• 专利附录
  • 专利说明
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    • 专利摘要:
    The present invention relates to a geared motor (101), in particular for a wiper system, comprising: - a brushless DC electric motor (103) comprising: - a rotor (15), - a stator (13) having coils (17) for electromagnetic excitation of the rotor (15), - a device (25) for determining the angular position of the rotor (15) relative to the stator (13), - a control unit (21) configured to generating control signals for supplying the electromagnetic excitation coils (17) as a function of the angular position of the rotor (15) determined by the device (25) for determining the angular position of the rotor (15), - a reducing mechanism (104) connected on one side to the rotor (15) of the electric motor (103) and on the other side to an output shaft (109) for connection to an external mechanism, in particular a wiper system, the reducing mechanism (104) having a predefined reduction ratio, said device (25) for determining the angular position of the rotor (15) comprises at least one Hall effect sensor (27, 27a, 27b) associated with a control magnet (29, 29a, 29b) integral in rotation with the rotor ( 15) and the geared motor (101) also comprises a processing unit (26) connected to the device (25) for determining the angular position of the rotor (15) and configured to determine the angular position of the output shaft ( 109) from the angular position of the rotor (15) determined by taking into account the predefined reduction ratio of the reducing mechanism (104).
    公开号:FR3059174A1
    申请号:FR1661258
    申请日:2016-11-21
    公开日:2018-05-25
    发明作者:Jose-Luis Herrada
    申请人:Valeo Systemes dEssuyage SAS；
    IPC主号:
    专利说明:

    © Publication no .: 3,059,174 (to be used only for reproduction orders)
    ©) National registration number: 16 61258 ® FRENCH REPUBLIC
    NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY
    COURBEVOIE © Int Cl 8 : H 02 K 11/215 (2017.01), H 02 P 6/16, B 60 S 1/08
    A1 PATENT APPLICATION
    ©) Date of filing: 21.11.16. © Applicant (s): VALEO WIPING SYSTEMS (© Priority: Simplified joint stock company - FR. @ Inventor (s): HERRADA JOSE-LUIS. ©) Date of public availability of the request: 25.05.18 Bulletin 18/21. ©) List of documents cited in the report preliminary research: Refer to end of present booklet (© References to other national documents ® Holder (s): VALEO WIPING SYSTEMS related: Joint stock company. ©) Extension request (s): © Agent (s): VALEO WIPING SYSTEMS INDUSTRIAL PROPERTY SERVICE.
    MOTOR-REDUCER, WIPING SYSTEM AND RELATED CONTROL METHOD.
    FR 3 059 174 - A1
    The present invention relates to a gear motor (101), in particular for a wiping system, comprising:
    - a brushless direct current electric motor (103) comprising:
    - a rotor (15),
    - a stator (13) having coils (17) of electromagnetic excitation of the rotor (15),
    - a device (25) for determining the angular position of the rotor (15) relative to the stator (13),
    - a control unit (21) configured to generate control signals to supply the electromagnetic excitation coils (17) as a function of the angular position of the rotor (15) determined by the device (25) for determining the angular position the rotor (15),
    - a reduction mechanism (104) connected on one side to the rotor (15) of the electric motor (103) and on the other side to an output shaft (109) intended to be connected to an external mechanism, in particular a system of wiping, the reduction mechanism (104) having a predefined reduction ratio, said device (25) for determining the angular position of the rotor (15) comprises at least one Hal I effect sensor (27, 27a, 27b) associated with a control magnet (29, 29a, 29b) integral in rotation with the rotor (15) and the geared motor (101) also includes a processing unit (26) connected to the device (25) for determining the angular position of the rotor (15) and configured to determine the angular position of the output shaft (109) from the angular position of the rotor (15) determined by taking into account the predefined reduction ratio of the reduction mechanism (104).
    i
    MOTORCYCLE REDUCER, WIPING SYSTEM AND RELATED CONTROL METHOD
    The present invention relates to a gear motor and in particular a gear motor for wiping systems of a motor vehicle.
    The gearmotors are essentially composed of an electric motor coupled to a reduction mechanism responsible for increasing the speed to obtain a high rotational transmission torque.
    Different types of electric motors can be used in a gearmotor, in particular brushless direct current electric motors which have many advantages such as a long service life, a reduced size and consumption as well as a low noise level.
    However, the control of electric motors is more complex compared to brushed electric motors because to allow proper operation, it is necessary to know precisely the angular position of the rotor of the brushless DC electric motor.
    Indeed, such electric motors include electromagnetic excitation coils arranged at the stator and supplied alternately via an inverter to allow the driving of permanent magnets arranged on the rotor.
    However, in order to be able to switch the switches of the inverter and therefore the supply of the electromagnetic coils at optimal times to allow the desired rotor drive to be obtained, it is necessary to know the position of the rotor at least by sectors with a few precise points during state switching (in general, for trapezoidal excitation, six switching operations per revolution of the rotor).
    In FIG. 1 a diagram is shown of an angular detection device of the rotor of an electric motor comprising three Hall effect sensors according to the state of the art. As can be seen in this figure, three Hall effect sensors denoted Hi, H2 and H3 are arranged on the stator ST around a control magnet AC, for example an annular magnet, integral with the rotor of the direct current electric motor, of which only the X axis is visible in Figure ia. The AC magnet has two poles marked S for the South Pole and N for the North Pole.
    The three Hall effect sensors Ηι, H2 and H3 are angularly distributed at 120 ° from one another so as to obtain the six instants of switching of the electromagnetic excitation coils per cycle corresponding to a rotation angle of 6o ° of the rotor.
    FIG. 1b represents, in its upper part, the signals from the three Hall effect sensors Ηι, H2 and H3 and, in its lower part, the signals for supplying the electromagnetic excitation coils during a 360 ° cycle rotor. The cycle is divided into 6 stages of 6o ° delimited by the vertical dotted lines.
