Actuator operation method, actuator and actuator and controller device operation method

Abstract

The present invention relates to a method of operating an actuator (4) of a motor vehicle (1), the actuator (4) having a servo driver (6) and a signal input terminal (7). The servo driver (6) operates according to a set value received via the signal input terminal (7) and a threshold stored in the actuator (4) to adjust the actual value of the actuator (4) to the set value, wherein when the set value exceeds the operating range of the actuator (4) defined by the threshold, the threshold is set to be equal to the set value. The present invention also relates to an actuator (4) of a motor vehicle and a method of operating an actuator (4) and a controller (3) device (2) of a motor vehicle (1).

Description

Technical Field

[0001] This invention relates to a method for operating an actuator in a motor vehicle, the actuator having a servo driver and a signal input terminal. The invention also relates to an actuator in a motor vehicle and a method for operating an actuator and controller device for a motor vehicle. Background Technology

[0002] For prior art, please refer to patent document WO97 / 39905A1. This document describes an active suspension system, particularly for vehicles with support units, each having a travel-adjustable active servo mechanism and passive springs arranged in series therewith, and shock absorbers preferably arranged at least parallel to the springs. Various acceleration sensors can determine the vehicle body's climb acceleration, pitch acceleration, roll acceleration, longitudinal acceleration, and lateral acceleration. Displacement sensors record the rising position of the support units. This document describes signal evaluation, enabling preset suspension characteristics. Summary of the Invention

[0003] The purpose of this invention is to provide a method for operating an actuator in a motor vehicle, which has advantages over known methods, particularly allowing the actuator to be installed in different motor vehicles or used in different motor vehicle series without adapting the actuator to the specific motor vehicle.

[0004] To achieve the above objectives, a method for operating an actuator in a motor vehicle is proposed according to the present invention. A servo drive operates based on a set value received via a signal input terminal and a threshold stored in the actuator to adjust the actual value of the actuator to the set value, wherein when the set value exceeds the actuator operating range defined by the threshold, the threshold is set to be equal to the set value.

[0005] An actuator is used for mechanically adjusting or driving equipment in a motor vehicle. For this purpose, the actuator has a servo drive, through which a driving torque is generated, or at least temporarily generated. The actuator may be, for example, in the form of an electric motor. Furthermore, the actuator may optionally have a transmission mechanism. To drive the actuator, it has a signal input terminal. A setpoint is fed to the actuator via the signal input terminal, for example, from a controller. Upon receiving the setpoint, the servo drive operates until the actual value of the actuator corresponds to the setpoint. "Actual value" and "setpoint" refer, for example, to the position of the actuator or servo drive and / or the equipment to be adjusted by the actuator, particularly the angular position or its equivalent.

[0006] In addition to setpoints, thresholds are used during actuator operation. Thresholds define the actuator's operating range—the range within which the actuator can or should operate. Specifically, thresholds define the boundaries of the operating range; the actual value of the actuator must not exceed these boundaries, as doing so could lead to damage to, for example, the actuator and / or the equipment. For instance, during actuator operation, the servo drive is stopped promptly before the actual value reaches the threshold. However, preferably, the servo drive operates at a higher speed when far from the threshold and at a lower speed within the threshold range, thus achieving both high-speed actuator adjustment and high safety.

[0007] Thresholds can be permanently stored in the actuator. However, the same actuator is often used for different vehicles, especially different vehicle series. This means that each actuator must be adapted to the corresponding vehicle, particularly by storing the thresholds in the actuator. Therefore, actuators must be provided for different vehicles or vehicle series, differing only in their thresholds. This means that for each vehicle or vehicle series, the corresponding actuator must be adapted and equipped with corresponding software that stores the thresholds. This increases development costs as well as manufacturing or warehousing costs.

[0008] For this reason, according to the present invention, the actuator adopts a self-learning design, enabling the actuator to adapt to the corresponding motor vehicle. This is achieved by setting a threshold based on a set value fed to the actuator via a signal input terminal. If the set value is outside the actuator operating range defined by the previous threshold, a new threshold equal to the set value is set and stored in the actuator as the threshold, thereby replacing the previous threshold.

