Method for controlling an electromechanical interface device
A method of controlling an electromechanical interface includes commanding, by a controller, a motor to provide an operating torque on a selector, wherein the operating torque is based on a position of the selector relative to first and second positions, and commanding, by the controller, the motor to provide a detent torque on the selector at approximately the first position and at approximately the second position, wherein the detent torque is only applied over a first time period.
1. A method of controlling an electromechanical interface, the electromechanical interface having a selector connected to a motor, the motor in electronic communication with a controller, and the selector moveable between at least a first position and a second position, the method comprising:
commanding, by the controller, the motor to provide an operating torque on the selector, wherein the operating torque is based on a position of the selector relative to the first and second positions; and
commanding, by the controller, the motor to provide a detent torque on the selector at approximately the first position and at approximately the second position, wherein the detent torque is only applied over a first time period.
2. The method of claim 1 wherein the operating torque is selected from an operating torque profile that relates the operating torque to the position of the selector.
3. The method of claim 2 wherein the operating torque profile is configured to generate a feeling of a mechanical detent selector to an operator of the selector.
4. The method of claim 2 wherein the operating torque profile has zero operating torque at the first position, the second position, and a midpoint position between the first and the second positions.
5. The method of claim 4 wherein the operating torque profile has a maximum operating torque between the first position and the midpoint position and between the midpoint position and the second position.
6. The method of claim 5 wherein the detent torque is selected from a detent torque profile that relates the detent torque to the position of the selector when the selector is within an offset amount from the first position or the second position.
7. The method of claim 6 wherein the position of the selector is measured in rotational degrees about an axis of rotation and the offset amount is less than 3 degrees.
8. The method of claim 7 wherein the offset amount is 1.65 degrees.
9. The method of claim 6 wherein the detent torque profile has a maximum detent torque greater than the maximum operating torque.
10. The method of claim 1 wherein the first time period is less than 500 ms.
11. The method of claim 10 wherein the first time period is 100 ms.
12. The method of claim 1 wherein the detent torque is determined by a spring damper model based on a position of the selector and a speed of the selector.
13. The method of claim 1 wherein the first position of the selector corresponds to a first gear operating mode in a shift-by-wire system and the second position of the selector corresponds to a second gear operating mode in the shift-by-wire system.
14. The method of claim 1 wherein the detent torque is selected from a detent torque curve based on the rotational position of the selector.
15. A method of controlling an electromechanical interface, the electromechanical interface having a selector connected to a motor, the motor in electronic communication with a controller, and the selector moveable between at least a first position and a second position, the method comprising:
commanding, by the controller, the motor to provide an operating torque on the selector, wherein the operating torque is based on a position of the selector relative to the first and second positions; and
commanding, by the controller, the motor to provide a detent torque on the selector at approximately the first position and at approximately the second position, wherein the detent torque is only applied over a first time period, and wherein a rate of change of detent torque is greater than a rate of change of operating torque.
16. A method of controlling an electromechanical interface, the electromechanical interface having a selector connected to a motor and rotatable between at least a first position and a second position, the motor in electronic communication with a controller, the method comprising:
determining, by the controller, a rotational position of the selector;
selecting, by the controller, an operating torque from an operating torque curve based on the rotational position of the selector;
commanding, by the controller, the motor to apply the operating torque on the selector;
selecting, by the controller, a detent torque from a detent torque curve based on the rotational position of the selector and a speed of rotation of the selector; and
commanding, by the controller, the motor to apply the detent torque on the selector over a first time period.
17. The method of claim 16 wherein the detent torque is applied only when the selector is within an offset amount from the first position or the second position.
18. The method of claim 16 wherein the operating torque curve is configured to generate a feeling of a mechanical detent selector to an operator of the selector.
19. The method of claim 16 wherein the operating torque curve has a maximum operating torque, the detent torque curve has a maximum detent torque, and the maximum detent torque is greater than the maximum operating torque.
20. The method of claim 16 wherein the detent torque curve is defined by a spring damper model based on the position of the selector and the speed of rotation of the selector.