    In a first step denoted 1 going from o to 6o ° corresponding to a high signal from the sensor H3 and to a low signal from the sensors Hi and H2, the current passes from phase A to phase B (the signal corresponding to phase A is at 1, the signal corresponding to phase B is at -1 and the signal corresponding to phase C is at o).
    In a second step denoted 2 going from 60 to 120 ° corresponding to a high signal from the sensors H2 and H3 and to a low signal from the sensor Hi, the current passes from phase A to phase C (the signal corresponding to phase A is at 1, the signal corresponding to phase B is at o and the signal corresponding to phase C is at -1).
    In a third step denoted 3 going from 120 to 180 ° corresponding to a high signal from the sensor H2 and to a low signal from the sensors Hi and H3, the current passes from phase B to phase C (the signal corresponding to phase B is at 1, the signal corresponding to phase A is at o and the signal corresponding to phase C is at -1).
    In a fourth step denoted 4 going from 180 to 240 ° corresponding to a high signal from the sensors Hi and H2 and to a low signal from the sensor H3, the current passes from phase B to phase A (the signal corresponding to phase B is at 1, the signal corresponding to phase C is at o and the signal corresponding to phase A is at -1).
    In a fifth step denoted 5 going from 240 to 300 ° corresponding to a high signal from the sensor Hi and to a low signal from the sensors H2 and H3, the current passes from phase C to phase A (the signal corresponding to phase C is at 1, the signal corresponding to phase B is at o and the signal corresponding to phase A is at -1).
    In a sixth step denoted 6 going from 300 to 360 ° corresponding to a high signal from the sensors Hi and H3 and to a low signal from the sensor H2, the current passes from phase C to phase B (the signal corresponding to phase C is at 1, the signal corresponding to phase A is at o and the signal corresponding to phase B is at -1).
    Thus, the use of three Hall effect sensors Ηι, H2 and H3 makes it possible to precisely determine the six positions of the rotor corresponding to the six instants of switching change of the electromagnetic excitation coils.
    Such a solution therefore appears expensive because of the high number of sensors necessary for controlling the electric motor.
    In order to reduce the number of sensors required, it is also known, for determining the position of the rotor, to use a sensorless method based on the measurement of the counterelectromotive forces of the excitation coils of the stator.
    However, such a solution requires starting the brushless DC electric motor in synchronous mode until the speed of rotation of the rotor and therefore the counter-electromotive forces are sufficient to be measured and to be able to be used for controlling the switching moments.
    However, such a start in synchronous mode is only possible for applications where the load is low at start and relatively known (for example for controlling a fan). It is therefore understood that this solution is not applicable to a geared motor for a motor vehicle wiping system which requires a high load and torque from start up and which can be started with almost zero loads (such as in the case of wet windows) or with high loads (as in the case of brooms glued due to ice or snow).
    In addition, an associated problem is the determination of the position of the output shaft of the reduction mechanism on which the wiping system is arranged in order to be able to decide the control to be applied to the electric motor and in particular its direction of rotation. For this, it is known to use an additional sensor, for example an analog angular sensor, located at the output shaft of the reduction mechanism. The cost of such a sensor is also high and contributes to increasing the overall cost of the gear motor.
    The present invention therefore aims to provide a solution making it possible to reduce the overall cost of a gear motor while allowing efficient control and proper operation of the wiping system.
    To this end, the present invention relates to a gear motor, in particular for a wiping system, comprising:
    - a brushless direct current electric motor comprising:
    - a rotor,
    - a stator having electromagnetic excitation coils of the rotor,
    a device for determining the angular position of the rotor relative to the stator,
    a control unit configured to generate control signals for supplying the electromagnetic excitation coils as a function of the angular position of the rotor determined by the device for determining the angular position of the rotor,
    - a reduction mechanism connected on one side to the rotor of the electric motor and on the other side to an output shaft intended to be connected to an external mechanism, in particular a wiping system, the reduction mechanism having a predefined reduction ratio , said device for determining the angular position of the rotor comprises at least one Hall effect sensor associated with a control magnet integral in rotation with the rotor and the gear motor also comprises a processing unit connected to the device for determining the angular position of the rotor and configured to determine the angular position of the output shaft from the angular position of the rotor determined by taking into account the predefined reduction ratio of the reduction mechanism.
    Determining the angular position of the output shaft from the angular position of the rotor eliminates the need for a precise position sensor at said output shaft.
    According to another aspect of the present invention, the device for determining the angular position of the rotor comprises two Hall effect sensors associated respectively with a control magnet integral in rotation with the rotor.
    The use of two Hall effect sensors makes it possible to determine the direction of rotation of the rotor.
    According to a further aspect of the present invention, the control magnet comprises a number of pairs of poles greater than the number of pairs of magnetic poles of the rotor of the brushless DC electric motor.
    According to an additional aspect of the present invention, the device for determining the angular position of the rotor comprises a single Hall effect sensor associated with a control magnet comprising a number of pairs of poles equal to three times the number of pairs of magnetic poles of the rotor of the electric motor, the poles of the control magnet being configured to be in phase with the magnetic poles of the rotor of the electric motor so that the changes of state of the Hall effect sensor are synchronized with the changes of state control signals generated by the control unit to supply the electromagnetic excitation coils.
    Such a configuration makes it possible to control the electric motor with a single Hall effect sensor.
    According to another aspect of the present invention, the device for determining the angular position of the rotor comprises two Hall effect sensors associated with a control magnet comprising a number of pairs of poles equal to three times the number of pairs of magnetic poles of the rotor of the electric motor, the two sensors being offset by an angle of 30 °, the magnetic poles of the rotor of the control magnet being configured to be in phase with the magnetic poles of the rotor so that the changes of states of one of the Hall effect sensors is synchronized with the changes of state of the control signals generated by the control unit to supply the electromagnetic excitation coils.
