Device, in particular steering input device, with movable operating element and actuator device, and method for operating the device

Abstract

The present invention relates to a device (100), in particular a steering input device, comprising a movable operating element (11) and an actuator device (10) for precisely influencing the mobility of the operating element (11). The actuator device (10) comprises a magnetorheological brake device (1) and an electric motor (6). A calibration device (7) is provided for adjusting the brake torque of the brake device (1) and the torque of the motor (6) to each other within an automatic calibration routine. and is suitable and designed to place the brake device (1) in a defined test state, generate at least one test torque acting on the brake device (1) by means of the motor (6), and record at least one characteristic quantity characterizing the effect of the test torque on the mobility of the operating element (11).

Description

[Technical Field]

[0001] The present invention relates to a device, in particular a steering input device, with a movable operating element and an actuator device for selectively influencing the movability of the operating element, the actuator device comprising at least one magnetorheological brake device and at least one electric motor. [Background technology]

[0002] Such devices can be used in various ways, for example as control knobs or control levers with haptic feedback, or as steering input devices for inputting steering movements according to steer-by-wire concepts, etc. For example, a brake together with a motor simulates feedback that in conventional steering emanates from the chassis and is perceptible at the steering wheel.

[0003] In this case, high demands are placed on the cooperation of the brake device and the motor to enable accurate steering feedback and smooth, harmonious steering behavior. The transition from the torque generated by the motor to the braking torque and vice versa is particularly crucial. Even small deviations often lead to noticeable discontinuities or sudden changes in the rolling resistance during operation.

[0004] Another requirement concerns safety (fail-safe case) in the event of a fault, such as a power outage or a reduction in torque or brake torque. The lack of resistance to the steering movement can lead to unintentional oversteer input, which can result in a very dangerous driving situation.

[0005] However, if the steering unit is generally designed to be (mechanically) stiff (= high base torque), haptically satisfactory controllability in normal operation (e.g. active reset) is no longer possible. Haptically demanding, harmonious steering movements are only possible with a very stiff steering unit (preferably with a base torque of <0.1 Nm for all steer-by-wire steering components). Summary of the Invention [Problem to be solved by the invention]

[0006] In contrast, the object of the present invention is to provide an improved device which satisfies the above-mentioned requirements in a particularly advantageous manner, in particular by ensuring accurate cooperation between the brake device and the motor reliably and as continuously as possible. [Means for solving the problem]

[0007] This problem is solved by a device having the features of claim 1. The method according to the invention is the subject of claim 23. Preferred developments of the invention are the subject of the dependent claims. Further advantages and features of the invention become apparent from the general description and the description of exemplary embodiments.

[0008] The device according to the invention is, in particular, a steering input device (for inputting steering commands according to a steer-by-wire concept) comprising a movable (manually and / or motorized) operating element and an actuator device for specifically influencing the mobility of the operating element. The actuator device comprises at least one magnetorheological brake device including at least one electric coil device. The brake device is used to generate a braking torque acting on the operating element, thereby enabling a specific suppression of the mobility of the operating element. The actuator device comprises at least one electric motor for generating a torque acting on the operating element, thereby enabling active movement of the operating element. In this case, the device comprises at least one calibration device. The calibration device is suitable and designed for adjusting the braking torque of the brake device and the torque of the motor to each other within an automatic calibration routine. The calibration device is suitable and designed for bringing the brake device into a defined test state and for generating by the motor at least one (defined) test torque acting against the brake device (before, during, and / or after). The calibration device is suitable and designed to record (and process) at least one characteristic quantity that characterizes the influence of the test torque on the movability of the operating element, and in particular, the calibration device detects the characteristic quantity and / or at least one sensor quantity that is characteristic of the characteristic quantity by means of a sensor device.

[0009] The device according to the present invention offers many advantages. A calibration device using an automatic calibration routine offers significant advantages. It allows the brake system and the motor to be adjusted to one another accurately, reliably, and at the same time with very little effort. For example, automated, regular, and safe calibration routines are very important for steering input devices. It is particularly advantageous that the calibration routine can be performed periodically during operation or as needed, thereby ensuring the desired adjustment of the brake system and the motor even over the long service life of the device. Another advantage is that the calibration device can be integrated into existing devices in a space-saving and structurally simple manner. The calibration device can utilize existing components to perform the calibration routine.

[0010] In particular, the specified test states to which the brake device is moved by the calibration device are taken from a group of test states which includes at least test states for fault safety devices (in particular with interruption of the power supply for normal operation), test states for testing the degradation of the magnetorheological medium of the brake device, test states for determining a cancellation coil current for (maximum) cancelling (by means of an opposing magnetic field) the fault braking torque of the fault safety device, an assignment function representing the relationship between coil current and braking torque (which can be generated by the respective coil current), and preferably a test state for detecting a characteristic curve.

[0011] In an advantageous embodiment, the calibration device is suitable and designed to perform at least the following steps in this order or in another (possible) order during a calibration routine, preferably during testing of a fault safety device: Bring the motor to a standstill (speed=0) or to a test speed; Activate a test state (for the fault safety device) in which the electric coil arrangement is de-energized; In the test state, in particular a fault brake torque is present; The test state is active in particular while speed=0 or while the test speed is set; Control the motor to generate a test torque; Check whether the test torque is sufficient to move the operating element from a standstill or to maintain the test speed; If the test torque is not sufficient, increase the test torque (gradually) and check again whether the test torque is sufficient; If the test torque is sufficient, compare the test torque (which has been found to be sufficient) with a reference torque; If the test torque exceeds (or reaches) the reference torque, classify the fault safety device as normal; If the test torque is below the reference torque, classify the fault safety device as abnormal, in particular assume a fault. In particular, an error message may be output and / or the test may be repeated at least once.

[0012] In particular, the reference torque for checking whether the operating element can be moved from a standstill is a different reference torque from the one for checking whether the test speed can be maintained, and in particular, when selecting the reference torque, consideration is given to whether the test is carried out from a standstill of the motor or when the motor is already rotating.

