EP2619772A1 - Dispositif d'actionnement et procédé de commande - Google Patents

Dispositif d'actionnement et procédé de commande

Info

Publication number
EP2619772A1
EP2619772A1 EP11739060.9A EP11739060A EP2619772A1 EP 2619772 A1 EP2619772 A1 EP 2619772A1 EP 11739060 A EP11739060 A EP 11739060A EP 2619772 A1 EP2619772 A1 EP 2619772A1
Authority
EP
European Patent Office
Prior art keywords
actuator
bridge
actuator device
switch
switches
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
EP11739060.9A
Other languages
German (de)
English (en)
Other versions
EP2619772B1 (fr
Inventor
Michael Pantke
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.)
ZF Friedrichshafen AG
Original Assignee
ZF Friedrichshafen AG
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 ZF Friedrichshafen AG filed Critical ZF Friedrichshafen AG
Publication of EP2619772A1 publication Critical patent/EP2619772A1/fr
Application granted granted Critical
Publication of EP2619772B1 publication Critical patent/EP2619772B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • H01F7/064—Circuit arrangements for actuating electromagnets
    • 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
    • H01F7/1607—Armatures entering the winding
    • H01F7/1615—Armatures or stationary parts of magnetic circuit having permanent magnet
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H01F7/18—Circuit arrangements for obtaining desired operating characteristics, e.g. for slow operation, for sequential energisation of windings, for high-speed energisation of windings
    • H01F7/1872—Bistable or bidirectional current devices
    • 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

