WO2013097976A2 - Procédé et dispositif de réglage de la position d'un élément de réglage d'un appareil de réglage - Google Patents

Procédé et dispositif de réglage de la position d'un élément de réglage d'un appareil de réglage Download PDF

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Publication number
WO2013097976A2
WO2013097976A2 PCT/EP2012/072570 EP2012072570W WO2013097976A2 WO 2013097976 A2 WO2013097976 A2 WO 2013097976A2 EP 2012072570 W EP2012072570 W EP 2012072570W WO 2013097976 A2 WO2013097976 A2 WO 2013097976A2
Authority
WO
WIPO (PCT)
Prior art keywords
actuator
manipulated variable
control
rotor
correction
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.)
Ceased
Application number
PCT/EP2012/072570
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German (de)
English (en)
Other versions
WO2013097976A3 (fr
Inventor
Alex Grossmann
Zeynep Tosun
Ingo Immendoerfer
Udo Sieber
Ralf Buehrle
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2013097976A2 publication Critical patent/WO2013097976A2/fr
Publication of WO2013097976A3 publication Critical patent/WO2013097976A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/50—Reduction of harmonics
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P31/00—Arrangements for regulating or controlling electric motors not provided for in groups H02P1/00 - H02P5/00, H02P7/00 or H02P21/00 - H02P29/00