    According to a further aspect of the present invention, the device for determining the angular position of the rotor comprises two Hall effect sensors, the first hall effect sensor being associated with a first control magnet comprising a number of pairs of poles equal to three times the number of pairs of magnetic poles of the rotor of the electric motor, the second hall effect sensor being associated with a second control magnet comprising a number of pairs of poles equal to nine times the number of pairs of magnetic poles of the motor rotor electric, the poles of the first control magnet being configured to be in phase with magnetic poles of the rotor of the electric motor so that the changes of state of the first Hall effect sensor are synchronized with the changes of state of the control signals generated by the control unit to supply the electromagnetic excitation coils, the second sensor ur Hall effect and the second control magnet being configured so that the changes of state of the first Hall effect sensor occur halfway between two changes of state of the second Hall effect sensor.
    According to an additional aspect of the present invention, the device for determining the angular position of the rotor relative to the stator is configured to:
    - determine the angular position of the rotor from the signals from the Hall effect sensor (s) for rotor rotation speeds below a predetermined threshold, and for
    - Determine the angular position of the rotor from a measurement of the counter-electromotive forces from the electromagnetic excitation coils for rotor rotational speeds equal to or greater than the predetermined threshold.
    The use of counter electromotive forces improves the accuracy of determining the position of the rotor.
    According to another aspect of the present invention, the counterelectromotive force of the at least one unpowered electromagnetic excitation coil is measured and transmitted to the device for determining the angular position of the rotor, said device for determining the position angle of the rotor being configured to compare the value of the counterelectromotive force measured with a predetermined threshold associated with a predetermined position of the rotor.
    According to a further aspect of the present invention, the device for determining the angular position of the rotor is configured to correct the angular measurement originating from the Hall effect sensor (s) from the measurement of the counterelectromotive forces of the coils d electromagnetic excitation so as to calibrate the Hall effect sensor or sensors from said measurements of the counterelectromotive forces.
    According to an additional aspect of the present invention, the gear motor also comprises an additional magnet called the output magnet integral in rotation with the output shaft and at least one additional Hall effect sensor called the output sensor associated with the magnet. output, the at least one output sensor and the output magnet being configured so that the at least one output sensor detects a first position of the output magnet corresponding to a first stop position of the mechanism external intended to be connected to the output shaft and a second position of the output magnet corresponding to a second stop position of the external mechanism intended to be connected to the output shaft, the, at least one output sensor being connected to the control unit and said control unit being configured to generate the control signals also depending on the signals from said at least one output sensor.
    The present invention also relates to a wiping system, in particular for a motor vehicle comprising a geared motor as described above.
    The present invention also relates to a method for controlling an electric motor of a geared motor, in particular for wiping systems, the geared motor comprising:
    - a brushless direct current electric motor comprising:
    - a rotor,
    - a stator having electromagnetic excitation coils of the rotor,
    - a reduction mechanism connected on one side to the rotor of the electric motor and on the other side to an output shaft intended to be connected to an external mechanism, in particular a wiping system, the reduction mechanism having a predefined reduction ratio ,
    a device for determining the angular position of the rotor relative to the stator comprising at least one Hall effect sensor associated with a control magnet integral in rotation with the rotor, said method comprising the following steps:
    (a) for rotor rotational speeds below a predetermined threshold:
    the angular position of the rotor is determined from the signals from the Hall effect sensor (s), (b) for speeds of rotation of the rotor equal to or greater than the predetermined threshold,
    the angular position of the rotor is determined from a measurement of the counter-electromotive forces coming from the electromagnetic excitation coils,
    control signals are generated to supply the electromagnetic excitation coils as a function of the angular position of the rotor determined during the preceding steps,
    - The angular position of the output shaft is determined from the angular position of the rotor determined in the previous steps and taking into account the predefined reduction ratio of the reduction mechanism.
    According to another aspect of the present invention, the angular measurement of the Hall effect sensor (s) is corrected from the measurement of the electromotive forces from the electromagnetic excitation coils of the rotor.
    According to a further aspect of the present invention, the gear motor also comprises an additional magnet called the output magnet disposed at the output shaft of the reduction mechanism and at least one additional Hall effect sensor called the output sensor associated with the output magnet, the at least one output sensor and the at least one output magnet being configured such that the at least one output sensor detects a first position of the output magnet when the the output shaft is in a first position corresponding to a first stop position of the external mechanism intended to be connected to the output shaft and detects a second position of the output magnet when the output shaft is in a second position corresponding to a second abutment position of the external mechanism intended to be connected to the output shaft and in which the step of generating the control signals to supply the s electromagnetic excitation coils are also produced as a function of the signals of said at least one output sensor.
    Other characteristics and advantages of the invention will emerge from the following description, given by way of example and without limitation, with reference to the appended drawings in which:
    FIG. 1a represents a diagram of an angular detection device of the rotor of an electric motor comprising three Hall effect sensors according to the state of the art,
    FIG. 1b represents a diagram of the signals supplied by the sensors of FIG. 1a and of the control signals of the electromagnetic excitation coils of the electric motor, FIG. 2 represents a diagram of a gear motor, FIGS. 3a, 3b and 3c represent functional diagrams of an electric motor, FIG. 4 represents a diagram of a Hall effect sensor associated with a control magnet according to a first embodiment, FIG. 5 represents a graph of the signal supplied by the sensor at Hall effect of FIG. 4 as a function of the angular position of the rotor as well as the control signals of the electromagnetic excitation coils, FIG. 6 represents two Hall effect sensors associated with a control magnet according to a second embodiment, the FIG. 7 represents a graph of the signals supplied by the Hall effect sensors of FIG. 6 as a function of the angular position of the rotor as well as the control signals of electromagnetic excitation coils, ίο FIG. 8a represents a first Hall effect sensor associated with a first control magnet according to a third embodiment, FIG. 8b represents a second Hall effect sensor associated with a second control magnet according to the third embodiment, FIG. 8c represents a schematic view of the first and of the second Hall effect sensors associated with a first and a second control magnets and their positioning relative to the axis of the rotor, FIG. 9 represents a graph of the signals supplied by the Hall effect sensors of FIG. 8 as a function of the angular position of the rotor as well as the control signals of the electromagnetic excitation coils,
    FIG. 10 shows a schematic representation of a windshield and the stop positions of a wiping arm, FIGS. 11a, 11b and 11c represent a reduction mechanism comprising two hall effect sensors arranged at its toothed wheel in three separate positions.
