Method and apparatus for determining the position of a motor-driven actuating part
A method and apparatus for determining the position of a motor-driven actuating part, in particular a window, a sliding roof, a boot lid, a sliding door or a seat, wherein a current position is determined and, in order to determine the current position, a position newly determined for this purpose is taken into account in conjunction with a last valid position, wherein the current position is selected to be between these two positions and closer to that position which has a comparatively lower uncertainty.
1. A method for determining the position of a motor-driven actuating part, selected from the group consisting of a window, a sunroof, a rear lid, a sliding door or a seat, the method comprising:
detecting, by at least one sensor coupled to the motor-driven actuating part, a first position of the motor-driven actuating part at a first time and a second position which is a last valid position of the motor-driven actuating part at a second time before the first time,
determining, by a controller, respective uncertainty values of the first position and the second position, and
selecting, by the controller, a current position of the motor-driven actuating part between the first position and the second position, the current position being selected closer to whichever one of the first position and second position has a lower value of the respective uncertainty values, and
controlling, by the controller, a motor based on the current position, to control the motor-driven actuating part relative to a predetermined position.
2. The method as claimed in claim 1 , further comprising determining, by the controller, the first position from a correlation function between a reference characteristic curve and an actual characteristic curve.
3. The method as claimed in claim 2 , wherein the two characteristic curves are force/travel curves or other characteristic number/travel curves, wherein the characteristic number correlates with the force, for example current/travel curves or rotational speed/travel curves.
4. The method as claimed in claim 2 , further comprising:
determining, by the controller, an uncertainty value from the correlation function and
assigning the uncertainty value to the position which is determined from the same correlation function.
5. The method as claimed in claim 1 , further comprising determining, by the controller, an uncertainty value of the current position from the uncertainty value of the first position and of the second position.
6. The method as claimed in claim 1 , further comprising determining, by the controller, the current position by taking into account the first position and the second position in an inversely proportional fashion with respect to their uncertainty value.
7. The method as claimed in claim 6 , further comprising determining, by the controller, the current position and the uncertainty value thereof using a Kalman filter from the first position and from the second position and the respective uncertainty value thereof.
8. The method as claimed claim 1 , further comprising initializing before the further change in position, by the controller, the current position and the uncertainty value essentially with zero.
9. The method as claimed in claim 1 , further comprising tracking, by the controller, the position of the actuating part by a method which is subject to errors, wherein the uncertainty value of the current position is increased when there is a change in position.
10. The method as claimed in claim 9 , wherein the method which is subject to errors is composed of the evaluation of the ripple of the commutator current of a DC motor.
11. The method as claimed in claim 9 , wherein the method which is subject to errors is composed of the evaluation of a single Hall sensor which determines, with a magnet wheel attached to the motor, the rotation thereof.
12. An apparatus for determining the position of a motor-driven actuating part, selected from the group consisting of a window, a sunroof, a rear lid, a sliding door or a seat, the apparatus comprising:
a sensor coupled to the motor-driven actuating part and configured to detect a first position of the motor-driven actuating part at a first time and a second position which is a last valid position of the motor-driven actuating part at a second time before the first time; and
a controller coupled to the sensor and a motor of the motor-driven actuating part, the controller configured to:
receive the first position and second position detected by the sensor,
determine respective uncertainty values of the first position and the second position, select a current position of the motor-driven actuating part between the first position and the second position, the current position being selected closer to whichever one of the first position and second position has a lower value of the respective uncertainty values, and
output a control signal to control a motor based on the current position, to control the motor-driven actuating part relative to a predetermined position.
13. The apparatus as claimed in claim 12 , wherein the controller is further configured to determine a difference in position.
14. The apparatus as claimed in claim 13 , wherein the controller is further configured to record force/travel curves or other characteristic number/travel curves, wherein the characteristic number correlates with the force.
15. The apparatus as claimed in claim 13 , wherein the controller is further configured to determine an uncertainty value which is provided for transmission to the averaging unit together with the difference in position.
16. The apparatus as claimed in claim 12 , wherein the controller is further configured to process a position uncertainty value specified by the position tracker, and an uncertainty value of the first position.
17. The apparatus as claimed in claim 12 , wherein the controller is further configured to execute a Kalman filter.
18. The apparatus as claimed in claim 12 , wherein the controller is further configured to initialize the position of the motor-driven actuating part at zero.
19. The apparatus as claimed in claim 12 , wherein in order to detect changes in position the controller is connected to a position memory.
20. The apparatus as claimed in claim 12 , wherein the controller is further configured to evaluate a ripple of the commutator current of a DC motor.
21. The apparatus as claimed in claim 13 , wherein the controller is further configured to record current/travel curves or rotational speed/travel curves.
22. An apparatus for determining the position of a motor-driven actuating part, selected from the group consisting of a window, a sunroof, a rear lid, a sliding door or a seat, the apparatus comprising:
a sensor coupled to the motor-driven actuating part and configured to detect a first position of the motor-driven actuating part at a first time and a second position which is a last valid position of the motor-driven actuating part at a second time before the first time; and
a controller configured to:
determine respective uncertainty values of the first position and the second position, select a current position of the motor-driven actuating part between the first position and the second position, the current position being selected closer to whichever one of the first position and second position has a lower value of the respective uncertainty values,
control a motor based on the current position, to control the motor-driven actuating part relative to a predetermined position, and
evaluate a single Hall sensor which determines, with a magnet wheel attached to the motor, the rotation thereof.