Method for assigning actuators, actuator arrangement, and device

Abstract

A method for assigning actuators to actuator units (10), wherein each actuator unit (10) has at least two actuators (A1, B1), wherein a first control command (102a) with a first adjustment parameter is sent to a first actuator (A1) of a first actuator unit (10) and the first actuator (A1) sets the first adjustment parameter, wherein a second actuator (B1) detects a first parameter, wherein the first adjustment parameter and the first parameter are compared, wherein when the first adjustment parameter and the first parameter correspond, the second actuator (B1) is assigned to the first actuator unit (10).

Description

[0001] Description

[0002] Title:

[0003] Method for assigning actuators, actuator arrangement and device

[0004] The present invention relates to a method for assigning actuators, an actuator arrangement and a device.

[0005] State of the art

[0006] Bus systems in vehicles for controlling vehicle components are known from the state of the art.

[0007] Decentralized drive concepts for vehicles are also well known.

[0008] Disclosure of the invention

[0009] The core of the invention in the method for assigning actuators to actuator units, wherein each actuator unit has at least two actuators, consists in that a first control command with a first setting parameter is sent to a first actuator of a first actuator unit and the first actuator sets the first setting parameter, wherein a second actuator detects a first parameter, wherein the first setting parameter and the first parameter are compared, wherein, if the first setting parameter and the first parameter correspond, the second actuator is assigned to the first actuator unit.

[0010] The background of the invention is that it is possible to dispense with the assignment of actuators to the respective actuator units during production, both in a central control system and in the individual actuators. This increases flexibility in production and reduces complexity. Advantageously, the second actuator is clearly assigned to the first actuator unit.

[0011] A correspondence between the first control parameter and the first parameter, or the fact that the first control parameter and the first parameter correspond, is understood to mean that the first control parameter can be clearly assigned to the first parameter. For example, the first control parameter is the rotational speed of a wheel, and the first parameter is the brake pressure of a brake acting on the wheel. The value of the rotational speed corresponds to the value of the brake pressure if the brake pressure is just sufficient to brake the wheel to a standstill. Small deviations in the range of control inaccuracy or measurement inaccuracy are disregarded.

[0012] Further advantageous embodiments of the present invention are the subject of the subclaims.

[0013] According to an advantageous embodiment, a second control command with a second control parameter is sent to the second actuator, whereby the second actuator determines the first parameter in order to set the second control parameter. The second control command thus indirectly requests the second actuator to determine the first parameter. It is not necessary for the second actuator to actually set the second control parameter, as determining the first parameter is sufficient for the method.

[0014] It is advantageous if the second actuator does not adjust the second control parameter. This avoids unnecessary actuation by the second actuator.

[0015] Furthermore, it is advantageous if a central control unit sends the first control command and / or the second control command, in particular wherein the second actuator sends the first parameter to the control unit, and the control unit compares the first setting parameter and the first parameter and, if there is a correspondence, assigns the second actuator to the first actuator unit. The central control unit is arranged centrally within the communication structure of an actuator arrangement. Advantageously, the communication structure is designed in a star shape. According to a further advantageous embodiment, the second actuator compares the first setting parameter and the first parameter and, if there is a correspondence, assigns the second actuator to the first actuator unit. The second actuator thus carries out the assignment autonomously, in particular independently of a central control unit.

[0016] It is advantageous if the second actuator sends a first actuator response with the assignment to the central control unit. The second actuator thus assigns itself to an actuator unit independently and then informs the central control unit of its assignment.

[0017] Furthermore, it is advantageous if, if the first control parameter and the first parameter do not correspond, the second actuator is not assigned to an actuator unit, in particular, the method being continued with a further first actuator of a further actuator unit and the second actuator. Thus, the second actuator is not assigned to an actuator unit by the exclusion principle, but only if the control parameter and the parameter of two actuators correspond.

