Actuating device for a vehicle and method and control device for operating an actuating device

Abstract

The approach presented here provides an actuating device (100) for a vehicle. The actuating device (100) comprises a stationary component (105), a movable component (110) mounted so as to be displaceable relative to the stationary component (105), a magnetorheological medium (315), and a coil (120). The magnetorheological medium (315) is arranged in a space (318) between the stationary component (105) and the movable component (110) and is designed to assume different states depending on a magnetic field (320) acting on the magnetorheological medium (315), resulting in different resistance characteristics for the movement of the movable component (110) relative to the stationary component (105).The coil (120) is designed to generate a magnetic field (320) at least in partial sections of the components (105, 110) and the magnetorheological medium (315), wherein the magnetic field (320) is designed to put the magnetorheological medium (315) into different states depending on the current strength of the current supplied to the coil (120).

Description

[0001] The present invention relates to an actuating device for a vehicle and to a method for operating an actuating device.

[0002] Actuators can be installed in vehicles, for example, to adjust vehicle functions. Some of these actuators may contain a magnetorheological medium or fluid. revelation

[0003] Against this background, the present invention provides an improved positioning device for a vehicle and an improved method and control device for operating a positioning device according to the main claims. Advantageous embodiments are described in the dependent claims and the following description.

[0004] The advantages achievable with the presented approach consist in particular of the fact that an actuating device can be created that influences a translational movement.

[0005] An actuator for a vehicle comprises a stationary component, a movable component mounted so as to be displaceable relative to the stationary component, a magnetorheological medium, and a coil. The magnetorheological medium is arranged in a space between the stationary component and the movable component and is configured to assume different states depending on a magnetic field acting upon it. These states result in different resistance characteristics for the movement of the movable component relative to the stationary component. The coil is configured to generate a magnetic field, at least in sections of the components and the magnetorheological medium. This magnetic field is configured to bring the magnetorheological medium into the different states depending on the current applied to the coil.

[0006] The actuator can be a device for operating any vehicle function. It can be designed as a control device, an actuating device, or an actuator. For example, such an actuator can be operated by a vehicle occupant. Depending on the current applied to the coil, the magnetorheological medium can be brought into different states. For example, the magnetorheological medium can be in a rest state, an activated state, and at least one intermediate state. The rest state of the magnetorheological medium can be understood as a state in which no magnetic field acts on the magnetorheological medium, i.e., the coil is not energized.The activation state of the magnetorheological medium can be understood as a state in which a magnetic field acts upon it, meaning the coil is strongly energized. The intermediate state of the magnetorheological medium can be understood as a state in which a magnetic field also acts upon it, but the coil is less strongly energized than in the activation state. By applying the magnetic field, the viscoelastic or dynamic-mechanical properties of the magnetorheological medium can be changed rapidly and reversibly, and deformation of the magnetorheological medium can occur between the resting state and the activation state.

[0007] The approach presented here allows for influencing the displacement or translational movement within a stationary component. Depending on the current applied to the coil, the translational movement of the movable component can be reduced or stopped. In other words, the translational movement can be slowed down or stopped to control the movement of adjacent components. Examples of this include haptic actuators or mechatronic brake actuators capable of generating a precise braking force. By adjusting the current in the coil, a magnetic field can be generated that can move a magnetorheological element (MRE), thereby exerting a force on the moving parts to slow down or stop their movement. The approach presented here can also be understood as an MRE or MRF actuator for generating a translational braking force.

[0008] Both the stationary and the movable components can be magnetically conductive. This allows the magnetic field to be influenced advantageously.

[0009] The positioning device may include a guide element that can be arranged on the stationary component. The guide element can be designed to guide a translational movement of the movable component relative to the stationary component. The guide element can be fixed to the stationary component and arranged in the space between the stationary component and the movable component. The guide element can advantageously influence the function of the movable component.

[0010] The guide element can be magnetically non-conductive. This allows for precise and reliable guidance of the movable component relative to the stationary component.

[0011] The movable component can be at least partially enclosed by the stationary component. This allows for a space-saving design of the positioning device.

[0012] The coil can be at least partially enclosed by the stationary component. This also allows for a space-saving design of the adjusting device.

[0013] The magnetorheological medium can comprise a magnetorheological elastomer. This elastomer can consist of an elastomer matrix and magnetically active particles dispersed within it. The viscoelastic or dynamic-mechanical properties of these elastomers can be rapidly and reversibly altered by applying an external magnetic field. By using magnetorheological elastomers, as opposed to a magnetorheological fluid, a seal is unnecessary, as sealing against a fluid is not required. The elimination of both the seal and the fluid allows for very low no-load torque. Furthermore, a high braking torque can be generated, and sedimentation and / or segregation can be avoided. Particle wear can be prevented, the need for a filling process and / or coil sealing can be eliminated, and particle orientation can be controlled.The magnetorheological elastomer can be installed in any mounting position.

