Method and device for adjusting an actuator member of a positioning system with an electronically commutated actuator drive

• US 9,837,944 B2
• Filed: 05/27/2015
• Issued: 12/05/2017
• Est. Priority Date: 06/06/2014
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Grossmann, Alex, Schweinfurth, Reiner, Dierolf, Simon, Kilger, Michael, Immdendoerfer, Ingo, Sieber, Udo
• Primary Examiner(s): Ro, Bentsu
• Assistant Examiner(s): DINH, THAI T
• Application Number:
  US15/316,515
• Publication Number:
  US 20170163193A1
• Time in Patent Office: 923 Days
• Field of Search: 318434, 31840014, 318437, 318538
• CPC Class Codes: F02B 37/186 Arrangements of actuators or linkage for bypass valves
• CPC Class Codes: F02D 11/107 Safety-related aspects
• CPC Class Codes: F02D 41/00 Electrical control of supply of combustible mixture or its constituents F02D43/00 takes precedence ; control of engine starters F02N11/08, electrical control of engine ignition timing F02P5/145
• CPC Class Codes: F02D 41/0077 Control of the EGR valve or actuator, e.g. duty cycle, closed loop control of position EGR valve position sensor F02M26/48
• CPC Class Codes: F02M 26/54 Rotary actuators, e.g. step motors
• CPC Class Codes: G05B 19/00 Programme-control systems
• CPC Class Codes: G05B 2219/41321 Brushless dc motor
• CPC Class Codes: H02P 21/00 Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
• CPC Class Codes: H02P 25/03 with brushless excitation
• CPC Class Codes: H02P 29/02 Providing protection against overload without automatic interruption of supply protection against faults of stepper motors H02P8/36
• CPC Class Codes: H02P 29/032 Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
• CPC Class Codes: H02P 3/02 Details of stopping control
• CPC Class Codes: H02P 3/025 holding the rotor in a fixed position after deceleration

Abstract

A method is proposed for adjusting an actuator (300) of a positioning system (100). The positioning system (100) has an electronically commutated actuator drive (200) which is coupled to the actuator (300), wherein the actuator drive (200) has a permanent magnetic rotor (210), wherein the rotor (210) has a first shaft (212) which extends along a pole axis (290) of the rotor (210). The actuator drive (200) additionally has an electronically commutated stator (230), wherein the stator (230) can be energized using a space phasor (260), wherein the space phasor (260) has an electric phase and an amplitude, wherein the space phasor (260) is aligned with respect to the first shaft (212) of the rotor (210) around a difference phasing. In order to be able to actuate a predefined position of the actuator, even without sensors to determine the position of the first shaft (212) of the rotor (210), the following steps of the method are thereby provided: setting the difference phasing of the space phasor (260) to an operating difference phasing; setting the amplitude to an operating amplitude, wherein the operating difference phasing and the operating amplitude are set in such a way that the operating difference phasing is less than 45° and that a torque is generated at the rotor (210) suitable for starting up the predefined position of the actuator (300). The invention further relates to a device for adjusting an actuator (300) of a positioning system (100) and a computer program product which contains a program code which, when it is executed by a data processing unit, implements the method according to the invention.

Claims

1. A method for adjusting an actuator member of a positioning system,

wherein the positioning system has an electronically commutated actuator drive which is coupled to the actuator member,

wherein the actuator drive has a rotor with permanent magnets, wherein the rotor has a first axis which extends along a pole axis of the rotor,

and wherein the actuator drive has an electronically commutated stator,

wherein the stator can be energized with a space phasor, wherein the space phasor has an electric phase φ

_el and an amplitude A, wherein the space phasor is oriented about a differential phasing θ

relative to the first axis of the rotor,

characterized in that

the method comprises the following steps for controlling a predefined position of the actuator member;

setting the differential phasing θ

of the space phasor to an operating differential phasing θ

_O,

setting the amplitude A to an operating amplitude A_O,

wherein the operating differential phasing θ

_O and the operating amplitude A_O are set such that the operating differential phasing θ

_O is less than 45°

, and that a torque is generated which acts on the rotor and is suitable for approaching the predefined position of the actuator member.

2. The method according to claim 1, characterized in that the positioning system comprises means for detecting a position value L of the position of the first axis.

