EP1817487A1 - Verfahren und vorrichtung zum ansteuern eines stellgliedes - Google Patents
Verfahren und vorrichtung zum ansteuern eines stellgliedesInfo
- Publication number
- EP1817487A1 EP1817487A1 EP05826784A EP05826784A EP1817487A1 EP 1817487 A1 EP1817487 A1 EP 1817487A1 EP 05826784 A EP05826784 A EP 05826784A EP 05826784 A EP05826784 A EP 05826784A EP 1817487 A1 EP1817487 A1 EP 1817487A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- setpoint
- value
- change
- actuator
- setpoint value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/04—Introducing corrections for particular operating conditions
- F02D41/10—Introducing corrections for particular operating conditions for acceleration
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
- F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
- F02D11/105—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the function converting demand to actuation, e.g. a map indicating relations between an accelerator pedal position and throttle valve opening or target engine torque
Definitions
- the invention is based on a method and a device for driving an actuator according to the preamble of the independent claims.
- An alternative solution uses a setpoint change limitation, for example, using a filter.
- a change in the setpoint value for the position of the actuator is limited to a predetermined desired value in accordance with the setpoint change limitation.
- the setpoint change is limited to such a low value that it can be ensured that the stop is not approached too quickly by the actuator.
- this setpoint change limitation is active over the entire range of predefinable setpoint values for the position of the actuator, this leads to the fact that the control of the position of the actuator is unnecessarily slow to the corresponding predetermined setpoint.
- An improved solution is to turn on this slow setpoint limit only when the preset setpoint between the stop and a predetermined threshold value assigned to the stop.
- the method according to the invention and the device according to the invention for actuating an actuator with the features of the independent claims have the advantage that, to achieve the first setpoint value, a second setpoint is initially set by the setpoint value, that a change in the setpoint value for the position of the Actuator is limited to the second setpoint according to a second Soléesungsbegren ⁇ tion, and that if the change in the setpoint to the first Soll ⁇ value with the first setpoint change limit would be greater in amount than the ⁇ n ⁇ change of the setpoint to the second setpoint with the second setpoint change ⁇ tion, for the setpoint of the first setpoint is specified and the change in the setpoint for the position of the actuator is limited to the first setpoint according to the first setpoint change limitation.
- a two-stage nominal value change limitation can be carried out, in particular for a first set value in the vicinity of a stop of the actuator.
- the setpoint value is first moved with the second setpoint value change limitation in the direction of the second predetermined setpoint value and then with the first setpoint change limitation in the direction of the first preset setpoint value.
- the approaching of the setpoint value in the direction of the second predetermined setpoint value with a larger setpoint change and thus faster can be allowed than the subsequent approaching of the setpoint value in the direction of the first predetermined setpoint value.
- the second setpoint change limit is then set to be lower or lower than the first setpoint change limit.
- the setpoint could be changed comparatively quickly towards the first predetermined desired value within a certain range limited by the second predetermined setpoint value.
- the comparatively slow setpoint change limitation is then only required on the last stretch of the setpoint to the first predetermined setpoint.
- the control for adjusting the actuator is not unnecessarily slowed down.
- Setpoint value that is not close to the stop that is, that is not between the stop and the predetermined threshold value associated with the stop, can be approached by the actuator at the highest possible speed without fear of damaging the actuator by the stop. If, on the other hand, the first setpoint value lies between the stop and the predetermined threshold value associated with the stop, it is further ensured that the first setpoint value is initially driven as fast as possible and then slowly enough due to the two-stage setpoint value change limitation in order to prevent damage to prevent the actuator by a stop.
- the second predetermined setpoint equal to the predetermined
- the two-stage setpoint change limitation has an advantageous effect, in particular, for avoiding damage to the actuator by the stop when, as described, the second setpoint change limitation is selected to be weaker than the first setpoint change limitation.
- a simple realization for the setpoint change limitation arises when the setpoint for the first setpoint change limit is filtered with a first time constant and when the setpoint for the second setpoint change limit is filtered with a second time constant.
- the first time constant greater than the second time constant can be selected in order to achieve that the second setpoint change limitation is weaker than the first setpoint change limit.
- one of the two setpoint change limitation is carried out by means of a ramp function and the other of the two setpoint change limitation by filtration. This is particularly advantageous in systems where an asymmetric - A -
- the second desired value is selected further apart from a stop of the actuator than the first desired value.