Definitions

  • the invention relates to position encoders, in particular method of precise position control for a position encoder.
  • the positioners usually include an electric motor actuator, a transmission or a mechanism and an actuator whose position can be adjusted by the actuator and the transmission.
  • the positioners can be used as throttle valve actuators, as exhaust gas recirculation valves, for cargo movement flaps and for numerous comparable components.
  • Such positioners are often provided with a position sensor for reading back the actual actual position of the actuator.
  • a position sensor can be used on the one hand to check the correct position of the actuator. As a result, it can be monitored whether the actuated position of the actuator also corresponds to the actual position of the actuator.
  • a position control of the actuator can be carried out by controlling the measured actual position compared to the predetermined desired position.
  • Electronically commutated electric motors are increasingly being used as actuators for such positioners, but in contrast to brush-commutated electric motors they require external commutation.
  • the external commutation usually requires knowledge of the rotor position in order to be able to set an actuating torque which serves as a manipulated variable for position control.
  • a position sensor is usually provided in the electric motor, which detects the rotor position directly.
  • Positioner systems are known in which the motor-internal position sensor is dispensed with and an information from a position sensor arranged on the actuator is used for the commutation. Since the actuator is often connected via the gear or the mechanism to the actuator, the accuracy of the determination of the rotor position in the electric motor by the accuracy of the position sensor and the play of the transmission is determined.
  • commutation method such as a sine, block or trapezoidal commutation method, with which a rotating stator magnetic field can be specified.
  • the method provides to determine a control frequency which provides information about an existing current setpoint and a speed, to multiply the control frequency by a selected multiple and to generate a responsive modulation signal to formulate a profile for a modified setpoint, the profile for the modified setpoint with the existing current setpoint and a rotor position to correlate and synchronize and to generate a setpoint for the modulated current. Furthermore, it is provided that the desired value for the modulated current is configured such that the rotational torque ripple is reduced at a frequency which corresponds approximately to the control frequency.
  • the document EP 089 53 44 A2 discloses a method for reducing a torque ripple of an electronically commutated electric motor.
  • a torque ripple value is taken from a memory and converted into a torque compensation signal.
  • the torque compensation signal is multiplied by the motor current provided to drive the electric motor to generate a torque ripple control current and apply it to the phase windings.
  • a method for controlling the position of an actuator of a position indicator comprises the following steps:
  • a commonly used as an actuator conventional, permanent magnet excited, electronically commutated electric motor has a so-called magnetic detent torque and an electrodynamically generated ripple moment.
  • the cogging torque already occurs in the currentless electric motor, while the ripple torque results both from harmonic magnetic air gap fields as well as from tainted flooding. In particular, for the position control the occurring Rippelmoment is disturbing and the accuracy of the position control is affected.
  • the ripple moments are dependent on rotor position, so that it is known at each rotor position to what extent the actual torque provided by the actuator deviates from a control torque input specified by a control variable of the control. Furthermore, since in the above positioner system, the position of the actuator is known to perform the commutation of the actuator, the detected position indication can also be used to minimize the influence of Rippelmomente by engaging in the position control.
  • An idea of the above method is to improve the rotor position dependent torque output of an electronically commutated actuator by engaging the controller so that the torque output becomes more independent of the rotor position. As a result, improved control accuracy of the position control is achieved.
  • the intervention in the control is realized in such a way that the manipulated variable, which generally indicates a control torque of the actuator during position control, is subjected to a correction variable before conversion into corresponding electrical variables to be applied to the actuator, with the aid of which
  • Variations in the actual actuating torque supplied by the actuator can be corrected.
  • the manipulated variable provided by the control insofar as structurally or commutation-related rotor position-dependent torque fluctuations can be compensated.
  • the manipulated variable can be corrected by additive or multiplicative application of a correction variable.
  • the correction variable can be determined by means of a predetermined torque fluctuation model based on the rotor position.
  • the rotor position is determined from a position of the actuator.
  • a device for controlling the position of an actuator of a position indicator, comprising:
  • a control block for performing a control based on a control deviation between a predetermined desired position and an actual position of the actuator to generate a manipulated variable
  • a map block for converting the manipulated variable into one or more control variables for operating an actuator of the position indicator
  • a correction block for determining a correction variable depending on a rotor position of a rotor of the actuator
  • an encoder system comprising:
  • a computer program with program code means is provided to perform all steps of the above method when the computer program is executed on a computer or a corresponding computing unit, in particular in the above apparatus.
  • a computer program product includes program code stored on a computer-readable medium and that, when executed on a data processing device, performs the above method.
  • FIG. 1 shows a schematic representation of a position encoder system in which an external position sensor is used for a commutation of the actuator; and a functional diagram for illustrating a position control for the positioner with an electronically commutated actuator and with a correction function for a control variable of the control; a diagram illustrating the curves of the manipulated variable, the correction variable and the resulting actuating torque at an idle of the actuator shown; and a diagram showing the curves of the manipulated variable, the correction variable and the resulting actuating torque at an occurring actuating torque shown.
  • Figure 1 shows a position encoder system 1 with a position sensor 2, which is controlled by a control unit 3.
  • the position encoder 2 includes an actuator 4 electronically commutated, d. H. brushless, electric motor, such as a synchronous motor, an asynchronous motor or the like.
  • the actuator 4 has an output shaft which is coupled to a transmission 5.
  • the transmission 5 is further coupled to an actuator 6, so that the actuator 6 can be set by appropriate activation of the actuator 4.
  • the actuator 6 is controlled by the control unit 3 in a predetermined position or moved.
