Control device and motor vehicle

Abstract

The invention relates to an operating device (4) for rotary actuation with detents (R), comprising a console (5), an electric braking device (6) which has a stator (11) and a rotor (13) connected to the console (5) and which is configured to generate a braking force (BK) which counteracts a torque acting on the rotor (13), a rotary element (7) for introducing a torque, and a spring element (8) which is connected to the rotor (13) and to the rotary element (7) and is configured to permit spring-elastic twisting between the rotary element (7) and the rotor (13). The haptics of the operating device (6) can be improved in that the operating device (4) has an angle sensor (9) for determining a first angle of rotation (W1) between the rotating element (7) and the rotor (13) and a second angle of rotation (W2) between the rotor (13) and the stator (11), and in that the operating device (4) has a controller (10) which is coupled to the braking device (6) and to the angle sensor (9) and which, when the rotating element (7) is rotated to simulate the notches (R), controls the braking device (6) to generate or increase the braking force (BK) to tension the spring element (8) or to release or cancel the braking force (BK) to relax the spring element (8).

Description

[0001] The present invention relates to an operating device for a manual rotary actuation with haptic detents, according to the preamble of claim 1.

[0002] Such an operating device is known from DE 10 2005 003 593 A1 and has a stationary console and an electrically controllable braking device which has a stator connected to the console in a rotationally fixed manner and a rotor which is rotatable relative to the stator about a rotational axis and which is configured to generate a braking force which counteracts a torque acting on the rotor. The operating device also has a manually operable rotary element for introducing a torque and a spring element which is connected in a rotationally fixed manner to the rotor on the one hand and to the rotary element on the other hand and which is configured to permit spring-elastic twisting between the rotary element and the rotor. In the known operating device, an encoder disk is connected in a rotationally fixed manner to the rotary element and interacts with a light barrier attached to the console to detect a rotational position of the rotary element relative to the console.

[0003] In the present context, a ‘configuration’ is synonymous with a ‘design’ and / or ‘arrangement’ and / or ‘programming’, so that the phrase ‘configured so that’ is synonymous with the phrase ‘designed and / or arranged and / or programmed so that’.

[0004] Such operating devices are characterized by the fact that their haptics are variable or adjustable. For example, the number of notches and their angular spacing can be adjusted. Haptic notches are simulated by torques that counteract the rotary actuation during a rotary movement when changing from one notch to the next. When using braking devices designed as magnetorheological actuators, a torque counteracting the rotary movement can be generated as a braking force by energizing the magnetorheological actuator, whereby the braking force depends on the level of the applied current. A first problem with such magnetorheological actuators is that when energized, they stick like static friction, meaning that a release torque must first be overcome before rotary actuation is possible, which then counteracts the desired countertorque.The problem of sticking is mitigated in this type of control device by the spring element, as it allows the rotary element to be rotated even when the braking device is still sticking. A second problem with the use of magnetorheological actuators is that such an actuator can only generate braking forces and not driving forces. This means that a change in the sign of the torque during a rotary movement cannot be achieved using such an actuator, meaning the desired haptic feel for the detents is not achieved. Detents are perceived as particularly comfortable during a rotary operation if the user (male / female / diverse) can perceive a change in the sign of the opposing torque during the rotary operation, which intuitively indicates the clear haptic change between adjacent detents.The torque counteracting the rotational actuation increases up to a rotation angle midway between two adjacent notches. From the middle point, a supporting torque is perceived, which decreases until the next notch is reached. In other words, the change in sign enables the "locking" or creates the notches and causes the rotary element to move independently to the next stable rest position or notch.

[0005] From DE 10 2018 222 235 A1 a rotary actuator for controlling a vehicle is known, wherein a spring element is provided between a rotary plate of the rotary actuator and a magnetorheological braking device, which spring element serves to reset the rotary plate after a steering operation.

[0006] From DE 10 2022 115 752 A1 a rotary actuator with a rotary plate, a spring and a magnetorheological damping element arranged between the rotary plate and the spring is known.

