Method and device for the cyclic digital transmission of a position value of a moving object with inertial mass

Patent metadata

Field	Value
Publication number	US-9651952-B2
Application number	US-201214128469-A
Country	US
Kind code	B2
Filing date	May 10, 2012
Priority date	Jun 20, 2011
Publication date	May 16, 2017
Grant date	May 16, 2017

Abstract

In a method and device for the cyclic digital transmission of a position value of a moving object with inertial mass, the value range of the transmitted position value is restricted such that no complete rotation or, in the case of a linear motion, other complete period caused by mechanical conditions may be mapped, and the actual position is formed by detecting value-range exceedances in an evaluation unit.

First claim

What is claimed is:

1. A method for closed-loop control of a drive, comprising:
detecting a first position of a moving object based on a first position value, wherein the first position value includes (i) a first partial-angle value for the first position and (ii) a first fine-angle value for the first position that divides the first partial-angle value;
detecting a second position value over time corresponding to a second position of the moving object, wherein the second position value includes (i) a second partial-angle value for the second position and (ii) a second fine-angle value for the second position that divides the second partial-angle value;
transmitting the second fine-angle value;
transmitting the second partial-angle value after the transmission of the second fine-angle value; and
using a computer hardware arrangement, determining the second position based on the second fine-angle value and the first position value.

2. The method according to claim 1 , wherein after the second fine-angle position value has been transmitted and compared to the position value, in response to a deviation, an action is triggered, the action including display and/or communication of warning information, switching off the drive, and/or initiating a safe state of the drive.

3. The method according to claim 1 , wherein:
in transmitting the second partial-angle value, check information and/or a CRC datum, is transmitted, and upon detection of a faulty transmission, an action is triggered, including display and/or communication of warning information, switching off the drive, and/or initiating a safe state of the drive, and/or
in transmitting the second fine-angle value, further check information and/or a CRC datum, is transmitted, and upon detection of a faulty transmission, an action is triggered, including display and/or communication of warning information, switching off the drive, and/or initiating a safe state of the drive.

4. The method according to claim 1 , wherein the method includes cyclic digital transmission of the second position value at a known maximum attainable velocity of the moving object, wherein a range of the second partial-angle value is restricted such that no complete rotation or other complete period caused by mechanical conditions may be mapped, and an actual, complete position being formed by detecting value-range exceedances in an evaluation unit; and
wherein (a) at a first instant, the second position is transmitted which is not or is far less sharply value-range-restricted than in continuous operation; (b) the range is determined in a manner that an amount of a path difference occurring in one scanning cycle at maximum velocity is less than half the selected range, the range being selected to be as small as possible; and/or (c) a difference between the second position and the first position with a same value-range restriction is transmitted.

5. The method according to claim 1 , wherein the method includes cyclic digital transmission of the second position value at a known maximum attainable velocity of the moving object, the second position value further including a sub-angle value that divides the second partial-angle value, wherein the second fine-angle value subdivides the sub-angle value, and wherein the sub-angle value is transmitted before the second partial angle value;
wherein a further position value is detected and an associated, newly detected, further fine-angle value is transmitted; and
wherein, from the newly detected further fine-angle value and the previously detected second position value, a further position of the moving object is detected.

6. The method according to claim 1 , wherein the method includes digital transmission of the second position value, the second position value including at least two values, including the second partial-angle value, a sub-angle value, and the second fine-angle value, each of which is denotable with a whole number, and each having a position range being assigned thereto each whole number denoting a respective assigned position range, each position range being mutually separate sub-ranges of an entire position range;
wherein a further position value is detected and an associated, newly detected, further partial-angle value is transmitted, a velocity being determined and transmitted, at least with sufficient accuracy, a quantity of exceeded ranges, fine-angle ranges and/or sub-angle ranges, assigned to the partial-angle value as a velocity; and
wherein, from the newly detected further partial-angle value and the previously detected second partial-angle value, the position range is based on the fine-angle value, and also the fine-angle value is based on the newly detected further position value which is based on the velocity.

7. The method according to claim 1 , wherein the second position value includes an angular value of a rotating part having a moment of inertia, or a path-position value of a moving part.

8. The method according to claim 1 , wherein the detecting and transmitting are repeated recurrently over time or are repeated cyclically at regular time intervals in order to determine a further position of the moving object.

9. The method according to claim 1 , wherein the second partial-angle value is used to verify the second position.

10. The method according to claim 1 , wherein the further position value is an angular value or a linear position, velocity being an angular velocity or a velocity occurring in a linear direction.

11. The method according to claim 1 , wherein the partial-angle value and the fine-angle value are assigned to a track and/or an encoder track, each, the fine-angle value being assigned to a finer resolving track than the partial-angle value.

12. The method according to claim 1 , wherein a first range of the second partial-angle value of an entire position range is different than a second range of the second fine-angle value of the entire position range is, and wherein the first range of the second partial-angle value includes a sub-range corresponding to a sub-angle value of the second position, wherein the sub-angle value is transmitted prior to the partial-angle value.

13. A device, comprising:
a sensor adapted to detect a first position value;
an evaluation unit connected to the sensor via a digital interface, the evaluation unit including a memory and adapted to determine a second position value from a transmitted value-range-restricted position value and the first position value; and
a control device connected to the evaluation unit;
wherein the device is adapted to perform the method recited in claim 1 .

14. The method of claim 1 , wherein the second partial-angle value and the second fine-angle value are each denotable as a whole number;
wherein:
(i) after the second partial-angle value has been transmitted, a model value is determined for the second fine-angle value from the second partial-angle value,
(ii) (ii) a manipulated variable of a control device is determined based on a velocity of the moving object, the second partial-angle value and the model value; and
(iii) after the second partial-angle value has been transmitted, a further fine-angle value is transmitted, and the velocity value is updated based on the further fine-angle value and the second partial-angle value,
wherein the manipulated variable is a voltage space vector and/or a stator-voltage space vector of an electric motor of the drive.

Assignees

• Simon Olaf
• Sew Eurodrive Gmbh & Co Kg

Inventors

• Simon Olaf

Classifications

• G01D21/00 Primary

  Measuring or testing not otherwise provided for · CPC title

• G05D3/125 Primary

  using discrete position sensor · CPC title

• H02P21/12 Primary

  Stator flux based control involving the use of rotor position or rotor speed sensors · CPC title

• G01D5/00

  Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable (G01D3/00 takes precedence; specially adapted for apparatus giving results other than momentary value of variable G01D1/00) · CPC title

• H02K11/21

  Devices for sensing speed or position, or actuated thereby (specially adapted for machines having non-mechanical commutating devices H02K29/06, H02K29/14) · CPC title