Nothing Special   »   [go: up one dir, main page]

EP3130978B1 - Operating device with electromechanical haptic locking function - Google Patents

Operating device with electromechanical haptic locking function Download PDF

Info

Publication number
EP3130978B1
EP3130978B1 EP15180531.4A EP15180531A EP3130978B1 EP 3130978 B1 EP3130978 B1 EP 3130978B1 EP 15180531 A EP15180531 A EP 15180531A EP 3130978 B1 EP3130978 B1 EP 3130978B1
Authority
EP
European Patent Office
Prior art keywords
operating
deflection
electric motor
operating device
operating element
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15180531.4A
Other languages
German (de)
French (fr)
Other versions
EP3130978A1 (en
Inventor
Alexander Cristea
Matthias Gschelak
Nikolaus Rades
Martin Eggensperger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
W Gessmann GmbH
Original Assignee
W Gessmann GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by W Gessmann GmbH filed Critical W Gessmann GmbH
Priority to EP15180531.4A priority Critical patent/EP3130978B1/en
Publication of EP3130978A1 publication Critical patent/EP3130978A1/en
Application granted granted Critical
Publication of EP3130978B1 publication Critical patent/EP3130978B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/06—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member for holding members in one or a limited number of definite positions only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/04—Controlling members for hand actuation by pivoting movement, e.g. levers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G1/00—Controlling members, e.g. knobs or handles; Assemblies or arrangements thereof; Indicating position of controlling members
    • G05G1/08—Controlling members for hand actuation by rotary movement, e.g. hand wheels

