupape non polarisés destinés à 1' actionnement, telles que décrites par exemple dans le brevet US06078235. Un actionneur selon cet exemple comporte deux électroaimants fixes disposés de part et d'autre d'une armature ferromagnétique mobile capable de venir au contact de l'un ou l'autre des électroaimants selon l'alimentation de deux bobines montées chacune sur un des stators des électroaimants. Des ressorts de rappel sont également distribués de part et d'autre du système électromagnétique garantissant une position d'équilibre sans courant au milieu de la course totale de l'armature mobile. Cependant, ces solutions présentent plusieurs défauts. Par exemple, elles nécessitent un courant de maintien lorsque l' actionneur est en position extrême (par exemple cas d'une soupape fermée). De plus, elles nécessitent une phase d'initialisation lors de la mise en route du système, destinée à faire passer la masse mobile d'une position médiane à la position haute et offrent des possibilités de contrôlabilité limitées. On connaît par ailleurs dans l'état de la technique des actionneurs électriques de soupapes polarisés permettant de pallier ces défauts, et d'apporter des avantages spécifiques aux actionneurs bistables polarisés : maintien en position de fin de course sans consommation de courant, meilleure contrôlabilité du système...The present invention relates to the field of polarized electromagnetic actuators, more particularly intended for applications requiring short travel times over a significant travel, and, for example, the electrical actuation of the valves of an internal combustion engine. State-of-the-art solutions of unpolarized valve actuators for actuation are known, as described, for example, in US Pat. No. 5,078,235. An actuator according to this example comprises two fixed electromagnets disposed on either side of a movable ferromagnetic armature capable of coming into contact with one or the other of the electromagnets according to the supply of two coils each mounted on one of the stators. electromagnets. Return springs are also distributed on either side of the electromagnetic system ensuring a position of balance without current in the middle of the total travel of the mobile armature. However, these solutions have several defects. For example, they require a holding current when the actuator is in the extreme position (for example, a closed valve). In addition, they require an initialization phase during startup of the system, intended to move the mobile mass from a central position to the high position and offer limited controllability possibilities. Also known in the state of the art electrical actuators of polarized valves to overcome these defects, and to provide specific advantages to polarized bistable actuators: holding in end position without power consumption, better controllability of the system ...

De tels actionneurs sont par exemple divulgués dans le brevet européen EP 1 010 866. Un actionneur selon cet exemple comporte deux électroaimants fixes, dont au moins un est polarisé par une paire d'aimants judicieusement placés, disposés de part et d'autre d'un organe ferromagnétique mobile pouvant venir au contact du premier électroaimant ou du second selon les séquences de pilotages choisies. Ainsi défini, le présent exemple permet de moduler électriquement les efforts d'attraction sans courant générés par les aimants au travers des électroaimants sur l'organe mobile mais aussi de diminuer la consommation électrique par des positions stables sans courant. Cependant, dans cette configuration chacun des aimants n' interagit qu'avec un électroaimant, ce qui induit une utilisation non optimale du flux magnétique généré par les aimants. Il en est de même pour les bobines qui n'offrent pas une utilisation coopérative optimale avec les deux électroaimants polarisés.Such actuators are, for example, disclosed in European patent EP 1 010 866. An actuator according to this example comprises two fixed electromagnets, at least one of which is polarized by a pair of magnets judiciously placed, arranged on either side of a movable ferromagnetic member which can come into contact with the first electromagnet or the second according to the selected control sequences. Thus defined, the present example makes it possible to electrically modulate the currentless attraction forces generated by the magnets through the electromagnets on the movable member but also to reduce the power consumption by stable positions without current. However, in this configuration each of the magnets interacts only with an electromagnet, which induces a non-optimal use of the magnetic flux generated by the magnets. It is the same for coils that do not offer optimal cooperative use with the two polarized electromagnets.

L'objet de la présente invention est d'optimiser le rendement des aimants implantés dans la structure électromagnétique polarisée et de proposer un mode de pilotage optimisé et simplifié. À cet effet, l' actionneur selon l'invention présente une unique partie statorique fixe judicieusement polarisée par au moins un aimant et associée à au moins une bobine, et une partie ferromagnétique mobile composée de deux armatures ferromagnétiques solidaires d'un même élément mobile et disposées de part et d'autre du stator.The object of the present invention is to optimize the efficiency of the magnets implanted in the polarized electromagnetic structure and to propose an optimized and simplified control mode. For this purpose, the actuator according to the invention has a single fixed stator part judiciously polarized by at least one magnet and associated with at least one coil, and a movable ferromagnetic part composed of two ferromagnetic armatures integral with the same mobile element and arranged on either side of the stator.

Défini de cette façon, l' actionneur électromagnétique comporte une première position stable sans courant lorsque l'armature dite « supérieure » de la partie mobile est au contact de la partie haute du stator définissant ainsi un premier circuit magnétique remarquable associé à un premier chemin de flux préférentiel. De la même façon, l'actionneur électromagnétique comporte une seconde position stable sans courant lorsque l'armature dite « inférieure » de la partie mobile est au contact de la partie basse du stator définissant ainsi un deuxième circuit magnétique remarquable associé à un second chemin de flux préférentiel. Quand la partie mobile est en position médiane au regard de la partie statorique, le flux magnétique sans courant se divise de manière égale entre les deux circuits magnétiques remarquables. La masse mobile est donc dans une position d'équilibre instable. L'aimant coopère totalement (aux fuites près) avec la partie mobile en fin de course. Le même aimant coopère alternativement avec l ' une ou l ' autre des parties ferromagnétiques en bout de course. L'aimant coopère « totalement » avec la partie mobile en fin de course, puis ensuite « totalement » avec l'autre partie mobile.Defined in this way, the electromagnetic actuator comprises a first stable position without current when the so-called "upper" armature of the mobile part is in contact with the upper part of the stator thereby defining a first remarkable magnetic circuit associated with a first preferential flux path. In the same way, the electromagnetic actuator comprises a second stable position without current when the "lower" armature of the movable part is in contact with the lower part of the stator thus defining a second remarkable magnetic circuit associated with a second path of preferential flow. When the moving part is in the middle position with respect to the stator part, the currentless magnetic flux divides equally between the two remarkable magnetic circuits. The moving mass is therefore in a position of unstable equilibrium. The magnet cooperates fully (near leaks) with the moving part at the end of the stroke. The same magnet cooperates alternately with one or the other of the ferromagnetic parts at the end of the stroke. The magnet cooperates "totally" with the moving part at the end of the stroke, then "totally" with the other moving part.