    In all the figures, identical elements have the same reference numbers.
    The following embodiments are examples. Although the description refers to one or more embodiments, this does not necessarily mean that each reference relates to the same embodiment or that the characteristics apply only to a single embodiment. Simple features of different embodiments can also be combined or interchanged to provide other embodiments.
    In the description, it is possible to index certain elements or parameters, such as for example first element or second element as well as first parameter and second parameter or even first criterion and second criterion etc. In this case, it is a simple indexing to differentiate and name elements or parameters or criteria that are similar but not identical. This indexing does not imply a priority of an element, parameter or criterion over another and one can easily interchange such names without departing from the scope of this description. This indexing does not imply an order in time for example to assess such or such criteria.
    FIG. 2 represents an example of a motor-reducer ιοί intended to equip a wiping system of a motor vehicle.
    The gear motor ιοί comprises a casing 102 on which is mounted an electric motor 103 coupled to a reduction mechanism 104 having a predefined reduction ratio, for example typically a 1/69 ratio.
    The reduction mechanism 104 comprises an FM screw 107 driven in rotation by the electric motor 103 and a toothed wheel 108 secured to an output shaft 109 mounted movable in rotation along an axis substantially perpendicular to the axis of rotation of the screw fm 107.
    The reduction mechanism 104 is arranged so that the worm gear 107 cooperates by meshing with the toothed wheel 108, so that the output shaft 109 is able to be driven indirectly in rotation by the electric motor 103.
    The output shaft 109 is generally connected either directly or via a wheelhouse to a wiping arm on which is fixed a wiper blade.
    In the context of the present invention, the electric motor 103 is a brushless direct current electric motor ("brushless motor" in English).
    As shown in FIG. 3a which represents a schematic view in transverse section, the electric motor 103 comprises a stator 13 of cylindrical shape in the center of which is housed a rotor 15.
    The rotor 15 is mounted mobile in rotation around the central axis X of the electric motor 103 and comprises a permanent magnet 16 whose magnetic poles are represented by the letters N for the North pole and S for the South pole. However, the present invention is not limited to a permanent magnet 16 of the rotor 15 comprising a pair of magnetic poles but also extends to a permanent magnet comprising a higher number of pairs of magnetic poles.
    The stator 13 comprises electromagnetic excitation coils 17 arranged around the rotor 15. The electromagnetic excitation coils 17 are distributed regularly over the circumference of the stator 13. The electric motor 103 is here a three-phase motor whose phases are denoted A, B and C. The electromagnetic excitation coils 17 are six in number (two coils being associated to form a phase) and are connected in a star arrangement or Y arrangement.
    Of course, a different number of electromagnetic excitation coils 17 as well as a different assembly, for example in a triangle can also be used.
    As shown in FIG. 3b, the electromagnetic excitation coils 17 can be supplied by an inverter 19 managed by a control unit 21.
    The inverter 19 comprises for example three branches denoted Βι, B2 and B3 intended to supply the respective phases A, B and C of the stator 13.
    Each branch Βι, B2 or B3 comprises two switches 23 whose switching causes the supply or not of the electromagnetic excitation coils 17 of phase A, B or C associated.
    The switches 23 of the inverter 19 are controlled by the control unit 21 in order to obtain a sequence of six switching steps represented by arrows numbered 1 to 6 in FIG. 3c.
    The first step 1 corresponds to the passage of current from phase A to phase B, the second step 2 corresponds to the passage of current from phase C to phase B, the third step 3 corresponds to the passage of current from phase C to phase A, the fourth 4 corresponds to the passage of current from phase B to phase A, the fifth step 5 corresponds to the passage of current from phase B to phase C and the sixth step 6 corresponds to the passage of current from phase A to phase C.
    The six switching steps correspond to a 360 ° electrical rotation, i.e. a complete 360 ° rotation of the rotor 15 in the case where the permanent magnet 16 comprises a single pair of magnetic poles, here called pair of motor poles. In the case of a permanent magnet 16 comprising two pairs of magnetic poles, the six switching steps, corresponding to 360 ° electrical, correspond to a rotation of 180 ° of the rotor 15 and in the case of a permanent magnet 16 comprising three pairs of poles, the six switching stages, corresponding to 360 ° electrical, correspond to a 120 ° rotation of the rotor 15. The transition from one switching to another is therefore carried out at each rotation by an angle of 60 ° electrical rotor 15.
    At each stage, the current flows through two phases while the third has a floating potential. The sequence of the six switching steps allows the creation of a rotating magnetic field at the level of the stator 13 which allows the rotor 15 to be driven in rotation.
    Although this six-step switching scheme is the best known with a phase conduction of 120 ° and a non-excitation of 6o °, the present invention is not limited to this single switching scheme but also extends to others types of switching, for example with a 180 ° or intermediate phase conduction or different excitation dosages during conduction which can go as far as a sinusoidal progression.
    The electric motor 103 also includes a device for determining the angular position of the rotor 25 (see FIG. 3b) connected to the control unit 21 to allow the control unit 21 to determine the different switching times and control the switches accordingly 23 of inverter 19.
    The device for determining the angular position of the rotor 25 is configured to determine the position of the rotor 15 relative to the stator 13 from at least one Hall effect sensor associated with a control magnet integral in rotation with the rotor 15.
    The angular position of the rotor 15 thus determined is then transmitted by the device 25 for determining the angular position of the rotor 15 to the control unit 21 to allow the determination of the switching instants of the inverter 19.