3. The method according to claim 2, characterized in that the means comprise at least one calibration step for determining a position value L.

4. The method according to claim 1, characterized in that at the predefined position of the actuator member, the actuator member is fully opened and/or the actuator member comes to rest on a mechanical stop.

5. The method according to claim 1, characterized in that the predefined position of the actuator member is reached in less than 300 ms, in particular in less than 100 ms.

6. The method according to claim 1, characterized in that the control for rotating the electrical phase φ

_el of the space phasor takes place such that the depiction of the phase control values over the control time gives a curve which can be differentiated at any time, i.e. in particular the left-side derivative at any time corresponds to the right-side derivative.

7. The method according to claim 1, characterized in that the method is performed only after the occurrence of a defined event, wherein without the occurrence of the defined event for adjusting the position of the actuator member, the space phasor is oriented relative to the first axis of the rotor by a differential phasing θ

which lies in a range between 45° and

135°

, in particular in a range from 70°

to 110°

.

8. The method according to claim 1, characterized in that the means for detecting a position value L of the position of the first axis are at least one sensor arranged on the actuator member and/or at least one sensor arranged on the actuator drive.

9. The method according to claim 1, characterized in that the positioning system comprises a memory for storing position values L of the position of the first axis, and that on occurrence of the defined event, a position value L is retrieved from the memory in order to set the operating differential phasing θ

_O.

10. The method according to claim 1, characterized in that the defined event is a malfunction of the sensor or the failure of the sensor.

11. The method according to claim 1, characterized in that the predefined position of the actuator member is a position in which the actuator member comes to rest on a mechanical stop, wherein a differential phase angle Δ

φ

of the electrical phase φ

_el of the space phasor results from the difference between a first electrical phase φ

₁ of the space phasor at the predefined position and a second electrical phase φ

₂ of the space phasor which the space phasor has at the position value L retrieved from the memory plus a multiple of 360°

, in particular plus 720°

.

12. A computer program product which contains a program code which, if executed on a data processing unit, performs the method according to claim 1.

13. A device for adjusting an actuator member of a positioning system,

wherein the positioning system has an electronically commutated actuator drive which is coupled to the actuator member,

wherein the actuator drive has a rotor with permanent magnets, wherein the rotor has a first axis which extends along a pole axis of the rotor,

and wherein the actuator drive has an electronically commutated stator,

wherein the stator can be energized with a space phasor, wherein the space phasor has an electrical phase φ

_el and an amplitude A, wherein the space phasor can be oriented about a differential phasing θ

relative to the first axis of the rotor,

characterized in that the device is configured to approach a predefined position of the actuator member in that;

the space phasor can be controlled such that the differential phasing θ

can be set to an operating differential phasing θ

_O,

wherein the space phasor can be controlled such that the amplitude A can be set to an operating amplitude A_O,

wherein the operating differential phasing θ

_O and the operating amplitude A_O can be set such that the operating differential phasing θ

_O is less than 45°

, and the space phasor generates a torque acting on the rotor and suitable for approaching the predefined position of the actuator member.

14. The device according to claim 13, characterized in that

the device is configured to approach a predefined position of the actuator member in a normal operating mode, in that

the space phasor can be oriented relative to the first axis of the rotor about a differential phasing θ

of more than 45°

, in particular about a differential phasing θ

of more than 70°

,

wherein the amplitude A can be set such that the space phasor generates a torque acting on the rotor and suitable for approaching a predefined position,

and that the device is furthermore configured to approach the predefined position of the actuator member only after occurrence of a defined event, in that

the operating differential phasing θ

_O and the operating amplitude A_O can be set such that the operating differential phasing θ

_O is less than 45°

, and that the space phasor generates a torque acting on the rotor and suitable for approaching the predefined position.

15. The device according to claim 13, characterized in that the positioning system comprises means for detecting a position value L of the position of the first axis, wherein the means for detecting the position value L are at least one sensor arranged on the actuator member and/or at least one sensor arranged on the actuator drive, wherein the positioning system comprises a memory for storing position values L of the position of the first axis, and wherein on occurrence of the defined event, a position value L is retrieved from the memory in order to set the operating differential phasing θ

_O, and wherein the defined event is a malfunction of the sensor or the failure of the sensor.