  • the control unit 3 receives to a position setting S such. B. a driver request torque at a throttle actuator.
  • the transmission 5 is designed in particular as a reduction gear 5, so that a rotor travel path of the actuator 4 is associated with a smaller travel of the actuator 6.
  • another coupling mechanism can also be provided.
  • a position sensor 7 is arranged on the actuator 6 or alternatively on the gear 5, a position sensor 7 is arranged.
  • the position sensor 7 By means of the position sensor 7, an adjusting movement or the position of the actuator 6 can be detected.
  • a position indication of the detected position of the actuator 6 is transmitted in a suitable manner to the control unit 3.
  • the position sensor 7 may have a GMR sensor (GMR: Giant Magnetic Resistance), a Hall sensor or the like.
  • optical methods can also be used.
  • a detector voltage can be provided to the control unit 3, the z. B. digitized using an analog-to-digital converter prior to further processing.
  • Such positioners 2 are used for example in motor vehicles, for. As in throttle valves, exhaust gas recirculation valves, cargo movement flaps and numerous similar components. In particular, such positioners 2 are used where the correct positioning movement of the position indicator 2 is functionally essential and therefore the position sensor 7 is anyway provided on the actuator 6 in order to check its position.
  • the actuator 6 When adjusting the actuator 6 acts on this due to friction in both the transmission 5 and in the actuator 4 and the actuator 6, one of the adjusting movement opposite counterforce. Furthermore, the actuator 6 may be acted upon depending on the application area with a restoring force, for example, via a return spring 8, in particular a biased return spring 8, acting on the actuator 6, so that the actuator 6 is brought to a rest position in the de-energized state of the actuator 4 .
  • a knowledge of the rotor position of a rotor 4 provided in the actuator 4 is required.
  • the driving is usually carried out by control signals or commutation signals, which cause a stator magnetization, which leads to the generation of a motor magnetic field.
  • the motor magnetic field interacts with the exciting magnetic field generated by the rotor 41, thus generating a driving torque.
  • FIG. 2 shows a functional representation of a position control that is carried out in the control unit 3.
  • the functional representation shows the control loop with the actuator 4, the transmission 5 and the actuator 6, whose actual position (p is detected and provided by the position sensor 7.
  • the position sensor 7 may be formed, for example, with a magnetic field sensor and with a Magnetgeberrad, so that when a movement of the actuator 6 position signals are generated as pulses.
  • the position signals are evaluated in the position sensor 7 by means of a counter and / or a time measurement in order to obtain the indication of the actual position (p ist .
  • the actual position (p is an evaluation block 1 1 is fed, which is the actuator 6 with knowledge of the gear ratio from the actual position (p a Stellungsan- exist (p ro t, which indicates the position of the rotor 41, back into account. Furthermore, by knowing the transmission ratio of the actuating speed of the actuator 6 is an actuator speed specified co ro t, indicating a setting speed of the rotor 41, be recalculated. the control is performed in a control block 12 to a control deviation ⁇ a manipulated variable S provides balanced. the control deviation ⁇ corresponding to a difference between a predetermined desired position c soii of the actuator 6 and the actual position (p is the actuator 6, which is determined in a differential element 13.
  • the manipulated variable S corresponds to a Stellmomenten- angäbe indicating a height to be provided by the actuator 4 actuating torque.
  • the manipulated variable S is acted upon in a Beauftschungsblock 14, which may be formed, for example, as a summing, with a correction quantity K, which corrects the manipulated variable S so that one receives a corrected manipulated variable S corr .
  • This corrected manipulated variable S korr is now in a map block 15 in a Voltage pointer converted, which is indicated in polar coordinates.
  • the voltage vector then corresponds to U d , U q in a circulating coordinate system.
  • the voltage vector U d , U q is converted in a subsequent transformation block 16 - assuming a three-phase actuator - into corresponding three phase voltages Ua, Ub and Uc of a three-phase system.
  • the actuator 4 is designed as a three-phase synchronous motor.
  • the number of phases of the synchronous motor is not limited to three.
  • the function of the map block 15 is dependent (to the determined by the evaluation block 1 1 position indication p ro t conducted in order to reach a commutation of the actuator. 4
  • the commutation scheme may correspond to a sine, block or trapezoid commutation. Other Kommut réellesar- are th Furthermore, the commutation may also depend on the speed indication corot.
  • the correction value K is kung model-dependent (by a predetermined Drehmomentenschwan- of the position indication p ro t measured in a test block 17.
  • the correction is performed so that the known detent torque or the known cogging torque is largely eliminated at a given rotor position. That is, already With a desired actuating torque of 0 (manipulated variable), actuation takes place via the application of a correction variable K in order to compensate for the cogging torques of the actuator 4.
  • the correction large K therefore takes into account both the rotor-dependent cogging torque and the rotor-dependent ripple torque in the torque fluctuation. kung model.
  • FIG. 3 shows an example of an idling of the actuator 4.
  • the internal moment M of the actuator 4 is plotted against the position indication (p ro t and the compensation by the correction variable K is recognized on the basis of the dotted curve (curve K1) of the correction variable K, so that a corrected torque M korr of the actuator 4
  • the fluctuations of the cogging torque M Rast can be corrected by adding the actuating torque S of the position control to the correction quantity K when the actuator 4 is actuated by corresponding specification of a desired position p soM or multiplicatively.
  • the internal moment becomes constant 0 due to the correction and is represented by the dashed line.
  • the cogging torque and / or ripple torque acting in addition to the actuating torque caused by the manipulated variable S is corrected as a function of the rotor position of the actuator 4 in order to keep the actuating torque of the actuator 4 independent of the rotor position.
  • This is shown in the diagram of FIG.
  • One recognizes a constant course of the manipulated variable S (curve K4) over the position indication ⁇ 1 , wherein the rotor-position- dependent actuating torque can be corrected with a correction adapted to the control loop, for example in the transformation block 16.
  • Curve K5 shows the course of the corrected manipulated variable S k0 rr after the correction has been carried out
  • curve K6 shows the curve of the actuating torque when controlled with the corrected manipulated variable S kor r-
  • the curve K7 shows the course of the actuating torque generated by the actuator 4, as it would be achieved by applying the manipulated variable S without the correction quantity K.
  • the application of the ripple torque in the transformation block 16 or in the admission block 14 can be effected by additive or multiplicative application.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