[0009] Preferably, the actuator is reset upon installation into the vehicle, wherein a threshold is set to an initial value. In this case, the initial value corresponds to a very small, particularly minimum, operating range of the actuator, preferably zero. In this respect, setting the threshold to equal the initial value initially prevents the servo drive from moving away from the initial value. However, once a setpoint is fed to the actuator via a signal input and that setpoint is outside the operating range defined by the threshold, the threshold is set to equal that setpoint. Accordingly, the actual value can then move toward the setpoint, thus allowing the actual value to be adjusted to the setpoint in a corresponding response from the servo drive.

[0010] In this regard, the threshold is adaptively or gradually adjusted to the set value, and the actuator is adjusted to its permissible operating range. This eliminates the need to adapt the actuator to different vehicles or vehicle series. Specifically, the actuator is adjusted during operation within the vehicle. Consequently, there are significant advantages in terms of development and adaptation costs, as well as supply and warehousing costs.

[0011] Specifically, if the setpoint is higher or lower than the threshold, the threshold is set to be equal to the setpoint. If the threshold limits the actuator's operating range upwards (in the direction of larger values), then when the setpoint is higher than the threshold, the threshold is set to be equal to the setpoint. Conversely, if the threshold limits the actuator's operating range downwards (in the direction of smaller values), then when the setpoint is lower than the threshold, the threshold is set to be equal to the setpoint. This achieves gradual threshold adjustment, thereby adjusting the operating range to the setpoint specified via the signal input.

[0012] Preferably, the operating range of the actuator is defined by the threshold and an additional threshold. Specifically, the threshold within the operating range is limited in a first direction, while the additional threshold is limited in a second direction, which differs from the first direction. In this respect, the operating range lies between the threshold and the additional threshold. For example, the operating range is limited by the threshold in the higher value direction and by the additional threshold in the lower value direction, and vice versa. The threshold may also be referred to as the first threshold, and the additional threshold may also be referred to as the second threshold.

[0013] When using multiple thresholds, specifically a threshold and an additional threshold, or a first threshold and a second threshold, in particular, when the setpoint exceeds the actuator's operating range defined by the threshold, the threshold is set to equal the setpoint on the side where the setpoint exceeds the operating range. For example, when the setpoint is higher than the threshold, the threshold is set to equal the setpoint, and when the setpoint is lower than the additional threshold, the additional threshold is set to equal the setpoint, and vice versa. In this way, the actuator's operating range gradually expands, and the threshold adapts to the range in which the setpoint occurs.

[0014] According to the improved embodiment of the present invention, the adjustment speed of the servo drive decreases as the distance between the actual value and the threshold decreases. Adjustment speed refers to the speed at which the servo drive changes the actual value. If the actual value takes the form of a rotational angular position, the adjustment speed is equivalent to angular velocity. If the distance between the actual value and the threshold is large, a faster adjustment speed is selected than when the distance is small. This achieves reliable and accurate approximation of the actual value to the set value, and in particular, prevents the actual value from exceeding the set value. In other words, the smaller the distance between the actual value and the threshold, the lower the adjustment speed. Conversely, preferably, the larger the distance between the actual value and the threshold, the higher the adjustment speed. This means that, on the one hand, the actual value quickly approaches the set value, and on the other hand, the actual value is reliably prevented from leaving the operating range.

[0015] If the operating range is defined by multiple thresholds, particularly by a threshold and an additional threshold, then the adjustment speed of the servo drive naturally decreases as the distance from the threshold closest to the actual value decreases. In this sense, there exists a maximum adjustment speed, for example, when the actual value is located between these two thresholds. Moving away from this maximum adjustment speed, the adjustment speed decreases in both directions, i.e., in the direction of each threshold.

[0016] In any case, the adjustment speed is reduced in such a way that it ensures the actual value is reliably and accurately set, or can be set to, the setpoint. However, preferably, the adjustment speed is reduced only when this condition is met, so that the actual value can continue to be adjusted quickly to the setpoint.

[0017] According to the improved embodiment of the present invention, the actual value is limited to a threshold, as described above. The threshold limits the operating range of the actuator, where it is not desired for the actual value to leave the operating range, and this should be prevented. Therefore, the adjustment or operation mode of the servo drive is such that the actual value is always within the operating range, and correspondingly, the actual value will not leave the operating range.