Definitions

  • the present invention relates to an actuator device according to the preamble of claim 1. Furthermore, the present invention relates to a method for driving according to the preamble of claim 8.
  • connection switch In order to control electromagnetic, tristable actuators whose actuator position is to be detected, two H-bridges and a connection switch (S9 in FIG. 1) are currently used in the prior art in order to be able to set specific currents in each individual coil.
  • the connection switch is used to produce a series connection in order to be able to advantageously carry out an inherent path measurement or position determination according to the principle described in the document DE 10 2005 018 012 A1.
  • the present invention has the object, advantageous to develop the actuator devices of the type mentioned, in particular to enable a hardware-optimized control of the actuator, which is inexpensive to implement. It is another object of the invention to propose a method for controlling an actuator, Wel- Ches is easy to perform and allows a position determination of the actuator in the manner mentioned above.
  • an actuator device with an electromagnetic actuator which has two magnet coils and an actuator which can be displaced linearly between three stable positions, is proposed, characterized in that the actuator device for driving the magnet coils has a switching bridge with three, in particular exactly three, bridge branches connected in parallel, wherein each bridge branch has two, in particular exactly two, arranged in series switch, wherein in each of the two bridge diagonals each a magnetic coil is connected, in particular exactly one each.
  • the switching bridge is designed as a B6 switching bridge.
  • the actuator device in a further embodiment of the actuator device according to the invention at least the switches of a first of the three bridge arms, which is electrically connected via a magnetic coil in a first of the two bridge diagonals with a second of the three bridge branches and the switches of a third of the three bridge arms, which via a magnetic coil in the second of the two bridge diagonals is also connected to the second bridge branch, each connected to a freewheeling diode.
  • the actuator device is designed to determine the position of the actuator.
  • the actuator device for determining the position of the actuator to a Ansteu- ervorraum, which is designed to control the switching bridge such that both magnetic coils in series between a common electrical input and a common electrical output of the bridge arms switched and by a voltage applied to the common electrical input and output of the bridge arms supply voltage can be acted upon.
  • the actuator device for determining the position of the actuator further comprises a detection device, which is provided for determining voltage curves at both magnetic coils in the course of an application of the same with the voltage jump.
  • the actuator device for determining the position of the actuator further comprises an evaluation device, which determines the position of the actuator based on the determined voltage curves of both magnetic coils in a voltage jump, in particular by comparing at least one voltage waveform with a map.
  • a method for driving the magnetic coils of an electromagnetic actuator of an actuator device wherein in a first step to determine the position of the actuator and / or to displace the actuator in a stable center position, a current path via a respective switch of the the first and a switch of the third bridge branch and both solenoids is opened or formed while the other switches of the switching bridge are open, wherein the current path extends from a common input to a common output of the parallel bridge branches.
  • a method is proposed, wherein in the first step at least one switch is operated clocked in the opened current path, in particular the downstream switch.
  • a current path is opened or formed via a switch of the second bridge branch arranged in a bridge half and one switch of each of the first and third bridge branches of the other bridge half while the other switches of the switching bridge are open, wherein the current path extends from a common input to a common output of the parallel bridge arms.
  • the switch opening the current path for displacing the actuator into a first stable end position with respect to the current path opening switch for displacing the actuator in a second stable end position in the same bridge branch in the other bridge half are closed or operated clocked.
  • the actuator device according to the invention or the method for controlling the magnetic coils of the actuator device is particularly suitable for use in a motor vehicle, for example a passenger or commercial vehicle, in particular in a motor vehicle transmission, for example an automatic transmission, an automated manual transmission or a transfer case.
  • the actuator device or the method for controlling the magnetic coils of the actuator device for actuating a selector device an automated gearbox of a motor vehicle use, for example, instead of a pneumatic or hydraulic actuator, which space and weight can be saved.
  • a dial By such a dial, the required for inserting a certain gear shift elements, such as jaw clutches, the gearbox can be selected (selecting the shift gate).
  • FIGS. 2a and 2b show an example of the structure of a tri-stable electromagnetic actuator according to the prior art in two different switching positions.
  • FIG 3 shows, by way of example, an inventive switching bridge, which is connected to magnetic coils of the actuator, of an actuator device according to a possible embodiment of the invention.
  • FIG. 1 shows, by way of example, a circuit 1 according to the prior art for controlling a tristable actuator 2 (eg, FIG. 2a) and b)) of the aforementioned type, which are connected by means of a first H-bridge, comprising the switches S1, S2, S5, S6, and a second H-bridge comprising the switches S3, S4, S7, S8 is formed and a switch S9, which determines the position of an actuator 3 of the actuator 2 by series connection of the magnetic coils 4, 5 in the bridge diagonal with the switch closed S9 and exposure to a voltage jump in accordance with the principle described in DE 10 2005 018 012 A1 allows.
  • Such a tristable, electromagnetic actuator 2 generally comprises two magnetic coils 4, 5, in particular toroidal coils, and one by means of the two Magnetic coils 4, 5 between three stable positions linearly displaceable actuator 3.
