ELECTRIC POWER CONTROL WITH A DITHER SIGNAL

Abstract

A method for controlling a current flowing through a consumer comprises the following steps, which are periodically traversed: determining a dither current based on a dither signal and a definite point in time, wherein the dither signal is determined by a frequency, an amplitude and a signal form and actuating a flow control valve to produce the sum of a target current and the determined dither current by the consumer. Furthermore, the method comprises determining an indication to the current flowing through the consumer; compensating the indication by the factor of the dither current; and providing the indication, wherein the determination of the dither current and the determination of the indication are synchronized with each other in a predetermined way.

Claims

1. A method for controlling a current flowing through an actuator, the method comprising: determining a dither current based on a dither signal and a definite point in time, wherein the dither signal is determined by a frequency, an amplitude and a signal form; actuating a flow control valve to produce the sum of a target current and the determined dither current by the actuator; wherein the determining of the dither current and the actuating of the flow control valve are periodically traversed; determining an indication to the current flowing through the actuator; compensating the indication by the factor of the dither current; and providing the indication; wherein the determining of the dither current and the determining of the indication are synchronized with each other in a predetermined way.

2. The method of claim 1, wherein the dither current remains constant during a cycle of the method.

3. The method of claim 1, wherein the dither signal has periodically the average value zero.

4. The method of claim 1, wherein the current is produced by the actuator by opening and closing a digital flow control valve in a predetermined time relationship.

5. The method of claim 4, wherein the current flowing through the actuator is determined based on a time relationship of opening and closing the flow control valve.

6. The method of claim 1, wherein during a cycle a request for a change of the dither signal is detected and the change is implemented immediately.

7. The method of claim 1, wherein during a cycle a request for a change of the dither signal is detected and the change is implemented only after the most recent cycle of the current period of the dither signal.

8. A computer program comprising program code for performing a method; wherein the method of the program code comprises determining a dither current based on a dither signal and a definite point in time, wherein the dither signal is determined by a frequency, an amplitude and a signal form; actuating a flow control valve to produce the sum of a target current and the determined dither current by the actuator; wherein the determining of the dither current and the actuating of the flow control valve are periodically traversed; determining an indication to the current flowing through the actuator; compensating the indication by the factor of the dither current; and providing the indication; wherein the determining of the dither current and the determining of the indication are synchronized with each other in a predetermined way; and wherein the computer program is performed on a processing device or stored on a computer-readable medium.

9. A device for controlling a current flowing through an actuator, the device comprising: a determining device for determining a dither current, based on a dither signal and a definite point in time, wherein the dither signal is determined via a frequency, an amplitude and a signal form; an actuating device for controlling a flow control valve to produce the sum of a target current and the specific dither current; a clock generator for actuating the determining device to periodically perform the determination; and a scanner for scanning an indication on a current flowing through the actuator and supplying the indication compensated by a factor of the dither current; wherein the determining device is synchronized with the scanner in a predetermined way.

10. The method of claim 2, wherein the dither signal has periodically the average value zero.

11. The method of claim 2, wherein the current is produced by the actuator by opening and closing a digital flow control valve in a predetermined time relationship.

12. The method of claim 3, wherein the current is produced by the actuator by opening and closing a digital flow control valve in a predetermined time relationship.

13. The method of claim 11, wherein the current flowing through the actuator is determined based on a time relationship of opening and closing the flow control valve.

14. The method of claim 12, wherein the current flowing through the actuator is determined based on a time relationship of opening and closing the flow control valve.

15. The method of claim 2, wherein during a cycle a request for a change of the dither signal is detected and the change is implemented immediately.

16. The method of claim 3, wherein during a cycle a request for a change of the dither signal is detected and the change is implemented immediately.

17. The method of claim 4, wherein during a cycle a request for a change of the dither signal is detected and the change is implemented immediately.

18. The method of claim 2, wherein during a cycle a request for a change of the dither signal is detected and the change is implemented only after the most recent cycle of the current period of the dither signal.

19. The method of claim 3, wherein during a cycle a request for a change of the dither signal is detected and the change is implemented only after the most recent cycle of the current period of the dither signal.

20. The method of claim 4, wherein during a cycle a request for a change of the dither signal is detected and the change is implemented only after the most recent cycle of the current period of the dither signal.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Subsequently, the invention is described in more detail with reference to the figures, which represent in:

[0020] FIG. 1 is a device for controlling a current flowing through an actuator;

[0021] FIG. 2 is a temporal course of a current flowing through the actuator shown in FIG. 1;

[0022] FIG. 3 is a flow diagram of a method for controlling a current flowing through an actuator;

[0023] FIG. 4A is an exemplary production of a dither signal for the device shown in FIG. 1 wherein a triangular signal form is used; and

[0024] FIG. 4B is an exemplary production of a dither signal for the device shown in FIG. 1 wherein a rectangular signal form is used.