[0018] Advantageously, after the second actuator has been assigned, the method is restarted with another first actuator and another second actuator, in particular until all second actuators have been assigned to an actuator unit. This successively assigns all actuators to a respective actuator unit according to the method.

[0019] For example, the first control parameter and / or the second control parameter is a speed or an acceleration. Thus, the first and / or second actuator can be configured as drive actuators or brake actuators of a drive. Braking is defined as negative acceleration. A speed of 0 m / s as a control parameter corresponds to deceleration to a standstill.

[0020] It is advantageous if the second actuator is a brake actuator, wherein the first parameter is a brake parameter, in particular a required first braking force and / or a first braking torque and / or a first braking pressure and / or a first deceleration and / or a first actuating position of the first brake actuator. This allows wheel-specific brake actuators to be assigned to the wheel-specific actuator units or drive units of a vehicle according to the method.

[0021] Furthermore, it is advantageous if the actuators are arranged in a vehicle, with a check being carried out at the beginning of the process to determine whether the vehicle is freewheeling or stationary. This prevents unwanted movement or acceleration of the vehicle, for example, in the workshop or during vehicle production.

[0022] The core of the invention in the actuator arrangement comprising a plurality of actuator units with actuators is that each actuator can be assigned to an actuator unit, in particular by means of a method as described above or according to one of the claims related to the method.

[0023] The background of the invention is that it eliminates the need to assign actuators to the respective actuator units during production, both in a central control system and in the individual actuators. This increases flexibility in production and reduces complexity.

[0024] According to an advantageous embodiment, each actuator unit has an actuator, with a first actuator and a second actuator of the respective actuator unit being configured to actuate the actuator. Thus, two actuators act on the same actuator.

[0025] It is advantageous if each actuator unit has a sensor configured to detect an operating parameter of the respective actuator, with the respective sensor being connected to the respective second actuator of the actuator unit in a data-conducting manner. The sensor can be a component of the brake actuator and / or arranged on the actuator.

[0026] The essence of the invention in the device, in particular vehicle, is that the device has an actuator arrangement as described above or according to one of the claims related to the actuator arrangement.

[0027] The background of the invention is that it eliminates the need to assign brake components to the respective wheels during vehicle production, both in the central computer and in the respective brake actuators. This increases flexibility in production and reduces complexity.

[0028] The above embodiments and further developments can be combined with one another as desired, where appropriate. Further possible embodiments, further developments, and implementations of the invention also include combinations of features of the invention not explicitly mentioned above or described below with regard to the exemplary embodiments. In particular, those skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the present invention.

[0029] Short description of the drawings

[0030] In the following section, the invention is explained using exemplary embodiments, from which further inventive features may arise, but to which the scope of the invention is not limited. The exemplary embodiments are illustrated in the drawings.

[0031] They show:

[0032] Fig. 1 is a schematic representation of a vehicle 1 according to the invention,

[0033] Fig. 2 is a schematic representation of an actuator unit 10 and a central control unit 2 and

[0034] Fig. 3 is a schematic flow diagram of a method 100 according to the invention for assigning actuators.

[0035] In the figures, the same reference symbols denote the same or functionally identical elements.

[0036] The vehicle 1 shown in Figure 1 comprises a central control unit 2, four decentrally arranged actuator units 10, and four wheels (R1, R2, R3, R4). Each actuator unit 10 is assigned at least one brake actuator (B1, B2, B3, B4).

[0037] Each brake actuator (B1, B2, B3, B4) is signal-conductingly connected to the central control unit 2. The brake actuators (B1, B2, B3, B4) and the central control unit 2 are interconnected via a star-shaped communication structure or a star-shaped bus system. The central control unit 2 is located at the center of the communication structure or bus system.

[0038] Preferably, the communication structure or the bus system is designed redundantly, for example wired and / or wireless.

[0039] Figure 2 shows a first actuator unit 10 in detail.

[0040] The first actuator unit 10 has a first brake actuator B1, a first drive actuator A1 and a first sensor S1.