    In addition, the gear motor 101 also includes a processing unit 26 connected to the device 25 for determining the angular position of the rotor 15 and to the control unit 21 and configured to determine the angular position of the output shaft 109 from the angular position of the rotor 15 determined by taking into account the predefined reduction ratio of the reduction mechanism 104. The angular position of the output shaft 109 is then used by control unit 21 to determine the speed of rotation to be applied to the rotor 15 and in particular to determine the times when the wiping arm arrives in a stop position and for which the direction of rotation of the electric motor 103 must be reversed.
    i) Determining the switching times of the inverter 19
    A) First embodiment: a single Hall effect sensor 27
    Referring to Figures 4 and 5, according to a first embodiment, the electric motor 103 comprises a single Hall effect sensor 27. This single sensor 27 is used by the device 25 for determining the angular position of the rotor 15, this in particular to determine the position of the rotor 15 for low rotational speeds, that is to say less than a predetermined threshold, for example for speeds less than 10% of the maximum speed of the electric motor 103. These are here of the starting phase of the brushless DC electric motor 103.
    For rotational speeds equal to or greater than the predetermined threshold, that is to say after the start-up phase, the device 25 for determining the angular position of the rotor 15 can determine the angular position of the rotor 15 from the measured electromotive forces. at the level of the electromagnetic excitation coils 17.
    The electro-motive force is measured at the level of a coil 17 which is not supplied. For example in the case of step 1 of FIG. 3c, the current is transmitted from phase A to phase B so that the electromotive force is measured at the level of the electromagnetic excitation coil 17 associated with the phase C. The measurement of the electromotive force is then transmitted to the device 25 for determining the angular position of the rotor 15.
    The device 25 for determining the angular position of the rotor 15 then compares the value of the electromotive force measured with a predetermined threshold associated with a predetermined position of the rotor 15. For example, in the case of a symmetrical supply, the instant switching corresponds to the passage to zero (passage from a positive level to a negative level or the reverse) of the voltage value of the counterelectromotive force across the terminals of the non-energized electromagnetic excitation coil 17.
    In addition, the measured electromotive forces can be used to correct or even calibrate the Hall effect sensor 27.
    According to a variant, it is possible to continue to use the position of the rotor 15 determined from the signals delivered by the Hall effect sensor 29 even for the rotational speeds equal to or greater than the predetermined threshold.
    The Hall effect sensor 27 is disposed at the level of the stator 13 and is associated with a control magnet 29 integral in rotation with the rotor 15 as shown in FIG. 4.
    The control magnet 29 has a number of magnetic poles equal to three times the number of magnetic poles of the rotor 15. In the present case, the number of poles of the control magnet 29 therefore comprises six magnetic poles denoted Ni, N2 and N3 for the north poles and Si, S2 and S3 for the south poles as shown in Figure 4. Each magnetic pole of the control magnet 29 occupies an angular section of 6o °.
    Due to the six magnetic poles of the control magnet 29, the Hall effect sensor 27 can detect a precise angular position of the rotor every 6o °. The electric motor 103 is therefore configured so that the changes in state of the signal supplied by the single Hall effect sensor 27 correspond to the switching changes of the inverter 19 as shown in the graph in FIG. 5.
    FIG. 5 shows in its upper part, the signal h coming from the Hall effect sensor 27 as a function of the angular position a of the rotor 15.
    The six stages corresponding to the switching cycle of the electromagnetic excitation coils 17 are also represented on the lower part of FIG. 5 ·
    The changes in state of the signal h from the Hall effect sensor 27 therefore make it possible to determine the instants at which the switching changes of the inverter 19 must be made.
    B) Second embodiment: two Hall effect sensors 27a and 27b according to a first configuration
    According to a second embodiment illustrated in Figures 6 and 7, the electric motor 103 comprises two Hall effect sensors 27a and 27b associated with a control magnet 29 whose number of magnetic poles is equal to three times the number of magnetic poles of the rotor 15 and is therefore similar to the control magnet 29 of the first embodiment.
    In the present case, the number of poles of the control magnet 29 therefore comprises six magnetic poles as shown in FIG. 6. The two Hall effect sensors 27a and 27b are for example arranged around the rotor 15 and offset by one angular position such that the signals from the two Hall effect sensors 27a and 27b are offset by an electrical angle of 90 °, that is to say an offset of 30 ° in the case of a control magnet 29 comprising three pairs of magnetic poles.
    The electric motor 103 is also similar to the first embodiment and only the operating differences will now be described.
    The electric motor 103 is configured so that the changes in state of the signal supplied by one of the two Hall effect sensors 27a or 27b, for example the sensor 27b, correspond to the switching changes of the inverter 19 as shown in the graph in Figure 7.
    The two Hall effect sensors 27a and 27b arranged at 30 ° therefore make it possible to obtain a detection of the position of the rotor 15 every 30 °.
    The six stages corresponding to the switching cycle of the electromagnetic excitation coils 17 are also shown in the lower part of FIG. 7.
    Thus, one of the Hall effect sensors, for example the sensor 27b, makes it possible to provide the instants of switching changes of the inverter 19 as in the first embodiment and the other Hall effect sensor, for example the sensor 27a, makes it possible to obtain the direction of rotation of the rotor 15.
    The measured electromotive forces can also be used to determine the position of the rotor 15 and to correct and / or calibrate the Hall effect sensors 27a and 27b.
    C) Third embodiment: two Hall effect sensors 27a and 27b according to a second configuration.