[0013] Preferably, the calibration device is suitable and designed to store test torques that have proven to be sufficient (to overcome the effects of the braking system), especially those that exceed the reference torque, in a memory device and to compare the stored test torques with one another within the scope of long-term monitoring. In particular, the calibration device can thereby detect trends in the time course of the faulty braking torque, which can, for example, allow service to be planned or proposed in time and thereby avoid unexpected shutdowns.

[0014] Within the scope of the present invention, when reference is made to storing or recording a current or torque or braking torque, this refers to a numerical value (not, for example, a storage of the current itself).

[0015] It is advantageous and preferred that the calibration device is suitable and designed to perform at least the following steps in this order or in another (possible) order during the calibration routine and preferably during the test of deterioration of the magnetorheological medium of the brake device: Bring the motor to a standstill (rpm=0) or to a test rpm; Activate a test state (for deterioration testing) in which the electric coil device is energized with a defined test coil current; In particular, a test brake torque is thereby present; In particular, the test state is active while rpm=0 or while the test rpm is set; Control the motor to generate a test torque; Check whether the test torque is sufficient to move the operating element from a standstill or to maintain the test rpm; If the test torque is not sufficient, increase the test torque (gradually) and check again whether the test torque is sufficient; If the test torque is sufficient, compare a test parameter corresponding to the test torque (found to be sufficient) and / or corresponding to a parameter calculated from the test torque, e.g., corresponding to the brake torque, with at least one comparison parameter. If the test parameter exceeds (or reaches) the comparison parameter, the state (deterioration state) of the brake equipment is classified as normal. If the test parameter is below the comparison parameter, the state (deterioration state) of the brake equipment is classified as abnormal and the control of the coil device is modified, in particular using the compensation parameter, and / or a fault is assumed. In particular, an error message can be output and / or the test can be repeated at least once.

[0016] Preferably, the calibration device is suitable and designed to store the test parameters in a storage device and to compare the stored test parameters with each other within the scope of long-term monitoring. In particular, the calibration device is capable of detecting and monitoring trends in media degradation or other wear phenomena of the brake system. Advantageously, the calibration device can increase or decrease the frequency of tests depending on the trends.

[0017] Preferably, the calibration device is suitable and designed to determine at least one compensation parameter depending on the test parameters and to (futurely) control the electric coil device taking the compensation parameter into account. Preferably, the compensation parameter modifies the relationship between the coil current and the braking torque (which can be generated by the respective coil current). In particular, the compensation parameter causes the coil current required for a requested braking torque to be increased. For this purpose, the calibration device can, for example, access a control device in which the relationship between the coil current and the braking torque is stored and modify this relationship by the compensation parameter. For example, the compensation parameter is an absolute value, a factor, or a function.

[0018] The device preferably comprises at least one fail-safe device having at least one permanent magnet device. In particular, the permanent magnet device provides a magnetic field used to generate a fail-safe torque acting on the operating element. The magnetic field of the permanent magnet device acts, in particular, on a magnetorheological medium (disposed in the brake device gap) of the brake device. In particular, the magnetic field of the permanent magnet device can be reduced in normal operation by a counter-magnetic field of an electric coil device, thereby at least partially canceling the fail-safe torque. In particular, the counter-magnetic field can be generated by driving the coil device with a defined canceling coil current (by a control device and / or a calibration device). Such a fail-safe device has the advantage that the operating element cannot be rotated without resistance, even in the event of a power failure or de-energization of the coil device.

[0019] In particular, the fail-safe device is suitable and designed to influence the mobility of the operating element with a precise fail-safe torque at least in the event of a brake system and / or motor failure, so that the operating element is not particularly blocked but also cannot be moved without resistance.

[0020] Preferably, the calibration device is suitable and advantageously designed to set a number of different reverse field coil currents during the calibration routine, and preferably during the test for determining the cancellation coil current, and to repeatedly determine and record the test torque at which the operating element is moved from a standstill or the test speed is maintained for each set reverse field coil current. In particular, the calibration device is suitable and designed to determine the reverse field coil current at which the minimum test torque exists from the set reverse field coil currents and the test torques recorded therefor, and to record this reverse field coil current as the cancellation coil current. In particular, the cancellation coil current corresponds to the reverse field coil current at which the fault brake torque is maximally reduced or canceled. In particular, the determined minimum test torque is considered to be the maximum reduction of the fault brake torque. By (maximum) cancellation, in particular, is understood the maximum possible cancellation that can be achieved operating within the scope of the device and its calibration.

[0021] Preferably, the calibration device is suitable and designed to record the test torque present in the case of a canceling coil current as the base torque. For this purpose, the value of the minimum test torque determined during the test for determining the canceling coil current can be used. However, it is also possible to carry out a separate calibration routine in which the (previously determined and recorded) canceling coil current is set and then the operating element is moved from a standstill or the test speed is maintained and a test torque is determined and recorded. In that case, this test torque is recorded as the base torque.

[0022] In particular, the calibration device provides the canceling coil current and / or the base torque of the control device. In particular, the control device takes into account the canceling coil current and / or the base torque when setting the brake torque in normal operation. In particular, the control device takes into account the canceling coil current and / or the base torque when creating and / or adapting an allocation function or characteristic curve. For example, in operation, a required target brake torque needs to be set. The control device can then take into account that in order to generate the target brake torque, a brake torque corresponding to the target brake torque minus the base torque needs to be set. Preferably, the control device can take into account the canceling coil current when setting the coil current for the purpose of generating the target brake torque.

[0023] Preferably, the calibration device is adapted and designed to gradually increase the reversed-field coil current from an initial value, determine a test torque for each increased reversed-field coil current, and repeat this iteration as long as the determined test torque decreases. Preferably, the calibration device is adapted and designed to end this iteration when a test torque that is (predetermined) increased compared to the previously determined test torque is determined at least once. In particular, after the iteration is completed, the lowest test torque is selected from the recorded test torques. The reversed-field coil current set for this test torque is then preferably recorded as the canceling coil current.

