Method for controlling a holding force against, and limiting impact with travel limit positions
View Patent ↗An actuator includes a motor operated by a controller through a pulse width modulation drive signal applied to a drive circuit that drives the motor. The actuator has an output shaft connected to a coupling structure for manipulating a device such as a variable geometry turbine (VGT) or an exhaust gas recirculation (EGR) valve. The device has a range of motion limited by first and second mechanical stops located at opposing low and high ends of the range. The controller learns the location of the mechanical stops during calibration. An external control unit transmits a desired position to the actuator. A protocol allows the external control unit to implicitly request a positioning mode by virtue of what value range the desired position falls into. The controller is configured to limit the drive signal to a non-harmful level when one of the positioning modes calls for pushing the device against one of the stops.
1. A method of operating an actuator having a motor wherein the actuator is coupled to a manipulated device that is configured to travel through a range of motion limited by first and second mechanical stops located at opposing low and high ends of such range, said method comprising the steps of:
determining an error signal between a commanded actuator position and a present actuator position;
determining a candidate level for a drive signal for use in driving the motor as a function of the determined error signal and a predetermined control strategy;
limiting the candidate level of the drive signal level so as to not exceed a predetermined maximum level when a holding force limit flag is set, the predetermined maximum level corresponding to a predetermined holding effort of the manipulated device against one of the mechanical stops; and
controlling the drive signal driving the motor at the predetermined maximum level such that the actuator pushes the manipulated device against one of the mechanical stops with the predetermined holding force after reaching the mechanical stop.
2. The method of claim 1 further including the steps of:
receiving a desired position signal indicating a first commanded device position where a plurality of value ranges of the first commanded device position correspond to a plurality of positioning modes of operation;
determining a second commanded device position from the first commanded device position based on the first commanded device position and a selected one of the plurality of positioning modes; and
mapping the second commanded device position to a commanded actuator position.
3. The method of claim 2 wherein the step of determining the second commanded device position includes the sub-steps of:
setting the second commanded device position to a predetermined minimum when the first commanded device position indicates a request for a first one of the positioning modes where the manipulated device contacts and pushes against the first mechanical stop;
setting the second commanded device position to a predetermined maximum when the first commanded device position indicates a request for a second one of the positioning modes where the manipulated device contacts and pushes against the second mechanical stop;
setting the second commanded device position so as to correspond to the first commanded device position when the first commanded device position indicates a third one of the positioning modes for normal positioning.
4. The method of claim 3 wherein the step of determining the second commanded device position further includes the sub-steps of:
setting the second commanded device position to a first value greater than the predetermined minimum when the first commanded device position indicates a request for a fourth one of the positioning modes where the manipulated device is positioned at but not pushing against the first mechanical stop; and
setting the second commanded device position to a second value less than the predetermined maximum when the first commanded device position indicates a request for a fifth one of the positioning modes where the manipulated device is positioned at but not pushing against the second mechanical stop.
5. The method of claim 3 further including the steps of:
learning a first stop position of the actuator corresponding to when the manipulated device is at the first mechanical stop;
learning a second stop position of the actuator corresponding to when the manipulated device is at the second mechanical stop.
6. The method of claim 5 further including the step of:
setting the holding force limit flag when the commanded actuator position is equal to or lower than the learned first stop position and a present actuator position is equal to or lower than the learned first stop position.
7. The method of claim 5 further including the step of:
setting the holding force limit flag when the commanded actuator position is equal to or greater than learned second stop position and a present actuator position is equal to or greater than the learned second stop position.
8. The method of claim 1 wherein said step of determining the level of the candidate drive signal includes the sub-step of:
determining a first term proportional to the error signal, a second term that is a time-based integral of the error signal and a third term that is a time-based derivative of the error signal wherein the predetermined control strategy is defined by a PID control strategy.
9. A method of operating an actuator having a motor wherein the actuator is coupled to a manipulated device that is configured to travel through a range of motion limited by first and second mechanical stops located at opposing low and high ends of such range, said method comprising the steps of:
learning first and second stop positions of the actuator corresponding to when the manipulated device is at the first and second mechanical stops, respectively;
setting first and second fixed travel limits above and below respectively the first and second learned stop positions;
limiting the commanded actuator position to one of the first and second fixed travel limits when the commanded actuator position is beyond one of the first and second travel limits and until the actuator position reaches the corresponding fixed travel limit;
determining an error signal between the limited commanded actuator position and a present actuator position and moving the actuator as a function of the error signal and a predetermined control strategy; and
controlling the drive signal driving the motor at a predetermined maximum level such that the actuator pushes against one of the mechanical stops with a predetermined holding force after reaching the mechanical stop.
10. The method of claim 9 further including the steps of:
defining first and second moving travel limits having initial values corresponding to the first and second fixed travel limits;
identifying one of the first and second moving travel limits based on a direction of a commanded actuator position;
and wherein said limiting steps includes the sub-step of:
limiting the commanded actuator position to the identified one of the moving travel limits when the commanded actuator position is beyond the corresponding fixed travel limit.
11. The method of claim 10 wherein said predetermined control strategy is a PID control strategy and wherein said limiting step is configured to provide a first transient response profile when the moving travel limits have initial values.
12. The method of claim 11 further comprising the steps of:
adjusting said identified one of the first and second moving travel limits to an updated value away from its associated fixed travel limit towards its learned stop position.
13. The method of claim 12 wherein said limiting step is configured to provide a second transient response profile when the identified moving travel limit has the updated value, said second response profile being configured to minimize or eliminate excessive impact when the manipulated device contacts one of the mechanical stops.
14. The method of claim 13 wherein said adjusting step includes the sub-steps of:
altering the identified moving travel limit at a constant rate over time.
15. The method of claim 14 further including the step of:
setting first and second working stop positions associated with the first and second learned stop positions, and wherein said moving travel limit adjusting step is discontinued when the identified moving travel limit reaches a corresponding one of the first and second working stop positions.