    According to a third embodiment illustrated in FIGS. 8a, 8b and 9, the electric motor 103 comprises a first Hall effect sensor 27a associated with a first control magnet 29a comprising a number of pairs of magnetic poles equal to nine times the number of pairs of poles of the motor and a second Hall effect sensor 27b associated with a second control magnet 29b comprising a number of pairs of magnetic poles equal to three times the number of pairs of poles of the electric motor 103. In the present case, the number of poles of the first control magnet 29a includes 18 magnetic poles denoted Ni, N2, N3, N4, N5, N6, N7, N8 and N9 for the north poles and Si, S2, S3, S4, S5, S6, S7 , S8 and S9 for the south poles as shown in Figure 8a. Each magnetic pole of the first control magnet 29a occupies an angular section of 20 °. The number of poles of the second control magnet 29b comprises six magnetic poles denoted Ni, N2 and N3 for the north poles and Si, S2 and S3 for the south poles as shown in FIG. 8a. Each magnetic pole of the second control magnet 29b occupies an angular section of 6o °. The first 29a and the second 29b control magnets are integral in rotation with the rotor 15 and arranged coaxially as shown in FIG. 8b.
    The electric motor 103 is also similar to the second embodiment and only the operating differences will now be described.
    The electric motor 103 is for example configured so that the changes in state of the signal h_b supplied by the second Hall effect sensor 27b correspond to the switching changes of the inverter 19 as shown in the graph in FIG. 9.
    The first Hall effect sensor 27a and the first control magnet 29a are for example configured so that the changes of state of the second Hall effect sensor 29b occur halfway between two changes of state of the first effect sensor Hall 27a as shown in Figure 9.
    The second Hall effect sensor 27b thus makes it possible to provide the instants of the switching changes of the inverter 19 and the first Hall effect sensor 27a makes it possible to determine the direction of rotation of the rotor 15. The combination of the two sensors 27a and 27b allows obtain the rotor position every io ° or 20 °.
    The six stages corresponding to the switching cycle of the electromagnetic excitation coils 17 are also shown in the lower part of FIG. 9.
    As for the second embodiment, the measured electromotive forces can also be used to determine the position of the rotor 15 and to correct and / or calibrate the Hall effect sensors 27a and 27b.
    Other embodiments comprising one or two Hall effect sensors 27, 27a, 27b associated with one or two control magnets 29, 29a, 29b comprising a greater or lesser number of magnetic poles can also be envisaged in the context of the present invention. Hall effect sensors 27, 27a, 27b used to determine the switching times of the inverter 19.
    In practice, the device 25 for determining the angular position of the rotor 15, the control unit 21 and the processing unit 26 can be combined in a single piece of equipment, for example a microprocessor, a microcontroller, an ASIC (a circuit integrated specific to an application) or any other suitable processing means known to those skilled in the art.
    In addition, it should be noted that the example shown for the various embodiments corresponds to an electric motor 103 with two magnetic poles and a unit reduction ratio, but the present invention is not limited to such an example but extends to other configurations having a different number of magnetic poles and a reduction ratio.
    2) Determination of the position of the output shaft 109 of the reduction mechanism 104
    As indicated above, the position of the rotor 15 determined by the device 25 for determining the angular position of the rotor 15 is transmitted to the processing unit 26 which is configured to determine the position of the output shaft 109 of the reduction mechanism 104 This determination is carried out by taking into account the reduction ratio of the reduction mechanism 104, for example 1/69 so that 69 revolutions of the rotor 15 correspond to one revolution of the output shaft 109 of the reduction mechanism 104. The determined position of the output shaft 109 of the reduction mechanism 104 makes it possible to estimate the position of the fitting arm 114 and thus to define the times when the speed of rotation must be reduced as well as the times when the direction of rotation of the electric motor 103 must be reversed for the wiper arm to make the desired back and forth movement. The processing unit 26 is therefore coupled to the control unit 21 to generate the control signals making it possible to obtain a change in the direction of rotation of the electric motor 103 at a predefined stop position of the drive shaft. output 109 of the reduction mechanism 104.
    The mechanism comprises for example two stop positions denoted A and B as shown in FIG. 10. A first stop position A corresponds for example to a position of the low wiper arm close to the lower edge of the windshield 112 or of the associated window to the wiping arm 114. The second stop position B corresponds for example to a high position for changing direction of the wiping arm 114 when the latter is in operation.
    Thus, from the signals coming from the Hall effect sensor (s) 17, 27a, 27b, the processing unit 26 can determine the number of turns made by the rotor 15 and deduce therefrom the position of the wiping arm 114 from reduction ratio.
    However, such operation may not be satisfactory, in particular if the wiping arm 114 is not brought back to a predetermined rest position, for example position A each time the wiping system is deactivated. In fact, it is necessary for control purposes 11 to know the position of the wiping arm 114 when the wiping system is activated in order to be able to correctly control the electric motor 113 of the geared motor 101.
    For this, it is possible to use at least one additional Hall effect sensor called the output sensor associated with one or more control magnets called output magnets coupled in rotation to the output shaft 109 of the reduction mechanism 104. The or the output sensors and magnets allow for example to determine the stop positions. The output sensor (s) are for example connected to the processing unit 26.
    FIG. 11a represents an exemplary embodiment comprising two output Hall effect sensors 127a and 127b and a control magnet 129 comprising two south poles Si and S2 situated at the stop positions of the toothed wheel 108 associated with the shaft of exit 109 and a north pole N located between the two south poles Si and S2.
    FIGS. 11b and 11c show the toothed wheel 108 respectively in a first and a second stop position. The use of two Hall effect sensors 127a and 127b makes it possible to detect the presence of a stop and to determine whether it is the first or the second stop. In fact, when the toothed wheel 108 is in the first stop position (fig.nb), the first exit sensor 127a is facing the south pole Si and the second exit sensor 127b is facing the north pole N while in the second stop position (fig.nc), the first exit sensor 127a faces the north pole N and the second exit sensor 127b faces the south pole S2. Thus, depending on whether a south pole is detected by the first 127a or the second output sensor 127b, it is possible to determine whether the wiper arm is in the first or the second stop position. In addition, during operation of the wiping system, the processing unit 26 can determine the position of the wiping arm between the two stop positions given by the output sensors 127a, 127b by virtue of the sensor (s). ) Hall effect 27, 27a, 27b associated with rotor 15 as described above.