Definitions

  • the WO 2013/116247 A1 discloses an operating device with a "force feedback trigger", which gives a user a haptic feedback depending on the signal of the device controlled by the operating device.
  • the disclosure DE 10 2012 024 846 A1 an adjustable automotive pedal assembly with a motor-controlled pedal lever.
  • the pedal lever is articulated by an electromechanical actuator unit.
  • US 5,381,080 A. discloses an operating device for manually entering information into an electronic device.
  • the control device is thus designed such that it at the latching deflection, ie at a predetermined deflection position of the operating element to / along the movement axis, the electric motor so controls that the mechanical behavior of the control corresponds to a classic - purely mechanical - latching in the detent displacement.
  • the operating device is designed so that it simulates the user by the interaction of the electric motor and control device on the detent locking, although at the detent displacement no (purely) mechanical locking the control element with another component of the control device exists.
  • the user thus feels when approaching the operating element to the locking deflection - regardless of the deflection, ie the direction of movement of the control element along / around its axis of movement - first generated by the electric motor assisting force and then (upon reaching / leaving the detent displacement) by the electric motor generated resistance, so that the user creates the haptic impression, the operating element be snapped or engaged in the locking deflection, as is the case when engaging a spring-loaded ball in a recess.
  • the operating element If the operating element is in the predetermined detent displacement or detent position, then the operating element can be moved in both directions of deflection of the operating element only against a force generated by the electric motor from the detent deflection.
  • control device of the operating device for storing the aforementioned parameters in the structurally simplest case, a storage medium, such as a digital memory module having.
  • control element can be deflected mechanically along or around one or more further axes of motion, with or without latching.
  • a detent with respect to the further movement axis (s) can be explained in the above Way simulated by electric motor or be realized purely mechanically in a conventional manner.
  • the operating device is preferably designed to control a device in the form of a machine, a ship, a rail vehicle, an aircraft, an industrial or construction vehicle, an industrial truck, a commercial vehicle, a crane or an application in the field of electro-hydraulics.
  • the control element is preferably in the form of a joystick (such as a compound drive or joystick), a lever or a (hand) steering wheel formed.
  • the force signal is greatest at two maxima, the two maxima being located in the detent environment.
  • the force signal preferably increases linearly from the detent displacement to the maxima.
  • the maxima can limit the latching environment in particular.
  • the force signal increases stepwise.
  • the maxima are spaced according to a preferred embodiment of the invention to the edge of the detent environment area.
  • the control element is thereby initially weak when entering the detent environment and then attracted to a maximum more to Rastauslenkung.
  • the force signal drops linearly from the maxima to the nearest edge of the detent environment. hereby a structurally simple design of the operating device is achieved at the same time haptic very realistic detent.
  • control device is designed to output the force signal in an antisymmetric manner relative to the latching deflection. The user is thereby given a symmetrical haptic sensation when driving over the locking deflection or when moving out of the operating lever from the locking deflection in both deflection directions.
  • the operating device is embodied indirectly and / or directly for detecting the movement speed of the deflection of the operating element, the control device being designed for speed-dependent output of the control signals, by calculating the force signal with a speed-dependent damping signal, preferably by adding the speed-dependent damping signal to the force signal ,
  • the control device being designed for speed-dependent output of the control signals, by calculating the force signal with a speed-dependent damping signal, preferably by adding the speed-dependent damping signal to the force signal .
  • damping of the control element in the region of the detent deflection conveys a haptic particularly realistic perception of a mechanical locking the user.
  • the speed of movement of the deflection of the operating element can be carried out according to the invention directly by a speed measurement and / or indirectly by a time derivation of the position determination of the operating element.
  • the operating device can have a control element position sensor for determining the particular displacement of the operating element by the control device.
  • the control device can be designed to read the deflection by the electrical operating signal.
  • the operating-element position sensor is preferably designed for reading out the deflection of the operating element with a resolution of more than 10 bits, in particular more than 18 bits.
  • the control device is preferably clocked at more than 5 kHz, in particular at more than 10 kHz.
  • the operating device can be used on the one hand for very sensitive control tasks.
  • a tactile or tactile to be perceived as particularly precise latching of the operating lever in the detent deflection can be generated or simulated.
  • control device for determining the movement speed of the deflection of the operating element can be designed according to the invention for the time derivative of the signal of the operating element position sensor.
  • control device can determine the movement speed by temporally deriving the signal of the operating-element position sensor.
  • the operating device may comprise an electric motor position sensor for determining the rotor position of the electric motor, wherein the controller for controlling the rotor position is formed on the basis of the signal of the electric motor position sensor.
  • the electric motor can be controlled by the control device for direct or indirect oscillation of the operating element when the operating element is in a predetermined avoidance deflection range is located.
  • the oscillation of the electric motor is preferably achieved by rapid switching of the electric motor, which is directly connected to the operating element or indirectly - in particular via a transmission - with the operating element.
  • the control device may be designed to output a control signal when the operating element is located in a predetermined feedback deflection range in order to move the operating element indirectly or directly through the electric motor to a predetermined deflection position.
  • the unactuated by a user control is thus always guided in the return deflection range to the predetermined deflection position.
  • the operating device may have a cascade controller for adjusting the electric motor control in the avoidance deflection region and / or in the feedback deflection region.
  • the electric motor can be controlled particularly precisely by a current regulator of the control device.
  • the control signal of the control device is used in this case to control a current to the electric motor, wherein the current is correlated with the control signal.
  • the electric motor may be formed according to an embodiment of the invention in the form of a linear motor. According to an alternative embodiment, the electric motor is designed in the form of a rotary motor. In this case, the electric motor is further preferably designed in the form of a brushless electric motor.
  • the operating device of the electric motor in the form of a permanent magnetizing synchronous motor (PMSM) is formed.
  • PMSM permanent magnetizing synchronous motor
  • the electric motor is particularly wear-resistant and has high torques in a compact design. More preferably, the electric motor has an external rotor design.
  • the output of the force on the operating element takes place in a rotary electric motor, preferably in the form of a torque of the electric motor.
  • control of the electric motor can be effected even more precisely if the control device is designed to control the electric motor by means of vector commutation.
  • the operating device has no mechanical locking of the operating element.
  • the operating device may have a mechanical friction brake which indirectly or directly brakes the deflection of the operating element.
  • the mechanical friction brake prevents a change in position of the operating element in the event of a power failure.
  • the constant friction torque of the mechanical friction brake generates a high-quality haptic feeling for the user.
  • the operating device is designed such that the behavior of the friction brake takes into account the temperature and the wear during the control of the electric motor by the control device.
  • the electric motor can be connected directly to the operating element, ie, it can be motion-coupled.
  • the electric motor may be connected by a transmission of the operating device with the operating element.
  • the transmission may have one or more gears.
  • the transmission according to the invention is preferably designed in the form of a toothed belt transmission.
  • the control element may be formed according to the invention in the form of a pivot lever, a rotary handle, a slide control or a plunger.
  • the control device preferably generates a force signal which indirectly causes a force on the operating element by the electric motor, which pulls the operating element for the detent deflection when the Operating element is located in a limited detent environment around the detent displacement.
  • the force signal is preferably greatest at maxima in the detent environment.
  • the maxima are preferably spaced apart from the edge of the detent environment, wherein the force signal in particular increases linearly from the edge of the detent environment to the respective closest maxima.
  • the output of the control signal is preferably antisymmetric to the latching deflection.
  • the output of the control signal preferably takes place as a function of the speed of the operating element.
  • a speed-dependent damping signal is further preferably generated by the control device, which is offset with the force signal to the control signal.
  • the speed-dependent damping signal is added to the force signal, so that as a result the control device outputs the control signal as the sum of the force signal and the speed-dependent damping signal to the electric motor.
  • the speed-dependent damping signal is only offset between the maxima with the force signal.
  • a control element position sensor of the operating device measures the deflection position of the operating element, in particular with a resolution of more than 10 bits, particularly preferably with a resolution of more than 18 bits.
  • the control device is preferably clocked at more than 5 kHz, in particular at more than 10 kHz.