Par ailleurs, ce type de structure présente la particularité de produire une très grande force sans courant dans chacune des positions stables sans courant en bout de course. De plus, ce type d'actionneur présente la particularité d'avoir une force relativement faible sur une grande partie de sa course, comme le montrent les figures 1 & 2. Ainsi, la force contre-électromotrice exercée sur la partie mobile en mouvement est fortement réduite sur la majeure partie de la course.Moreover, this type of structure has the particularity of producing a very large power without current in each of the stable positions without current at the end of the race. In addition, this type of actuator has the particularity of having a relatively small force over a large part of its travel, as shown in FIGS. 1 & 2. Thus, the counter-electromotive force exerted on the mobile part in motion is greatly reduced over most of the race.

Avantageusement, la partie fixe est formée par un noyau ferromagnétique entouré par un aimant mince aimanté transversalement, ledit noyau étant en outre entouré par au moins une bobine électrique coaxiale avec l'aimant permanent, ladite partie fixe comportant en outre une culasse extérieure entourant ledit aimant permanent et ladite bobine fixe pour former des cornes polaires aptes à coopérer magnétiquement avec l'une ou l'autre des armatures ferromagnétiques de la partie mobile.Advantageously, the fixed part is formed by a ferromagnetic core surrounded by a transversely magnetized thin magnet, said core being further surrounded by at least one coaxial electrical coil with the magnet permanent, said fixed part further comprising an outer yoke surrounding said permanent magnet and said fixed coil to form polar horns adapted to cooperate magnetically with one or the other of the ferromagnetic armatures of the movable part.

Selon un aspect de l'invention, l'ensemble statorique présente une section rectangulaire.According to one aspect of the invention, the stator assembly has a rectangular section.

Selon un autre aspect de l'invention, l'ensemble statorique présente une section circulaire. Avantageusement, l'ensemble mobile est constitué par un axe traversant l'ensemble statorique et supportant au moins une armature ferromagnétique présentant une section correspondant à la section de la culasse de la partie statorique . Dans une configuration, l'actionneur électromagnétique présente deux jeux de bobines d'excitation connectés indépendamment.According to another aspect of the invention, the stator assembly has a circular section. Advantageously, the moving assembly is constituted by an axis passing through the stator assembly and supporting at least one ferromagnetic armature having a section corresponding to the section of the yoke of the stator part. In one configuration, the electromagnetic actuator has two sets of independently connected excitation coils.

Dans une configuration préférée, quoique non exclusive, chacun des circuits magnétiques remarquables est associé à une bobine d'excitation qui est judicieusement connectée (en série ou en parallèle) avec son pendant voisin, définissant ainsi une phase électrique unique. Dans cette configuration particulière, l'agencement des bobines dans la phase électrique est réalisé de façon telle que le flux magnétique généré par la première bobine vienne se retrancher au flux sans courant du premier circuit magnétique remarquable alors que le flux magnétique généré par la seconde bobine vient s'additionner au flux sans courant du second circuit magnétique remarquable. Selon le mode d'alimentation ainsi défini, l'actionneur peut être piloté à l'aide d'un unique courant bipolaire.In a preferred, though not exclusive, configuration, each of the outstanding magnetic circuits is associated with an excitation coil that is suitably connected (in series or in parallel) with its neighbor, thereby defining a single electrical phase. In this particular configuration, the arrangement of the coils in the electrical phase is realized in such a way that the magnetic flux generated by the first coil is withdrawn from the current-free flow of the first remarkable magnetic circuit while the magnetic flux generated by the second coil is added to the flow without current of the second magnetic circuit remarkable. Depending on the power mode thus defined, the actuator can be controlled using a single bipolar current.

Ainsi, l'actionneur selon cette variante préférentielle est monophasé et parcouru par un courant bipolaire. Cela permet en outre de réduire le nombre de transistors de puissance et le coût de l'électronique (au plus 4 transistors).Thus, the actuator according to this preferred variant is single-phase and traversed by a current bipolar. This also makes it possible to reduce the number of power transistors and the cost of the electronics (at most 4 transistors).

Selon un mode de pilotage préféré, le courant alimentant la phase électrique de l'actionneur peut être modulé, et ce sans nécessairement avoir à changer sa polarité, afin de ralentir ou accélérer l'organe mobile durant son parcours d'un bout de course à l'autre. On bénéficie d'une meilleure pilotabilité de l'actionneur tout en conservant une bonne dynamique du courant. Ce mode de pilotage permet de mettre en place une stratégie de « soft landing » et donc de diminuer de façon drastique le bruit occasionner par l'atterrissage de la partie mobile sur la partie statorique.According to a preferred control mode, the current supplying the electrical phase of the actuator can be modulated, and this without necessarily having to change its polarity, in order to slow down or accelerate the movable member during its course from one end of the race to the next. the other. It has a better controllability of the actuator while maintaining a good current dynamics. This control mode makes it possible to set up a "soft landing" strategy and therefore drastically reduce the noise caused by the landing of the mobile part on the stator part.

Ce type d'actionneur présente également la particularité de regrouper en son centre la partie statorique, à savoir une partie ferromagnétique comportant un ou plusieurs aimants permanents mais aussi une ou plusieurs bobines. Cette spécificité permet de concentrer les flux magnétiques d'excitation dans une zone localisée et maîtrisée. C'est une particularité qui peut être mise à profit lors de l'intégration dans l'un au moins des circuits magnétiques remarquables d'un éventuel capteur de position, par exemple à effet Hall ou de type inductif.This type of actuator also has the particularity of grouping at its center the stator part, namely a ferromagnetic part comprising one or more permanent magnets but also one or more coils. This specificity makes it possible to concentrate the magnetic excitation fluxes in a localized and controlled zone. This is a particularity that can be exploited when integrating into at least one of the magnetic circuits of a remarkable remarkable position sensor, for example Hall effect or inductive type.