- the described advantage can be realized, according to which the desired value can initially be guided as fast as possible towards the second setpoint by the two-stage setpoint setpoint limitation, in order subsequently to guide the setpoint as slowly as possible to the first predetermined setpoint, which is closer to the setpoint to avoid BeCdi ⁇ tion of the actuator by the stop.
- FIG. 1 shows a roughly schematic section of an internal combustion engine
- Figure 2 is a functional diagram for explaining the inventive method and the erf ⁇ ndungswashen device
- Figure 3 is a diagram with different setpoint curves for the position of an actuator over time.
- 110 indicates a section of an internal combustion engine that drives a vehicle, for example.
- the internal combustion engine can, for example, as
- an intake passage 40 of the engine fresh air is supplied.
- an actuator 1 is ange ⁇ arranged.
- the actuator 1 is formed for example as a throttle valve.
- a different air mass flow in the intake passage 40 is set.
- a lower stop of the throttle valve 1 in the intake passage 40 is indicated in Figure 1 by the reference numeral 45.
- a first desired value 5 for the position of the throttle valve 1 and a second desired value 10 for the position of the throttle valve 1 are shown in dashed lines in FIG. 1, the first desired value 5 being closer to the lower stop 45 than the second desired value 10
- the throttle valve 1 will be known to the person skilled in the art.
- the actuation signal AS may be, for example, a pulse-width-modulated signal, wherein different positions of the actuator 1 in the intake duct 40 result for different duty cycles of the pulse-width-modulated actuation signal AS.
- the position of the throttle flap 1 is plotted against the time t in seconds.
- the position of the throttle flap 1 is indicated here as a percentage of the opening degree.
- the value 0% corresponds to the state of the fully closed throttle valve 1, that is, the throttle valve 1 is located directly on the lower stop 45th Der
- Solll is a first setpoint value for the position of the throttle valve 1 in Figure 3. This first setpoint Solll for the position of the throttle valve 1 is initially on the value 100% for the fully opened throttle flap 1. Approximately at the instant of a second, the first setpoint value 1 jumps from the value 100% downwards to reach the value 0% at about 1.01 seconds, where the first setpoint value remains 1 to at least 1.35 seconds Thus, the first target value Soll 1 from the time 1.01 seconds corresponds approximately to the lower stop 45.
- the first setpoint identified there with 5 does not correspond directly to the lower stop 45, In general, however, it should be assumed that the first set value 5 identifies a position of the throttle flap 1 in the vicinity of the lower stop 45 characterized in that, as can be seen in Figure 3, the special case that the first setpoint 5, which is indicated in Figure 3 with desired 1, after the jump shown in Figure 3 directly to the lower stop 45 and thus the fully closed throttle valve 1 corresponds , In this case, all the first set values 5 are designated as being close to the stop, which are located closer to the lower stop 45 after the jump than a predefined threshold value SW.
- the predetermined threshold SW can for example be suitably applied to a test stand.
- the predetermined threshold value SW can be applied, for example, in such a way that all first setpoint values 5 are so close to the lower stop 45 below the predetermined threshold value SW that they may not be predetermined abruptly but with a sufficient setpoint change limit Damage to the throttle valve 1 by the lower stop 45 to avoid safe.
- the predetermined threshold value SW becomes, for example, a value between 9 and 10 Percentage of the position of the throttle valve 1 applied. Since the first target value Soll 1 after the jump is below the predetermined threshold SW, it must therefore not be predetermined as a jump in the form shown in Figure 3 but only with the consideration of a first setpoint change limit. Such a setpoint change limitation is achieved, for example, by means of a low-pass filter.
- the reference numeral 115 shows a first curve of the setpoint value for the position of the throttle valve 1, which is achieved by low-pass filtering of the course of the first setpoint value 1 with a second time constant of 35 ms.
- a second possible course of the setpoint is shown, which is formed by low-pass filtering of the course of the first predetermined setpoint nominal value 1 with a first time constant of 70 ms.
- the setpoint course formed thereby is indeed sufficiently slow, in particular below the predefined threshold value SW, until the first predefined setpoint value 1 is reached in order to reliably prevent damage to the throttle valve 1 upon impact with the lower stop 45, this is however proceeding from the position 100% until reaching the predetermined threshold SW too slow.