  • a time derivative of the signal of the operating element position sensor preferably takes place in the control device.
  • control of the rotor position of the electric motor is based on a signal of an electric motor position sensor of the operating device.
  • the electric motor is preferably activated for direct or indirect oscillation of the operating element.
  • the electric motor can be moved in a predetermined return deflection range of the operating element to a predetermined deflection position.
  • the output of the force on the control i. the output of the assisting force and the resisting force is preferably in the form of an assisting torque of the electric motor.
  • the control of the electric motor is preferably carried out by means of vector commutation.
  • the operating device is further preferably indirectly or directly braked by a mechanical friction brake of the operating device.
  • Fig. 1 shows a control device 10 for control tasks, with a manually operable control element 12.
  • This change in the electrical resistance can be determined or read by the connection of electrical lines to a - here electrical - connection 16 of the operating device.
  • the connection 16 is - as in Fig. 1 indicated - connected to a device 18 to be controlled by the operating device 10.
  • the device 18 to be controlled can be designed, for example, in the form of a drive of a vehicle, such as a ship or a rail-bound vehicle.
  • the operating device can basically be used in active control mode and / or in passive tracking mode.
  • a user of the operating device 10 receives a haptic feedback from an electric motor 20 during the actuation of the operating element 12 Fig. 1 is the electric motor 20 directly connected to the operating element 12, so that the operating element on the motor shaft (not shown) of the electric motor 20 is arranged and connected to this rotationally fixed.
  • Fig. 2 shows an alternative embodiment of the operating device 10.
  • An electric motor 20 is in this embodiment of the operating device 10 indirectly - via a transmission 22 - connected to the control element 12.
  • the transmission 22 may be formed in particular in the form of a toothed belt transmission.
  • Fig. 3a shows a further operating device 10 with two operating elements 12a, 12b in the form of pivoting levers.
  • the deflection of the first operating element 12a is damped by a first mechanical friction brake 24a .
  • FIG. 3b shows the operating device 10 according to Fig. 3a in a rear view, wherein it can be seen that the second control element 12b is damped by a second mechanical friction brake 24b .
  • the deflection of the second operating element 12b which can be set or selected by a user of the operating device 10, is identified by a double arrow 26 .
  • the deflection of the operating element 12b can take place in a first direction 28a and in a second direction 28b opposite to the first direction 28a. Between the directions 28a, 28b, the user can determine a detent 30 .
  • the latching extension 30 is in Fig. 3b indicated by a cross.
  • the latching deflection 30 represents a position of the second operating element 12b, in which the user is given the haptic impression of a latching or a latching point.
  • the second operating element 12b may have a plurality of latching deflections 30 during its deflection.
  • the locking extension 30 and the several locking deflections 30 is / are not generated by mechanical components of the operating device 10 in the sense of a classic mechanical detent, but force-based or torque-based by an electric motor 20 (see, for example. FIGS. 1 and 2 ) generated.
  • the electric motor 20 is preferably designed as a brushless electric motor.
  • the control of the electric motor 20 is effected by a control device whose operation is described below with respect to Fig. 4 is explained.
  • Fig. 4 shows the basic structure of an operating device 10.
  • the operating device 10 has an electronic part and a mechanical part.
  • the electronic part is diagonally hatched.
  • the mechanical part is marked with crossed lines.
  • the mechanical part further optionally comprises the gear 22 and beyond the mechanical friction brake 24.
  • the electric motor 20 may, as explained above, be coupled directly or indirectly with the control element 12 mechanically movable ,
  • the operating element 12 can be actuated by a user 32 , that is to say in FIG FIG. 1 shown movement axis 14 rotatable.
  • the operating element can also be translationally adjustable along a movement axis.
  • a respective deflection position of the operating element 12 can be detected by a control element position sensor 34 .
  • a respective position or rotational position of the rotor of the electric motor 20 can be detected by an electric motor position sensor 36 .
  • the information of the position sensors 34, 36 are detected by a control device 38 .
  • the control device 38 controls the Electric motor 20.
  • the control device 38 has a current regulator 40 and a vector commutation 42 .
  • the vector commutation 42 is designed to carry out a pulse width modulation.
  • the output of the vector commutation 42 is applied to a three-phase H-bridge 44 to ultimately drive the electric motor 20.
  • the electronic part further has shunts 46 , at which voltages drop, which are detected by a current measurement 48 and supplied to the current controller 40 for motor control.
  • the output of the vector commutation 42 is determined by a microcontroller 50 of the controller 38.
  • the microcontroller 50 has a cascade controller 52 , which determines the output of the current regulator 40 by selecting the operating mode - represented here by a circle 54 .
  • the cascade controller 52 has, for example, three operating modes 56a, 56b, 56c .
  • the operating modes can be predefined or variably changed in the control device. If the operating element 12 is located in a first deflection range, a detent is simulated by way of example in the operating mode 56a.
  • the electric motor 20 is excited to oscillate in accordance with the operating mode 56b.
  • the user 32 is signaled that he is in a prohibited or dangerous deflection range with respect to the device 18 (see Fig. 1 ) is located.
  • the cascade controller 52 is in the operating mode 56c, in which the operating element 12 is returned by the electric motor 20 to a predetermined position. This corresponds to a return of the operating element 12 in a predetermined zero position.
  • the assignment of the operating modes 56a-c to certain deflection ranges is effected by a position indication 58.
  • Fig. 5a shows a fictitious ball 60, which penetrates into a notional recess 62 .
  • the fictitious ball 60 and the notional recess 62 correspond to the haptic feedback of an operating device 10 according to the invention (see FIGS. 1 to 4 ).
  • Fig. 5a illustrates the case that the electric motor 20 (see FIGS. 1 to 4 ) simulates an undamped detent.
  • the ball 60 vibrates felt about the detent displacement 30.
  • the latching behavior according to Fig. 5a arises when a control signal of the control device 38 (see Fig. 4 ) composed only of a force signal, the damping of the operating device 10 (see FIGS. 1 to 4 ) at least compensated. Without damping passes over the user-operated control element 12, 12a, 12b (see FIGS. 1 to 4 ) namely always the locking projection 30th
  • Fig. 5b shows the fictitious ball 60 and the notional recess 62 according to Fig. 5a in the event that by the electric motor 20 (see FIGS. 1 to 4 ) on the operating element 12, 12a, 12b (see FIGS. 1 to 4 ) acting force the mechanical (total) friction of the operating device 10 (see FIGS. 1 to 4 ) does not compensate or exceed.
  • the mechanical friction of the operating device 10 is conditioned by an always existing bearing and air friction.
  • the mechanical friction of the operating device 10 by a mechanical friction brake 24a, 24b intends to be strengthened.
  • the fictitious ball 60 does not feel precisely latched in the present case in the region of the latching deflection 30.
  • Fig. 5c shows the fictitious ball 60 and the notional recess 62 in the event that the electric motor 20 (see FIGS. 1 to 4 ) one of the control element 12, 12 a, 12 b (see FIGS. 1 to 4 ) provides speed-dependent active damping.
  • Such a speed-dependent active damping achieves a stable and at the same time precise latching in the latching deflection 30.
  • Fig. 6a shows a control signal S of the controller 38 (see Fig. 4 ), plotted as a function of the deflection a of a control element 12, 12a, 12b (see FIGS. 1 to 4 ).
  • a linearly rising control signal S is output, so that the operating element 12 is attracted to the latching deflection 30.
  • the control signal S here acts antisymmetrically to the latching deflection 30.
  • End points 64a, 64b define a latching environment 66. In the latching environment 66, there are equidistant to the latching deflection 30 maxima 68a, 68b.
  • the control signal S drops linearly from the maxima 68a, 68b to the end points 64a, 64b.
  • the control signal S according to Fig. 6a consists exclusively of a force signal K.
  • the behavior of the operating device 10 is - depending on the strength of the mechanical friction of the operating device 10 - in the FIGS. 5a and 5b shown.
  • Fig. 6b shows - how Fig. 6a the control signal S of the control device 38 (see Fig. 4 ) in response to the deflection a of the operating element 12, 12a, 12b (see FIGS. 1 to 4 ). Dashed is that Force signal K applied, the force signal K according to Fig. 6a equivalent. In addition to the force signal K shows Fig. 6b dash-dotted line a speed-dependent damping signal D. The solid line is the control signal S again. The control signal S is the sum of the force signal K and the speed-dependent damping signal D. The speed-dependent damping signal D acts only between the two maxima 68a, 68b.
  • the speed-dependent attenuation signal D is a behavior of the operating device 10 (see FIGS. 1 to 4 ) according to Fig. 5c achieved in which the operating element 12, 12 a, 12 b in the rest environment 66 without actuation by a user 32 (see Fig. 4 ) locked precisely in the locking projection 30.
  • the invention relates in summary to an operating device 10 for controlling a device 18 by a user 32.
  • the operating device 10 has an operating element 12, 12a, 12b, which can be deflected by the user 32, so that the operating device 10 generates or modifies an electrical signal to control the device 18.
  • the operating device 10 has an electric motor 20 which is at least indirectly connected to the operating element 12, 12a, 12b.
  • the electric motor 20 is designed to support and brake the actuation of the operating element 12, 12 a, 12 b by the user 32.
  • the operating device 10 further has a control device 38, which is designed to control the electric motor 20 so that the user 32 receives the haptic impression of a mechanical detent at a preset detent displacement 30.
  • the control device 38 is preferably designed such that the electric motor 20 is controlled so that the Operating element 12, 12a, 12b is attracted in the immediate vicinity of the latching deflection 30 to the latching deflection 30.
  • the deflection region, in which the control element 12, 12 a, 12 b is attracted to the latching deflection 30, is preferably symmetrical to the latching deflection 30.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Control Devices (AREA)