DETAILED DESCRIPTION OF THE DRAWINGS AND THE PRESENTLY PREFERRED EMBODIMENTS

[0025] FIG. 1 shows a system 100 for controlling a process in an electrohydraulic or electropneumatic manner. The system comprises a control device 105 and an electrically controllable valve 110. In the valve 110 an electrical actuator 115 acts on a flow rate component 120, which affects the flow of a hydraulic or pneumatic fluid.

[0026] In particular, the electrical actuator 115 can comprise a coil for producing a magnetic field, wherein the magnetic field can act on a generally spring-loaded anchor, the position of which is affected via a current flowing through the coil. In this way, the electrical current flowing through the valve 110 can be used for controlling a fluid in order to control a process. For example, this process can comprise changing an engaged gear in a transmission, for example, for a motor vehicle.

[0027] The electrical actuator 115 functions for the control device 105 as an electrical consumer, wherein the control device 105 can also be used for supplying other consumers with power. In particular, the current flowing through the actuator 115 can be controlled via a flow control valve 120, which can connect a connection of the actuator 115 with a high potential 125 or a low potential 130 of a current source. In the selected embodiment, the flow control valve 120 can only be opened or closed, an intermediate position is not available. However, if the flow control valve 120 closed and opened alternately, a current is produced by the actuator 115, the amount of which depends on a relationship of durations of the closed and opened condition of the flow control valve 120. To control the flow control valve 120, it is possible to use a pulse-width modulation (PWM) or a pulse frequency modulation (PFM).

[0028] In general, the control device 105 can be implemented as an information-processing device, for example, a programmable microcomputer, or in the form of discreet logic or components. The control device 105 comprises a first input 135 for the specification of a target current I.sub.0 and furthermore prefers an output 140 for supplying an indication for an actual current I.sub.1 by the actuator 115. The inputs and outputs of the control device can be implemented in any manner, for example, in the form of logical interfaces or voltage-controlled or current-controlled interfaces.

[0029] Preferably, the current, which is produced by the actuator 115, consists of two components, namely the target current I.sub.0 and a dither current I.sub.D, which can be formed based on a dither signal. At the same time, the dither current or the dither signal can be influenced. For example, it is possible to provide a second input 145 for scanning a specification of a dither frequency f.sub.D or a third 150 input for scanning a specification of a dither amplitude A.sub.D. Preferably, the dither signal is periodical and has the average value zero. Different signal forms of the dither signal can be used, for example, a square-wave signal or triangular signal, also a trapezoidal signal or a different signal, wherein in one embodiment a further input for scanning a specification for the desired signal form can be provided.

[0030] The control device 105 comprises a determining device 155 for determining the dither current, based on the dither signal. The dither signal is time-dependent, and therefore the specific dither current is also time-dependent. It is preferred that the dither current is determined periodically, for example, with a frequency of 1000 Hz, and the specific dither current is then held constant during a dither step (here: 1/1000 s). For this purpose, the determining device 155 can be disposed to determine the dither current periodically, based on the pulse of a clock generator 160. A summing unit 165 can be provided for forming the sum of the target current 1.sub.0 and the dither current 1.sub.D and, in one embodiment, supply its results with the pulse of the clock generator 160. The supplied sum of the currents can be prepared by means of an actuating device 170 in such a way that the flow control valve 120 or a different device for controlling the current flowing through the actuator 115 can be actuated. In particular, the actuating device 170 can comprise a pulse modulator, preferably a pulse-width modulator.

[0031] To verify the current flowing through the actuator 115, the target current 1.sub.0 is usually compared with the actual current I.sub.1. If both currents differ from each other by more than a predetermined amount, it is possible to determine an error in the system 100. The actual current I.sub.1 can be determined directly, for example, based on a voltage drop at a series resistance (shunt) in the circuit of the actuator 115. It can also be sufficient to determine an indication to the actual current I.sub.1 by scanning, for example, opening and closing durations of the flow control valve 120. These durations can be determined individually for a dither step or combined for the dither steps of a dither period and can be divided by the number of dither steps to determine average durations. Based on a relationship of the determined durations, it is possible to determine in the form of a reversed pulse-width modulation the actual current I.sub.1 by means of a scanner 175.

[0032] However, to allow for a direct comparison with the target current I.sub.0, it is necessary with the individual consideration to subtract the proportion of the dither current I.sub.D from the actual current I.sub.1. For this purpose, the scanner 175 can be connected with the determining device 155. In one embodiment, the scanner 175 provides via the output 140 the actual current I.sub.1 adjusted by the dither current I.sub.D. In a different embodiment, the scanner 175 can also perform the comparison with the target current I.sub.0 by itself, and provide a plausibility signal to the outside, which indicates whether both currents are sufficiently enough of the same size.