- Threshold SW starting from the fully open throttle 1 as soon as possible approaches the target value of the first predetermined setpoint Soll 1.
- the predetermined threshold value SW is exceeded by the setpoint curve
- the first predetermined setpoint value 1 should then be reached so slowly from the setpoint that damage to the throttle flap 1 by the lower stop 45 is reliably avoided. It is therefore a question, for example, to find a compromise between the first setpoint course 115 and the second setpoint course 120, wherein the first setpoint course 115 above the predetermined threshold SW and the second setpoint course 120 at the latest below the predetermined threshold SW of integer is a response.
- the invention provides a two-stage setpoint change limit.
- a second predetermined setpoint value 2 is selected as setpoint value to be set for the position of the throttle flap 1 after the desired setpoint jump, which may, for example, correspond to the predefined threshold value SW or greater than this.
- the predetermined threshold value SW can for example be applied to a test bench in such a way that only for jumps of the first preset setpoint value 1 below the predetermined threshold value SW, a corresponding setpoint change limit for a damage-free adjustment of the position of the throttle valve 1 to the first predetermined value Setpoint setpoint 1 is ensured, it is particularly advantageous to select the second preset setpoint setpoint 2 equal to the predefined threshold value SW.
- the second predetermined setpoint Soll2 which is characterized in Figure 1 by the reference numeral 10, that this is further spaced from the lower stop 45 of the actuator 1 is selected as the first predetermined setpoint Solll.
- the ideal setpoint course 130 results, which initially approaches the second predefined setpoint value 2 as quickly as possible and then sufficiently slowly reaches the first setpoint value setpoint 1. is enough to safely protect the throttle valve 1 from damage by the lower stop 45.
- FIG. 2 shows a functional diagram which explains the method according to the invention and the device according to the invention in more detail.
- the functional diagram is identified by the reference numeral 15 in FIG. 2 and, as a device according to the invention, can be implemented in the controller 50 in terms of software and / or hardware.
- First presetting means 20 predetermine the first desired value 1 or the time profile of the first desired value Soll 1, for example according to FIG. 3, and, for example, depending on a driver's request.
- a low-pass filter 30 is provided, which emits a filtered nominal value Sollfil at regular sampling instants.
- the filtered nominal value Sollfil present at this sampling time is subtracted from the first predetermined nominal value SoM present at this sampling time in a first subtraction element 55.
- the formed difference SoIU-Sollfil at the output of the first subtraction element 55 is divided in a following first division element 65 by a first predetermined time constant Z1, which can be permanently stored in a memory assigned to the controller 50.
- a first predetermined time constant Z1 for example, the value of 70 ms can be selected as described above.
- the output of the first division element 65 thus corresponds to the quotient
- Input of a first comparison element 75 is supplied to the second input of the value zero is supplied. If the first quotient Q1 is less than zero, the output of the first comparison element 75 is set, otherwise it is reset.
- the output of the first comparator 75 is fed to an inverse 85 whose output is set when its input is reset and its output is reset when its input is set.
- the output of the inversion member 85 is fed to a first input of an OR gate 90.
- the output of the first comparison element 75 is also supplied to a first input of an AND gate 80.
- the first quotient Q1 as the output of the first division element 65 is also fed to a first input of a second comparison element 35.
- Second presetting means 25 predetermine the second desired value Soll2 in this example as a predetermined threshold value SW.
- the second Default means 25 may be formed, for example, by a memory 50 associated memory in which the value applied to the predetermined threshold SW, for example, applied to the test bench value.
- a second subtraction element 60 the filtered setpoint value Sollf ⁇ l present for this sampling instant is subtracted from the predetermined second setpoint Soll2 present for this sampling instant for each sampling instant, so that the difference Soll2-Sollf ⁇ l forms at the output of the second subtraction element 60.
- the output of the second subtraction element 60 is divided in a second division element 70 by a second time constant Z2, which in this example can assume the value 35 ms as described above and which can also be stored in a memory associated with the controller 50.
- the second quotient Q2 is supplied to a second input of the second comparison element 35.
- the output of the second comparator 35 is set when Q1 ⁇ Q2.
- the output of the second comparison element 35 is supplied to a second input of the AND element 80.
- the output of the AND gate 80 is set only when its two inputs are set, otherwise it is reset.
- the output of the AND gate 80 is, on the one hand, supplied to a second input of the OR element 90 and, on the other hand, as a control signal to a first controlled switch 100.