  • Such a structure is illustrated schematically in Fig. 2a) and b).
  • the actuator 3 is magnetically displaceable due to suitable control or energization of the magnetic coils 4, 5 between two stable end positions and a stable center position.
  • Fig. 2a) and b) of the magnetic flux B as a function of the switching position and the Bestromungscardi X ⁇ of the magnetic coils 4, 5 by annular, arrows provided with lines shown by way of example.
  • the actuator 3 has, for example, a permanent magnet 7, for example, Fig. 2a) and b), which on an actuating rod 8 or anchor rod of the actuator 3 in the intended linear movement direction X of the control rod 8 and the actuator 3 between the two magnetic coils 4, 5 is arranged for linear displacement, wherein the permanent magnet 7 in particular a publisher direction of the control rod 8 aligned polarity N, S and wherein the magnetic coils 4, 5 are aligned in particular coaxially with the linearly movable control rod 8 and the actuator 3.
  • the magnetic coils 4, 5 have in particular opposite winding sense.
  • the actuator 2 is formed such that the actuator 3 is magnetically lockable in the stable center position by the permanent magnet 7.
  • the actuator device 6 has for driving the magnetic coils 4, 5 or for their energization further comprises a switching bridge 9 with three parallel bridge branches B1, B2, B3, each of the particular exactly three bridge branches B1, B2, B3 two switches arranged in series S1 ... S6, eg Fig. 3 and Fig. 4a) to c), in particular exactly two switches.
  • the switching bridge 9 according to the invention has a B6 topology in this respect or is designed as a B6 switching bridge.
  • the parallel-connected bridge branches B1, B2, B3 have, based on the intended current direction, a common electrical input 10 and a common electrical output 11, to which a supply voltage for energizing the magnetic coils 4, 5 can be applied, e.g. by a power supply device.
  • the first bridge branch B1 has, according to FIGS. 3 and 4a) to c) e.g. the switches S1 and S4, the second bridge branch the switches S2 and S5 and the third bridge branch the switches S3 and S6.
  • the switches S1... S6 are in each case between an open and a closed position, in particular of a e.g. Drive device controlled, switched back and forth and in particular transistor switch, e.g. FETs which have a controllable control input and in each case one input-output path which can be opened, closed or switched through by means of the control input.
  • the input-output paths per two switches S1... S6 of a bridge branch B1, B2, B3 are in this case connected in series within each bridge branch B1, B2, B3.
  • each of the particular two bridge diagonal D1, D2 of the switching bridge 9 is according to the invention depending on a solenoid coil 4, 5 of the actuator. 2 switched, for example, Fig. 3 or 4a) to c).
  • a respective magnet coil 4, 5 two center taps M1, M2, M3 defining a bridge diagonal D1, D2 are electrically connected to one another, ie the center tap M1 of the first bridge branch B1 with the center tap M2 of the second bridge branch B2 corresponding to the first bridge diagonal D1 and the center tap M2 of the second bridge leg B2 in turn with the center tap M3 of the third bridge branch B3 corresponding to the second bridge diagonal D2.
  • one magnet coil 4, 5 is connected in series between in each case two center taps M1, M2 or M2, M3, eg FIGS. 3, 4a) to c).
  • both the cost of materials and the control effort over the prior art, e.g. Fig. 1, are reduced, inasmuch as the number of necessary switch S or necessary components is considerably reduced.
  • a position determination of the actuator 3 by means of the described in DE 10 2005 018 012 A1 principle as well as the linear displacement of the actuator 3 between three stable positions when using the switching bridge 9 of the invention and the wiring, each with a magnetic coil 4, 5 in a respective bridge diagonal D1, D2 advantageous in a simple manner possible.
  • the actuator device 6 according to the invention also advantageously enables the rapid quenching of the current by simultaneous opening of all the switches S1... S6, i. a fast erase against utility grid level, e.g. Board network level.
  • the invention further provides that at least the switches S1 and S4 of the first bridge branch B1, which is electrically connected via the magnetic coil 4 in the first of the two bridge diagonals D1 to the second B2 bridge branch and the switches S3, S6 of the third bridge branch B3, which via the solenoid coil 5 in the second bridge diagonal D2 is also connected to the second bridge branch B2, each connected to a freewheeling diode (not shown).
  • a freewheeling diode not shown.
  • the freewheel In this case, the forward or backward diodes bridge in their forward direction the input and the output of a switch S1... S6 connected thereto in the opposite direction to the intended direction of current supply of the input-output paths of the switches S1... S6 while they are blocking in the intended current-carrying direction.
  • the actuator device 6 in a preferred embodiment, further for determining the position of the actuator 3 of the electromagnetic tristable actuator 2, in particular according to the in the
  • the actuator device 6 to a drive device (not shown), which is designed to control the switching bridge 9 and its switch S1 ... S6 such that both magnetic coils 4, 5 in series between the common electrical input 10 and the common electrical Output 1 1 of the bridge branches B1, B2, B3 switchable and can be acted upon by means of a voltage applied to the common electrical input 10 and output 1 1 of the bridge arms B1, B2, B3 supply voltage.
  • a driving device is e.g. in the form of computerized or microprocessor-based electronics and is used e.g. also used for controlling the switches S1... S6 for a displacement of the actuator 3 in accordance with the method described below.
  • the actuator device 6 designed to determine the position of the actuator 3 further comprises, in particular, a detection device (not shown), which is provided for determining voltage profiles on both magnet coils 4, 5 during or in response to the voltage jump.
  • the detection device is used for measurement purposes, e.g. each connected to an electrical input and an electrical output of each solenoid coil 4, 3.