[0014] Additionally or alternatively, the magnetorheological medium can comprise a magnetorheological fluid or a magnetorheological liquid. The magnetorheological medium can be a heterogeneous mixture of magnetically polarizable particles, which can also be referred to as a magnetorheological liquid. Alternatively, the magnetorheological medium can also be a powder. The magnetorheological medium can solidify, for example, by applying a magnetic field, i.e., by energizing a coil.

[0015] The stationary component can be designed as a housing, and the movable component can be designed as a slide. This allows for a space-saving design and ensures reliable guidance of the translational movement.

[0016] The actuator can include a sensor device for detecting the position of the movable component relative to the stationary component and, additionally or alternatively, for detecting the ambient temperature of the actuator. For detecting the position, the sensor device can, for example, include a position sensor that can provide a position signal. For detecting the ambient temperature, the sensor device can, for example, include a temperature sensor that can provide a temperature signal.

[0017] A method for operating an embodiment of an actuating device mentioned herein comprises a step of adjusting the current strength of the current flowing through the coil in order to bring the magnetorheological medium into the different states.

[0018] By carrying out the method, an embodiment of an actuating device mentioned herein can be operated advantageously.

[0019] During the adjustment step, the current can be set depending on the position of the movable component relative to the stationary component and, additionally or alternatively, on the ambient temperature of the actuator. The adjustment step can be performed using at least one signal output by the sensor device. This signal could be, for example, a temperature signal and / or a position signal.

[0020] A control device is designed to execute and / or control the steps of an embodiment of a method mentioned herein in corresponding units. This embodiment of the invention, in the form of a device, also allows the problem underlying the invention to be solved quickly and efficiently.

[0021] The control device can be configured to read input signals and use these input signals to determine and provide output signals. An input signal can, for example, be a sensor signal readable via an input interface of the device. An output signal can be a control signal or a data signal that can be provided at an output interface of the device. The control device can be configured to determine the output signals using a processing instruction implemented in hardware or software. For example, the control device can include a logic circuit, an integrated circuit, or a software module and can be implemented as, or comprised of, a discrete component.

[0022] An embodiment of the proposed adjusting device is explained in more detail below with reference to the accompanying figures. These show: Fig. 1 a schematic representation of an embodiment of an actuating device; Fig. 2 a schematic representation of an embodiment of an actuating device; Fig. 3 a schematic representation of an embodiment of an actuating device; Fig. 4 a schematic representation of an embodiment of an actuating device; Fig. 5 a flowchart of an embodiment of a method for operating an actuator; and Fig. 6 a block diagram of an exemplary embodiment of a control device for operating an actuator.

[0023] Identical or similar elements are designated by identical or similar reference symbols in the following figures, with repeated descriptions being omitted for the sake of clarity.

[0024] Fig. Figure 1 shows a schematic representation, more precisely a side view, of an embodiment of an actuating device 100 for a vehicle. The vehicle is, for example, a motor vehicle such as a passenger car, a motorcycle, a commercial vehicle, or the like. The actuating device 100 is designed, for example, to enable a user to operate a vehicle function. For example, the actuating device 100 can be manually operated by a vehicle occupant, for example, via an actuating element. The actuating element is, for example, designed as a knob or a coupling element.

[0025] The positioning device 100 comprises a stationary component 105, a movable component 110, and a magnetorheological medium, which is shown only by way of example in Fig. Figure 3 shows a coil 120 and optionally a sensor device 125 as well as a circuit board 130.

[0026] The movable component 110 is mounted so as to be displaceable relative to the stationary component 105, wherein the movable component 110 is, for example, mounted internally and the stationary component 105 is arranged externally. According to the embodiment shown here, the stationary component 105 is designed as a housing and the movable component 110 is designed as a slide. In other words, the housing is fixed and the slide is movable. The stationary component 105 and the movable component 110 are, for example, magnetically conductive.

[0027] The movable component 110 is, for example, at least partially enclosed by the stationary component 105. The coil 120 is also, for example, at least partially enclosed by the stationary component 105. A section of the movable component 110 protrudes from the top side of the stationary component 105, and a section of the coil 120 protrudes from the bottom side of the stationary component 105, with the movable component 110 and the coil 120 being arranged opposite each other or stacked on top of each other.