- the output of OR gate 90 is set when one of its two inputs is set and otherwise reset.
- the output of the OR gate 90 is guided as a control signal to a second controlled switch 105.
- the first desired value SoM is supplied on the one hand to a first input of a maximum selection element 95 and on the other hand to a first input of the second controlled switch 105.
- the second desired value Soll2 is fed to a second input of the maximum selection element 95.
- the maximum selector 95 selects the maximum of its two inputs, that is, the maximum of the first predetermined
- the second controlled switch 105 connects the output of the maximum selector 95 to an input of the low pass 30 when the output of the OR gate 90 is reset. Otherwise, the second controlled switch 105 connects the input of the low-pass filter 30 with the first presetting means 20 and thus with the first predetermined desired value SoM.
- the output of the first controlled switch 100 predefines the time constant for the low-pass filter 30.
- the first controlled switch 100 connects the memory with the first predetermined NEN time constant Zl with the input for the time constant of the low-pass filter 30 when the output of the AND gate 80 is set, otherwise the first controlled switch connects the memory with the second predetermined time constant Z2 with the Zeitkon ⁇ stanteneingang the low pass 30th
- the low-pass filter 30 then filters the output of the second controlled switch 105 with the respectively set time constant in order to form the filtered nominal value Sollfil.
- the first comparison element 75 ensures that the two-stage setpoint change limitation is only carried out if the first setpoint value Solll is smaller than the filtered setpoint setpointfil, and thus the filtered setpoint value setpoint has a time-decreasing course and thus in the direction of lower stop 45 has. Otherwise, only the first desired value Solll is filtered by the low-pass filter 30 with the second predetermined time constant Z2.
- the first comparison element 75 thus checks whether the throttle flap 1 moves in the closing direction, that is to say in the direction of the lower stop 45, that is to say the filtered nominal value Sollfil moves in the direction of the lower one
- Stop 45 changed.
- the second comparison element 35 is used to check which of the two setpoint change limits allows the largest step in the direction of the lower stop 45. In this case, that setpoint change limiting is always selected which makes the larger step in the direction of the lower stop 45 for the desired value and the low-pass filter 30 correspondingly configured in the manner described.
- the low-pass filter 30 with the first setpoint Solll as input value and the slower first time constant Zl makes a larger step toward the lower An ⁇ impact 45 than the low-pass filter 30 with the second predetermined setpoint Soll2 as the input value and the faster first filter time constant Z2, then the first-mentioned configuration with the first predetermined setpoint Solll and the first Fil ⁇ terzeitkonstants Zl selected, otherwise the filter configuration with the second vorge ⁇ specified setpoint Soll2 is greater than the first predetermined setpoint Solll, and the second predetermined time constant Z2.
- SW is, it is filtered with the faster second time constant Z2, so that the setpoint approaches the first predetermined setpoint Solll as fast as possible. If the first predetermined desired value Solll then falls below the predetermined threshold value SW, the method according to the invention according to FIG. 2 takes effect, so that then first the second one predetermined setpoint Soll2 with the faster second time constant Z2 is approached by the low-pass filter 30 until the filtered setpoint curve is slowed down so much that the filtering with the slower first time constant Zl and the first predetermined setpoint SoIU 1 as input value is faster. Then, as described, the switching between the two different input values and the two different time constants takes place, and the first predetermined desired value SoIU is then approached with the slower first filter time constant Z1.
- a setpoint change limit can be smoothly switched from a high-speed tracking to a slower-close tracking of the setpoint to the corresponding preset setpoint if the first predetermined setpoint Solll is below the predetermined threshold SW.
- the first predetermined setpoint Solll is in the range above the predetermined threshold SW or if it moves in the direction of the range above the predetermined threshold SW, slight overshoot or undershoot in the setpoint are allowed, because they lead to a faster reaching the first predetermined setpoint Solll lead.
- the functional diagram according to FIG. 2 ultimately represents a controller for tracking the setpoint value for the position of the throttle valve 1 to the first predetermined desired value Solll.
- the controller realized by the functional diagram according to FIG. 2 has systems which only have the first filter time constant Z1 operate as soon as the first preset setpoint value Solll is below the predetermined threshold value SW, the advantage that the controller according to the functional diagram of Figure 2 can be designed with a higher loop gain.