Description

Die Erfindung betrifft eine Bedieneinrichtung zur Steuerung/Regelung einer Vorrichtung, wobei die Bedieneinrichtung Folgendes aufweist:

  1. a. ein von einem Nutzer um eine/entlang einer Bewegungsachse mechanisch auslenkbares Bedienelement;
  2. b. einen Anschluss zur Ausgabe eines mit der Auslenkung des Bedienelements korrelierten Bediensignals zur Steuerung/Regelung der Vorrichtung;
  3. c. einen Elektromotor zur mittelbaren oder unmittelbaren Kraftbeaufschlagung des Bedienelements; und
  4. d. eine Steuereinrichtung zur Ausgabe von Steuersignalen zur Steuerung des Elektromotors.
The invention relates to an operating device for controlling / regulating a device, wherein the operating device has the following:
  1. a. a control element that is mechanically deflectable by a user about / along a movement axis;
  2. b. a port for outputting a control signal correlated with the deflection of the control element for controlling the device;
  3. c. an electric motor for direct or indirect application of force to the operating element; and
  4. d. a control device for outputting control signals for controlling the electric motor.

Es ist bekannt, Bedieneinrichtungen bereitzustellen, die einem Nutzer der Bedieneinrichtung eine elektromechanisch generierte und taktil bzw. haptisch wahrnehmbare Rückmeldung geben.It is known to provide operating devices that give a user of the operating device an electromechanically generated and tactile or haptic perceptible feedback.

Aus der JP 2011-028601 A ist beispielsweise ein Schalthebel mit einem Bedienelement und einem Elektromotor bekannt geworden, wobei der Elektromotor dem Schalthebel bei dessen Betätigung einen Widerstand entgegenzusetzen vermag.From the JP 2011-028601 A For example, a shift lever with a control element and an electric motor has become known, wherein the electric motor is able to resist the shift lever when it is actuated.

Die WO 2013/116247 A1 offenbart eine Bedieneinrichtung mit einem "force feedback trigger", der einem Nutzer, abhängig vom Signal der mit der Bedieneinrichtung angesteuerten Vorrichtung, eine haptische Rückmeldung gibt.The WO 2013/116247 A1 discloses an operating device with a "force feedback trigger", which gives a user a haptic feedback depending on the signal of the device controlled by the operating device.

Weiterhin offenbart die DE 10 2012 024 846 A1 eine verstellbare Kraftfahrzeugpedalanordnung mit einem motorisch steuerbaren Pedalhebel. Der Pedalhebel ist durch eine elektromechanische Aktoreinheit angelenkt.Furthermore, the disclosure DE 10 2012 024 846 A1 an adjustable automotive pedal assembly with a motor-controlled pedal lever. The pedal lever is articulated by an electromechanical actuator unit.

US 5 381 080 A offenbart eine Bedienvorrichtung zur manuellen Eingabe von Informationen in ein elektronisches Gerät. US 5,381,080 A. discloses an operating device for manually entering information into an electronic device.

Es ist demgegenüber die Aufgabe der vorliegenden Erfindung, eine eingangs genannte Bedieneinrichtung mit einem signifikant verbesserten Rastverhalten zur Verfügung zu stellen.In contrast, it is the object of the present invention to provide an aforementioned operating device with a significantly improved latching behavior.

Die die Bedieneinrichtung betreffende Aufgabe wird durch eine Bedieneinrichtung mit den Merkmalen des Patentanspruchs 1 gelöst. Vorteilhafte Weiterbildungen sind in der Beschreibung und in den Unteransprüchen angegeben.The task relating to the operating device is achieved by an operating device having the features of patent claim 1. Advantageous developments are specified in the description and in the dependent claims.

Die erfindungsgemäße Aufgabe wird gelöst durch eine Bedieneinrichtung zur Steuerung/Regelung einer Vorrichtung, wobei die Bedieneinrichtung Folgendes aufweist:

  1. a. ein von einem Nutzer mechanisch um zumindest eine/entlang zumindest einer Bewegungsachse mechanisch auslenkbares Bedienelement;
  2. b. einen Anschluss zur Ausgabe eines mit der Auslenkung des Bedienelements korrelierten Bediensignals zur Steuerung/Regelung der Vorrichtung;
  3. c. einen Elektromotor zur mittelbaren oder unmittelbaren Kraftbeaufschlagung des Bedienelements;
  4. d. eine Steuereinrichtung zur Ausgabe von Steuersignalen zur Steuerung des Elektromotors;
wobei die Steuereinrichtung dazu ausgebildet ist, den Elektromotor an einer vorbestimmten Rastauslenkung des Bedienelements zur Simulation einer Verrastung anzusteuern, indem die Steuereinrichtung ein Kraftsignal erzeugt, das mittelbar durch den Elektromotor eine Kraft auf das Bedienelement bewirkt, wobei die Kraft das Bedienelement zur Rastauslenkung zieht, wenn sich das Bedienelement in einem vorgegebenen Rastumgebungsbereich um die Rastauslenkung befindet.The object according to the invention is achieved by an operating device for controlling / regulating a device, wherein the operating device has the following:
  1. a. a mechanically mechanically deflectable by a user by at least one / along at least one axis of motion control element;
  2. b. a port for outputting a control signal correlated with the deflection of the control element for controlling the device;
  3. c. an electric motor for direct or indirect application of force to the operating element;
  4. d. a control device for outputting control signals for controlling the electric motor;
wherein the control device is designed to control the electric motor at a predetermined detent displacement of the operating element for simulating a latching by the control device generates a force signal which indirectly causes a force on the operating element by the electric motor, wherein the force pulls the operating element for latching deflection, if the control is in a predetermined detent environment around the detent displacement.

