Method and arrangement for controlling the position of an actuating element

• US 20040002777A1
• Filed: 06/09/2003
• Published: 01/01/2004
• Est. Priority Date: 06/28/2002
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Grossmann, Alex, Baumann, Torsten
• Granted Patent: US 7,194,319 B2
• Time in Patent Office: Days
• US Class Current: 700/56
• CPC Class Codes: G05B 19/4061 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 2219/49137 Store working envelop, limit, allowed zone
• CPC Class Codes: G05B 2219/49144 Limit movement on an axis by setting limits

Abstract

The invention is directed to a method and an arrangement for controlling the position of an actuating element (1) which prevent damage to the actuating element by a collision with at least one stop (25, 30) and simultaneously ensure good dynamic characteristics. The position of the actuating element (1) tracks a desired value within a displacement range. The displacement range is limited for the actuating element (1) by at least one stop (25, 30). A check is made as to whether the distance between the desired value for the position of the actuating element (1) and the at least one stop (25, 30) drops below a pregiven value (S1). Only in this case is a change of the desired value limited.

Claims

1. A method for controlling the position of an actuating element, the method comprising the steps of:

causing said actuating element to track a desired value for the position of said actuating element within a displacement range with said displacement range being limited by at least one stop for said actuating element;

checking whether the distance between said desired value and said one stop drops below a first pregiven value (S1); and

,

if so, and only in this case, limiting a change of said desired value.

2. The method of claim 1, wherein said change of said desired value is limited by filtering.

3. The method of claim 2, wherein said filtering is done using a lowpass filter.

4. The method of claim 1, wherein the change of said desired value is limited to a pregiven displacement speed.

5. The method of claim 4, wherein the change of said desired value is limited by a ramp function.

6. The method of claim 1, wherein the limiting of the change of said desired value is disabled when the distance between said desired value and said one stop becomes greater.

7. The method of claim 1, wherein said desired value is maintained when the distance between said desired value and said one stop reaches said first pregiven value (S1) as long as the distance between an actual value for the position of said actuating element and said at least one stop exceeds said first pregiven value (S1) and, after the distance of said actual value from said one stop reaches or drops below said first pregiven value (S1), the change-limited desired value is pregiven.

8. An arrangement for controlling the position of an actuating element, the arrangement comprising:

means for bringing the position of said actuating element closer to a desired value for the position of said actuating element within a displacement range;

at least one stop for said actuating element for limiting said displacement range;

means for limiting a change of said desired value;

means for checking whether the distance between said desired value and said one stop drops below a first pregiven value (S1); and

,

means for activating said limiting means only when said distance drops below said first pregiven value (S1).