[0024] In an advantageous embodiment, the calibration device is suitable and designed to perform at least the following steps in this order, or in another (possible) order: Set the output value of the reverse field coil current, in particular to 0 amperes or to another specified initial value; Stop the motor (speed=0) or set it to the test speed, and the test state is active, in particular while speed=0 or while the test speed is set; Control the motor to generate a test torque; Check whether the test torque is sufficient to move the operating element from the stopped state or to maintain the test speed; If the test torque is not sufficient, increase the test torque (gradually) and check again whether the test torque is sufficient; If the test torque is sufficient and this is the first determined test torque, repeat with a specified increase in the reverse field coil current until there are at least two determined test torques; If the test torque is sufficient and is not the first determined test torque, check whether the test torque is smaller than the last determined test torque. If the test torque is less than the most recently determined test torque, the values ​​of the test torque and the associated reverse field coil current are recorded, and at least some of the previous steps of the calibration routine are repeated with the specified increased reverse field coil current. If the test torque is greater than the most recently determined test torque, the most recently determined test torque is discarded, the previously determined test torque is recorded as the (minimum) base torque (of the actuator device) and the associated reverse field coil current as the cancellation coil current, and the iteration ends. In particular, the base torque corresponds to the minimum brake torque that still remains when the fault brake torque is canceled (by the reverse field of the coil device).

[0025] In particular, the base torque and / or the canceling coil current can be stored in a memory device. In particular, the base torque and / or the canceling coil current can be taken into account when controlling the motor and / or the brake device. For example, compensation parameters, etc. can be determined from the base torque and / or the canceling coil current. This makes it possible, for example, to control the motor so that the base torque is overcome or is not perceptible during normal operation.

[0026] Preferably, the calibration device is suitable and designed to record the cancellation coil current and use it at least partially to cancel the fault brake torque during normal operation, in which case the cancellation coil current can be used directly as a target value for the coil current, or a target value can be calculated from the cancellation coil current using correction parameters, in which case this target value specifies the coil current for generating the reversing magnetic field.

[0027] Preferably, the calibration device is suitable and designed to store the canceling coil currents in a memory device and to compare the stored canceling coil currents with each other within the scope of long-term monitoring. In particular, the calibration device can detect and monitor the tendency of the permanent magnet device or other wear phenomena of the brake device to occur.

[0028] In an advantageous and preferred embodiment, the calibration device is suitable and designed to perform at least the following steps during a calibration routine, in this order or in another (possible) order: Bring the motor to a standstill (rpm=0) or to a test rpm; Activate a test state in which the electric coil device is energized with a defined test coil current, so that a defined test brake torque is present. In particular, the test state is active while rpm=0 or while the test rpm is set; Control the motor to generate a test torque; Check whether the test torque is sufficient to move the operating element from a standstill or to maintain the test rpm; If the test torque is not sufficient, increase the test torque (gradually) and check again whether the test torque is sufficient; If the test torque is sufficient, use the test torque to create and / or adapt and / or check an allocation function that describes the relationship between the coil current and the brake torque (which can be generated by the respective coil current).

[0029] By creating or adapting the allocation function in this way, it is possible to ensure that the brake devices are optimally controlled and can provide exactly the required braking torque in normal operation, thereby simultaneously achieving optimal coordination between the brake devices and the motor.

[0030] In particular, the creation and / or adaptation and / or testing of the allocation function is based on the assumption that the test coil current can be used to generate a braking torque that at least approximately corresponds to the test torque of the motor. In particular, based on the allocation function, an algorithm stored in the calibration device can be used to calculate the coil current that needs to be set to generate the desired braking torque.

[0031] Preferably, the calibration device is adapted and designed to gradually increase the test brake torque of the electric coil device and to perform at least some repetitions of the preceding steps of the calibration routine for each set test brake torque (i.e., for each increment of the test brake torque). In particular, within the repetitions, at least the step of checking whether the test torque is sufficient and the step of providing a consequence as a result of the check are repeated. In other words, for each test brake torque used in the test, a test torque is determined that allows the operating element to move from a standstill or maintain the test speed.

[0032] In particular, the test brake torque and the associated test torque are recorded for each iteration. Preferably, the calibration device is suitable and designed to record a plurality of test brake torques and the respective associated test torques and determine a characteristic curve therefrom. In particular, the characteristic curve represents the relationship between the coil current and the brake torque (which can be generated by the respective coil current). In particular, a characteristic curve is provided for the control device. In particular, the control device can determine from the characteristic curve the coil current required to generate the required brake torque.

[0033] In particular, the iterations are performed until a maximum motor torque is reached. It is also possible for the iterations to end before the maximum motor torque is reached. Preferably, the calibration device and / or the control device are suitable and designed to extend the allocation function and / or characteristic curve using an algorithm so that a coil current that can generate a braking torque greater than the maximum motor torque can also be calculated. In other words, a coil current that has not been tested or calibrated due to limitations in motor power can be calculated using an algorithm. In particular, the maximum braking torque is higher than the maximum motor torque.

[0034] The calibration device is preferably suitable and designed to store the allocation functions and preferably the characteristic curves in a storage device and to compare the stored allocation functions or characteristic curves with one another within the scope of long-term monitoring, thereby enabling the calibration device to, in particular, detect trends in the time course of the allocation functions or characteristic curves and to carry out a state assessment of the brake system.

[0035] In an advantageous development, the calibration device is suitable and designed to utilize the allocation function and preferably the characteristic curve for calculating the compensation function. In particular, the calibration device can adapt the allocation function or the characteristic curve to compensate for (functional and / or temporal) changes of the brake system. Advantageously, the calibration device can utilize the results of various tests for calculating the compensation function.

[0036] In all embodiments, it is particularly preferred that the calibration device is suitable and designed for adapting at least one control variable (e.g., an assignment function and / or a characteristic curve) based on data detected during the calibration routine. In particular, the control variable is stored in the control device. In particular, the control variable is used to control the actuator device (of the brake system and / or the motor). This makes it possible to particularly reliably ensure that the control device always controls the brake system with an optimal control variable using the calibration routine presented here.

[0037] In particular, the calibration device is suitable and designed to determine the torque provided by the motor by means of a (motor-specific) allocation function. In particular, the allocation function represents the relationship between the motor current and the torque that can be provided by the motor at the respective motor current. The allocation function may include or be provided by a torque constant specific to the motor. It is also possible for the calibration device to detect the torque provided by the motor by means of a sensor device.