Selon une variante préférée, l'actionneur comporte un système de rappel élastique exerçant une force sur chacune des extrémités de l'organe mobile destiné à maintenir ce dernier proche de son milieu de course et conférant à l'actionneur ainsi désigné la qualité de système masse-ressort. L'actionneur sus-défini, aux éléments élastiques judicieusement dimensionnés, possède deux positions d'équilibre utiles stables sans courant et une dynamique de déplacement accrue. Selon un mode de réalisation particulier, l'actionneur comporte deux ressorts de compression exerçant chacun une force équilibrée sur chacune des deux armatures mobiles. De cette façon, les armatures mobiles peuvent être avantageusement mises à contribution non pas en tant que seul organe magnétique mais aussi en tant que butée d'arrêt mécanique pour les ressorts.According to a preferred variant, the actuator comprises an elastic return system exerting a force on each of the ends of the movable member intended to keep the latter close to its mid-race and conferring on the actuator thus designated the mass system quality. -spring. The above-defined actuator, with judiciously sized elastic elements, has two stable steady state of equilibrium positions and an increased dynamic of displacement. According to a particular embodiment, the actuator comprises two compression springs each exerting a balanced force on each of the two moving armatures. In this way, the movable armatures can advantageously be used not as a single magnetic member but also as a mechanical stop for the springs.

Selon un mode de réalisation particulier, les ressorts sont placés d'un même côté de l'organe mobile et séparés chacun par une pièce tierce liée à l'organe mobile.According to a particular embodiment, the springs are placed on the same side of the movable member and each separated by a third part connected to the movable member.

Le système de rappel élastique ici décrit confère par nature à l'ensemble mobile une vitesse maximale au milieu de la course, élevée sur la majeure partie de la course et quasiment nulle au voisinage des extrémités de la course, il faut donc noter qu'il est tout à fait adapté au principe de l'actionneur ici décrit. En effet, la force contre électro-motrice étant par nature proportionnelle a. la vitesse de la partie mobile et de nature à la ralentir, celle-ci étant réduite sur une majeure partie de la course voire quasi-nulle dès que la course devient relativement conséquente, elle permet alors de réduire au maximum les pertes de nature à pénaliser la dynamique du système.The elastic return system described here gives the mobile unit a maximum speed in the middle of the race, which is high over most of the race and almost zero in the vicinity of the ends of the race, so it should be noted that is quite adapted to the principle of the actuator described here. Indeed, the force against electro-motor being proportional by nature. the speed of the moving part and of a nature to slow down it, this one being reduced on a major part of the race or even quasi-null as soon as the race becomes relatively consequent, it makes it possible to reduce as much as possible the losses of nature to penalize the dynamics of the system.

Selon un mode de réalisation particulier, la structure présente une invariance géométrique extrusive et permet ainsi de réaliser avantageusement le circuit magnétique de l'actionneur dans un matériau magnétique doux feuilleté. Selon une première variante, la structure pourra être polarisée par deux aimants plats placés symétriquement par rapport à l'axe principal de l'actionneur. Selon une seconde variante, l'actionneur pourra être défini axisymétriquement à l'aide d'un unique aimant bague aimanté sensiblement radialement.According to a particular embodiment, the structure has an extrusive geometric invariance and thus advantageously makes it possible to produce the magnetic circuit of the actuator in a soft laminated magnetic material. According to a first variant, the structure may be polarized by two flat magnets placed symmetrically with respect to the main axis of the actuator. According to a second variant, the actuator can be defined axisymmetrically with the aid of a single magnetic ring substantially radially magnetized.

L'actionneur électromagnétique comporte un aimant bague d'axe de révolution colinéaire à l'axe principal de l'actionneur et aimanté sensiblement radialement.The electromagnetic actuator comprises a ring magnet axis of revolution collinear with the main axis of the actuator and magnetized substantially radially.

Ainsi implantés, et lorsque la partie mobile est ôtée, les aimants distribuent un champ magnétique dans le stator qui reboucle ensuite dans l'air avoisinant les pôles statoriques. Les flux magnétiques générés par les aimants décrivent un circuit magnétique pouvant être avantageusement mis à profit lors d'une phase d'aimantation. De ce fait, celle-ci pourra se faire avantageusement lorsque les aimants sont déjà intégrés dans la structure magnétique. De cette manière, on réalise un gain de temps certain sur la phase d'aimantation puisqu'un unique stator polarisé est requis mais on réalise également un gain de temps sur les phases d'assemblages qui par conséquent sont simplifiées par la manipulation d'aimants non aimantés. Ce type d'actionneur a une course utile sensiblement égale a la somme de l'entrefer séparant l'armature dite « inférieure » de la partie basse de l'ensemble statorique et de l'entrefer séparant l'armature dite « supérieure » de la partie haute de l'ensemble statorique. Selon les contraintes de fabrication et d'assemblage, les contraintes de dimensionnement et les contraintes d'intégration dans un système complet, les butées mécaniques définissant les bouts de courses devront être adaptées . Ainsi selon une première variante particulière, les butées mécaniques de début et fin de course seront réalisées par le contact direct des armatures ferromagnétiques sur la partie statorique ferromagnétique. Selon une seconde variante particulière, les butées mécaniques seront réalisées par l'ajout d'une tierce partie amagnétique située entre les armatures ferromagnétiques et la partie statorique ferromagnétiques. De cette façon, l'entrefer de collage peut être ajusté afin de régler l'effort de maintien des positions stables sans courant. Suivant des techniques bien connues, on pourra réaliser par exemple ces tierces parties par l'ajout mécanique d'une pièce ou par un dépôt de matière. Les parties statorique et/ou mobile présentent une partie amagnétique garantissant un entrefer résiduel dans les extrémités de course.Thus implanted, and when the moving part is removed, the magnets distribute a magnetic field in the stator which then loops back into the air around the stator poles. The magnetic flux generated by the magnets describes a magnetic circuit that can be advantageously used during a magnetization phase. Therefore, it can be advantageously when the magnets are already integrated in the magnetic structure. In this way, it saves a certain time on the magnetization phase since a single polarized stator is required but also saves time on the assembly phases which are therefore simplified by handling magnets not magnetized. This type of actuator has a useful travel substantially equal to the sum of the air gap separating the so-called "lower" armature from the lower part of the stator assembly and the gap separating the "upper" armature from the upper part of the stator assembly. According to the manufacturing and assembly constraints, design constraints and integration constraints in a complete system, the mechanical stops defining the ends of races will have to be adapted. Thus according to a first particular variant, the mechanical stops of start and end of stroke will be realized by the direct contact of the ferromagnetic armatures on the ferromagnetic stator part. According to a second particular variant, the mechanical stops will be realized by the addition of a non-magnetic third located between the ferromagnetic armatures and the ferromagnetic stator part. In this way, the gluing gap can be adjusted to adjust the effort of maintaining stable positions without current. According to well-known techniques, these third parties may for example be made by the mechanical addition of a part or by a deposit of material. The stator and / or mobile parts have a non-magnetic portion ensuring a residual air gap in the race ends.