[0028] The coil 120 is designed to generate a magnetic field in the sections of components 105, 110 and the magnetorheological medium, as shown only by way of example in Fig. Figure 3 shows that the magnetic field is designed to induce different states in the magnetorheological medium depending on the current applied to coil 120.

[0029] According to one embodiment, the circuit board 130 is arranged on the top side of the stationary component 105. The sensor device 125 is, for example, arranged on the circuit board 130. The sensor device 125 is designed, for example, to detect the position of the movable component 110 relative to the stationary component 105 and / or to detect the ambient temperature of the actuator 100.

[0030] In other words, the actuator 100 incorporates a sensor for determining the position of the slide relative to the housing. Software-controlled braking force via regulation and position is enabled, and a characteristic curve for the braking force can be used. The sensor device 125, for example, incorporates a temperature sensor for adapting the temperature to the material's behavior. In this way, the system (software-controlled) functions consistently over a wide temperature range.

[0031] In the operating state of the actuator 100, the movable component 110 is designed to perform a translational movement relative to the stationary component 105. The direction of movement is shown by means of two arrows 135 for illustrative purposes only. By adjusting the current in the coil 120, the magnetic field is generated, which moves or influences the magnetorheological medium. Thus, a force is transmitted to the movable component 110 to slow down or stop its movement.

[0032] Fig. Figure 2 shows a schematic representation of an embodiment of an actuating device 100 for a vehicle. The actuating device 100 is similar to or corresponds to the actuating device from Fig. 1, except that the actuator 100 in Fig. 2 is shown cut along the direction of movement.

[0033] According to one embodiment, the actuating device 100 has a guide element 200. The guide element 200 is arranged on the stationary component 105 and is designed to guide the translational movement of the movable component 110 relative to the stationary component 105. For example, the guide element 200 is fixed in the stationary component 105 and arranged in a space between the movable component 110 and the stationary component 105. The guide element 200 is, for example, magnetically non-conductive.

[0034] For example, coil 120 has a coil core 205 which is magnetically conductive.

[0035] According to one embodiment, the stationary component 105 forms mechanical stops 210 which are designed to limit the translational movement of the movable component 110.

[0036] Fig. Figure 3 shows a schematic representation of an embodiment of an actuating device 100 for a vehicle. The actuating device 100 is similar to or corresponds to the actuating device shown in one of the figures described above, except that the actuating device 100 is shown in section perpendicular to the direction of movement.

[0037] The magnetorheological medium 315 is arranged in a space 318 between the stationary component 105 and the movable component 110. In a rest state, the magnetorheological medium 315 produces a first resistance characteristic for movement of the movable component 110 relative to the stationary component 105. In an activated state, the magnetorheological medium 315 produces a second resistance characteristic for movement of the movable component 110 relative to the stationary component 105. In an intermediate state, the magnetorheological medium 315 produces a third resistance characteristic for movement of the movable component 110 relative to the stationary component 105.

[0038] The guide element 200 is arranged by way of example in the space 318 between the fixed component 105 and the movable component 110, wherein the guide element 200 has, for example, an L-shaped cut profile.

[0039] The coil 120 is shown, for example, in the energized state and generates the magnetic field 320 in sections of the components 105, 110 and the magnetorheological medium 315.

[0040] The magnetorheological medium 315 is arranged within the space 318 between the coil 120 and the guide element 200.

[0041] The magnetorheological medium 315 is designed as a magnetorheological elastomer according to the embodiment shown here. Magnetorheological elastomers generally comprise an elastomer matrix and magnetically active particles dispersed therein. The viscoelastic or dynamic-mechanical properties of these elastomers can be rapidly and reversibly changed by applying an external magnetic field.

[0042] The particles of the magnetorheological medium 315 are, for example, embedded in an elastomer matrix and are not aligned in a resting state, i.e., they are isotropic. The magnetorheological medium 315 can therefore also be described as an isotropic magnetorheological medium. In an activated state, the magnetorheological medium 315 expands in the magnetic field in the direction of the magnetic field lines and closes the magnetic circuit.

[0043] Alternatively, the particles of the magnetorheological medium 315 are aligned in a resting state, for example during production, i.e., anisotropic. The magnetorheological medium 315 can therefore also be described as an anisotropic magnetorheological medium. In an activated state, for example, the magnetorheological medium 315 expands in the magnetic field in the direction of the magnetic field lines and closes the magnetic circuit.