[0038] Advantageously, the calibration device is suitable and can be designed to automatically execute the calibration routine depending on a trigger parameter, in particular taken from a group of trigger parameters comprising at least an operating state of the device, start and / or end of an operation and / or function of the device, a time, an interval, a number of operating hours, the presence of a fault, a command by the control device, or an input command by the user.

[0039] In particular, the calibration device is suitable and designed to automatically select the tests to be performed during the calibration routine depending on trigger parameters and / or stored algorithms.

[0040] In a particularly preferred and advantageous development, the device is designed as a steering input device. The steering input device is used in particular for inputting steering commands according to a steer-by-wire concept. The steering input device is provided in particular for land vehicles and / or watercraft and / or aircraft. In particular, the operating element is designed as a steering unit or at least comprises such a steering unit. In that case, within the scope of such a steering input device, the term "operating element" can preferably be replaced by the term "steering unit". The steering unit can comprise a steering wheel, a steering lever, an operating lever or another steering handle. The applicant reserves the right to claim such a steering input device.

[0041] Preferably, the calibration device is suitable and designed to perform the calibration routine under the (required) condition that the vehicle steerable by the steering input device is in a suitable operating state, in particular drawn from a group of operating states comprising at least: stopped, vehicle locked, leaving the vehicle, a start routine running, a switch-off routine running, exterior mirrors folded, an energy storage device charging, and service mode.

[0042] Preferably, the calibration device is adapted and designed to terminate the calibration routine if the vehicle is no longer in proper operating condition. It is also possible that the proper operating condition can only be terminated once the calibration routine has been fully executed. During the calibration routine, messages of the calibration routine can be displayed.

[0043] In particular, the condition that proper operating conditions must exist is contemplated in other embodiments of the device, and in particular the calibration device is suitable and designed to perform the calibration routine under the (required) condition that the device is in proper operating conditions.

[0044] In all embodiments, it is preferred that the calibration routine includes at least one initialization. In particular, the initialization serves to establish an operation-ready state and / or a calibration-ready state. In particular, during initialization, a defined operating state of the actuator device and / or the control device and / or the sensor device is set. Within the scope of the initialization, in particular, the operating element is moved to a defined position. In particular, at least the brake device and the motor are initialized. In particular, a defined coil current and a defined motor current are set (which may be unequal or equal to zero). An initialization phase can be provided at the start of operation of the device. In that case, the initialization of the calibration routine can be integrated into this initialization phase or can be carried out independently of it. Within the initialization phase, at least part of the calibration routine can be carried out automatically.

[0045] The method according to the invention is used for operating a vehicle component according to the invention or one of its embodiments. In particular, the method is designed to enable the device described herein to operate in accordance with it. Therefore, in particular, the method is designed to also perform the steps that the calibration device described herein can perform. In particular, the calibration device is suitable and designed to perform the method, and in particular its embodiments. In particular, the calibration device is suitable and designed to perform the steps created for the method within the scope of the invention. In particular, the calibration device includes at least one algorithm for performing the steps described herein.

[0046] In particular, the device comprises at least one sensor device. In particular, at least one characteristic quantity characteristic of the coil current of the brake device and / or the brake torque of the brake device and / or the motor current and / or torque of the motor (respectively) can be detected by the sensor device. In particular, the sensor device can include at least one characteristic quantity characteristic of the torque and / or the rotational speed of the brake device. In particular, the sensor device comprises at least one sensor unit for detecting position information of the operating element, and for example the rotation angle and / or the rotational direction and / or the rotational speed and / or the torque.

[0047] To control the brake device and the motor, the device preferably comprises at least one power electronic and / or at least one control device (Electronic Control Unit, ECU). In particular, the power electronics provide a coil current and / or a motor current. In particular, the power electronics are controlled by the control device. In particular, the calibration device is functionally connected to the control device and / or the power electronics. In particular, the calibration device can control the power electronics and / or the control device to provide the required coil current to the brake device and / or the required motor current to the motor for a calibration routine.

[0048] In particular, the calibration device specifies a motor current and / or a motor torque and / or a motor speed to provide a test torque. In particular, the calibration device specifies a coil current and / or a brake torque to provide a test state of the brake system. Within the scope of the present invention, coil current or motor current is understood to mean not only current or current intensity, but also other characteristic quantities characteristic of the power supply. This can be, for example, the frequency of an AC current or AC voltage.

[0049] The devices presented herein can be designed to operate vehicle functions (e.g., rotary actuators actively adjusted by a motor) or machines or equipment (medical equipment, computers, game controllers). The devices presented herein can be designed, for example, as door drives, brake-by-wire actuators, seat adjustment devices and / or seat lock devices. In particular, the operating elements can then generally be referred to as movable device elements. The device elements can be designed, for example, as levers or shafts. The applicant reserves the right to claim such devices.

[0050] The braking device comprises, in particular, at least one magnetorheological medium and at least two brake components which are in particular movable (rotatable) relative to one another, with at least one circumferential gap formed between the brake components, in which the magnetorheological medium is at least partially arranged, and a coil arrangement which generates a controllable magnetic field acting on the medium, thereby changing the rotational resistance of the braking components and generating a braking torque.

[0051] It is possible for the fail-safe device to comprise at least one electric coil arrangement, which may be provided in addition to or instead of the permanent magnet arrangement, in which case, in particular, the calibration routines presented here can also be used for this coil arrangement (e.g., for generating and / or adapting assignment functions or characteristic curves).

[0052] The fail-safe device may in particular utilize a magnetorheological medium and / or a clearance of the brake device. It is also possible for the fail-safe device to have its own magnetorheological medium and / or its own clearance. In that case, in particular, the calibration routines presented here may also be used for the magnetorheological medium of the fail-safe device (e.g., for degradation tests).