Die Steuereinrichtung ist somit derart ausgebildet, dass sie an der Rastauslenkung, d.h. an einer vorbestimmten Auslenkungsposition des Bedienelements um/entlang der Bewegungsachse, den Elektromotor so ansteuert, dass das mechanische Verhalten des Bedienelements dem einer klassischen - rein mechanischen - Verrastung in der Rastauslenkung entspricht. Mit anderen Worten ist die Bedieneinrichtung so ausgebildet, dass sie dem Nutzer durch das Zusammenspiel von Elektromotor und Steuereinrichtung an der Rastauslenkung eine Verrastung vortäuscht, obwohl an der Rastauslenkung keine (rein) mechanische Verrastung des Bedienelements mit einem anderen Bauteil der Bedieneinrichtung existiert.The control device is thus designed such that it at the latching deflection, ie at a predetermined deflection position of the operating element to / along the movement axis, the electric motor so controls that the mechanical behavior of the control corresponds to a classic - purely mechanical - latching in the detent displacement. In other words, the operating device is designed so that it simulates the user by the interaction of the electric motor and control device on the detent locking, although at the detent displacement no (purely) mechanical locking the control element with another component of the control device exists.

Bei der erfindungsgemäßen Bedieneinrichtung ist die Steuereinrichtung somit dazu ausgebildet, insbesondere programmiert, den Elektromotor so anzusteuern, dass

  1. i. dieser die Auslenkungsbewegung des Bedienelements mit einer Unterstützungskraft unterstützt, wenn das Bedienelement durch den Nutzer (unabhängig von der jeweiligen Auslenkrichtung entlang/um dessen Bewegungsachse) auf die vorgegebene Rastauslenkung zubewegt wird; und
  2. ii. dieser der Auslenkungsbewegung des Bedienelements eine Widerstandskraft entgegensetzt, wenn das Bedienelement durch den Nutzer über die vorgegebene Rastauslenkung hinausbewegt wird.
In the operating device according to the invention, the control device is thus designed, in particular programmed, to control the electric motor in such a way that
  1. i. this supports the deflection movement of the operating element with an assisting force, when the operating element is moved by the user (independently of the respective deflection direction along / about its movement axis) to the predetermined detent displacement; and
  2. ii. this of the deflection movement of the operating element opposes a resistance force when the operating element is moved beyond the predetermined locking deflection by the user.

Der Nutzer verspürt dadurch bei einer Annäherung des Bedienelements an die Rastauslenkung - unabhängig von der Auslenkrichtung, d.h. der Bewegungsrichtung des Bedienelements entlang/ um dessen Bewegungsachse - zunächst die durch den Elektromotor generierte Unterstützungskraft und dann (bei Erreichen/Verlassen der Rastauslenkung) die durch den Elektromotor generierte Widerstandskraft, sodass beim Nutzer der haptische Eindruck entsteht, das Bedienelement sei in die Rastauslenkung eingeschnappt bzw. eingerastet, wie dies etwa beim Einrasten einer federkraftbeaufschlagten Kugel in eine Rastausnehmung der Fall ist.The user thus feels when approaching the operating element to the locking deflection - regardless of the deflection, ie the direction of movement of the control element along / around its axis of movement - first generated by the electric motor assisting force and then (upon reaching / leaving the detent displacement) by the electric motor generated resistance, so that the user creates the haptic impression, the operating element be snapped or engaged in the locking deflection, as is the case when engaging a spring-loaded ball in a recess.

Befindet sich das Bedienelement in der vorgegebenen Rastauslenkung bzw. Rastposition, so kann das Bedienelement in beiden Auslenkrichtungen des Bedienelements mithin nur gegen eine vom Elektromotor generierte Kraft aus der Rastauslenkung bewegt werden.If the operating element is in the predetermined detent displacement or detent position, then the operating element can be moved in both directions of deflection of the operating element only against a force generated by the electric motor from the detent deflection.

Durch die mittels des Elektromotors simulierte Verrastung ergeben sich - im Gegensatz zu einer klassischen (rein) mechanischen Verrastung - eine Vielzahl von Vorteilen:

  • Die Rastauslenkung, d.h. die Position der Verrastung des um die bzw. entlang seiner Bewegungsachse auslenkbaren Bedienelements, kann bei der erfindungsgemäßen Bedieneinrichtung frei wählbar vorgegeben werden. Dies ist bei einer klassischen mechanischen Rastung, insbesondere im laufenden Betrieb der Bedieneinrichtung, nicht oder nur mit hohem Aufwand möglich.
  • Die Raststärke der erfindungsgemäßen Rastung ist wesentlich einfacher variierbar und einstellbar als bei einer klassischen mechanischen Rastung. Dadurch kann individuellen Anforderungen einer Bedienperson auf einfache Weise Rechnung getragen werden.
  • Die erfindungsgemäße Rastung ist - im Gegensatz zu einer klassischen mechanischen Rastung - beliebig einschaltbar und ausschaltbar. Darüber hinaus ist die erfindungsgemäße Rastung auf einfache Art und Weise zeitlich begrenzbar. Sobald das Bedienelement vom Benutzer in die vorgegebene Rastauslenkung überführt wurde, kann die Rastung beispielsweise nach einem vorgegebenen Zeitintervall zwischen 0,2 und 1 Sekunden ausgeschaltet werden, um präzise Auslenkbewegung des Bedienhebels im Rastumgebungsbereich (in beiden Auslenkrichtungen) ausführen zu können.
  • Auch sind mehrere Rastauslenkungen des Bedienelements auf einfache Art und Weise realisierbar. Die Rastauslenkungen können dabei räumlich gesehen sehr eng beieinander liegen. Beispielsweise kann eine erste Rastauslenkung bei einer Stellung des Bedienelements von 90° und eine zweite Rastauslenkung bei einer Stellung des Bedienelements von 91° durch die erfindungsgemäße Bedieneinrichtung realisiert werden. Solch eng nebeneinander liegende mechanische Rastungen sind rein mechanisch nicht stabil realisierbar.
  • Die erfindungsgemäße Rastauslenkung unterliegt keinem mechanischen Verschleiß. Die Genauigkeit und Qualität der Rastung kann über die Lebensdauer der Bedieneinrichtung unverändert gewährleistet werden.
Due to the locking mechanism simulated by means of the electric motor, in contrast to a classical (purely mechanical) locking, a large number of advantages result:
  • The latching deflection, ie the position of the latching of the deflectable about the or along its axis of movement control element, can be freely selected in the control device according to the invention. This is not possible or only with great effort in a classic mechanical detent, especially during operation of the operating device.
  • The locking strength of the detent according to the invention is much easier varied and adjustable than in a classic mechanical detent. As a result, individual requirements of an operator can be easily taken into account.
  • The detent according to the invention is - as opposed to a classic mechanical detent - arbitrarily switched on and off. In addition, the latching according to the invention in a simple way timely. Once the control has been transferred by the user in the predetermined detent deflection, the detent can be turned off, for example, after a predetermined time interval between 0.2 and 1 seconds to perform precise deflection movement of the operating lever in the detent environment (in both Auslenkrichtungen).
  • Also, several locking deflections of the operating element can be realized in a simple manner. The Rastauslenkungen can spatially very close to each other. For example, a first detent displacement at a position of the operating element of 90 ° and a second detent displacement at a position of the operating element of 91 ° can be realized by the operating device according to the invention. Such closely adjacent mechanical detents are not mechanically stable stable realized.
  • The locking deflection according to the invention is not subject to mechanical wear. The accuracy and quality of the detent can be guaranteed unchanged over the life of the operating device.