    Thus, the present invention makes it possible to reliably control a geared motor 101 using a limited number of Hall effect sensors 27, 27a, 27b, 127a, 127b. These Hall effect sensors 27, 27a, 27b, 127a, 127b make it possible to determine both the position of the rotor 15 of the electric motor 103 as well as the position of the output shaft 109 of the reduction mechanism 104.
    权利要求:
    Claims (15)
    [1" id="c-fr-0001]
    1. Gear motor (ιοί), in particular for a wiping system, comprising:
    - a brushless direct current electric motor (103) comprising:
    - a rotor (15),
    - a stator (13) having coils (17) of electromagnetic excitation of the rotor (15),
    - a device (25) for determining the angular position of the rotor (15) relative to the stator (13),
    - a control unit (21) configured to generate control signals to supply the electromagnetic excitation coils (17) as a function of the angular position of the rotor (15) determined by the device (25) for determining the angular position the rotor (15),
    - a reduction mechanism (104) connected on one side to the rotor (15) of the electric motor (103) and on the other side to an output shaft (109) intended to be connected to an external mechanism, in particular a system of wiping, the reduction mechanism (104) having a predefined reduction ratio, characterized in that said device (25) for determining the angular position of the rotor (15) comprises at least one Hall effect sensor (27, 27a, 27b ) associated with a control magnet (29, 29a, 29b) integral in rotation with the rotor (15) and in that the gear motor (101) also comprises a processing unit (26) connected to the device (25) for determining of the angular position of the rotor (15) and configured to determine the angular position of the output shaft (109) from the angular position of the rotor (15) determined by taking into account the predefined reduction ratio of the reduction mechanism ( 104).
    [2" id="c-fr-0002]
    2. Gear motor (101) according to claim 1, in which the device (25) for determining the angular position of the rotor (15) comprises two Hall effect sensors (27a, 27b) associated respectively with a control magnet ( 29, 29a, 29b) integral in rotation with the rotor (15).
    [3" id="c-fr-0003]
    3. Gear motor (ιοί) according to claim i or 2, wherein the control magnet (29, 29a, 29b) comprises a number of pairs of poles greater than the number of pairs of magnetic poles of the rotor (15) of the brushless direct current electric motor (103).
    [4" id="c-fr-0004]
    4. Gear motor (101) according to claim 3 in combination with claim 1, wherein the device (25) for determining the angular position of the rotor (15) comprises a single Hall effect sensor (27) associated with a control magnet (29) comprising a number of pairs of poles equal to three times the number of pairs of magnetic poles of the rotor (15) of the electric motor (103), the poles of the control magnet (29) being configured to be in phase with the magnetic poles of the rotor (15) of the electric motor (103) so that the changes of state of the Hall effect sensor (27) are synchronized with the changes of state of the control signals generated by the control unit (21) for supplying the electromagnetic excitation coils (17).
    [5" id="c-fr-0005]
    5. Gear motor (101) according to claim 3, wherein the device (25) for determining the angular position of the rotor (15) comprises two Hall effect sensors (27a, 27b) associated with a control magnet (29 ) comprising a number of pairs of poles equal to three times the number of pairs of magnetic poles of the rotor (15) of the electric motor (103), the two sensors (27a, 27b) being offset by an angle of 30 °, the magnetic poles of the rotor (15) of the control magnet (29) being configured to be in phase with the magnetic poles of the rotor (15) so that the changes of state of one of the Hall effect sensors (27a , 27b) are synchronized with the changes of state of the control signals generated by the control unit (21) to supply the electromagnetic excitation coils (17).
    [6" id="c-fr-0006]
    6. Gear motor (101) according to claim 3, wherein the device (25) for determining the angular position of the rotor (15) comprises two Hall effect sensors (27a, 27b), the first hall effect sensor ( 27a) being associated with a
    -23first control magnet (29a) comprising a number of pairs of poles equal to three times the number of pairs of magnetic poles of the rotor (15) of the electric motor (103), the second hall effect sensor (27b) being associated with a second control magnet (29b) comprising a number of pairs of poles equal to nine times the number of pairs of magnetic poles of the rotor (15) of the electric motor (103), the poles of the first control magnet (29) being configured to be in phase with magnetic poles of the rotor (15) of the electric motor (103) so that the changes of state of the first Hall effect sensor (27a) are synchronized with the changes of state of the control signals generated by the control unit (21) for supplying the electromagnetic excitation coils (17), the second Hall effect sensor (27b) and the second control magnet (29b) being configured so that the state changes of the first e sensor f Hall effect (27a) occurs halfway between two changes of state of the second Hall effect sensor (27b).
    [7" id="c-fr-0007]
    7. Gear motor (101) according to one of the preceding claims, in which the device (25) for determining the angular position of the rotor (15) relative to the stator (13) is configured to:
    - determine the angular position of the rotor (15) from the signals from the Hall effect sensor (s) (27, 27a, 27b) for rotor rotation speeds below a predetermined threshold, and for
    - Determine the angular position of the rotor (15) from a measurement of the counter-electromotive forces from the electromagnetic excitation coils (17) for rotational speeds of the rotor (15) equal to or greater than the predetermined threshold.
    [8" id="c-fr-0008]
    8. Gear motor (101) according to claim 7, in which the counterelectromotive force of the at least one unpowered electromagnetic excitation coil (17) is measured and transmitted to the device (25) for determining the angular position. of the rotor (15), said device (25) for determining the angular position of the rotor (15) being configured to compare the value of the counterelectromotive force measured with a predetermined threshold associated with a predetermined position of the rotor (15).
    [9" id="c-fr-0009]
    9. Geared motor (101) according to claim 7 or 8, in which the device for determining the angular position of the rotor (15) is configured to correct the angular measurement coming from the Hall effect sensor (s) (27). , 27a, 27b) from the measurement of the counter electromotive forces of the electromagnetic excitation coils (17) so as to calibrate the Hall effect sensor (s) (27, 27a, 27b) from said measurements of the counter force electromotive.