[0044] Magnetorheological medium 315, for example, is a magnetorheological elastomer and contains, for example, the following materials, which can also be combined: polyurethane (PUR), styrene-butadiene (SBR), polychlorobutadiene (CR), ethylene propylene diene terpolymer (EPDM / EPM), acrylonitrile butadiene (NBR), hydrogenated acrylonitrile butadiene (HNBR), natural rubber (NR), silicone, partially cross-linked polyolefin-based blends (EPDM / PP), thermoplastic elastomers such as TPE, TPC, TPU, TPS, TPV, etc., and other elastomers and elastomer blends / mixtures. Alternatively, magnetorheological medium 315 can also be a magnetorheological fluid.

[0045] The particles contain, for example, the following materials: carbonyl iron, cobalt, nickel, and / or iron particles.

[0046] Fig. Figure 4 shows a schematic representation of an embodiment of an actuating device 100 for a vehicle. The actuating device 100 is similar to or corresponds to the actuating device shown in one of the figures described above, except that the actuating device 100 is shown in a top view.

[0047] Sections of the movable component 110 are, for example, arranged between two parts of the guide element 200. For illustrative purposes only, the stationary component 105 is approximately twice as long as the movable component 110. Similarly, for illustrative purposes only, the guide element 200 is approximately twice as long as the movable component 110.

[0048] Fig. Figure 5 shows a flowchart of an embodiment of a method 500 for operating an actuator. The method 500 is designed to operate the actuator from one of the figures described above or a similar actuator.

[0049] The procedure 500 includes a step 505 of adjusting the current strength of the current flowing through the coil in order to bring the magnetorheological medium into the different states.

[0050] According to one embodiment, in step 505 the current is set as a function of the position of the movable component relative to the stationary component and / or the ambient temperature of the actuator.

[0051] Fig. Figure 6 shows a block diagram of an exemplary embodiment of a control device 600 for operating an actuator. The control device 600 is designed to execute the method from Fig.5 or a similar procedure to target or execute.

[0052] The control device 600 includes a unit 605 for adjusting the current of the coil.

Claims

[1] Actuating device (100) for a vehicle, wherein the actuating device (100) has the following features: a fixed component (105); a movable component (110) mounted so as to be displaceable relative to the stationary component (105); a magnetorheological medium (315) arranged in a space (318) between the stationary component (105) and the movable component (110) and configured to assume different states depending on a magnetic field (320) acting on the magnetorheological medium (315), which effect different resistance characteristics for the movement of the movable component (110) relative to the stationary component (105); and a coil (120) which is configured to generate a magnetic field (320) at least in partial sections of the components (105, 110) and the magnetorheological medium (315), wherein the magnetic field (320) is configured to put the magnetorheological medium (315) into different states depending on a current strength of the current supplied to the coil (120). [2] Actuating device (100) according to claim 1, wherein the stationary component (105) and the movable component (110) are magnetically conductive. [3] Actuating device (100) according to one of the preceding claims, comprising a guide element (200) which is arranged on the stationary component (105) and is designed to guide a translational movement of the movable component (110) relative to the stationary component (105). [4] Actuating device (100) according to claim 3, wherein the guide element (200) is magnetically non-conductive. [5] Actuating device (100) according to one of the preceding claims, wherein the movable component (110) is at least partially received by the stationary component (105). [6] Actuating device (100) according to one of the preceding claims, wherein the coil (120) is at least partially received by the stationary component (105). [7] Actuating device (100) according to one of the preceding claims, wherein the magnetorheological medium (315) is a magnetorheological elastomer. [8] Actuating device (100) according to any one of claims 1 to 6, wherein the magnetorheological medium (315) is a magnetorheological fluid. [9] Actuating device (100) according to one of the preceding claims, wherein the stationary component (105) is designed as a housing and the movable component (110) is designed as a slide. [10] Actuating device (100) according to one of the preceding claims, comprising a sensor device (125) for detecting a position of the movable component (110) relative to the stationary component (105) and / or for detecting an ambient temperature of the actuating device (100). [11] Method (500) for operating the actuating device (100) according to any one of the preceding claims 1 to 10, wherein the method (500) comprises a step (505) of adjusting the current strength of the current flowing through the coil (120) to bring the magnetorheological medium (315) into the different states. [12] Method (500) according to claim 11, wherein in step (505) of adjusting the current intensity is adjusted as a function of a position of the movable component (110) relative to the stationary component (105) and / or an ambient temperature of the adjusting device (100). [13] Control device (600) configured to perform and / or control the step (505) of the method (500) according to any one of the preceding claims 11 to 12 in a corresponding unit (605).

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