Es versteht sich, dass die Steuereinrichtung der erfindungsgemäßen Bedieneinrichtung zum Abspeichern der vorgenannten Parameter im konstruktiv einfachsten Fall ein Speichermedium, z.B. einen digitalen Speicherbaustein, aufweist. Darüber hinaus kann das Bedienelement entlang/um eine oder mehrere weitere Bewegungsachsen mechanisch - mit oder ohne Rastung - auslenkbar sein. Eine Rastung bezüglich der weiteren Bewegungsachse(n) kann dabei in der vorstehend erläuterten Weise elektromotorisch simuliert oder aber in herkömmlicher Weise rein mechanisch realisiert sein.It is understood that the control device of the operating device according to the invention for storing the aforementioned parameters in the structurally simplest case, a storage medium, such as a digital memory module having. In addition, the control element can be deflected mechanically along or around one or more further axes of motion, with or without latching. A detent with respect to the further movement axis (s) can be explained in the above Way simulated by electric motor or be realized purely mechanically in a conventional manner.

Die Bedieneinrichtung ist vorzugsweise zur Steuerung/Regelung einer Vorrichtung in Form einer Maschine, eines Schiffs, eines Schienenfahrzeugs, eines Flugzeugs, eines Industrie- oder Baufahrzeugs, eines Flurförderfahrzeugs, eines Nutzfahrzeugs, einer Krananlage oder einer Anwendung im Bereich der Elektrohydraulik ausgebildet. Das Bedienelement ist bevorzugt in Form eines Steuerknüppels (etwa als Verbundantrieb bzw. Joystick), eines Hebels oder eines (Hand-) Steuerrads ausgebildet.The operating device is preferably designed to control a device in the form of a machine, a ship, a rail vehicle, an aircraft, an industrial or construction vehicle, an industrial truck, a commercial vehicle, a crane or an application in the field of electro-hydraulics. The control element is preferably in the form of a joystick (such as a compound drive or joystick), a lever or a (hand) steering wheel formed.

Das Kraftsignal ist erfindungsgemäß an zwei Maxima am größten, wobei sich die beiden Maxima im Rastumgebungsbereich befinden. Das Kraftsignal steigt dabei vorzugsweise linear von der Rastauslenkung zu den Maxima hin an.According to the invention, the force signal is greatest at two maxima, the two maxima being located in the detent environment. The force signal preferably increases linearly from the detent displacement to the maxima.

Die Maxima können den Rastumgebungsbereich erfindungsgemäß insbesondere begrenzen. In diesem Fall steigt das Kraftsignal bei Eintritt des Bedienelements in den Rastumgebungsbereich stufenartig an.According to the invention, the maxima can limit the latching environment in particular. In this case, when the control element enters the detent environment, the force signal increases stepwise.

Um eine noch mehr an die Verrastung einer Kugel in eine Rastmulde anfühlende Rastung zu erzielen, sind die Maxima nach einer bevorzugten Ausführungsform der Erfindung beabstandet zum Rand des Rastumgebungsbereichs. Das Bedienelement wird dadurch bei Eintritt in den Rastumgebungsbereich zunächst schwach und dann zu einem Maximum hin mehr zur Rastauslenkung hingezogen.In order to achieve an even more to the latching of a ball in a detent recess sensing detent, the maxima are spaced according to a preferred embodiment of the invention to the edge of the detent environment area. The control element is thereby initially weak when entering the detent environment and then attracted to a maximum more to Rastauslenkung.

Weiter bevorzugt fällt das Kraftsignal von den Maxima zum nächstliegenden Rand des Rastumgebungsbereichs linear ab. Hierdurch wird eine konstruktiv einfache Ausbildung der Bedieneinrichtung bei gleichzeitig haptisch sehr realistischer Rastung erzielt.More preferably, the force signal drops linearly from the maxima to the nearest edge of the detent environment. hereby a structurally simple design of the operating device is achieved at the same time haptic very realistic detent.

In weiter bevorzugter Ausgestaltung der Bedieneinrichtung ist die Steuereinrichtung zu einer bezüglich der Rastauslenkung antisymmetrischen Ausgabe des Kraftsignals ausgebildet. Dem Nutzer wird dadurch ein symmetrisches haptisches Empfinden beim Überfahren der Rastauslenkung bzw. beim Herausbewegen des Bedienhebels aus der Rastauslenkung in beiden Auslenkrichtungen vermittelt.In a further preferred refinement of the operating device, the control device is designed to output the force signal in an antisymmetric manner relative to the latching deflection. The user is thereby given a symmetrical haptic sensation when driving over the locking deflection or when moving out of the operating lever from the locking deflection in both deflection directions.