- the third setpoint course 125 shows the fastest possible approach of the setpoint value to the predetermined threshold value SW at which occurring undershoots in the setpoint value course can still be controlled.
- the ideal setpoint course 130 uses this fast third setpoint course 125 until it decelerates too much.
- the ideal setpoint course 130 then continues slowly in the direction of the first preset setpoint value Soll1. If the first setpoint course 115 had been used until reaching the predetermined threshold value SW and then switched directly to the second time profile 120 with the slower time constant, then the rate of change of the setpoint value would have been too high in the range of the predetermined threshold value SW.
- the second setpoint change limitation for the setpoint can first be implemented as a ramp function and the setpoint subsequently filtered for the first setpoint change limitation with the first time constant.
- the embodiment has been described above with reference to an actuator 1 designed as a throttle valve.
- the invention can be applied in a corresponding manner to any electrically controlled actuators, for example also to a charge motion flap, an exhaust gas recirculation valve, a bypass valve for a compressor, etc.
- the application of the actuator 1 to an internal combustion engine or a motor vehicle is not limited, but can be seen vor ⁇ for any applications in which a mass flow can be influenced by changing the position of an actuator.
- a setpoint change limitation can also be calculated by calculating a served the temporal setpoint course and its comparison with a predetermined limit. If the gradient falls below the preset limit value in terms of absolute value, no setpoint change limitation takes place, otherwise the setpoint change is limited to the predetermined limit value. Different setpoint change limits can then be replaced by different limit values
- Two different preset limit values can be selected to realize two different setpoint change limitation, one being weaker than the other.
- a weaker setpoint change limitation results from the larger preset limit value for the setpoint change limitation. In this case, a larger setpoint change amount is possible. The limitation of the setpoint change is thus lower.
- the first and the second setpoint change limitation ie the low-pass filtering with the first and second predetermined filter time constants, is performed in the example described above only if the first predetermined setpoint SoM is between the lower stop 45 of FIG
- the lower stop 45 of the control member 1 was considered.
- the described method according to the invention and the described device according to the invention can also be applied to the upper stop of the actuator 1, in which case the output of the first is set equal to 75 when Ql is greater than zero and the output of the first comparator 75 is otherwise reset.
- the output of the second comparator 35 is set when Q1> Q2 and otherwise the output of the second comparator 35 is reset. From the maximum selection element 95 in FIG. 2, in this case, a minimum selection element is selected.
- the functional diagram according to FIG. 2 can also be used for this case of the upper stop.
- the predetermined threshold value SW for the upper stop is, for example, between 90 and 91 percent of the position of the actuator 1 according to FIG. 3, and the upper stop corresponds to the position 100 percent of the actuator 1.
- the second predetermined desired value Soll2 can again be equal to predetermined
- Threshold value can be selected.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004053391A DE102004053391A1 (de) | 2004-11-05 | 2004-11-05 | Verfahren und Vorrichtung zum Ansteuern eines Stellgliedes |
PCT/EP2005/055720 WO2006048432A1 (de) | 2004-11-05 | 2005-11-03 | Verfahren und vorrichtung zum ansteuern eines stellgliedes |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1817487A1 true EP1817487A1 (de) | 2007-08-15 |
EP1817487B1 EP1817487B1 (de) | 2010-01-13 |
Family
ID=35583511
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP05826784A Expired - Fee Related EP1817487B1 (de) | 2004-11-05 | 2005-11-03 | Verfahren und vorrichtung zum ansteuern eines stellgliedes |
Country Status (4)
Country | Link |
---|---|
US (1) | US8214070B2 (de) |
EP (1) | EP1817487B1 (de) |
DE (2) | DE102004053391A1 (de) |