La présente invention concerne un procédé de réglage de la position d'un élément de réglage (6) d'un appareil de réglage (2) comprenant les étapes qui consistent : à effectuer un réglage sur la base d'un écart de réglage entre une position théorique prédéfinie et une position réelle de l'élément de réglage (6), afin de produire une grandeur de réglage (S); à transformer ladite grandeur de réglage (S) en une ou plusieurs grandeurs de commande pour faire fonctionner un actionneur (4) de l'appareil de réglage (2); et à corriger la grandeur de réglage (S) en fonction d'une position d'un induit (41) dudit actionneur (4).
PCT/EP2012/072570 2011-12-27 2012-11-14 Procédé et dispositif de réglage de la position d'un élément de réglage d'un appareil de réglage Ceased WO2013097976A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011089998.7 2011-12-27
DE102011089998A DE102011089998A1 (de) 2011-12-27 2011-12-27 Verfahren und Vorrichtung zur Regelung der Stellung eines Stellglieds eines Stellgebers

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WO2013097976A2 true WO2013097976A2 (fr) 2013-07-04
WO2013097976A3 WO2013097976A3 (fr) 2013-09-26

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PCT/EP2012/072570 Ceased WO2013097976A2 (fr) 2011-12-27 2012-11-14 Procédé et dispositif de réglage de la position d'un élément de réglage d'un appareil de réglage

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DE (1) DE102011089998A1 (fr)
WO (1) WO2013097976A2 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108073071A (zh) * 2016-11-18 2018-05-25 罗伯特·博世有限公司 用于执行用于调整发送器单元的位置调节的方法和设备

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0895344A2 (fr) 1997-07-30 1999-02-03 Matsushita Electric Industrial Co., Ltd Méthode de commande d'ondulation du couple d'un moteur avec aimants permanents à l'intéerieur et régulateur utilisant cette méthode
DE102004035954A1 (de) 2003-07-24 2005-02-10 General Electric Co. Minderung der Drehmomentwelligkeit und des Geräuschpegels bei einem bürstenlosen Gleichstrommotor durch das Vermeiden von mechanischen Schwingungen

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3217604B2 (ja) * 1993-08-20 2001-10-09 三菱電機株式会社 位置決め装置
JP3547657B2 (ja) * 1999-07-22 2004-07-28 三菱電機株式会社 モータ制御システム
JP2002186270A (ja) * 2000-12-12 2002-06-28 Yaskawa Electric Corp サーボ制御装置
JP4171192B2 (ja) * 2001-08-01 2008-10-22 株式会社日立産機システム サーボ制御装置
JP5645423B2 (ja) * 2010-02-23 2014-12-24 キヤノン株式会社 回転駆動装置及びロボットアーム

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0895344A2 (fr) 1997-07-30 1999-02-03 Matsushita Electric Industrial Co., Ltd Méthode de commande d'ondulation du couple d'un moteur avec aimants permanents à l'intéerieur et régulateur utilisant cette méthode
DE102004035954A1 (de) 2003-07-24 2005-02-10 General Electric Co. Minderung der Drehmomentwelligkeit und des Geräuschpegels bei einem bürstenlosen Gleichstrommotor durch das Vermeiden von mechanischen Schwingungen

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108073071A (zh) * 2016-11-18 2018-05-25 罗伯特·博世有限公司 用于执行用于调整发送器单元的位置调节的方法和设备
CN108073071B (zh) * 2016-11-18 2023-08-08 罗伯特·博世有限公司 用于执行用于调整发送器单元的位置调节的方法和设备

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Publication number Publication date
WO2013097976A3 (fr) 2013-09-26
DE102011089998A1 (de) 2013-06-27

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