Erfindungsgemäß ist die Bedieneinrichtung mittelbar und/oder unmittelbar zur Erfassung der Bewegungsgeschwindigkeit der Auslenkung des Bedienelements ausgebildet, wobei die Steuereinrichtung zur geschwindigkeitsabhängigen Ausgabe der Steuersignale ausgebildet ist, indem sie das Kraftsignal mit einem geschwindigkeitsabhängigen Dämpfungssignal verrechnet, vorzugsweise indem sie das geschwindigkeitsabhängige Dämpfungssignal zu dem Kraftsignal addiert. Insbesondere die von der Geschwindigkeit des Bedienelements abhängige Dämpfung des Bedienelements im Bereich der Rastauslenkung vermittelt eine haptisch besonders realistische Wahrnehmung einer mechanischen Verrastung beim Nutzer. Die Bewegungsgeschwindigkeit der Auslenkung des Bedienelements kann dabei erfindungsgemäß unmittelbar durch eine Geschwindigkeitsmessung und/oder mittelbar durch eine zeitliche Ableitung der Positionsbestimmung des Bedienelements erfolgen.According to the invention, the operating device is embodied indirectly and / or directly for detecting the movement speed of the deflection of the operating element, the control device being designed for speed-dependent output of the control signals, by calculating the force signal with a speed-dependent damping signal, preferably by adding the speed-dependent damping signal to the force signal , In particular, depending on the speed of the control element damping of the control element in the region of the detent deflection conveys a haptic particularly realistic perception of a mechanical locking the user. The speed of movement of the deflection of the operating element can be carried out according to the invention directly by a speed measurement and / or indirectly by a time derivation of the position determination of the operating element.

Die Bedieneinrichtung kann insbesondere einen Bedienelement-Positionssensor zur Bestimmung der jeweils vorliegenden Auslenkung des Bedienelements durch die Steuereinrichtung aufweisen. Alternativ oder zusätzlich dazu kann die Steuereinrichtung zur Auslesung der Auslenkung durch das elektrische Bediensignal ausgebildet sein.In particular, the operating device can have a control element position sensor for determining the particular displacement of the operating element by the control device. Alternatively or In addition, the control device can be designed to read the deflection by the electrical operating signal.

Der Bedienelement-Positionssensor ist bevorzugt zur Auslesung der Auslenkung des Bedienelements mit einer Auflösung von mehr als 10 Bit, insbesondere von mehr als 18 Bit, ausgebildet. Die Steuereinrichtung ist vorzugsweise mit mehr als 5 kHz, insbesondere mit mehr als 10 kHz, getaktet. Dadurch kann die Bedieneinrichtung einerseits auch für sehr feinfühlige Steuerungsaufgaben eingesetzt werden. Andererseits kann eine haptisch bzw. taktil als besonders präzis wahrzunehmende Rastung des Bedienhebels in der Rastauslenkung erzeugt bzw. simuliert werden.The operating-element position sensor is preferably designed for reading out the deflection of the operating element with a resolution of more than 10 bits, in particular more than 18 bits. The control device is preferably clocked at more than 5 kHz, in particular at more than 10 kHz. As a result, the operating device can be used on the one hand for very sensitive control tasks. On the other hand, a tactile or tactile to be perceived as particularly precise latching of the operating lever in the detent deflection can be generated or simulated.

Weiterhin kann die Steuereinrichtung zur Ermittlung der Bewegungsgeschwindigkeit der Auslenkung des Bedienelements erfindungsgemäß zur zeitlichen Ableitung des Signals des Bedienelement-Positionssensors ausgebildet sein. Mit anderen Worten kann die Steuereinrichtung in diesem Fall die Bewegungsgeschwindigkeit durch zeitliches Ableiten des Signals des Bedienelement-Positionssensors bestimmen.Furthermore, the control device for determining the movement speed of the deflection of the operating element can be designed according to the invention for the time derivative of the signal of the operating element position sensor. In other words, in this case, the control device can determine the movement speed by temporally deriving the signal of the operating-element position sensor.

Zur signifikant präziseren Regelung des Elektromotors kann die Bedieneinrichtung nach der Erfindung einen Elektromotor-Positionssensor zur Bestimmung der Rotorposition des Elektromotors aufweisen, wobei die Steuerung zur Regelung der Rotorposition auf Basis des Signals des Elektromotor-Positionssensors ausgebildet ist.For significantly more precise control of the electric motor, the operating device according to the invention may comprise an electric motor position sensor for determining the rotor position of the electric motor, wherein the controller for controlling the rotor position is formed on the basis of the signal of the electric motor position sensor.

Um den Nutzer auf einen unerwünschten Auslenkungsbereich des Bedienelements haptisch hinzuweisen, kann der Elektromotor durch die Steuereinrichtung zur mittelbaren oder unmittelbaren Oszillation des Bedienelements ansteuerbar sein, wenn sich das Bedienelement in einem vorbestimmten Vermeidungs-Auslenkungsbereich befindet. Die Oszillation des Elektromotors wird dabei vorzugsweise durch schnelles Umschalten des Elektromotors erreicht, der unmittelbar mit dem Bedienelement oder mittelbar - insbesondere über ein Getriebe - mit dem Bedienelement verbunden ist.In order to make the user aware of an undesired deflection range of the operating element haptically, the electric motor can be controlled by the control device for direct or indirect oscillation of the operating element when the operating element is in a predetermined avoidance deflection range is located. The oscillation of the electric motor is preferably achieved by rapid switching of the electric motor, which is directly connected to the operating element or indirectly - in particular via a transmission - with the operating element.

Die Steuereinrichtung kann zur Ausgabe eines Steuersignals ausgebildet sein, wenn sich das Bedienelement in einem vorbestimmten Rückführungs-Auslenkungsbereich befindet, um das Bedienelement mittelbar oder unmittelbar durch den Elektromotor zu einer vorbestimmten Auslenkungsposition zu bewegen. Das von einem Nutzer unbetätigte Bedienelement wird somit im Rückführungs-Auslenkungsbereich stets zur vorbestimmten Auslenkungsposition geführt.The control device may be designed to output a control signal when the operating element is located in a predetermined feedback deflection range in order to move the operating element indirectly or directly through the electric motor to a predetermined deflection position. The unactuated by a user control is thus always guided in the return deflection range to the predetermined deflection position.

Nach einer besonders bevorzugten Weiterbildung der Erfindung kann die Bedieneinrichtung einen Kaskadenregler zur Einstellung der Elektromotorsteuerung im Vermeidungs-Auslenkungsbereich und/oder im Rückführungs-Auslenkungsbereich aufweisen.According to a particularly preferred development of the invention, the operating device may have a cascade controller for adjusting the electric motor control in the avoidance deflection region and / or in the feedback deflection region.