    [10" id="c-fr-0010]
    10. Geared motor (101) according to one of the preceding claims, also comprising an additional magnet called the output magnet (129) integral in rotation with the output shaft (109) and at least one additional Hall effect sensor said output sensor (127a, 127b) associated with the output magnet (129), the, at least one, output sensor (127a, 127b) and the output magnet (129) being configured so that the, at at least one, output sensor (127a, 127b) detects a first position of the output magnet (129) corresponding to a first stop position of the external mechanism intended to be connected to the output shaft (109) and a second position of the output magnet (129) corresponding to a second stop position of the external mechanism intended to be connected to the output shaft, the, at least one output sensor (127a, 127b) being connected to the unit control unit (21) and said control unit (21) being configured to generate the control signals also based on signals from said at least one output sensor (127a, 127b).
    [11" id="c-fr-0011]
    11. Wiping system, in particular for a motor vehicle comprising a geared motor (101) according to one of the preceding claims.
    [12" id="c-fr-0012]
    12. A method of controlling an electric motor (103) of a geared motor (101), in particular for wiping systems, the geared motor (101) comprising:
    - a brushless direct current electric motor (101) comprising:
    - a rotor (15),
    - a stator (13) having electromagnetic excitation coils (17) of the
    -25rotor (15),
    - a reduction mechanism (104) connected on one side to the rotor (15) of the electric motor (103) and on the other side to an output shaft (109) intended to be connected to an external mechanism, in particular a system of wiping, the reduction mechanism (104) having a predefined reduction ratio,
    a device (25) for determining the angular position of the rotor (15) relative to the stator (13) comprising at least one Hall effect sensor (27, 27a, 27b) associated with a control magnet (29, 29a, 29b) integral in rotation with the rotor (15), said method comprising the following steps:
    (a) for rotor rotational speeds below a predetermined threshold:
    - the angular position of the rotor (15) is determined from the signals from the Hall effect sensor (s) (27, 27a, 27b), (b) for rotor rotation speeds equal to or greater than the predetermined threshold ,
    the angular position of the rotor (15) is determined from a measurement of the counter-electromotive forces coming from the electromagnetic excitation coils (17),
    control signals are generated to supply the electromagnetic excitation coils (17) as a function of the angular position of the rotor (15) determined during the preceding steps,
    - The angular position of the output shaft (109) is determined from the angular position of the rotor (15) determined during the previous steps and taking into account the predefined reduction ratio of the reduction mechanism (104).
    [13" id="c-fr-0013]
    13. A method of controlling an electric motor (103) of a geared motor (101) according to the preceding claim, in which the angular measurement of the Hall effect sensor (s) (27, 27a, 27b) is corrected. ) from the measurement of the electromotive forces from the electromagnetic excitation coils of the rotor (15).
    [14" id="c-fr-0014]
    14. The control method as claimed in claim 12 or 13 in which the reduction motorbike (599) also includes an additional magnet called an output magnet (129) disposed at the output shaft (109) of the reduction mechanism (104) and at least one additional Hall effect sensor called the output sensor (127a, 127b) associated with the output magnet (129), the, at least one,
    5 output sensor (127a, 127b) and the at least one output magnet (129) being configured so that the at least one output sensor (127a, 127b) detects a first position of the magnet output (129) when the output shaft (109) is in a first position corresponding to a first stop position of the external mechanism intended to be connected to the output shaft (109) and
    10 detects a second position of the output magnet (129) when the output shaft (109) is in a second position corresponding to a second stop position of the external mechanism intended to be connected to the output shaft (109 ) and in which the step of generating the control signals to supply the electromagnetic excitation coils (17) is carried out
    [15" id="c-fr-0015]
    15 also depending on the signals of said at least one output sensor (127a,
    127b).
    1/7
    H3
    H2: r1 1 1“! ' 11 L -1 111L. 1 HP! 1 1l i “î 1• 1 : 1: 1: o: 1 i o: o o: o: o1: 1: o 01111 1 h o: o 1! 0
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    同族专利:
    公开号 | 公开日
    US11063538B2|2021-07-13|
    US20200067432A1|2020-02-27|
    FR3059174B1|2019-01-25|
    EP3542450A1|2019-09-25|
    WO2018091302A1|2018-05-24|
    JP6949958B2|2021-10-13|
    JP2020513720A|2020-05-14|
    CN110168875A|2019-08-23|
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    法律状态:
    2017-11-30| PLFP| Fee payment|Year of fee payment: 2 |
    2018-05-25| PLSC| Publication of the preliminary search report|Effective date: 20180525 |
    2019-11-29| PLFP| Fee payment|Year of fee payment: 4 |
    2020-11-30| PLFP| Fee payment|Year of fee payment: 5 |
    2021-11-30| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1661258A|FR3059174B1|2016-11-21|2016-11-21|MOTOR-REDUCER, WIPING SYSTEM AND CONTROL METHOD THEREOF|
    FR1661258|2016-11-21|FR1661258A| FR3059174B1|2016-11-21|2016-11-21|MOTOR-REDUCER, WIPING SYSTEM AND CONTROL METHOD THEREOF|
    CN201780082003.6A| CN110168875A|2016-11-21|2017-11-06|Gear motor, relevant wiper system and relevant control method|
    JP2019527207A| JP6949958B2|2016-11-21|2017-11-06|Gear motors, corresponding wiper systems and corresponding control methods|
    EP17801374.4A| EP3542450A1|2016-11-21|2017-11-06|Gear motor, associated wiper system and associated control method|
    PCT/EP2017/078360| WO2018091302A1|2016-11-21|2017-11-06|Gear motor, associated wiper system and associated control method|
    US16/462,734| US11063538B2|2016-11-21|2017-11-06|Gear motor, associated wiper system and associated control method|
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