  • the actuator device 6 for determining the position of the actuator 3 further comprises an evaluation device, which, on the basis of the determined voltage profiles, in the course of a by the Anêtvor- Direction applied voltage jump determines the position of the actuator 3.
  • an evaluation device which, on the basis of the determined voltage profiles, in the course of a by the Anêtvor- Direction applied voltage jump determines the position of the actuator 3.
  • To determine the evaluation device forms in particular the difference between the voltage curves determined at the two magnetic coils 4, 5 in order to determine the actuator position from the voltage curve thus obtained, in particular by comparison with a characteristic field.
  • a map is stored eg in a memory of the evaluation device.
  • the detection device, the drive device and the evaluation device act in particular to determine the position of the actuator 3, e.g. coordinated by a higher-level control, which may also be part of the actuator 6 according to the invention.
  • the detection device and / or the drive device and / or the evaluation device may be formed in the form of a single electronics or separated.
  • FIGS. 4a) to 4c in which, for example, the course of current and forces in the actuator device 6 according to the invention are shown as a function of the respective switching state of the switches S1... S6 when the supply voltage is present between the common input 10 and the common output 11.
  • the method according to the invention for driving the magnetic coils 4, 5 of an actuator 2 of an actuator device 6 according to the invention is explained, wherein in each of the two bridge diagonals D1, D2 of the switching bridge 9 in each case a magnetic coil 4, 5 of the actuator 2 is connected, by means of which the actuator 3 of the actuator 2 is displaceable.
  • FIG. 4a illustrates a method step according to the invention for displacing the actuator 3 into the stable center position and / or for determining the position of the actuator, ie for acting on both magnet coils 4, 5 with a voltage jump.
  • the switch S1 in particular permanently and the switch S6, ie the downstream switch, at least temporarily closed, the switch S6 is preferably operated clocked according to the invention, ie opens and closes to the current through the magnetic coils 4, 5, which in this switching state in the form of a series circuit to be able to adjust the supply network.
  • a clocked operation takes place in particular by a pulse-width-modulated control signal, which, for example, applied to a control input of the switch S6, for example, starting from a drive device.
  • a current path according to the invention in each case via a switch of the first B1 and a switch of the third B3 bridge branch and both solenoids 4, 5 opens, while the other switches of the switching bridge 9 are open or block a current flow.
  • the current path extends from the common input to the common output of the parallel bridge branches B1, B2, B3.
  • the current path runs in the illustrated possible embodiment according to FIG. 4a) via the switches S1 and S6 and the magnet coils 4, 5 from the common input 10 to the common output 1 1 of the parallel bridge branches B1, B2, B3, arrows I in FIG. 4a.
  • step of the method according to the invention which is exemplified both by the Fig. 4b with a first displacement direction + X for the actuator 3 as well as with opposite displacement direction -X through Fig. 4c, is for displacing the actuator 3 in a respective stable end position, a current path over in particular exactly one arranged in a or a first bridge half switch S2 or S5 of the second bridge branch B2 and each one switch S4 or S1 / S3 or S6 of the first B1 and third B3 bridge branch each of the other or a second bridge half opens, while the other switches S1, S3, S5 or S2, S4, S6 are open or interrupt.
  • One half of the bridge in this case comprises the switches S1, S2, S3 or the input-side switches each of a bridge branch B1, B2, B3, the other the switches S4, S5, S6 or the output-side switches each a bridge branch B1, B2, B3.
  • the current path, represented by the arrows I, extends from a common input 10 to a common output 1 1 of the parallel bridge branches B1, B2, B3.
  • the switch S2 for displacing the actuator 3 in the direction of the arrows K or displacement direction + X is in particular permanently closed, the switches S4 and S6 are also closed, at least temporarily.
  • the switches S4 and S6, i. that of the first B1 and third B3 bridge branch, according to the invention preferably alternately clocked. Due to the free-wheeling diodes of the switches S1 and S3, a freewheel is formed, which the supply network advantageously does not see when switching the switches S4 and S6 alternately (dashed line).
  • FIG. 4a which shows switching in the middle position, the current direction in the first coil 4 and thus the direction of force of the force acting on the actuator 3 from the first coil 4 are reversed, e.g. as shown in Fig. 2a.
  • FIG. 4c exemplarily illustrates the implementation of the alternative or additional method step when the actuator 3 is displaced in the opposite direction -X to assume the second stable end position.
  • the switch opening the current path represented by arrows I, for displacing the actuator 3 with respect to the switch opening the current path for displacing the actuator 3 into the first stable end position according to FIG. 4 b in the same bridge branch B1, B2, B3, however, the other half bridge closed or clocked operated, ie inverted with respect to the bridge diagonal D1, D2.
  • the switch S5 for the displacement of the actuator 3 is in particular permanently closed, the switches S1 and S3 are also closed, at least temporarily.
  • the switches S1 and S3 are preferably clocked alternately according to the invention. Due to the free-wheeling diodes of the switches S4 and S6, a freewheel is formed (dashed line), which the supply network with alternating timing of the switches S1 and S3 advantageously does not see.
  • the current direction in both coils 4, 5 and thus the direction of force of the forces K acting on the actuator 3 by both solenoids 4, 5 are reversed.
  • Such a switch position in which all the switches S1... S6 of the switching bridge 9 are open, shows e.g. Fig. 3.
  • the permanent magnet 7 of the actuator 3 can hold the position, i. through magnetic closure.