[0018] When the actuator starts operating, its adjustment range is limited by a threshold, which widens over time. This process allows the actuator to operate reliably and safely independently of the vehicle or vehicle series, enabling flexible use of the actuator through self-learning based on setpoints.

[0019] According to an improved embodiment of the invention, a threshold value set equal to a predetermined value is stored in a non-volatile memory within the actuator. This threshold, or multiple threshold values, should be stored such that they persist even when the actuator is in a no-current state. In this respect, the actuator does not relearn every time the vehicle starts operating; instead, it should persistently learn or persistently store one or more threshold values. Specifically, one or more threshold values ​​should be persistently stored with respect to KL15 and / or KL30 switching. KL15 switching refers to enabling or disabling the vehicle's ignition system, while KL30 switching refers to enabling or disabling the vehicle's power supply. For this purpose, one or more threshold values ​​are stored in the actuator's non-volatile memory. The advantage of this process is that learning is performed only once, and it is not necessary to learn again after completion.

[0020] According to an improved embodiment of the invention, the actuator compares the identifier received via a signal input terminal with an identifier stored in the actuator. If the received identifier deviates from the stored identifier, the threshold is reset to its initial value. The identifier may be, for example, an identifier of the motor vehicle and / or its controller. For instance, the identifier is transmitted to the actuator via a signal input terminal when the motor vehicle begins operation. During operation of the actuator or the motor vehicle, the identifier may also be transmitted to the actuator multiple times, particularly periodically.

[0021] Preferably, if the actuator does not yet store any identifier or the received identifier deviates from the stored identifier, the identifier received via the signal input is stored in the actuator. In this way, the actuator is coupled to the vehicle or controller, and the actuator can then identify whether it is still operating with the vehicle or controller, or whether it is installed in another vehicle or connected to another controller.

[0022] In any case, if the identifier is stored in the executor, the threshold is reset to its initial value. In this scenario, the initial value is specifically chosen such that it allows only a very small operating range for the actual value, or that the executor remains stationary. If multiple thresholds exist, each of these thresholds can be reset to the same initial value. However, it is also possible to store separate initial values ​​for each threshold, and these separate initial values ​​must be distinct from each other.

[0023] The above process allows the actuator to be used flexibly in different motor vehicles, for example, by removing the actuator from a first motor vehicle and installing it in a second motor vehicle. In this case, the servo drive should not be operated using an operating range adapted to the first motor vehicle, but rather the operating range should be adapted to the second motor vehicle.

[0024] According to an improved embodiment of the present invention, an actuator is used to drive the rear axle steering system of a motor vehicle. In this regard, the motor vehicle has multiple steering axles, namely a front steering axle and a rear steering axle. When the front axle steers in a conventional manner, the actuator is used to adjust the steering angle of the rear axle. In this regard, the actuator's setpoint, actual value, and threshold are preferably in the form of a steering angle or its equivalent. The operation of the aforementioned actuator allows the same actuator to be used in the rear axle steering systems of different motor vehicles or different motor vehicle series. The actuator does not need to be adapted to the corresponding motor vehicle or corresponding motor vehicle series, thereby significantly reducing development workload.

[0025] The present invention also relates to an actuator for a motor vehicle, particularly for performing the method described in the context of this specification, the actuator having a servo drive and a signal input. In this case, the actuator is designed to configure the servo drive to operate according to a set value received via the signal input and a threshold stored in the actuator to adjust the actual value of the actuator to the set value, wherein when the set value exceeds the actuator operating range defined by the threshold, the threshold is set to be equal to the set value.

[0026] The advantages of this actuator configuration or process have been explained above. The actuator and its operation can be modified based on the embodiments described in the context of this specification, and reference can be made to these embodiments.

[0027] The present invention also relates to a method of operating an actuator and controller device for a motor vehicle, particularly using an actuator operation method described in the context of this specification, the actuator having a servo driver and a signal input terminal. The servo driver operates according to a set value received from the controller via the signal input terminal and a threshold stored in the actuator to adjust the actual value of the actuator to the set value, wherein when the set value exceeds the actuator operating range defined by the threshold, the threshold is set to be equal to the set value.

[0028] Further information on advantages and possible advantageous implementations can be found in the statements within the context of this specification.