Selon une troisième variante particulière, les butées mécaniques pourront faire l'objet d'un déport de situation et ne plus être réalisées directement entre les armatures et l'ensemble statorique. Ainsi les butées mécaniques sont réalisées entre un ou plusieurs organes liés à la partie mobile et un ou plusieurs organes liés à la partie statorique. Outre le fait de déporter les butées de début et fin de course, cet artifice permet également un réglage de la course utile et de la force de maintien sans courant aux positions stables aux extrémités de course.According to a third particular variant, the mechanical stops may be subject to a positional offset and no longer be made directly between the armatures and the stator assembly. Thus the mechanical stops are made between one or more members connected to the movable part and one or more members connected to the stator part. In addition to deporting the start and end stops, this device also allows adjustment of the useful stroke and the holding force without current at stable positions at the stroke ends.

Dans les positions d'extrémités de course, il subsiste un entrefer résiduel entre l'armature et la partie statorique, le contact se faisant entre un élément de la partie mobile et un élément du bâti dont est solidaire la partie statorique.In the positions of travel ends, there is a residual gap between the armature and the stator part, the contact being between an element of the movable part and a frame member which is secured to the stator part.

Selon une variante particulière, la partie mobile est articulée autour d'un axe de rotation sensiblement situé au centre du plan médian de la structure. De cette façon, les deux armatures sont solidaires d'un axe rotatif et viennent au contact de la partie statorique par un biseautage des pôles magnétiques de la partie statorique (Figure 11) ou rotorique. L'angle des biseaux permet de dimensionner la course angulaire de l'actionneur selon les besoins du concepteur. Outre cet aménagement, la structure magnétique demeure sensiblement la même que pour une actuation linéaire. De la même manière que pour les variantes linéaires, la présente variante peut également être associée à un système de rappel élastique, utilisant par exemple, et de manière non exclusive, des ressorts de compression ou des ressorts spiraux.According to a particular variant, the mobile part is articulated about an axis of rotation substantially located in the center of the median plane of the structure. In this way, the two armatures are integral with a rotary axis and come into contact with the stator part by a beveling magnetic poles of the stator part (Figure 11) or rotor. The angle of the bevels makes it possible to size the angular stroke of the actuator according to the needs of the designer. In addition to this arrangement, the magnetic structure remains substantially the same as for a linear actuation. In the same way as for the linear variants, the present variant can also be associated with an elastic return system, using for example, and not exclusively, compression springs or spiral springs.

Selon un aspect de l'invention, l'actionneur électromagnétique comporte au moins un capteur de position intégré dans la structure statorique.According to one aspect of the invention, the electromagnetic actuator comprises at least one position sensor integrated in the stator structure.

Selon un autre aspect de la présente invention, l'actionneur électromagnétique comporte au moins un capteur de position intégré dans la structure mobile.According to another aspect of the present invention, the electromagnetic actuator comprises at least one position sensor integrated in the mobile structure.

Selon un autre aspect de la présente invention, les informations de courant et/ou de position permettent un pilotage optimisé, et notamment une minimisation de la vitesse d'impact en bout de course.According to another aspect of the present invention, the current and / or position information allows optimized control, and in particular minimization of the impact speed at the end of travel.

L'invention sera mieux comprise à la lecture de la description qui suit, faisant référence aux dessins annexés où : la figure 1 représente l'allure de la variation de la constante de force d'un actionneur selon l'invention en fonction de la position de la partie mobile, la figure 2 représente l'allure de la variation des profils de forces sans courant, du système élastique de rappel et du couplage de ces deux forces suscitées en fonction de la position de l'organe mobile, la figure 3 représente une vue en coupe d'un actionneur selon l'invention, la figure 4 représente une vue en coupe d'une variante d'un actionneur selon l'invention, la figure 5 représente une vue en coupe d'un actionneur selon une variante particulière de l'invention, - la figure 6 représente une vue en coupe d'un actionneur selon une variante particulière de l'invention, la figure 7 représente une vue en coupe d'une variante d'un actionneur selon l'invention dans lequel est implémentée une solution de capteur inductif sous la forme de bobines ajoutées (15,16) détectant les variations de flux magnétiques circulant dans les circuits magnétiques remarquables. Ce faisant il est aisé d'en déduire la position de l'organe mobile, la figure 8 représente une vue en coupe d'une variante d'un actionneur selon l'invention, défini en ce qu'il a une unique bobine et un unique aimant, la figure 9 représente une vue en coupe de l' actionneur où la partie mobile est en position haute, la figure 10 représente une vue en coupe de l' actionneur où la partie mobile est en position basse, la figure 11 représente une vue en coupe d'une variante rotative d'un actionneur selon l'invention, la figure 12 représente la distribution des lignes de flux magnétiques au travers de la structure lorsque l'organe mobile est en position basse. On considère cette position comme singulière, la figure 13 représente la distribution des lignes de flux magnétiques au travers de la structure lorsque l'organe mobile est en position haute. On considère cette position comme singulière, la figure 14 représente la distribution du champ magnétique lorsque la partie mobile est centrée sur sa course. L' actionneur présenté à titre d'exemple non limitatif en figure 3 comporte une partie statorique constitué de pièces en matériau ferromagnétique doux (1,3). La pièce (1) forme un noyau. La pièce (3) forme une culasse. Cet ensemble défini un circuit magnétique statorique polarisé par deux aimants plats (3a, 3b) introduits dans la partie centrale de la structure. Ces derniers sont aimantés de façon sensiblement symétrique par rapport au plan perpendiculaire au plan de coupe de la figure 3 et passant par l'axe principal de l ' actionneur . La culasse (3) se prolonge de part et d'autre du noyauThe invention will be better understood on reading the description which follows, with reference to the appended drawings in which: FIG. 1 represents the shape of the variation of the force constant of an actuator according to the invention as a function of the position of the movable part, FIG. 2 represents the shape of the variation of the profiles of forces without current, of the elastic return system and the coupling of these two forces evoked as a function of the position of the movable member, FIG. a sectional view of an actuator according to the invention, FIG. 4 represents a sectional view of a variant of an actuator according to the invention, FIG. 5 represents a sectional view of an actuator according to one particular variant of the invention, FIG. section of an actuator according to a particular variant of the invention, FIG. 7 represents a sectional view of a variant of an actuator according to the invention in which an inductive sensor solution in the form of added coils is implemented ( 15,16) detecting the variations of magnetic flux flowing in the remarkable magnetic circuits. In doing so it is easy to deduce the position of the movable member, Figure 8 shows a sectional view of a variant of an actuator according to the invention, defined in that it has a single coil and a 9 shows a sectional view of the actuator where the mobile part is in the up position, FIG. 10 represents a sectional view of the actuator where the mobile part is in the low position, FIG. sectional view of a rotary variant of an actuator according to the invention, Figure 12 shows the distribution of magnetic flux lines through the structure when the movable member is in the low position. This position is considered as singular, FIG. 13 represents the distribution of the magnetic flux lines through the structure when the mobile member is in the up position. This position is considered singular, and Figure 14 represents the distribution of the magnetic field when the moving part is centered on its path. The actuator presented by way of non-limiting example in FIG. 3 comprises a stator part consisting of parts made of soft ferromagnetic material (1,3). The piece (1) forms a core. The piece (3) forms a breech. This set defines a stator magnetic circuit polarized by two flat magnets (3a, 3b) introduced into the central part of the structure. These are magnetized substantially symmetrically relative to the plane perpendicular to the section plane of Figure 3 and passing through the main axis of the actuator. The cylinder head (3) extends on both sides of the core