[0041] The first actuator unit 10 is configured to drive a first wheel R1 and to determine a wheel speed of the first wheel R1 using the first sensor S1. For this purpose, the first sensor S1 is integrated into the first brake actuator B1 and / or connected to the first wheel R1. The first brake actuator B1 is connected to the first sensor S1 in a signal-conducting manner and is configured to evaluate a first signal from the first sensor S1 and determine the wheel speed.

[0042] To assign the first brake actuator B1 to the first actuator unit 10, the central control unit 2 sends a first control command 102a to the first drive actuator A1 to set a first speed. The first drive actuator A1 sets the first speed. The first brake actuator B1 then detects a wheel movement of the first wheel R1 using the first sensor S1 and determines the first wheel speed. The first brake actuator B1 sends this first wheel speed as a first actuator response 104a to the central control unit 2. The central control unit 2 compares the first speed to be set with the first wheel speed. If the first speed and the first wheel speed correspond, the central control unit 2 assigns the first brake actuator B1 to the first actuator unit 10 or to the first drive actuator A1, in particular wherein the central control unit 2 sends a first assignment command 105a to the first brake actuator B1.

[0043] Figure 3 shows a schematic flow diagram of the method 100 for assigning the actuators:

[0044] In a first method step 101, it is checked whether wheels (R1, R2, R3, R4) of vehicle 1 are free-running. For this purpose, the acceleration force to be applied to the respective wheel (R1, R2, R3, R4) is compared with a characteristic curve.

[0045] If the acceleration force to be applied exceeds the characteristic curve by more than 5% of its value, method 100 is terminated. Additionally, it can be checked whether vehicle 1 is stationary, for example, using an acceleration sensor in vehicle 1.

[0046] Free-running wheels are a prerequisite for process 100 for assigning actuators, as no vehicle speed is allowed. Process 100 can therefore be performed during production of vehicle 1 or in field operation in a workshop.

[0047] In a second method step 102, a first control command 102a is sent from a central control unit 2 to a first drive actuator A1 to set a first speed at the first wheel R1. The first drive actuator A1 then sets the first speed.

[0048] In a third method step 103, a second control command 103a is sent from the central control unit to a first brake actuator B1 to brake the first wheel R1. A first sensor S1 then detects the first rotational speed of the first wheel R1 and transmits it to the first brake actuator B1. Using the first rotational speed of the first wheel R1, the first brake actuator B1 determines a first braking parameter, in particular a required first braking force and / or a first braking torque and / or a first braking pressure and / or a first deceleration and / or a first actuating position of the first brake actuator B1. Preferably, the second control command 103a is not issued by the first brake actuator B1.

[0049] In a fourth method step 104, the first speed is compared with the first braking parameter. This comparison can be performed by the first braking actuator B1. Alternatively, the comparison can be performed by the central control unit 2: For this purpose, the first braking actuator B1 sends the first speed and / or the first braking parameter to the central control unit 2, and the central control unit compares them.

[0050] If the first speed and the first braking parameter correspond, in a fifth method step 105, the first brake actuator B1 is uniquely assigned to the first actuator unit 10. The first brake actuator B1 assigns itself to the first actuator unit 10 and sends a first actuator response 104a to the central control unit 2. Alternatively, the central control unit assigns the first brake actuator B1 to the first actuator unit 10 and sends a first assignment command 105a to the first brake actuator B1. The assignment is stored by means of a storage means of the central control unit 2 and / or by means of a storage means of the brake actuator B1 and / or by means of a decentralized storage means, for example in a cloud. The respective storage means is embodied as a non-volatile storage means.

[0051] If the first speed and the first braking parameter do not correspond, in a fifth method step 105 the first braking actuator B1 is not assigned to an actuator unit 10.