[0033] It is proposed that the determining device 155 and the scanner 175 are synchronized with each other in a predetermined way, so that their temporal performances have a well-established proportion. In a simple embodiment, the determination of both elements 155, 175 relate to the same dither step, so that the actual current I.sub.1 can always be determined for the current dither step. In a different embodiment, the scanner 175 is designed to perform the indication to the current flowing through the actuator 115 based on scans, which relate to multiple dither steps, for example, an entire dither period or longer. For example, switch-on and switch-off durations of the flow control valve 120 can be determined cumulatively for a predetermined time period, and the accumulated value can be divided by the number of dither steps. In this way, it is possible to determine the actual current I.sub.1 as an average value for the time period.

[0034] If now, during an ongoing period, a parameter of the dither signal is changed, for example, a dither frequency, it can be complicated to form the correct average. However, through the synchronization with the determining device 155, the scanner 175 is always informed about the dither signal determined in the current dither step. As a result, it is possible to consider the dither signal or the dither current even beyond the change.

[0035] The synchronization can involve that the determinations of the determining device 155 and the scanner 175 relate to the same time period, respectively, in which the current flowing through the actuator 115 remains constant, at least nominally. In a different embodiment, a synchronization signal is provided from the determining device 155 to the scanner 175 to display the change of the dither parameters. An on-going determination of the actual current I1 involving multiple dither steps can then be rejected and a new dither period can be started. The determination can also be continued under consideration of the new dither parameters.

[0036] FIG. 2 shows a temporal course of a current I.sub.1 flowing through the actuator 115 shown in FIG. 1. The values shown should be considered in a purely exemplary manner. A target current I.sub.0 of 500 mA is superimposed by a triangular dither current I.sub.D with an amplitude of 200 mA and a frequency of 130.2 Hz. The duration of a dither step 205 is constant. At the beginning of the representation, starting at a point in time t.sub.0, a dither period 210 consists of 24 dither steps 205. At points in time t.sub.M the actual current I.sub.1 is determined by averaging the currents or corresponding switching times of the flow control valve 120 for the past dither steps 205 of a dither period 210. At the same time, the actual point in time t.sub.M within a dither period 210 is not important. If the points in time t.sub.M are at intervals of a dither period 210, a continuous determination is possible.

[0037] At a point in time t.sub.1 a request for changing a dither frequency is received, which should be implemented by changing the number of dither steps 205 of a dither period 210. However, the change is not performed immediately, but only at the end of the ongoing dither period 210 at a point in time t.sub.2. The determination of the actual current between t.sub.1 and t.sub.2 is not affected by this because the parameters of the dither signal have not changed. However, without taking the change into consideration, the following two determinations are incorrect because the new dither period 210′ comprises more than 24 steps 205. Only beginning at point in time t.sub.3, when a completely new dither period 210′ elapsed, correct determinations for the past dither period 210′ can be performed.

[0038] If the request is implemented immediately at point in time t.sub.1, without synchronizing the determination with the generation of the dither current, a period in which no reliable verification of the current flowing through the actuator 115 is available, is even longer. A current measurement has to be rejected, and it has to be waited until a new dither period 210′ has safely started and then until it has completely elapsed.

[0039] FIG. 3 shows a flow diagram of a method 300 for producing a dither signal for the control device shown in FIG. 1. In particular, the method 300 is designed for a periodic performance or periodic cycle, for example, based on the pulse of the clock generator 160. In particular, a cycle can correspond to a dither step 205.

[0040] In a first step 305, the target current Io is determined. Then, it is possible to determine in step 310 the frequency and/or amplitude of the dither signal. In step 315, it can be determined whether the specifications of step 310 have changed when compared to a past cycle of the method 300. If this is not the case, the dither current can be determined in step 320, depending on the time. In particular, the time can correspond to a request time of the method 300. Preferably, first of all the dither signal is determined in step 320 and then implemented into the dither current, especially by means of a linear representation.

[0041] In one embodiment, it is also possible to implement a bypass function which directly effects the actuation of the target current I.sub.0, without connecting a dither current. For example, the bypass function can be released when the target current I.sub.0, the dither frequency or the dither amplitude shows the value zero.

[0042] If a change of the dither specifications has been determined in step 315, it is possible to examine in step 325 whether the specifications should be immediately adopted, whereupon they can be adopted in step 330, or when the current dither period 210 has been completed, whereupon a respective flag can be placed in step 335. Subsequently, the above-mentioned step 320 is performed in any case.

[0043] Subsequently, the actual current I.sub.1 or an indication to it can be determined in step 340. In particular, the indication can be determined based on the switching times of the flow control valve 120. Preferably, the actual current can be determined from the indication by means of linear mathematical operation. In one embodiment, this step is not performed in each cycle of the method 300 but, for example, only once per dither period 210.