[0029] According to the improved embodiment of the present invention, a maximum setpoint is stored in the controller, and a threshold stored in the actuator is set to an initial value different from the maximum setpoint. The maximum setpoint is matched to the corresponding motor vehicle, that is, it is equivalent to the maximum setpoint that can be set for the motor vehicle. On the other hand, the initial value is selected so that the actuator can be used for different motor vehicles or different series of motor vehicles. Combining the above process, the advantage is that the actuator learns from the controller or the motor vehicle during operation, thereby eliminating the need for separate actuator adjustment.

[0030] According to the improved embodiment of the present invention, a default value within a numerical range defined by the maximum set value is transmitted to the actuator as the set value, so that the threshold value is coordinated with the maximum set value, particularly gradually. During the operation of the aforementioned device or motor vehicle, different default values ​​within the numerical range are selected as set values ​​and transmitted to the actuator. For example, a default value is selected based on the vehicle steering angle specified by the driver.

[0031] If the setpoint transmitted to the actuator is outside the currently defined operating range of the threshold, the threshold is set to be equal to the setpoint, and the servo drive then operates in a manner that approximates the setpoint with the actual value. This allows the threshold to align with the maximum setpoint over time until the threshold eventually equals the maximum setpoint.

[0032] Upon startup, the controller can transmit a default value corresponding to the maximum setpoint to the actuator. In this case, the threshold is immediately set to equal the maximum setpoint. However, reconciling the threshold with the maximum setpoint typically requires multiple steps until the threshold is equivalent to the maximum setpoint during normal operation of the device or vehicle. Reliably reconciling the threshold with the maximum setpoint under all circumstances enables the actuator to adapt to the vehicle.

[0033] Without departing from the scope of this invention, the features and combinations thereof described in the foregoing description, and in particular the features and combinations thereof described and / or shown in the following description and / or drawings, can be used not only in the various combinations given, but also in other combinations or alone. This invention should be considered to include embodiments not explicitly shown or described in the specification and / or drawings, but implied or deduced from the embodiments described herein. Attached Figure Description

[0034] The invention will be described in detail with reference to the embodiments shown in the accompanying drawings, but is not intended to limit the invention. In the figures: Figure 1 A schematic diagram showing the area of ​​the actuators and controllers of a motor vehicle, more specifically a motor vehicle; Figure 2The graph shows how the setpoints, thresholds, and additional thresholds transmitted to the controller change over time.

[0035] List of reference numerals 1 Motor vehicles 2. Device 3 Controllers 4. Actuator 5 servo units 6 servo drives 7. Signal Input Terminal 8. Signal lines 9 curves 10 curves 11 curves Detailed Implementation

[0036] Figure 1 The diagram schematically illustrates the area of ​​a motor vehicle 1, particularly a device 2 of the motor vehicle 1, which includes a controller 3 and an actuator 4. The actuator 4 is specifically for actuating the rear axle steering system of the motor vehicle 1. The actuator 4 includes a servo unit 5 and a servo driver 6. The servo unit 5 responds to the servo driver 6 based on set values ​​fed to the actuator 4 by the controller 3 via signal input 7, particularly via signal line 8. The servo driver 6 is intended to provide mechanical driving force or mechanical driving torque. In the embodiment shown in this figure, the servo driver 6 forms part of or is at least connected to the rear axle steering system of the motor vehicle 1 using drive technology.

[0037] When vehicle 1 begins operation, i.e., when vehicle 1 is first put into operation, controller 3 is specifically designed for vehicle 1, while actuator 4 is universal. This means that actuator 4 is different from controller 3 and is not matched with vehicle 1. More precisely, this matching should only occur during the operation of vehicle 1 or device 2. A maximum setpoint is stored in controller 3, which defines the range of values ​​within which, or potentially within, the setpoints transmitted from controller 3 to actuator 4. The maximum setpoint is matched with the corresponding vehicle 1.

[0038] In contrast, a threshold is stored in actuator 4, which corresponds to the initial value at the start of operation. The initial value and the initial threshold are selected so that actuator 4 can be used with different motor vehicles 1 or different series of motor vehicles.