[0052] In a seventh method step 107 following the fifth method step 105 or the sixth method step 106, the method 100 is restarted with the next brake actuator B2 until all brake actuators (B1, B2, B3, B4) are assigned to an actuator unit 10. Then, the method 100 is terminated.

[0053] A vehicle is understood here to be a land vehicle, for example, a passenger car or a truck, or an aircraft or a watercraft, in particular a vehicle that is at least partially electrically powered. The vehicle is, for example, a battery-electric vehicle with a purely electric drive or a hybrid vehicle with an electric drive and an internal combustion engine.

Claims

Claims 1 . Method (100) for assigning actuators to actuator units (10), wherein each actuator unit (10) has at least two actuators (A1, B1), characterized in that a first control command (102a) with a first setting parameter is sent to a first actuator (A1) of a first actuator unit (10) and the first actuator (A1) sets the first setting parameter, wherein a second actuator (B1) detects a first parameter, wherein the first setting parameter and the first parameter are compared, wherein if the first setting parameter and the first parameter correspond, the second actuator (B1) is assigned to the first actuator unit (10).

2. Method (100) according to claim 1, characterized in that a second control command (103a) with a second setting parameter is sent to the second actuator (B1), wherein the second actuator (B1) determines the first parameter in order to set the second setting parameter.

3. Method (100) according to claim 2, characterized in that the second actuator (B1) does not adjust the second adjustment parameter.

4. Method (100) according to one of the preceding claims, characterized in that a central control unit (2) sends the first control command (102a) and / or the second control command (103a), in particular wherein the second actuator (B1) sends the first parameter to the control unit (2), and the control unit (2) compares the first setting parameter and the first parameter and, in the event of a correspondence, assigns the second actuator (B1) to the first actuator unit (10).

5. Method (100) according to one of the preceding claims, characterized in that the second actuator (B1) compares the first setting parameter and the first parameter and, if there is a correspondence, assigns the second actuator (B1) to the first actuator unit (10), in particular wherein the second actuator (B1) sends a first actuator response (104a) with the assignment to the central control unit (2).

6. Method (100) according to one of the preceding claims, characterized in that if the first control parameter and the first parameter do not correspond, the second actuator (B1) is not assigned to an actuator unit (10), in particular wherein the method (100) is continued with a further first actuator of a further actuator unit (10) and the second actuator (B1).

7. Method (100) according to one of the preceding claims, characterized in that after the assignment of the second actuator (B1), the method (100) is restarted with a further first actuator (A2) and a further second actuator (B2), in particular until all second actuators (B1, B2, B3, B4) are assigned to an actuator unit (10).

8. Method (100) according to one of the preceding claims, characterized in that the first control parameter and / or the second control parameter is a speed or an acceleration.

9. The method (100) according to claim 8, characterized in that the second actuator (B1) is a brake actuator (B1), wherein the first parameter is a brake parameter, in particular a required first brake force and / or a first brake torque and / or a first brake pressure and / or a first deceleration and / or a first setting position of the first brake actuator (B1).

10. Method (100) according to claim 8 or 9, characterized in that the actuators are arranged in a vehicle (1), wherein at the beginning of the method (100) it is checked whether the vehicle is in freewheeling mode or at a standstill.

11. Actuator arrangement comprising a plurality of actuator units (10) with actuators, wherein each actuator can be assigned to an actuator unit, in particular by means of a method (100) according to one of the preceding claims.

12. Actuator arrangement according to claim 11, characterized in that each actuator unit (10) has an actuator, wherein a first actuator (A1) and a second actuator (B1) of the respective actuator unit (10) are arranged to actuate the actuator.

13. Actuator arrangement according to claim 12, characterized in that each actuator unit (10) has a sensor (S1) which is designed to detect an operating parameter of the respective actuator, wherein the respective sensor (S1) is connected in a data-conducting manner to the respective second actuator (B1) of the actuator unit (10).

14. Device, in particular vehicle (1), comprising an actuator arrangement according to one of claims 11 to 13.

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