WO (1) | WO2006048432A1 (de) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102008042513B4 (de) * | 2008-09-30 | 2021-04-22 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Überprüfung der Justierung mehrerer mittels eines gemeinsamen Antriebs angetriebener Stellglieder in verschiedenen Massenstromkanälen |
US20130201316A1 (en) | 2012-01-09 | 2013-08-08 | May Patents Ltd. | System and method for server based control |
FR3012930B1 (fr) * | 2013-11-05 | 2015-12-25 | Snecma | Procede d'essai technique |
DE102020200908A1 (de) * | 2020-01-27 | 2021-07-29 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zum Regeln einer kinematischen Größe eines Kraftfahrzeugs |
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US5369356A (en) * | 1991-08-30 | 1994-11-29 | Siemens Energy & Automation, Inc. | Distributed current and voltage sampling function for an electric power monitoring unit |
US5205132A (en) * | 1992-06-12 | 1993-04-27 | Thermonics Incorporated | Computer-implemented method and system for precise temperature control of a device under test |
US5521824A (en) * | 1992-12-07 | 1996-05-28 | Caterpillar Inc. | Method and apparatus for controlling an engine test apparatus using lead-lag control |
DE4303560B4 (de) | 1993-02-08 | 2006-09-07 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Steuerung einer Verstelleinrichtung |
US6600240B2 (en) * | 1997-08-08 | 2003-07-29 | General Electric Company | Variable speed wind turbine generator |
US6137187A (en) * | 1997-08-08 | 2000-10-24 | Zond Energy Systems, Inc. | Variable speed wind turbine generator |
US7539549B1 (en) * | 1999-09-28 | 2009-05-26 | Rockwell Automation Technologies, Inc. | Motorized system integrated control and diagnostics using vibration, pressure, temperature, speed, and/or current analysis |
US7308322B1 (en) * | 1998-09-29 | 2007-12-11 | Rockwell Automation Technologies, Inc. | Motorized system integrated control and diagnostics using vibration, pressure, temperature, speed, and/or current analysis |
JP3511577B2 (ja) | 1998-10-06 | 2004-03-29 | 株式会社日立製作所 | 内燃機関のスロットル装置 |
DE19906871A1 (de) * | 1999-02-18 | 2000-08-24 | Siemens Ag | Verfahren zum Ansteuern eines Antriebsaggregats in einem Antriebssystem |
US6697685B1 (en) * | 1999-11-06 | 2004-02-24 | David J. Caldwell | Flexible closed-loop controller |
US6845750B2 (en) * | 1999-12-18 | 2005-01-25 | Robert Bosch Gmbh | Method and device for controlling the drive unit of a vehicle |
DE10034873B4 (de) * | 2000-07-18 | 2005-10-13 | Pacifica Group Technologies Pty Ltd | Verfahren und Bremsanlage zum Regeln des Bremsvorgangs bei einem Kraftfahrzeug |
US6481635B2 (en) * | 2000-07-21 | 2002-11-19 | Gun Valley Temperature Controls Llc | Environmental control method |
JP3826014B2 (ja) * | 2001-11-02 | 2006-09-27 | 愛三工業株式会社 | 電子スロットル制御装置 |
US6880332B2 (en) * | 2002-09-25 | 2005-04-19 | Husco International, Inc. | Method of selecting a hydraulic metering mode for a function of a velocity based control system |
US7142931B2 (en) * | 2002-09-27 | 2006-11-28 | Siemens Building Technologies, Inc. | Control system with controlled dead zone |
DE10352467A1 (de) * | 2003-11-07 | 2005-06-02 | Robert Bosch Gmbh | Verfahren zur Steuerung mindestens eines Stellgliedes in einer Massenstromleitung |
JP4908759B2 (ja) * | 2004-01-14 | 2012-04-04 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | 排気ガス温度調節のための方法及び制御装置 |
DE102005016300A1 (de) * | 2005-04-08 | 2006-10-12 | Proton Motor Fuel Cell Gmbh | Antriebssystem und Verfahren zum Betrieb eines Antriebssystems für ein elektrisch betriebenes Fahrzeug |
-
2004
- 2004-11-05 DE DE102004053391A patent/DE102004053391A1/de not_active Withdrawn
-
2005
- 2005-11-03 DE DE502005008883T patent/DE502005008883D1/de active Active
- 2005-11-03 US US11/666,831 patent/US8214070B2/en active Active
- 2005-11-03 EP EP05826784A patent/EP1817487B1/de not_active Expired - Fee Related
- 2005-11-03 WO PCT/EP2005/055720 patent/WO2006048432A1/de active Application Filing
Non-Patent Citations (1)
Title |
---|
See references of WO2006048432A1 * |
Also Published As
Publication number | Publication date |
---|---|
DE502005008883D1 (de) | 2010-03-04 |
EP1817487B1 (de) | 2010-01-13 |
DE102004053391A1 (de) | 2006-05-11 |
US20110133106A1 (en) | 2011-06-09 |
WO2006048432A1 (de) | 2006-05-11 |
US8214070B2 (en) | 2012-07-03 |
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