(1).(1).

Les pièces constituant la partie statorique peuvent être, à titre d'exemple, réalisées en acier magnétique doux feuilleté du type fer silicium ou en acier magnétique doux fritte du type fer phosphore afin de limiter les pertes par courants de Foucault.The parts constituting the stator part may be, for example, made of soft magnetic steel laminated iron type silicon or soft magnetic steel sintered type iron phosphorus to limit losses by eddy currents.

Une partie ferromagnétique mobile est constituée de 2 armatures (2a, 2b) distribuées de part et d'autre de la partie statorique, et solidaires d'un axe (11) amagnétique, en inox amagnétique par exemple. La figure 14 donne une représentation de l' actionneur en milieu de course. Dans cette position, la distribution des lignes de champ sans courant au travers de la structure ferromagnétique est symétrique par rapport au plan perpendiculaire au plan de coupe et parallèle à l'axe. Cette position d'équilibre magnétique instable est confortée par l'adjonction de deux ressorts (7a, 7b) qui sont placés et précontraints de façon à ce que la position de milieu de course soit mécaniquement stable sans courant. Cela est rendu possible par la présence d'une partie fixe (9a, 9b) qui est la représentation symbolique d'un bâti amagnétique dans lequel viendrait s'installer la présente invention. Dans le cas où l'application visée est un actuateur de soupape électrifié pour moteur à combustion interne, le bâti pourrait être par exemple le carter du moteur et l'axe (11) serait solidaire de la soupape à mouvoir.A movable ferromagnetic part consists of 2 armatures (2a, 2b) distributed on either side of the stator part, and integral with a non-magnetic axis (11), made of non-magnetic stainless steel for example. Figure 14 shows a representation of the actuator in the middle of the race. In this position, the distribution of the field lines without current through the ferromagnetic structure is symmetrical with respect to the plane perpendicular to the plane of section and parallel to the axis. This position of unstable magnetic equilibrium is supported by the addition of two springs (7a, 7b) which are placed and prestressed so that the middle position of the race is mechanically stable without current. This is made possible by the presence of a fixed part (9a, 9b) which is the symbolic representation of a non-magnetic frame in which the present invention. In the case where the target application is an electrified valve actuator for internal combustion engine, the frame could be for example the motor housing and the shaft (11) would be integral with the valve to move.

La partie mobile en mouvement est solidaire de l'axe (11) et est guidée linéairement par des artifices de guidages que l'exemple désigne (10) comme étant des coussinets ajustés.The movable moving part is integral with the axis (11) and is linearly guided by guiding devices that the example designates (10) as fitted bearings.

Les figures 9 et 10 représentent les deux positions de bouts de course de l'actionneur. En particulier la figure 10 donne à voir la position extrémale basse de la partie mobile et dans ce cas l'armature haute (2a) est au contact, ou non loin du contact, de la partie statorique. Cette position stable est maintenue grâce à la force sans courant très élevée dans cette position de contact ou quasi-contact. La figure 8 est alors le pendant de la figure 9 mais cette fois pour un axe en position haute et une armature basse (2b) au contact de la partie statorique .Figures 9 and 10 show the two positions of stroke of the actuator. In particular, FIG. 10 shows the low extremal position of the mobile part and in this case the upper armature (2a) is in contact with, or not far from the contact, the stator part. This stable position is maintained thanks to the very high current-free force in this contact or quasi-contact position. Figure 8 is then the counterpart of Figure 9 but this time for an axis in the high position and a low armature (2b) in contact with the stator part.