[0053] Other advantages and features of the present invention will become apparent from the following description of exemplary embodiments with reference to the accompanying drawings. [Brief explanation of the drawings]

[0054] among them, [Figure 1] 1 is a fully schematic view of an apparatus according to the invention; [Figure 2] FIG. 2 is a detailed cross-sectional view of the device of FIG. 1 taken along line AA. [Figure 3] 1 is a fully schematic diagram illustrating the working principle of the calibration device of the device according to the invention; [Figure 4] 1 is a fully schematic diagram illustrating the working principle of the calibration device of the device according to the invention; [Figure 5] 1 is a fully schematic diagram illustrating the working principle of the calibration device of the device according to the invention; [Figure 6] 1 is a fully schematic diagram illustrating the working principle of the calibration device of the device according to the invention; [Figure 7] 1 is a fully schematic diagram illustrating the working principle of the calibration device of the device according to the invention; [Figure 8] 1 is a fully schematic diagram illustrating the working principle of the calibration device of the device according to the invention; [Figure 9] 1 is a fully schematic diagram illustrating the working principle of the calibration device of the device according to the invention; [Figure 10] 1 is a fully schematic diagram illustrating the working principle of the calibration device of the device according to the invention; DETAILED DESCRIPTION OF THE INVENTION

[0055] 1 and 2 show an apparatus 100 according to the invention, which comprises an actuator device 10 for precisely influencing the mobility of an operating element 11. The actuator device 10 comprises an (electric) motor 6 and a brake device 1 having two brake components 2, 3 which are rotatable relative to one another. The apparatus 100 here operates according to the method according to the invention.

[0056] The device 100 is here designed, purely by way of example, as a steering input device 9 for inputting steering commands according to a steer-by-wire concept. For this purpose, the operating element 11 is designed as a steering unit 19 and, for example, as a steering wheel. The design torque of the electric motor 6 is, for example, 0 to 5 Nm, and the design torque of the brake device 1 is, for example, 0 to 20 Nm or 0 to 30 Nm.

[0057] The radially outer brake component 3 is rotatably supported on a shaft 22 by means of bearings 26 and is non-rotatably connected to the operating element 11. The radially inner brake component 2 is designed stationary and is connected to the shaft 22. The shaft 22 is connected to the torque support 20 and, for example, to the vehicle body.

[0058] A circumferential gap 5 (so-called working gap) extends between the brake components 2, 3, in which a magnetorheological medium 15 is arranged. An electric coil arrangement 4 can be used to generate a controllable magnetic field, which influences the medium 15 in the gap 5 in such a way as to generate a desired braking effect between the brake components 2, 3. The brake arrangement 1 can be used to precisely brake the operating element 11 and provide tactile feedback. The coil arrangement 4 is supplied with electrical energy via a power supply line 14 running through the shaft 22. The gap 5 is sealed by a seal 25.

[0059] As shown in the detailed view of Figure 2, the gap 5 has a gap height that varies in the circumferential direction. For this purpose, the inner brake component 2 is here provided with a star-shaped profile 12. The star-shaped profile 12 has a series of ridges and recesses around the circumference. The ridges that protrude into the gap 5 can be called field concentrators. The magnetic field generated by the coil arrangement 4 preferably extends over the narrower gap width region of the gap 5 (and therefore over the region of the field concentrators). This makes it possible to achieve a particularly high braking torque combined with particularly compact dimensions. The outer brake component 3 here has an inner surface in the shape of a cylindrical jacket.

[0060] To prevent the operating element 11 from rotating without resistance in the event of a fault, a fault safety device 8 is provided which has a permanent magnet arrangement 18, here designed as a ring magnet. The magnetic field of the permanent magnet arrangement 18 acts on the medium 15 contained in the gap 5, thereby generating a fault braking torque. In normal operation, the magnetic field of the permanent magnet arrangement 18 is cancelled out by the opposing magnetic field of the electric coil arrangement 4. To prevent magnetic short circuits, an air gap 28 is formed radially inside the permanent magnet arrangement 18, which serves as a magnetic flux barrier.

[0061] The operating element 11 can be actively moved by a motor 6. The motor has a stator 36 fixedly connected to the shaft 22 and an externally located rotor 46. The stator 36 is supplied with power via a three-phase power supply 16 that runs through the shaft 22. The rotor 46 is rotatably supported on the shaft 22 by bearings 26.

[0062] The movement or position of the operating element 11 is detected here by a sensor device 47, which has, for example, a rotation angle sensor 57. The brake device 1 is equipped with a sensor unit 21, which is designed here as a Hall sensor for measuring the magnetic field in the region of the gap 5.

[0063] The actuator device 10 is controlled and energized by a control unit 27 (ECU) in combination with a power electronics unit 37, taking into account sensor signals. Algorithms and, for example, control software of the control unit 27 are stored in a memory device 17.

[0064] In order to adjust the braking device 1 and the motor 6 to one another as optimally as possible, the device 100 is equipped with a calibration device 7, which can periodically perform an automatic calibration routine. For the calibration routine, the braking device 1 is placed in a defined test state. A defined test torque is generated against the braking device 1 by means of the motor 6. For example, the level of the test torque at which the braking torque is overcome then provides characteristic quantities for the state of the braking device 1 and the fail-safe device 8. These characteristic quantities can then be used for the calibration.

[0065] The calibration device 7 shown here can, for example, test or determine the fault braking torque of the fault safety device 8, determine and calibrate the reverse magnetic field of the coil device 4, perform degradation tests on the medium 15 and calibrate the braking device 1 depending on the state of the medium 15, and determine and correct characteristic curves representing the relationship between coil current and the braking torque that can be generated by the respective coil current.

[0066] In the following, exemplary calibration routines that can be performed by the calibration device 7 will be presented with reference to Figures 3 to 10, where the abbreviations in the figures have the following meanings:

[0067] I B is the test coil current of the brake device 1 currently set to the test state, I BTest is the test coil current predetermined for the test state, I BS is the minimum brake torque M Bminis the coil current (which can also be called the cancellation coil current) for achieving I M is the current motor current, M B is the coil current I B is the current braking torque (as a function of M BTest_min is the predetermined minimum brake torque (I BTest in M Bmin When the magnetic field of the fault safety device 8 is canceled (I BS is the minimum braking torque of the M M is the so-called test torque, motor current I M is the current motor torque (as a function of M Mmax is the maximum motor torque, M MRef_0 is the stored reference value of the motor torque required to overcome the fault brake torque from a standstill (reference torque), M MRef_n is n Test is the stored reference value (reference torque) of the motor torque required to overcome the fault brake torque, n is the measured number of revolutions of the operating element 11 (motor 6 and brake device 1 rotate together), n Test is the specified motor speed for the fault brake torque test or the test at a constant speed (the so-called test speed).