[0007] From DE 10 2011 082 127 A1 and from US 2013 / 0 220 060 A1, operating devices are known which have a spring element between a rotating element and a rotor and are configured to simulate end stops.

[0008] The present invention addresses the problem of providing an improved or at least a different embodiment for an operating device of the type described above, which is characterized in particular by improved haptics when simulating the notches or, from the user's perspective, when replicating or generating the notches during a rotary actuation.

[0009] This problem is solved according to the invention by the subject matter of the independent claim. Advantageous embodiments are the subject matter of the dependent claims.

[0010] The invention is based on the general idea of ​​monitoring the rotation between the rotating element and the rotor and controlling the braking device depending on this rotation. This makes it possible, in particular, to initially generate a counter-torque when the rotating element is rotated to simulate the detents by tensioning the spring element while the rotor is still held in place by the braking force. Only at a predetermined limit value, which represents, for example, the middle between two adjacent detents, is the braking force reduced, so that the spring force now drives the rotor. At the same time, the resistance felt by the user decreases significantly, which is perceived haptically as a change in sign in the torque curve. This achieves the desired improved haptic properties.

[0011] Specifically, the invention proposes that the operating device have an angle sensor for determining a first angle of rotation between the rotating element and the rotor and a second angle of rotation between the rotor and the stator. Furthermore, the invention proposes that the operating device have a controller coupled to the braking device and to the angle sensor and configured such that, upon rotational actuation of the rotating element to simulate the detents, it controls the braking device to generate or increase a braking force to tension the spring element or to release or cancel the braking force to relax the spring element, depending on the first angle of rotation and the second angle of rotation.In particular, the control can be configured such that, when the rotary element is rotated to simulate the notches, it controls the braking device to generate the braking force to tension the spring element or to release the braking force to relax the spring element as a function of the first and second angle of rotation.

[0012] According to an advantageous embodiment, the control device can be configured such that, as long as the first angle of rotation, which increases from an initial value during the rotational actuation to simulate a stop, is below a preset first limit value, it activates the braking device to generate a braking force such that the spring element is elastically tensioned by the rotational actuation of the rotary element. In particular, the braking force can be dimensioned such that the rotor remains rotationally fixed to the stator, i.e., is held rotationally fixed with respect to its status. This ensures that the torque counteracting the rotational actuation is generated by tensioning the spring element.

[0013] In another advantageous embodiment, the controller can be configured such that, as soon as the first angle of rotation reaches the first limit value during the rotational actuation of the rotary element to simulate the detent, it activates the braking device to reduce or cancel the braking force, such that the spring element drives the rotor in rotation relative to the stator as long as the second angle of rotation is below a preset second limit value. In particular, the braking device is activated to cancel the braking force, so that the spring force can drive the rotor without braking.

[0014] The controller can expediently be configured such that, as soon as the second limit value is reached during the rotational actuation of the rotary element to simulate the detent, it resets the first angle of rotation to the initial value or increases the first limit angle by a predetermined value, in particular by the value of the second limit value. In this way, in the event that several detents follow one another in the direction of rotation, the procedure for simulating the haptic detents can be repeated. In particular, the first limit value can represent a midpoint between two adjacent detents, so that when the rotary element is transferred between two detents, the torque that counteracts the rotational actuation of the rotary element increases up to the midpoint between the two detents and then decreases, in particular rapidly or abruptly, until the next detents is reached. The second limit value can represent the angular distance between two adjacent detents.It is clear that when there are several consecutive notches in the direction of rotation, the second limit value is expediently to be understood as relative and refers to the previous notch from which the rotary element is moving away. For example, the angular distance between two adjacent notches can be 20°, so that the first limit value has a value of 10°, while the second limit value has a value of 20°. For a complete rotation of 360°, this results in 18 notches, each with a distance of 20°. The controller knows which notch the rotary element is in and can then take the second angle of rotation into account relatively and monitor the second limit value accordingly. This means that the procedure for simulating the notches along a complete rotation can be repeated 18 times in the example with 18 notches.The control can also take the absolute angles into account and adjust the first and second limit values ​​accordingly to the respective notch from which the rotary element is currently moving away or approaching during the rotation operation.

