Method for controlling the movement of a component or machine element inhibited by friction

Patent metadata

Field	Value
Publication number	US-9436175-B2
Application number	US-201013520823-A
Country	US
Kind code	B2
Filing date	Dec 20, 2010
Priority date	Jan 8, 2010
Publication date	Sep 6, 2016
Grant date	Sep 6, 2016

Abstract

A method for controlling the movement of a component or machine element inhibited by friction, an adaptive pilot control being carried out, in which a variable pilot control value is applied to the manipulated variable to compensate for a friction influence, the change of the pilot control value being determined as a function of an actual value.

First claim

What is claimed is:

1. A method for controlling a movement of a component or machine element inhibited by friction, comprising:
carrying out an adaptive pilot control in which a variable pilot control value is applied to a manipulated variable to compensate for a friction influence, a change of the pilot control value being determined as a function of a control deviation, an absolute value of the pilot control value being decreased in the event of a sign change of a difference between the control deviation and a preset value;
wherein a movement of a flap of an exhaust gas recirculating valve is regulated, the pilot control value being changed as a function of an actual position of the flap and an exhaust gas counter pressure.

2. The method as recited in claim 1 , wherein the absolute value of the pilot control value is increased if no sign change occurs within a predefined period of time.

3. The method as recited in claim 1 , wherein the change of the pilot control value takes place one of step-by-step or continuously using an integrating element.

4. The method as recited in claim 1 , wherein a sign change is taken into consideration only if the absolute value of the difference between the control deviation and the preset value after the sign change exceeds a predefined band threshold value.

5. The method as recited in claim 1 , wherein the absolute value of the pilot control value is limited.

6. The method as recited in claim 1 , wherein a setpoint value incorporated in the control deviation is noise-filtered.

7. The method as recited in claim 1 , wherein the absolute value of the pilot control value is not changed if the component or the machine element is located at a stop.

8. The method as recited in claim 1 , wherein the absolute value of the pilot control value is decreased when an oscillation of the movement of the component or machine element is recognized.

9. The method as recited in claim 8 , wherein a type of determination of the pilot control value is changed as a function of a speed of the movement of the component or machine element.

10. The method as recited in claim 1 , wherein the pilot control value is corrected as a function of a speed of the movement of the component or machine element.

11. The method as recited in claim 1 , wherein the change of the pilot control value is determined as a function of the time derivative of the actual value.

12. A control unit, comprising:
a control arrangement configured to control a movement of a component or machine element inhibited by friction by performing an adaptive pilot control in which a variable pilot control value is applied to a manipulated variable to compensate for a friction influence, a change of the pilot control value being determined as a function of a control deviation, an absolute value of the pilot control value being decreased in the event of a sign change of a difference between the control deviation and a preset value;
wherein a movement of a flap of an exhaust gas recirculating valve is regulated, the pilot control value being changed as a function of an actual position of the flap and an exhaust gas counter pressure.

Assignees

• Silberbauer Martin
• Zimmermann Gerald
• Zimmermann Klaus
• Neuburger Robert
• Bosch Gmbh Robert

Inventors

• Silberbauer Martin
• Zimmermann Gerald
• Zimmermann Klaus
• Neuburger Robert

Classifications

• G05B19/404 Primary

  characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia (G05B19/19, G05B19/41 take precedence) · CPC title

• F02D2041/141

  using a feed-forward control element · CPC title

• G01R11/23

  Compensating for errors caused by friction, e.g. adjustment in the light load range · CPC title

• G05B2219/41154

  Friction, compensation for friction · CPC title

• G05B2219/45018

  Car, auto, vehicle · CPC title