[0068] 3 shows a calibration routine for testing the fault braking torque of the fault safety device 8, which checks the correct functioning of the fault safety device 8 in the event of a complete power failure of the motor 6 and the brake device 1 and determines the fault braking torque.

[0069] A calibration routine is started, followed by initialization: checking whether the motor 6 is active and de-energized, checking whether the coil arrangement 4 is de-energized, and initializing the sensor arrangement 47.

[0070] Subsequently, an iterative procedure is performed: the test torque M of the motor 6 is increased until the sensor device 47 indicates a rotation of the operating element 11 (n>0). M is gradually increased. The motor current sets the torque of the motor 6. The torque can be monitored, for example, based on a known torque constant of the motor 6 (torque dependent on the motor current) or by a separate torque sensor.

[0071] The motor torque provided to rotate the operating element 11 is set to a predetermined reference torque M MRef_0 If it is greater than , the fault safety device 8 is normal and the fault brake torque has been confirmed. If not, an error exists and the fault brake torque is too low. In that case, for example, the driver is warned, an error is detected and further driving is possibly prevented.

[0072] 4 shows a variant of the calibration routine of FIG. 3 in which the operating element 11 is rotated through a defined test number of revolutions within the test range, rather than being measured from standstill. For this purpose, the motor revolutions are measured at a test number of revolutions n Test and the test torque M of motor 6 M is gradually increased, so that the test speed n Test The test torque at which the rotation speed is maintained is adjusted to be constant. MRef_0 If the reference torque M is greater than the reference torque M, the fault safety device 8 is normal and the fault brake torque is confirmed. MRef_n is the M of the variant of FIG. 3 measured from rest. MRef_0 is different.

[0073] 5 shows a calibration routine for testing the degradation of the medium 15. This allows changes in the braking effect of the medium to be recognized and compensated for appropriately, for example by a defined increase in the coil current.

[0074] A calibration routine is started, followed by initialization: checking whether the motor 6 is active and de-energized, checking whether the coil arrangement 4 is de-energized, and initializing the sensor arrangement 47.

[0075] In that case, the coil device 4 is put into a test state and a prescribed test coil current I BTEST This generates a (specified) braking torque.

[0076] Subsequently, an iterative procedure is performed: the test torque M of the motor 6 is increased until the sensor device 47 indicates a rotation of the operating element 11 (n>0). M The torque of the motor 6 is set by the motor current.

[0077] If there is a rotation of the operating element 11, the test torque M M The test parameter is calculated from the brake torque M B Equivalent to M B (I BTest ) Therefore, I BTest The braking torque generated by energizing the coil at this current is known. In principle, the respective braking torque at any coil current can also be calculated from this.

[0078] The test parameters can be compared with stored comparison parameters, which are here referred to as I BTest The minimum braking torque M that must be achieved BTest_min If the test parameter exceeds or reaches the comparison parameter, the aging condition of the medium 15 is normal. If not, an error exists.

[0079] If necessary, compensation parameters can then be calculated to precisely increase the coil current required for the required braking torque. The test parameters can be stored in the memory device 17 for long-term monitoring. In this way, the calibration device 7 can monitor trends in degradation or other wear phenomena.

[0080] 6 shows a variant of the calibration routine of FIG. 5 in which the operating element 11 is rotated through a defined test speed within the test range, rather than being measured from standstill. Test and the test torque M of motor 6 M is gradually increased, so that the test speed n Test is adjusted to be constant.

[0081] 7 shows a test calibration routine for determining the cancellation coil current of the coil arrangement 4. In this case, the counter-field coil current is determined, which can be used to compensate or maximally cancel the effect of the permanent magnet arrangement 18 of the fault safety device 8 by means of a counter-field. For this purpose, the coil arrangement 4 is energized "negatively" so that the effect of the permanent magnet arrangement 18 can be canceled. If a separate coil and (emergency) power supply is used for the fault safety device 8, this procedure is not necessary.

[0082] A calibration routine is started, followed by initialization: checking whether the motor 6 is active and de-energized, checking whether the coil arrangement 4 is de-energized, and initializing the sensor arrangement 47.

[0083] The coil arrangement 4 is then placed in a test state. For this purpose, the reverse field coil current or coil current I B is set to 0 amperes, thereby de-energizing the coil assembly 4.

[0084] Subsequently, an iterative procedure is performed: the test torque M of the motor 6 is increased until the sensor device 47 indicates a rotation of the operating element 11 (n>0).M is gradually increased. The torque of the motor 6 is set by the motor current. If there is a rotation of the operating element 11, it is checked whether the test torque is smaller than the previously determined test torque. If it is the initially determined test torque, at least one further test torque is further determined.

[0085] If the test torque is less than the previously determined test torque, the value of the test torque and the associated reverse field coil current are recorded. Then, a corresponding repetition of the preceding steps is performed with each specified increase in reverse field coil current. In other words, the reverse field coil current is increased repeatedly until the braking effect at the lower test torque can be overcome.

[0086] If the test torque is greater than the previously determined test torque, the most recently determined test torque is discarded, i.e., the braking effect is no longer easily overcome by increasing the reversing field coil current. In that case, the previously determined test torque is recorded as the base torque and the associated reversing field coil current is recorded as the canceling coil current. The iteration is terminated, i.e., the canceling coil current is increased to the base torque or minimum braking torque M Bmin There exists a coil current I B The data thus obtained is then stored in the control device 27 and used for controlling the braking device 1.

[0087] 8 shows a variant of the calibration routine of FIG. 7 in which the operating element 11 is rotated through a defined test number of revolutions within the test range, rather than being measured from standstill. To this end, the motor revolutions are measured at a test number of revolutions n Test and the test torque M of motor 6 M is gradually increased, so that the test speed n Test is adjusted to be constant.

[0088] 9 shows a calibration routine for generating a characteristic curve of the brake system 1, which assigns one coil current to each required braking torque. The characteristic curve can only be determined up to the maximum motor torque. For the range above this, extrapolation or another suitable method can then be used.