Landscapes

  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
  • Gear-Shifting Mechanisms (AREA)
  • Control Of Linear Motors (AREA)

Abstract

L'invention concerne un dispositif d'actionnement (6) doté d'un actionneur électromagnétique (2) comprenant deux bobines magnétiques (4, 5) ainsi qu'un élément de régulation (3) pouvant être déplacé linéairement au moyen desdites bobines entre trois positions stables, le dispositif d'actionnement (6) destiné à commander les bobines magnétiques (4, 5) comprenant un circuit en pont (9) doté de trois branches de pont (B1, B2, B3) branchées parallèlement, chaque branche de pont (B1, B2, B3) comprenant deux commutateurs (S1... S6) disposés en série, respectivement une bobine magnétique (4, 5) étant branchée dans chacune des deux diagonales de pont (D1, D2). L'invention concerne en outre un procédé de commande des bobines magnétiques (4, 5) d'un actionneur électromagnétique (2) d'un dispositif d'actionnement (6) selon l'invention.
EP11739060.9A 2010-09-21 2011-08-03 Dispositif d'actionnement et procédé de commande Active EP2619772B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010041086A DE102010041086A1 (de) 2010-09-21 2010-09-21 Aktuatorvorrichtung und Verfahren zur Ansteuerung
PCT/EP2011/063341 WO2012038135A1 (fr) 2010-09-21 2011-08-03 Dispositif d'actionnement et procédé de commande

Publications (2)

Publication Number Publication Date
EP2619772A1 true EP2619772A1 (fr) 2013-07-31
EP2619772B1 EP2619772B1 (fr) 2016-11-02

Family

ID=44629551

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11739060.9A Active EP2619772B1 (fr) 2010-09-21 2011-08-03 Dispositif d'actionnement et procédé de commande

Country Status (5)

Country Link
US (1) US8964348B2 (fr)
EP (1) EP2619772B1 (fr)
CN (1) CN103119666B (fr)
DE (1) DE102010041086A1 (fr)
WO (1) WO2012038135A1 (fr)

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DE102012204321A1 (de) * 2012-03-19 2013-09-19 Zf Friedrichshafen Ag Elektromagnetische Stellvorrichtung mit Eignung zur Ankerpositionserfassung
MX350090B (es) 2012-05-07 2017-08-25 S & C Electric Co Reconector desconectable.
DE102014217738B4 (de) * 2014-09-04 2023-03-30 Zf Friedrichshafen Ag Verfahren und Vorrichtung zum Ansteuern eines elektromagenetischen Aktors
DE102014217739B4 (de) * 2014-09-04 2023-03-30 Zf Friedrichshafen Ag Verfahren und Vorrichtung zum Ansteuern eines elektromagnetischen Aktors
DE102017000901A1 (de) 2017-02-01 2018-08-02 Rhefor Gbr (Vertretungsberechtigter Gesellschafter: Arno Mecklenburg, 10999 Berlin) Bistabiler Hubmagnet
DE102017000907A1 (de) 2017-02-01 2018-08-02 Rhefor Gbr (Vertretungsberechtigter Gesellschafter: Arno Mecklenburg, 10999 Berlin) Elektromagnetischer Stopper für eine Stückgut-Förderanlage
DE102017203013A1 (de) * 2017-02-24 2018-08-30 Zf Friedrichshafen Ag Gangwählvorrichtung für ein Fahrzeug und Verfahren zum Schalten eines Fahrzeuggetriebes
GB202308905D0 (en) * 2023-06-14 2023-07-26 Synchrostor Ltd Electromagnetic actuator

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US3894442A (en) * 1974-04-15 1975-07-15 Ray Hembree Semi-automatic electric gear shifting apparatus for a motorcycle
JPS5829754U (ja) * 1981-08-21 1983-02-26 日立金属株式会社 ドアロツク用アクチユエ−タ
US4796853A (en) * 1987-12-22 1989-01-10 General Motors Corporation Remotely configurable solenoid driver circuit for direct pressure electronic transmission control
DE19931972A1 (de) * 1999-07-09 2001-01-11 Wabco Gmbh & Co Ohg Schaltungsanordnung zum Betreiben eines elektromagnetischen Stellglieds
JP3551109B2 (ja) * 1999-12-07 2004-08-04 トヨタ自動車株式会社 内燃機関の電磁バルブ駆動装置
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DE112006002553T5 (de) * 2005-09-21 2008-08-21 Ricardo Uk Ltd., Shoreham-By-Sea Lineares Stellglied
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Also Published As

Publication number Publication date
EP2619772B1 (fr) 2016-11-02
US20130201590A1 (en) 2013-08-08
CN103119666B (zh) 2016-10-12
DE102010041086A1 (de) 2012-03-22
US8964348B2 (en) 2015-02-24
WO2012038135A1 (fr) 2012-03-29
CN103119666A (zh) 2013-05-22

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