Lorsque la partie mobile est en position basse comme le montre la figure 10, le flux magnétique sans courant prend un chemin préférentiel comme le montre la figure 12. II s'agit d'un premier circuit magnétique remarquable. De la même façon, lorsque la partie mobile est en position haute comme le montre la figure 9, le flux magnétique sans courant préférera emprunter un second circuit magnétique préférentiel comme le montre la figure 13. Ces deux circuits définissent les deux positions stables sans courant en bouts de course. Lorsque la partie mobile se situe entre les deux extrémités de la course, la distribution du champ magnétique sans courant est globalement au prorata de l'avancement de la partie mobile au regard de la pleine course. Ainsi et comme le montre la figure 14, le milieu de course se traduit par une distribution symétrique des flux sans courant entre les deux armatures (2a, 2b) de l'organe mobile et conséquemment d'une force sans courant nulle en cette position.When the moving part is in the low position as shown in FIG. 10, the currentless magnetic flux takes a preferential path as shown in FIG. 12. This is a first remarkable magnetic circuit. In the same way, when the moving part is in the up position as shown in FIG. 9, the currentless magnetic flux will prefer to borrow a second preferred magnetic circuit as shown in FIG. 13. These two circuits define the two current-stable stable positions. running tips. When the moving part is located between the two ends of the race, the distribution of the electromagnetic field without current is generally in proportion to the advancement of the moving part. in view of the full race. Thus, and as shown in FIG. 14, the race medium results in a symmetrical distribution of the currents without current between the two armatures (2a, 2b) of the movable member and consequently of a force without zero current in this position.

Deux bobines (5a, 5b) sont placées dans deux logements prévus à cet effet. Une première bobine (5a) est enroulée sur une partie polaire (13) du stator de façon à ce que l'axe de bobinage soit colinéaire à celui du mouvement. De même une seconde bobine (5b) est installée sur une seconde partie polaire statorique (14). Les deux bobines sont préférentiellement connectées entre elles (en série ou en parallèle) pour former une phase unique, et ce de façon à ce que lorsqu'un courant circule dans un sens arbitrairement positif dans la phase, le flux magnétique généré par le courant électrique vienne s'ajouter au flux sans courant généré par les aimants dans la partie polaire 13 et se retrancher au flux sans courant généré par les aimants dans la partie polaire 14. De manière analogue, un courant arbitrairement négatif dans la phase fera s'ajouter les flux avec courant et sans courant dans la partie polaire 14 mais se retrancher dans la partie polaire 13. Ainsi lorsque la partie mobile est en fin de course dans la position basse illustrée par la figure 10, un courant négatif génère un flux magnétique qui vient se soustraire au flux sans courant. De cette façon, la force de maintien sans courant est amputée d'une quantité directement liée à l'intensité du courant circulant dans la phase électrique. Ce faisant, il correspondra une valeur de courant électrique permettant à la force de rappel générée par le système ressort de prendre le pas sur la force de maintien sans courant. L'organe mobile va donc quitter cette position d'équilibre stable (13) sans courant pour prendre rapidement de la vitesse et se diriger vers l'autre extrémité de la course (14) et sa seconde position d'équilibre stable. Lorsque l'organe mobile aura franchi le milieu de course, (lieu où son énergie cinétique est maximale), le courant circulant dans la phase devient alors moteur puisque ce dernier génère un flux magnétique venant s'additionner au flux sans courant sur l'appendice polaire 14. La vitesse globale de l'organe mobile est alors liée à la raideur des ressorts, mais aussi au courant parcourant la phase électrique. Ainsi, on est capable d'avoir une modulation de la vitesse d'impact de la partie mobile sur la partie statorique (ou les butées mécaniques de bouts de course) en ajustant au mieux le courant dans la phase électrique. Dès que l'organe mobile a terminé sa course et est rentré au contact de la partie statorique, le courant peut s'annuler sans que la partie mobile quitte sa seconde position d'équilibre stable sans courant ( 14 ) . En changeant la polarité du courant, on effectue la course dans l'autre sens.Two coils (5a, 5b) are placed in two housings provided for this purpose. A first coil (5a) is wound on a pole portion (13) of the stator so that the winding axis is collinear with that of the movement. Similarly a second coil (5b) is installed on a second polar pole portion (14). The two coils are preferably connected together (in series or in parallel) to form a single phase, so that when a current flows in an arbitrarily positive direction in the phase, the magnetic flux generated by the electric current is added to the currentless flux generated by the magnets in the pole portion 13 and retract the flow without current generated by the magnets in the pole portion 14. Similarly, an arbitrarily negative current in the phase will add the flow with current and without current in the pole portion 14 but retract into the pole portion 13. Thus when the moving part is at the end of travel in the low position illustrated in Figure 10, a negative current generates a magnetic flux that comes subtract from the flow without power. In this way, the holding force without current is amputated by an amount directly related to the intensity of the current flowing in the electrical phase. In doing so, it will correspond to a value of electric current allowing the restoring force generated by the spring system to take precedence over the holding force without current. The movable member will therefore leave this stable equilibrium position (13) without current to quickly gain speed and direct towards the other end of the race (14) and its second stable equilibrium position. When the mobile organ has crossed the middle of the race, (where its kinetic energy is maximum), the current flowing in the phase then becomes motor since the latter generates a magnetic flux to add to the flow without current on the appendix Polar 14. The overall speed of the movable member is then related to the stiffness of the springs, but also to the current flowing through the electrical phase. Thus, it is possible to have a modulation of the impact velocity of the moving part on the stator part (or the mechanical end stops) by optimally adjusting the current in the electrical phase. As soon as the movable member has completed its travel and has come into contact with the stator part, the current can cancel without the moving part leaving its second position of steady equilibrium without current (14). By changing the polarity of the current, the race is made in the other direction.

L'utilisation d'un ou plusieurs capteurs de position, intégrés à la structure (tel que par exemple décrit à la figure 7), ou ajoutés à la structure, permet d'optimiser le pilotage de l'actionneur, et notamment la gestion de la vitesse d'impact de la partie mobile sur la partie statorique, de par un fonctionnement asservi en boucle fermée.The use of one or more position sensors, integrated into the structure (as for example described in FIG. 7), or added to the structure, makes it possible to optimize the control of the actuator, and in particular the management of the actuator. the speed of impact of the moving part on the stator part, by a servo operation in a closed loop.

En fonction de l'application visée, dans une position stable donnée, on peut envisager d'alimenter la phase électrique de façon telle que la force avec courant vienne s'ajouter à la force sans courant. Ainsi on crée avec peu de courant une force de maintien supérieure à la force de maintien sans courant. Ce procédé peut être poussé jusqu'à la limite d'échauffement du système afin d'obtenir une force de collage maximale. De cette manière, on est capable de supporter des charges beaucoup plus élevées dans les positions stables d'extrémités de course.Depending on the intended application, in a given stable position, it is conceivable to supply the electrical phase in such a way that the force with current is added to the force without current. Thus, with a little current, a holding force greater than the holding force without current is created. This process can be pushed to the warm-up limit of the system so to obtain a maximum bonding force. In this way, one is able to withstand much higher loads in the stable positions of stroke ends.