[0089] A calibration routine is started, followed by initialization: checking whether the motor 6 is active and de-energized, checking whether the coil arrangement 4 is de-energized, and initializing the sensor arrangement 47.

[0090] The coil device 4 is then placed in a test state and a prescribed test coil current I B The test coil current can be set so that a reverse magnetic field is generated and the test starts from the base torque. M is set to 0.

[0091] Subsequently, an iterative procedure is performed: the test torque M of the motor 6 is increased until the sensor device 47 indicates a rotation of the operating element 11 (n>0). M The torque of the motor 6 is set by the motor current. If there is a rotation of the operating element 11, the current motor current I M Torque M M is calculated. Torque M M The brake torque is calculated from

[0092] Then, the test coil current I B The test brake torque is gradually increased by increasing the value of the test brake torque. For each increase in the test brake torque, the previous step is repeated. This results in a number of test brake torques and associated test torques being recorded, from which the characteristic curve M B (I B ) is determined. M Max Iterations are performed until

[0093] The characteristic curve can then be provided to the control device 27 for controlling the coil arrangement 4. The characteristic curve can also be used to adapt existing characteristic curves or to calculate compensation functions. Comparison with historical data is also possible to identify trends.

[0094] 10 shows a variant of the calibration routine of FIG. 9 in which the operating element 11 is rotated through a defined test number of revolutions within the test range, rather than being measured from standstill. Test and the test torque M of motor 6 M is gradually increased, so that the test speed n Test is adjusted to be constant. [Explanation of symbols]

[0095] 1 Brake device 2 Brake components 3 Brake Components 4 Coil device 5. Gap 6 motors 7 Calibration Device 8 Fault safety device 9 Steering input device 10 Actuator device 11 Operating elements 12 Star Outline 14 Power supply line 15 Medium 16 Power supply line 17 Storage device 18 Permanent Magnet Device 19 Steering unit 20 Torque Support 21 Sensor unit 22 axes 25 stickers 26 Bearings 27 Control Device 28 void 36 Stator 37 Power Electronics 46 rotor 47 Sensor Device 57 Rotation angle sensor 100 devices

Claims

1. 1. A device (100), in particular a steering input device (9), comprising a movable operating element (11) and an actuator device (10) for influencing the mobility of the operating element (11) in a targeted manner, the actuator device (10) having at least one magnetorheological brake device (1) including at least one electric coil device (4) for generating a braking torque acting on the operating element (11), thereby enabling the mobility of the operating element (11) to be precisely restricted, the actuator device (10) having at least one electric motor (6) for generating a torque acting on the operating element (11), thereby enabling the operating element (11) to be actively moved, within at least one automated calibration routine to adjust the braking torque of the magnetorheological brake device (1) and the torque of the electric motor (6) to each other, and the device being characterized by at least one calibration device (7) suitable and designed for placing the magnetorheological brake device (1) in a defined test state, for generating by the electric motor (6) at least one test torque acting against the magnetorheological brake device (1), and for recording at least one characteristic quantity characterizing the effect of the test torque on the movability of the operating element (11).

2. 2. The apparatus (100) according to claim 1, wherein the predetermined test state of the magnetorheological brake device (1) is taken from a group of test states including at least a test state of a fault safety device (8), a test state of a degradation test of the magnetorheological medium (15) of the magnetorheological brake device (1), a test state for determining a cancellation coil current for canceling a fault brake torque of the fault safety device (8), and a test state for detecting an assignment function representing a relationship between a coil current and the brake torque.

3. The calibration device (7) performs at least the following steps during the calibration routine, preferably when testing the fail-safe device (8): - stopping the electric motor (6) or bringing it to a test speed, - activating a test state in which said electric coil device (4) is in a non-energized state; - controlling said electric motor (6) to generate said test torque; - checking whether the test torque is sufficient to move the operating element (11) from a standstill or to maintain the test rotational speed; - if the test torque is not sufficient, increasing the test torque and checking again whether the test torque is sufficient; - if said test torque is sufficient, comparing said test torque with a reference torque; - classifying the fail-safe device (8) as normal if the test torque is greater than the reference torque; - classifying said fail-safe device (8) as not normal and in particular as faulty if said test torque is below said reference torque; 3. The apparatus (100) of claim 2, adapted and designed to perform the steps in this order or in another order.

4. 4. The apparatus (100) according to claim 3, characterized in that the calibration device (7) is suitable and designed to store the test torques that have been found to be sufficient in a memory device (17) and to compare the test torques stored in the memory device (17) with each other within the scope of long-term monitoring.

5. The calibration device (7) performs at least the following steps during the calibration routine, preferably when testing the magnetorheological medium (15) for deterioration: - stopping the electric motor (6) or bringing it to a test speed, - activating a test state in which the electric coil device (4) is energized with a defined test coil current; - controlling said electric motor (6) to generate said test torque; - checking whether the test torque is sufficient to move the operating element (11) from a standstill or to maintain the test rotational speed; - if the test torque is not sufficient, increasing the test torque and checking again whether the test torque is sufficient; - if the test torque is sufficient, comparing a test parameter corresponding to the test torque and / or corresponding to a parameter calculated from the test torque, and for example corresponding to the braking torque, with a comparison parameter; - classifying the condition of the magnetorheological brake device (1) as normal if the test parameter is greater than the comparison parameter; - classifying the state of the magnetorheological brake device (1) as abnormal if the test parameter is below the comparison parameter; 3. The apparatus (100) of claim 2, adapted and designed to perform the steps in this order or in another order.

6. 6. The apparatus (100) according to claim 5, wherein the calibration device (7) is suitable and designed for storing the test parameters in a memory device (17) and for comparing the test parameters stored in the memory device (17) with each other within a long-term monitoring period.

7. 6. The apparatus (100) according to claim 5, wherein the calibration device (7) is adapted and designed to determine at least one compensation parameter depending on the test parameters and to control the electric coil device (4) taking into account the compensation parameter, the compensation parameter in particular modifying the relationship between the coil current and the braking torque.