[0015] The angle sensor system can expediently comprise a first angle sensor configured to directly measure the angle of rotation between the rotating element and the rotor and to determine the measured angle of rotation as the first angle of rotation. This allows the operating device presented here to operate with particular precision.

[0016] In an alternative embodiment, the angle sensor system can comprise a first angle sensor configured to directly measure the angle of rotation between the rotating element and the stator. The angle sensor system can also comprise a second angle sensor configured to directly measure the angle of rotation between the rotor and the stator and determine the measured angle of rotation as the second angle of rotation. The controller can then be configured to determine the first angle of rotation as the difference between the measured angle of rotation and the determined second angle of rotation. This can significantly simplify the design of the angle sensor system.

[0017] According to an advantageous embodiment, the braking element can be configured as a magnetorheological actuator. Such a magnetorheological actuator can operate with a magnetorheological mass, which can be formed by a magnetorheological fluid or a magnetorheological powder. Such a magnetorheological actuator is characterized by an extremely compact design and low power consumption. Alternatively, the braking device can also be configured as an electric motor actuator. Such electric motor actuators can be implemented particularly cost-effectively.

[0018] According to an advantageous embodiment, the rotating element can be configured as a turntable or rotary knob with a vertical axis of rotation, or as a rotating roller with a horizontal axis of rotation. In a turntable or rotary knob, the axis of rotation is substantially perpendicular to a plane of a control panel to which or in which the console is attached. In a rotating roller, the axis of rotation extends parallel to a plane of a control panel to which or in which the console is attached.

[0019] A motor vehicle according to the invention has a cockpit equipped with at least one control device of the type described above. The console is attached to or in a control panel of the cockpit in such a way that the rotary element is accessible for manual rotation.

[0020] Further important features and advantages of the invention emerge from the subclaims, from the drawings and from the associated description of the figures based on the drawings.

[0021] It is understood that the features mentioned above and those to be explained below can be used not only in the respective combination specified, but also in other combinations or on their own, without departing from the scope of the invention defined by the claims. Components mentioned above and to be mentioned below of a higher-level unit, such as a device, apparatus, or arrangement, which are designated separately, may form separate parts or components of this unit or be integral areas or sections of this unit, even if this is shown differently in the drawings.

[0022] Preferred embodiments of the invention are illustrated in the drawings and are explained in more detail in the following description, wherein the same reference numerals refer to the same or similar or functionally identical components.

[0023] They show, schematically, Fig. 1 a highly simplified schematic diagram of an operating device, Fig. 2 to 4 diagrams illustrating a rotary actuation to simulate detents.

[0024] Accordingly Fig. 1, a motor vehicle 1, shown only partially here, comprises a cockpit 2 having a control panel 3, for example on a dashboard not shown in detail here, or on a center console not shown in detail here. The control panel 3 is equipped with an operating device 4, which is configured for manual rotary actuation with haptic notches R. The notches R are shown in the diagrams of Fig. 2 to 4. The operating device 4 comprises a stationary console 5, an electrically controllable braking device 6, a manually operable rotary element 7, a spring element 8, an angle sensor 9, and a controller 10. The console 5 is mounted in or on the control panel 3 such that the rotary element 7 is accessible for manual rotation.

[0025] The braking device 6 has a stator 11 connected to the bracket 5 in a rotationally fixed manner and a rotor 13 that is rotatable relative to the stator 11 about a rotation axis 12. The rotor 13 is thus also rotatable relative to the bracket 5 about the rotation axis 12. The braking device 6 is configured to generate a braking force BK that is Fig. 4 and which counteracts a torque acting on the rotor 13.