[0039] Actuator 4 or its servo drive 6 operates based on a setpoint received via signal input 7, and also utilizes a threshold. Specifically, the actual value of the servo drive is changed towards or set to the setpoint by adjusting the servo drive 6 accordingly. However, in this case, the actual value is limited by the threshold, which defines the operating range of actuator 4. This means that when actuator 4 operates, the actual value should not exceed the operating range defined by the threshold or should be limited to this operating range. Furthermore, as the distance between the actual value and the threshold decreases, the adjustment speed of the servo drive decreases to prevent the actual value from exceeding the threshold.

[0040] Particularly preferably, the operating range of actuator 4 is defined by multiple thresholds. For this purpose, in addition to the threshold also known as the first threshold, there is an additional threshold also known as the second threshold. This means that the operating range is bounded by opposite sides of the thresholds, thus the thresholds sandwich the operating range in the middle. For example, one threshold may be positive, while the other may be negative. In any case, the thresholds are all different.

[0041] Figure 2 The graphs showing curves 9, 10, and 11 as a function of time t are shown. Curve 9 depicts the setpoint fed to actuator 4 via signal input 7, curve 10 is the curve for the first threshold, and curve 11 is the curve for the second threshold. Initially, the first threshold corresponds to a first initial value, and the second threshold corresponds to a second initial value. For example, the first initial value is positive, and the second initial value is negative. As a purely illustrative example, a sine curve 9 with respect to the setpoint is preset, the amplitude of which increases with time. Initially, the setpoint is entirely within the operating range of actuator 4 defined by the thresholds.

[0042] However, over time, set values ​​may appear outside the operating range, either above the first threshold or below the second threshold. If the set value is above the first threshold, the first threshold is set to be equal to the set value, and the actual value is changed towards the set value by the operation of the servo drive 5, specifically until it changes to the set value. Conversely, if the set value is below the second threshold, the second threshold is set to be equal to the set value, and the actual value is changed towards the set value by the operation of the servo drive 5, specifically until it changes to the set value.

[0043] As a result, the distance between the two thresholds steadily increases over time until the operating range of actuator 4 defined by the thresholds corresponds to the operating range or numerical range stored in controller 3. In this regard, at least one maximum setpoint is stored in controller 3, with the first threshold aligned to this maximum setpoint. Preferably, a minimum setpoint is also stored, with the second threshold aligned to this minimum setpoint over time. The minimum and maximum setpoints define the range of values ​​within which controller 3 selects default values ​​as setpoints to transmit to actuator 4.

[0044] The advantage of the above process is that actuator 4 only needs to take a general form, rather than a form specifically customized for vehicle 1. In this respect, actuator 4 adaptively adapts to vehicle 1 during its operation. This eliminates the need for repeated adjustments to actuator 4. At the same time, the manufacturing and storage costs of actuator 4 are reduced.

Claims

1. A method for operating an actuator (4) of a motor vehicle (1) via a controller (3), wherein the actuator (4) has a servo unit (5), a servo driver (6), and a signal input terminal (7), wherein, The actual value of the servo drive (6) is adjusted based on the set value received by the controller (3) via the signal input terminal (7) and the threshold stored in the actuator (4). The threshold defines the limit of the operating range of the actuator (4), and the actual value of the servo drive (6) must not exceed the limit. Its features are, If the set value is outside the operating range of the actuator (4), the threshold is set to be equal to the set value.

2. The method according to claim 1, characterized in that, The adjustment speed of the servo driver (6) decreases as the distance between the actual value and the threshold decreases.

3. The method according to claim 1, characterized in that, The threshold value set to be equal to the set value is stored in the non-volatile memory of the actuator (4).

4. The method according to claim 1, characterized in that, The actuator (4) compares the identifier received via the signal input terminal (7) with the identifier stored in the actuator (4). When the received identifier deviates from the stored identifier, the threshold is reset to the initial value.

5. The method according to claim 1, characterized in that, The actuator (4) is used to drive the rear axle steering system of the motor vehicle (1).

6. The method according to claim 1, characterized in that, The maximum set value is saved in the controller (3), and the threshold value saved in the actuator (4) is set to an initial value different from the maximum set value.

7. The method according to claim 6, characterized in that, The default value within the numerical range defined by the maximum set value is transmitted to the actuator (4) as the set value.

8. An actuator (4) for a motor vehicle (1), comprising a servo unit (5), a servo driver (6), and a signal input terminal (7), characterized in that, The actuator (4) is configured to perform the method according to any one of claims 1 to 7.

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