L'invention est décrite dans ce qui précède à titre d'exemples non limitatifs. Il est bien entendu que l'Homme de Métier sera à même de réaliser diverses variantes sans pour autant sortir du cadre de la présente invention. The invention is described in the foregoing by way of non-limiting examples. It is understood that the skilled person will be able to achieve various variants without departing from the scope of the present invention.

Claims

REVENDICATIONS 1 - Actionneur électromagnétique constitué d'un ensemble mobile, d'un ensemble statorique ferromagnétique fixe comportant au moins une bobine d'excitation électrique et au moins un aimant permanent, possédant deux positions d'équilibre stables sans courant à ses extrémités de course, caractérisé en ce que l'ensemble mobile présente deux armatures ferromagnétiques distinctes distribuées de part et d'autre de l'ensemble statorique et formant chacune, avec ledit ensemble statorique, au moins un circuit magnétique, et en ce que l'aimant permanent coopère magnétiquement avec l'une ou l'autre des parties ferromagnétiques mobiles en position d'équilibre stable sans courant d'extrémité de course.1 - Electromagnetic actuator consisting of a moving assembly, a stationary ferromagnetic stator assembly comprising at least one electrical excitation coil and at least one permanent magnet, having two stable equilibrium positions without current at its stroke ends, characterized in that the moving assembly has two distinct ferromagnetic armatures distributed on either side of the stator assembly and each forming, with said stator assembly, at least one magnetic circuit, and in that the permanent magnet cooperates magnetically with one or other of the ferromagnetic moving parts in a stable equilibrium position without running end current. 2 - Actionneur électromagnétique selon la revendication 1, caractérisé en ce que la partie fixe est formée par un noyau ferromagnétique entouré par un aimant mince aimanté transversalement, ledit noyau étant en outre entouré par au moins une bobine électrique coaxiale avec l'aimant permanent, ladite partie fixe comportant en outre une culasse extérieure entourant ledit aimant permanent et ladite bobine fixe pour former des cornes polaires aptes à coopérer magnétiquement avec l'une ou l'autre des armatures ferromagnétiques de la partie mobile.2 - electromagnetic actuator according to claim 1, characterized in that the fixed part is formed by a ferromagnetic core surrounded by a thin magnet transversely magnetized, said core being further surrounded by at least one coaxial electrical coil with the permanent magnet, said fixed part further comprising an outer yoke surrounding said permanent magnet and said fixed coil to form polar horns adapted to cooperate magnetically with one or the other of the ferromagnetic armatures of the movable part. 3 - Actionneur électromagnétique selon la revendication 2, caractérisé en ce que la partie statorique comporte deux bobines électriques disposées de part et d'autre de l'aimant permanent. 4 - Actionneur électromagnétique selon l'une quelconque des revendications précédentes, caractérisé en ce que l'ensemble statorique présente une section rectangulaire .3 - electromagnetic actuator according to claim 2, characterized in that the stator part comprises two electrical coils disposed on either side of the permanent magnet. 4 - electromagnetic actuator according to any one of the preceding claims, characterized in that the stator assembly has a rectangular section. 5 - Actionneur électromagnétique selon l'une quelconque des revendications 1 à 3, caractérisé en ce que l'ensemble statorique présente une section circulaire.5 - electromagnetic actuator according to any one of claims 1 to 3, characterized in that the stator assembly has a circular section. 6 Actionneur électromagnétique selon l'une quelconque des revendications précédentes, caractérisé en ce que l'ensemble mobile est constitué par un axe traversant l'ensemble statorique et supportant au moins une armature ferromagnétique présentant une section correspondant à la section de la culasse de la partie statorique .6 electromagnetic actuator according to any one of the preceding claims, characterized in that the movable assembly is constituted by an axis passing through the stator assembly and supporting at least one ferromagnetic armature having a section corresponding to the section of the cylinder head of the part statoric. 7 - Actionneur électromagnétique selon la revendication précédente, caractérisé en ce que l'ensemble mobile est constitué par un axe traversant l'ensemble statorique et supportant deux armatures ferromagnétiques disposées de part et d'autre de la partie statorique.7 - electromagnetic actuator according to the preceding claim, characterized in that the movable assembly is constituted by an axis passing through the stator assembly and supporting two ferromagnetic armatures disposed on either side of the stator part. 8 - Actionneur électromagnétique selon l'une quelconque des revendications précédentes, caractérisé en ce que l'ensemble mobile se déplace linéairement.8 - electromagnetic actuator according to any one of the preceding claims, characterized in that the moving assembly moves linearly. 9 - Actionneur électromagnétique selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il est monophasé.9 - electromagnetic actuator according to any one of the preceding claims, characterized in that it is single-phase. 10 - Actionneur électromagnétique selon la revendication 1, caractérisé en ce que la partie mobile a un mouvement rotatif. 11 - Actionneur électromagnétique selon la revendication 1, 2 ou 3, caractérisé en ce qu'il présente au moins deux bobines d'excitation connectées en série.10 - electromagnetic actuator according to claim 1, characterized in that the movable part has a rotary movement. 11 - Electromagnetic actuator according to claim 1, 2 or 3, characterized in that it has at least two excitation coils connected in series. 12 - Actionneur électromagnétique selon la revendication 1, 2 ou 3, caractérisé en ce qu'il présente au moins deux bobines d'excitation connectées en parallèle.12 - electromagnetic actuator according to claim 1, 2 or 3, characterized in that it has at least two excitation coils connected in parallel. 13 - Actionneur électromagnétique selon la revendication 1, caractérisé en ce qu'il présente deux jeux de bobines d'excitation connectés indépendamment.13 - electromagnetic actuator according to claim 1, characterized in that it has two sets of independently connected excitation coils. 