[0026] The rotating element 7 serves to introduce the torque, whereby the torque is manually generated or manually introduced into the rotating element 7. The spring element 8 is connected in a rotationally fixed manner to the rotor 13 on the one hand and to the rotating element 7 on the other. The spring element 8 is further configured to permit spring-elastic rotation between the rotating element 7 and the rotor 13. Upon such relative rotation, the spring element 8 is tensioned, building up a restoring spring force. If the rotating element 7 and the rotor 13 are rotatable relative to one another, the spring force can generate such a rotation that the spring force is reduced and thus the spring element 8 is relaxed. The spring element 8 can be a spring, a bar spring, a coil spring, a spring-elastic plastic part, or the like.

[0027] The angle sensor 9 is configured to determine a first angle of rotation W1 between the rotating element 7 and the rotor 13 and a second angle of rotation W2 between the rotor 13 and the stator 11. The first angle of rotation W1 is Fig. 2. The second angle of rotation W2 is shown in Fig. 3. The controller 10 is coupled to the angle sensor 9 in a suitable manner, for example via signal lines 14. Furthermore, the controller 10 is coupled to the braking device 6 in a suitable manner, for example via a control line 15. The controller 10 is also configured such that, upon rotational actuation of the rotary element 7 to simulate the detents R, it controls the braking device 6 to generate or increase the braking force BK to tension the spring element 8 or to release or cancel the braking force BK to relax the spring element 8 as a function of the first angle of rotation W1 and as a function of the second angle of rotation W2.

[0028] The following is based on the Fig. 2 to 4 the functionality of the control device 1 is explained in more detail. Fig. Figure 2 shows an angle-time diagram in which the first angle of rotation W1 is plotted as a function of time T. Fig. 3 shows an angle-time diagram in which the second angle of rotation W2 is plotted as a function of time T. Fig. Figure 4 shows a force-time diagram in which a force K generated by the braking device 6 is plotted as a function of time T. The diagrams show the temporal progression of the first angle of rotation W1, the second angle of rotation W2, and the force K during a rotary actuation of the rotary element 7 by a user in order to transfer the rotary element 7 from a perceptible first detent R1 to a second detent R2. The first detent R1 occurs at the beginning of the rotary actuation, i.e., at time t0. The second detent R2 occurs at a time t2.

[0029] According to the Fig. 2 to 4, the controller 10 is configured such that, as long as the first angle of rotation W1, which increases from an initial value AW during the rotational actuation to simulate a detent R, is below a preset first limit value GW1, it activates the braking device 6 to generate a braking force BK such that the spring element 8 is elastically tensioned by the rotational actuation of the rotary element 7. According to Fig. 2, the first angle of rotation W1 increases starting from the initial value AW, which is present at time t0, by the rotation operation. The increase of the first angle of rotation W1 is in Fig. 2 is shown linearly, so that in the example a uniform turning operation by the user is assumed. The first limit value GW1 is reached at time t1. According to Fig. 4, a predetermined braking force BK acts during this period, i.e., from t0 to t1. In other words, the controller 10 controls the braking device 10 during the rotational actuation until the first limit angle GW1 is reached to generate the braking force BK.

[0030] The braking force BK is selected such that it is greater than the spring force generated by spring element 8, so that the braking force BK causes the rotor 13 to not rotate with the rotating element 7 and instead to be held rotationally fixed relative to the stator 11. Accordingly, during this period from t0 to t1, the second angle of rotation W2 does not change but remains at its initial value AW.

[0031] Furthermore, the controller 10 is now configured such that as soon as the first angle of rotation W1 reaches the first limit value GW1 during the rotational actuation of the rotary element 7 to simulate the respective detent R, it activates the braking device 6 to cancel the braking force BK in such a way that the spring element 8 now drives the rotor 13 relative to the stator 11 as long as the second angle of rotation W2 is below a preset second limit value GW2.

[0032] The end of the period, i.e. the reaching of the first limit value GW1, is in Fig. 4 can be seen in that the braking force BK decreases at time t1 with a steep flank 16, preferably to the value 0, which represents a deactivated braking device 6. In Fig. 3 shows that from time t1 onward, the second angle of rotation W2 increases, initially sharply and then with decreasing angular velocity. This also affects the change in the first angle of rotation W1. Fig. 2, the first angle of rotation W1 is plotted as a solid line as the relative angle of rotation between the rotating element 7 and the rotor 13, while the first angle of rotation W1 in Fig. 2 is plotted with a dashed line as the absolute first angle of rotation W1 between the rotating element 7 and the stator 11. As can be seen, when the spring element 8 is released, the relative first angle of rotation W1 decreases after reaching time t1, while the absolute first angle of rotation W1 increases from time t1.

