Method for Controlling an Electromechanical Actuator, and Control Device

Patent metadata

Field	Value
Publication number	US-2016137178-A1
Application number	US-201414896290-A
Country	US
Kind code	A1
Filing date	May 13, 2014
Priority date	Jun 5, 2013
Publication date	May 19, 2016
Grant date	—

Abstract

A method and control system for controlling an electromechanical actuator ( 1, 2 ) of a brake system for motor vehicles, in which a measured actual value, of a controlled variable is intended to be set to a specified target value. A first actuator speed target value is determined on the basis of the target value and the actual value by a first controller ( 19,20 ), and wherein a manipulated variable for the electromechanical actuator (I, 2 ) is determined on the basis of the first actuator speed target value and a second actuator speed target value. The second actuator speed target value is determined on the basis of the target value and a specified relationship ( 30, 40 ) between the controlled variable and a variable corresponding to a position of the electromechanical actuator.

First claim

1 . A method for controlling an electromechanical actuator of a brake system for motor vehicles, comprising the steps of; setting a measured actual value of a controlled variable to be set to a specified setpoint value, determining a first actuator speed setpoint value on the basis of the specified setpoint value and the actual value using a first controller, and determining a manipulated variable for the electromechanical actuator is on the basis of the first actuator speed setpoint value and a second actuator speed setpoint value, determining a second actuator speed setpoint value on the basis of the specified setpoint value and a specified relationship between the controlled variable and a position variable corresponding to a position of the electromechanical actuator.

2 . The method as claimed in claim 1 , further comprising determining a third actuator speed value on the basis of the first and the second actuator speed setpoint value, by addition, which the third actuator speed setpoint value is fed, as an input variable, to a second controller.

3 . The method as claimed in claim 1 further comprising determining an actuator position setpoint value by the specified relationship.

4 . The method as claimed in claim 3 , further comprising filtering the setpoint value and using the filtered setpoint value for determining the actuator position setpoint value.

5 . The method as claimed in claim 3 further comprising determining the second actuator speed setpoint value from the actuator position setpoint value.

6 . The method as claimed in claim 3 further comprising carrying out an increase limitation of the determined actuator position setpoint value, by a limitation of a change in the actuator position setpoint values to a maximum position change per one sampling time of the first controller.

7 . The method as claimed in claim 6 , further comprising determining a first actuator speed is determined on the basis of the limited actuator position setpoint value or the limited change in the actuator position setpoint value.

8 . The method according to claim 7 , further comprising weighing the first actuator speed by multiplication with a scaling factor.

9 . The method as claimed in claim 7 further comprising carrying out a speed limitation of the, weighted, first actuator speed, wherein, the speed limitation is carried out as a function of a direction of rotation of the actuator.

10 . The method as claimed in claim 6 , determining the second actuator speed setpoint value on the basis of the limited actuator position setpoint value or the limited change in the actuator position setpoint value or the determined first actuator speed of the second actuator speed setpoint value.

11 . A control device for an electromechanical actuator of a brake system for motor vehicles, comprising a first controller configured to set a measured actual value, of a controlled variable to a specified setpoint value, and the first controller, to which the specified setpoint value and the actual value, as input variables, are fed, a second controller, connected downstream of the first controller, wherein a third actuator speed setpoint value is determined from a first actuator speed setpoint value, which is determined by the first controller, and a second actuator speed setpoint value, by addition, the second actuator speed setpoint value is determined on the basis of the setpoint value and a specified relationship between the controlled variable and a position variable corresponding to a position of the electromechanical actuator.

12 . The control device as claimed in claim 11 , further comprising in that a means for calculating an actuator position setpoint value from the setpoint value by the specified relationship and for determining the second actuator speed setpoint value from the actuator position setpoint value.

13 . The control device as claimed in claim 12 , further comprising a means for determining the increase limitation of the determined actuator position setpoint value, and for limiting a change in the actuator position setpoint value to a maximum position change per one sampling time of the first controller.

14 . The control device as claimed in claim 12 , further a means for calculating a first actuator speed from the limited actuator position setpoint value or from the limited change in the actuator position setpoint value.

15 . The control device as claimed in claim 14 , further a means for multiplying the first actuator speed with a scaling factor or a means for limiting the first actuator speed.

Assignees

• Continental Teves Ag & Co Ohg

Inventors

• Böhm Jürgen

Classifications

• B60T8/4081

  Systems with stroke simulating devices for driver input (B60T8/4077 takes precedence) · CPC title

• B60T8/326 Primary

  Hydraulic systems · CPC title

• H01F7/064

  Circuit arrangements for actuating electromagnets (circuit arrangements for obtaining special operating characteristics H01F7/18; driving circuits for electromagnets making use of a switching regulator H01H47/325) · CPC title

• B60T2270/82

  Brake-by-Wire, EHB · CPC title