8. the at least one fault safety device (8) has at least one permanent magnet device (18), which provides a magnetic field used to generate the fault braking torque acting on the operating element (11), the magnetic field of the permanent magnet device (18) being able to be reduced in normal operation by a counter magnetic field of the electric coil device (4), thereby at least partially canceling the fault braking torque, the counter magnetic field being able to be generated by controlling the electric coil device (4) with a predetermined canceling coil current, the calibration device (7) being suitable and designed to set a plurality of different counter magnetic field coil currents during the calibration routine, preferably during a test to determine the canceling coil current, and to iteratively determine and record the test torque for each of the set counter magnetic field coil currents when the operating element (11) is moved from a standstill or the test rotational speed is maintained, the calibration device (7) is suitable and designed to determine the reverse magnetic field coil current at which a minimum test torque exists from the set reverse magnetic field coil currents and the test torques recorded therefor, and to record the reverse magnetic field coil current as the canceling coil current.

6. The apparatus (100) according to claim 3 or 5.

9. 9. The apparatus (100) of claim 8, wherein the calibration device (7) is adapted and designed to gradually increase the reverse magnetic field coil current from an initial value, determine the test torque for each increased reverse magnetic field coil current, and repeat this iteration as long as the determined test torque decreases, and the calibration device (7) is adapted and designed to terminate this iteration when the test torque determined has increased at least once compared to the previously determined test torque.

10. The calibration device (7) performs at least the following steps: - setting the initial value of the reversing field coil current to, in particular, 0 amperes; - stopping said electric motor (6) or bringing it to said test speed, - controlling said electric motor (6) to generate said test torque; - checking whether the test torque is sufficient to move the operating element (11) from a standstill or to maintain the test rotational speed; - if the test torque is not sufficient, increasing the test torque and checking again whether the test torque is sufficient; - if the test torque is sufficient and is the first determined test torque, repeating with the reverse field coil current increased as specified until there are at least two determined test torques; - if the test torque is sufficient and is not the first determined test torque, checking whether the test torque is less than the most recently determined test torque; - if the test torque is less than the previously determined test torque, recording the test torque and the associated value of the reverse field coil current and repeating at least a portion of the preceding steps of the calibration routine with a prescribed increase in the reverse field coil current; - if the test torque is greater than the previously determined test torque, discard the most recently determined test torque, record the previously determined test torque as the base torque and the associated reversing field coil current as the cancelling coil current, and terminate the iteration; suitable and designed to be performed in this or another order, 9. The apparatus (100) of claim 8.

11. 9. The apparatus (100) of claim 8, wherein the calibration device (7) is suitable and designed for recording the cancellation coil current and for at least partly using it in the normal operation for the cancellation of the fault braking torque.

12. 9. The apparatus (100) according to claim 8, wherein the calibration device (7) is suitable and designed for storing the canceling coil currents in a memory device (17) and for comparing the canceling coil currents stored in the memory device (17) with each other within a long-term monitoring range.

13. The calibration device (7) performs at least the following steps during the calibration routine: - stopping the electric motor (6) or bringing it to a test speed, - activating a test state in which the electric coil device (4) is energized with a defined test coil current, so that a test braking torque is present; - controlling said electric motor (6) to generate said test torque; - checking whether the test torque is sufficient to move the operating element (11) from a standstill or to maintain the test rotational speed; - if the test torque is not sufficient, increasing the test torque and checking again whether the test torque is sufficient; - if said test torque is sufficient, using said test torque to create and / or adapt an allocation function that describes the relationship between coil current and said braking torque; 10. The apparatus (100) of claim 1, adapted and designed to perform the steps in this order or in another order.

14. 14. The apparatus (100) according to claim 13, wherein the calibration device (7) is adapted and designed to gradually increase the test braking torque of the electric coil device (4) and perform repetitions of at least some of the preceding steps of the calibration routine for each of the set test braking torques, thereby recording a plurality of the test braking torques and the associated test torques, and determining therefrom a characteristic curve representing the relationship between the coil current and the braking torque.

15. 15. The apparatus (100) of claim 14, wherein the iterations are performed until a maximum motor torque is reached.

16. 15. The apparatus (100) according to claim 14, wherein the calibration device (7) is suitable and designed to store the allocation functions and preferably the characteristic curves in a memory device (17) and to compare the allocation functions or the characteristic curves stored in the memory device (17) with each other within the scope of long-term monitoring.

17. 15. The apparatus (100) according to claim 14, wherein the calibration device (7) is suitable and designed to utilize the allocation function, and preferably the characteristic curve, to calculate a compensation function, thereby making the allocation function or the characteristic curve adaptable to compensate for changes.

18. 15. The apparatus (100) according to claim 14, wherein the calibration device (7) is suitable and designed for adapting at least one control variable, preferably the assignment function and / or the characteristic curve, based on data detected during the calibration routine, which control variable is stored in a control device (27) and used to control the actuator device (10).

19. 2. The apparatus (100) according to claim 1, wherein the calibration device (7) is suitable and designed to determine the torque provided by the electric motor (6) using an allocation function that represents the relationship between motor current and torque that can be provided by the electric motor (6) at each motor current.

20. 2. The apparatus (100) according to claim 1, wherein the calibration device (7) is suitable and designed to automatically execute the calibration routine depending on trigger parameters, the trigger parameters being taken from a group of trigger parameters including at least an operating state of the apparatus (100), a start and / or end of an operation and / or function of the apparatus (100), a time, an interval, a number of operating hours, the presence of a fault, a command by a control device (27), and a command input by a user.

21. 2. The device (100) according to claim 1, which is designed as a steering input device (9) for inputting steering commands according to a steer-by-wire concept, and the operating element (11) is designed as a steering unit (19) or includes at least one steering unit.

22. 22. The apparatus (100) according to claim 21, wherein the calibration device (7) is suitable and designed to perform the calibration routine under the condition that a vehicle that can be steered using the steering input device (9) is in a suitable operating state, the suitable operating state being taken from a group of operating states including at least: stopped, vehicle locked, leaving the vehicle, a start routine running, a switch-off routine running, exterior mirrors retracted, a charging process of an energy storage device, and a service mode.

23. A method of operating the apparatus (100) of claim 1.

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