[0033] The controller 10 can now also be configured such that as soon as the second limit value GW2 is reached during the rotational actuation of the rotary element 7 to simulate the stop R, it resets the first angle of rotation W1 to the initial value AW. This ensures that the procedure can be repeated until the next stop R is reached. Accordingly, after time t2, the first angle of rotation W1, which again begins at the initial value AW, can increase again until the first limit value GW1 is reached. It is clear that this is also possible taking the absolute first angle of rotation W1 into account. In this case, a separate first limit value GW1 and a separate second limit value GW2 are provided for each stop. In particular, it can be provided that the controller 10 selects the respective limit values ​​GW1 and GW2 depending on the respective stop R in which the rotary element 7 is currently located or from which it is currently being moved away or towards.For example, it can be provided that when the next notch R is reached, the first limit value GW1 is increased by the value of the second limit value GW2.

[0034] Fig. 4 shows that from time t2 onwards, the braking force BK is again selected to be high enough for the rotor 13 to be held in the second notch R2. Accordingly, Fig. 3 the second angle of rotation W2 is initially constant again from time t2.

[0035] The controller 10 can, in particular, be configured so that the first limit value GW1 and / or the second limit value GW2 can be adjusted. For example, a configuration is conceivable in which the operating device 4 is used for different functionalities, for which different detents are then used, which can differ from one another by a different number of detents R during a complete rotation of the rotary element 7. Different braking forces BK can also be used.

[0036] The first limit value GW1 expediently represents the middle between two adjacent notches R. Preferably, the second limit value GW2 represents the angular distance between two adjacent notches R. For example, a total of ten to thirty notches R can be evenly distributed over 360°, so that with ten notches R there is a notch R every 36° and with thirty notches R there is a notch R every 12°. The second limit value GW2 then represents the angular distance of 12° or 36° between two adjacent notches R. The first limit value G1 then represents the middle between two adjacent notches R and in the example is then 6° or 18°. When considering the angles of rotation W1 and W2 relative to each other, the transition between two adjacent notches R always takes place from the initial value AW of 0° via the first limit value GW1 of 6° or 18° to the second limit value GW2 of 12° or 36°.In absolute terms, the values ​​for the initial value AW, the first limit value GW1, and the second limit value GW2 always increase by 12° and 36°, respectively, from notch R to notch R. An adjustment from the second notch R2 to the third notch R3 (not shown) then occurs from 12° to 24° and from 36° to 72°, respectively.

[0037] At the Fig. 1, the angle sensor system 9 comprises a first angle sensor 17 and a second angle sensor 18. The second angle sensor 18 is configured such that it directly measures the angle of rotation between the rotor 13 and the stator 11 and determines the measured angle of rotation as the second angle of rotation W2. According to a first embodiment, the first angle sensor 17 can be configured such that it directly measures the angle of rotation between the rotating element 7 and the rotor 13 and determines the measured angle of rotation as the first angle of rotation W1. In a second embodiment, however, it can be provided that the first angle sensor 17 is configured such that it directly measures the angle of rotation between the rotating element 7 and the stator 11. In this case, the controller 10 can be configured such that it determines the first angle of rotation W1 as the difference between the measured angle of rotation and the determined second angle of rotation W2.

[0038] The braking device 6 can preferably be configured as a magnetorheological actuator. Fig. In the example shown in Figure 1, the rotary element 7 is configured as a rotary knob having a stationary rotational axis 12 relative to the control panel 3. Alternatively, in an embodiment not shown here, the rotary element 7 can also be configured as a rotary roller having a rotational axis 12 lying relative to the control panel 3.