[0044] In step 345, the sum of the target current I.sub.0 is formed from step 305 and the dither current I.sub.D from step 320 and in the subsequent step 350, the sum is implemented, for example, by appropriately actuating the flow control valve 120. The actuation of step 350 can comprise a transfer of the specific total current to an appropriate signal, for example, a PWM signal.

[0045] In step 355, it can be tested whether the flag of 335 has been placed and, at the same time, the predetermined point in time has arrived for applying the changed specifications. If this is the case, the new specifications can be applied in step 360. Preferably, the new specifications are applied at the limit between two dither periods 210, i.e., approximately following the most recent dither step 205 of dither period 210 with the old parameters or prior to the first dither step 205 of dither period 210′ with the new parameters.

[0046] Optionally, in step 365, the determined actual current I.sub.1 can be reduced by the dither current I.sub.D. For this purpose, it is possible to use the dither current (for example, the dither signal) formed in step 320 and the actual current I.sub.1 scanned in step 340. For example, the results can be provided via output 140. In a further embodiment, it is also possible to perform an immediate comparison between the actual current I.sub.1 adjusted by the dither current I.sub.D and the target current I.sub.0. The results can be provided in an appropriate manner.

[0047] It is preferred that the control device 105 is arranged to process multiple instances of the method in parallel manner to be able to control multiple actuators 115 simultaneously. It is especially preferred that the respective dither steps 205 are identical in length and preferably synchronous with each other.

[0048] FIG. 4 shows an exemplary production of a dither signal or dither current for the control device 105, especially the determining device 155 shown in FIG. 1. In FIG. 4A, a triangular and in FIG. 4B a rectangular signal form is used. In an exemplary manner, I.sub.0 has 500 mA and the duration of dither step 305 amounts to 1 ms. At the same time, the dither amplitude amounts to ±100 mA=200 mA. For the triangular form, the dither period 210 comprises 16 dither steps 205 (dither frequency 62.5 Hz) and for the rectangular form 8 dither steps 205 (dither frequency 125 Hz). The number of dither steps 205 per dither period is called “numsteps”.

[0049] The procedure described below can be performed once in each dither step 205 to determine the respective amount of the dither signal and thus the strength of the dither current I.sub.D, depending on the time. Advantageously, a serial number of the dither step 205 in the dither period 210 is used as measurement for the time, wherein the number is indicated in FIG. 4 with #1, #2, etc. In a different embodiment, the procedure can be traversed asynchronous to the limits of the dither steps 205. The current dither step 205 can be determined, based on a relationship of the frequencies of the performance of the method and the dither function and a request time.

[0050] In one embodiment, it is noted in a first variable (“directionflag”), whether the dither value should be increased or reduced in relation to the most recent dither step. Depending on the amplitude, minimum and maximum values (“maxvalue” and “minvalue”) are predetermined which cannot be exceeded or fallen below. A second variable holds the amount of the change (“stepsize”) and a third variable the number of dither steps 205, by means of which the maxvalue or minvalue should be maintained (numlimit”).

[0051] With each request of the method, the amount stepsize is added to or subtracted from the dither value of the most recent dither step 205, depending on the directionflag. Furthermore, it is counted how often maxvalue or minvalue have been achieved. If the number corresponds to numlimit, it is reset and the directionflag is negated.

[0052] To FIG. 4A applies: numsteps=16; numlimit=1; stepsize=(dither amplitude*2/numsteps)=25 mA; minvalue=400 mA, maxvalue=600 mA.

[0053] Correspondingly, to FIG. 4B applies: numsteps=8; numlimit=/2=4; stepsize=(dither amplitude)=200 mA; minvalue=400 mA, maxvalue=600 mA.

REFERENCE NUMBERS

[0054] 100 system [0055] 105 control device [0056] 110 valve [0057] 115 electrical actuator [0058] 120 flow rate component [0059] 125 high potential [0060] 130 low potential [0061] 135 first input for scanning specification target current I.sub.0 [0062] 140 output for providing indication to actual current I.sub.1 [0063] 145 second input for scanning specification dither frequency f.sub.D [0064] 150 third input for scanning specification dither amplitude A.sub.D [0065] 155 determining device [0066] 160 clock generator [0067] 165 summing unit [0068] 170 actuating device [0069] 175 scanner [0070] 205 dither step [0071] 210 dither period [0072] 300 method [0073] 305 determining target current [0074] 310 determining frequency and amplitude of the dither signal [0075] 315 specifications changed? [0076] 320 determining dither currency, depending on the time [0077] 325 applying immediately? [0078] 330 applying [0079] 335 placing flag [0080] 340 determining actual current [0081] 345 forming sum of target current and dither current [0082] 350 actuating flow control valve [0083] 355 final cycle and flag [0084] 360 applying [0085] 365 providing and comparing