14 - Actionneur électromagnétique selon l'une quelconque des revendications précédentes , caractérisé en ce que l'ensemble mobile est associé à un système élastique exerçant une force tendant à maintenir l'ensemble mobile proche de son milieu de course.14 - electromagnetic actuator according to any one of the preceding claims, characterized in that the movable assembly is associated with an elastic system exerting a force tending to keep the moving assembly close to its mid-race. 15 - Actionneur électromagnétique selon l'une quelconque des revendications précédentes, caractérisé en ce que le système élastique est constitué de deux ressorts de compression exerçant chacun une force sensiblement équivalente sur chacune des deux armatures mobiles, constituant des butées d'arrêt mécaniques pour les ressorts .15 - electromagnetic actuator according to any one of the preceding claims, characterized in that the elastic system consists of two compression springs each exerting a substantially equivalent force on each of the two movable armatures, constituting mechanical stops for the springs . 16 - Actionneur électromagnétique selon l'une quelconque des revendications précédentes, caractérisé en ce que des ressorts sont placés d'un même côté de la partie statorique et séparés par une pièce mécanique additionnelle montée sur l'axe de la partie mobile. 17 - Actionneur électromagnétique selon la revendication 1, caractérisé en ce que la structure comporte deux aimants plats disposés sensiblement symétriquement par rapport à un plan médian contenant l'axe de déplacement de la partie mobile.16 - electromagnetic actuator according to any one of the preceding claims, characterized in that springs are placed on the same side of the stator part and separated by an additional mechanical part mounted on the axis of the movable part. 17 - Electromagnetic actuator according to claim 1, characterized in that the structure comprises two flat magnets disposed substantially symmetrically with respect to a median plane containing the axis of movement of the movable part. 18 - Actionneur électromagnétique selon la revendication 1, caractérisé en ce que la structure comporte un aimant bague d'axe de révolution (OZ) colinéaire à l'axe principal de l' actionneur et aimanté sensiblement radialement.18 - electromagnetic actuator according to claim 1, characterized in that the structure comprises a ring axis of revolution magnet (OZ) collinear with the main axis of the actuator and magnetized substantially radially. 19 - Actionneur électromagnétique selon l'une quelconque des revendications précédentes, caractérisé en ce que la partie statorique est feuilletée.19 - electromagnetic actuator according to any one of the preceding claims, characterized in that the stator part is laminated. 20 - Actionneur électromagnétique selon la revendication 1, caractérisé en ce que l'une ou l'autre des armatures vient au contact direct de la partie statorique dans les positions d'extrémités de course.20 - electromagnetic actuator according to claim 1, characterized in that one or the other of the armature comes into direct contact with the stator part in the end positions stroke. 21 - Actionneur électromagnétique selon la revendication 1, caractérisé en ce que les parties statorique et/ou mobile présentent une partie amagnétique garantissant un entrefer résiduel dans les extrémités de course21 - Electromagnetic actuator according to claim 1, characterized in that the stator and / or mobile parts have a non-magnetic portion ensuring a residual air gap in the race ends. 22 - Actionneur électromagnétique selon la revendication 1, caractérisé en ce que dans les positions d'extrémités de course, il subsiste un entrefer résiduel entre l'armature et la partie statorique, le contact se faisant entre un élément de la partie mobile et un élément du bâti dont est solidaire la partie statorique. 23 - Actionneur électromagnétique selon la revendication 1, caractérisé en ce que la modulation du courant dans au moins une des phases permette une minimisation de la vitesse d'impact en bout de course.22 - Electromagnetic actuator according to claim 1, characterized in that in the race end positions, there is a residual gap between the armature and the stator part, the contact being between an element of the movable part and an element. of the frame which is solidary the statoric part. 23 - Electromagnetic actuator according to claim 1, characterized in that the modulation of the current in at least one of the phases allows a minimization of the impact speed at the end of the stroke. 24 - Actionneur électromagnétique selon la revendication 1, caractérisé en ce qu'il est associé à au moins un capteur détectant la position de la partie mobile. 25 - Actionneur électromagnétique selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il comporte au moins un capteur de position intégré dans la structure statorique.24 - Electromagnetic actuator according to claim 1, characterized in that it is associated with at least one sensor detecting the position of the movable part. 25 - Electromagnetic actuator according to any one of the preceding claims, characterized in that it comprises at least one position sensor integrated in the stator structure. 26 - Actionneur électromagnétique selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il comporte au moins un capteur de position intégré dans la structure mobile.26 - Electromagnetic actuator according to any one of the preceding claims, characterized in that it comprises at least one position sensor integrated in the mobile structure. 27 - Actionneur électromagnétique selon l'une quelconque des revendications précédentes, caractérisé en ce qu'il est associé à au moins un moyen permettant de connaître le courant dans au moins une de ses phases.27 - Electromagnetic actuator according to any one of the preceding claims, characterized in that it is associated with at least one means for knowing the current in at least one of its phases. 28 - Actionneur électromagnétique selon l'une quelconque des revendications précédentes, caractérisé en ce que les informations de courant et/ou de position permettent un pilotage optimisé, et notamment une minimisation de la vitesse d'impact en bout de course. 28 - electromagnetic actuator according to any one of the preceding claims, characterized in that the current and / or position information allow optimized control, and in particular a minimization of the impact speed at the end of travel.
EP06743652A 2005-04-06 2006-04-06 Quick-action bistable polarized electromagnetic actuator Expired - Lifetime EP1875480B1 (en)

Applications Claiming Priority (2)

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FR0503436A FR2884349B1 (en) 2005-04-06 2005-04-06 BITABLE POLARIZED ELECTROMAGNETIC ACTUATOR WITH QUICK ACTUATION
PCT/FR2006/000768 WO2006106240A2 (en) 2005-04-06 2006-04-06 Quick-action bistable polarized electromagnetic actuator

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EP1875480B1 EP1875480B1 (en) 2009-07-08

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EP (1) EP1875480B1 (en)
JP (2) JP2008535472A (en)
DE (1) DE602006007696D1 (en)
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WO2006106240A3 (en) 2006-12-28
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FR2884349A1 (en) 2006-10-13
DE602006007696D1 (en) 2009-08-20
US7898122B2 (en) 2011-03-01
FR2884349B1 (en) 2007-05-18
WO2006106240A2 (en) 2006-10-12
EP1875480B1 (en) 2009-07-08
JP2008535472A (en) 2008-08-28
US20080284261A1 (en) 2008-11-20

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