Claims

[1] Operating device (4) for manual rotary operation with haptic detents (R), - with a stationary console (5), - with an electrically controllable braking device (6) which has a stator (11) connected to the bracket (5) in a rotationally fixed manner and a rotor (13) which is rotatable about an axis of rotation (12) relative to the stator (11) and which is configured to generate a braking force (BK) which counteracts a torque acting on the rotor (13), - with a manually operated rotary element (7) for introducing a torque, - with a spring element (8) which is connected in a rotationally fixed manner to the rotor (13) on the one hand and to the rotating element (7) on the other hand and which is configured in such a way that it allows a spring-elastic twisting between the rotating element (7) and the rotor (13), characterized by , - that the operating device (4) has an angle sensor (9) for determining a first angle of rotation (W1) between the rotary element (7) and the rotor (13) and a second angle of rotation (W2) between the rotor (13) and the stator (11), - that the operating device (4) has a controller (10) which is coupled to the braking device (6) and to the angle sensor system (9) and which is configured such that, when the rotary element (7) is rotated to simulate the notches (R), it controls the braking device (6) to generate or increase the braking force (BK) to tension the spring element (8) or to release or cancel the braking force (BK) to relax the spring element (8) as a function of the first angle of rotation (W1) and as a function of the second angle of rotation (W2). [2] Operating device (4) according to claim 1, characterized by , - that the control (10) is configured such that, as long as the first angle of rotation (W1), which increases from an initial value (AW) during the rotational actuation, is below a preset first limit value (GW1) during the rotational actuation of the rotary element (7) to simulate a rest (R), it controls the braking device (6) to generate the braking force (BK) in such a way that the spring element (8) is tensioned in a spring-elastic manner by the rotational actuation of the rotary element (7). [3] Operating device (4) according to claim 2, characterized by , - that the control (10) is configured such that, as soon as the first angle of rotation (W1) reaches the first limit value (GW1) during the rotary actuation of the rotary element (7) to simulate the detent (R), it controls the braking device (6) to reduce the braking force (BK) in such a way that the spring element (8) drives the rotor (13) in rotation relative to the stator (11) as long as the second angle of rotation (W2) is below a preset second limit value (GW2). [4] Operating device (4) according to claim 3, characterized by , - that the control (10) is configured such that as soon as the second limit value (GW2) is reached during the rotational actuation of the rotary element (7) to simulate the rest (R), it increases the first limit angle (GW1) by a predetermined value. [5] Operating device (4) according to one of claims 2 to 4, characterized by , - that the control (10) is configured so that the first limit value (GW1) and / or the second limit value (GW2) can be set, and / or - that the first limit value (GW1) represents the middle between two adjacent notches (R), and / or - that the second limit value (GW2) represents the angular distance between two adjacent notches (R). [6] Operating device (4) according to one of claims 1 to 5, characterized by , - that the angle sensor system (9) has a first angle sensor (17) which is configured such that it directly measures the angle of rotation between the rotating element (7) and the rotor (13) and determines the measured angle of rotation as the first angle of rotation (W1). [7] Operating device (4) according to one of claims 1 to 5, characterized by , - that the angle sensor system (9) has a first angle sensor (17) which is configured to directly measure the angle of rotation between the rotary element (7) and the stator (11), - that the angle sensor system (9) has a second angle sensor (18) which is configured to directly measure the angle of rotation between the rotor (13) and the stator (11) and to determine the measured angle of rotation as the second angle of rotation (W2), - that the controller (10) is configured to determine the first angle of rotation (W1) as the difference between the measured angle of rotation and the determined second angle of rotation (W2). [8] Operating device (4) according to one of claims 1 to 7, characterized by , - that the braking device (6) is configured as a magnetorheological actuator. [9] Operating device (4) according to one of the preceding claims, characterized by , - that the rotating element (7) is configured as a turntable or rotary knob or as a rotating roller. [10] Motor vehicle (1) with a cockpit (2) which is equipped with at least one operating device (4) according to one of the preceding claims, wherein the console (5) is fastened to or in a control panel (3) of the cockpit (2) in such a way that the rotary element (7) is accessible for manual rotary actuation.

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