Der Elektromotor ist besonders präzise durch einen Stromregler der Steuereinrichtung steuerbar. Das Steuersignal der Steuereinrichtung wird in diesem Fall zur Steuerung eines Stroms zum Elektromotor verwendet, wobei der Strom mit dem Steuersignal korreliert ist.The electric motor can be controlled particularly precisely by a current regulator of the control device. The control signal of the control device is used in this case to control a current to the electric motor, wherein the current is correlated with the control signal.

Der Elektromotor kann nach einer Ausführungsform der Erfindung in Form eines Linearmotors ausgebildet sein. Nach einer alternativen Ausführungsform ist der Elektromotor in Form eines rotatorischen Motors ausgebildet. Dabei ist der Elektromotor weiter bevorzugt in Form eines bürstenlosen Elektromotors ausgebildet.The electric motor may be formed according to an embodiment of the invention in the form of a linear motor. According to an alternative embodiment, the electric motor is designed in the form of a rotary motor. In this case, the electric motor is further preferably designed in the form of a brushless electric motor.

In besonders bevorzugter Ausgestaltung der Bedieneinrichtung ist der Elektromotor in Form eines permanent magnetisieren Synchronmotors (PMSM) ausgebildet. In dieser Bauform ist der Elektromotor besonders verschleißarm und weist hohe Drehmomente bei kompakter Bauform auf. Weiter bevorzugt weist der Elektromotor eine Außenläufer-Bauform auf.In a particularly preferred embodiment of the operating device of the electric motor in the form of a permanent magnetizing synchronous motor (PMSM) is formed. In this design, the electric motor is particularly wear-resistant and has high torques in a compact design. More preferably, the electric motor has an external rotor design.

Die Ausgabe der Kraft auf das Bedienelement erfolgt bei einem rotatorischen Elektromotor vorzugsweise in Form eines Drehmoments des Elektromotors.The output of the force on the operating element takes place in a rotary electric motor, preferably in the form of a torque of the electric motor.

Die Steuerung des Elektromotors kann erfindungsgemäß dadurch noch präziser erfolgen, wenn die Steuereinrichtung zur Steuerung des Elektromotors mittels Vektorkommutierung ausgebildet ist.According to the invention, the control of the electric motor can be effected even more precisely if the control device is designed to control the electric motor by means of vector commutation.

In weiter bevorzugter Ausgestaltung der Bedieneinrichtung weist die Bedieneinrichtung keine mechanische Verrastung des Bedienelements auf.In a further preferred embodiment of the operating device, the operating device has no mechanical locking of the operating element.

Die Bedieneinrichtung kann erfindungsgemäß eine mechanische Reibbremse aufweisen, die mittelbar oder unmittelbar die Auslenkung des Bedienelements bremst. Die mechanische Reibbremse verhindert eine Positionsänderung des Bedienelements bei Stromausfall. Weiterhin erzeugt das konstante Reibmoment der mechanischen Reibbremse ein hochwertiges haptisches Gefühl beim Nutzer. Vorzugsweise ist die Bedieneinrichtung derart ausgebildet, dass das Verhalten der Reibbremse die Temperatur und den Verschleiß bei der Steuerung des Elektromotors durch die Steuereinrichtung berücksichtigt.According to the invention, the operating device may have a mechanical friction brake which indirectly or directly brakes the deflection of the operating element. The mechanical friction brake prevents a change in position of the operating element in the event of a power failure. Furthermore, the constant friction torque of the mechanical friction brake generates a high-quality haptic feeling for the user. Preferably, the operating device is designed such that the behavior of the friction brake takes into account the temperature and the wear during the control of the electric motor by the control device.

Der Elektromotor kann direkt mit dem Bedienelement verbunden, d.h. bewegungsgekoppelt, sein.The electric motor can be connected directly to the operating element, ie, it can be motion-coupled.

Alternativ dazu kann der Elektromotor durch ein Getriebe der Bedieneinrichtung mit dem Bedienelement verbunden sein. Das Getriebe kann ein Zahnrad oder mehrere Zahnräder aufweisen.Alternatively, the electric motor may be connected by a transmission of the operating device with the operating element. The transmission may have one or more gears.

Um das Spiel zwischen Elektromotor und Bedienelement zu minimieren, ist das Getriebe erfindungsgemäß vorzugsweise in Form eines Zahnriemengetriebes ausgebildet.In order to minimize the play between the electric motor and the control element, the transmission according to the invention is preferably designed in the form of a toothed belt transmission.

Das Bedienelement kann nach der Erfindung in Form eines Schwenkhebels, eines Drehgriffs, eines Schiebereglers oder auch eines Stößels ausgebildet sein.The control element may be formed according to the invention in the form of a pivot lever, a rotary handle, a slide control or a plunger.

Offenbart wird weiterhin ein nicht beanspruchtes Verfahren zur Steuerung einer zuvor beschriebenen Bedieneinrichtung mit den Verfahrensschritten:

  1. A. Ausgabe eines Steuersignals durch die Steuereinrichtung, wobei das Steuersignal durch den Elektromotor eine Unterstützungskraft der Auslenkungsbewegung des Bedienelements bewirkt, wenn das Bedienelement durch den Nutzer auf die Rastauslenkung zubewegt wird;
  2. B. Ausgabe eines Steuersignals durch die Steuereinrichtung, wobei das Steuersignal durch den Elektromotor eine Widerstandskraft der Auslenkungsbewegung des Bedienelements bewirkt, wenn das Bedienelement durch den Nutzer von der Rastauslenkung wegbewegt wird.
Disclosed is still an unclaimed method for controlling a previously described control device with the method steps:
  1. A. Output of a control signal by the control device, wherein the control signal by the electric motor causes an assisting force of the deflection movement of the operating element, when the operating element is moved by the user to the latching deflection;
  2. B. output of a control signal by the control device, wherein the control signal by the electric motor causes a resistance force of the deflection movement of the operating element when the operating element is moved away from the latching deflection by the user.

Die Steuereinrichtung erzeugt dabei vorzugsweise ein Kraftsignal, das mittelbar durch den Elektromotor eine Kraft auf das Bedienelement bewirkt, die das Bedienelement zur Rastauslenkung zieht, wenn sich das Bedienelement in einem begrenzten Rastumgebungsbereich um die Rastauslenkung befindet.The control device preferably generates a force signal which indirectly causes a force on the operating element by the electric motor, which pulls the operating element for the detent deflection when the Operating element is located in a limited detent environment around the detent displacement.

Das Kraftsignal ist vorzugsweise an Maxima im Rastumgebungsbereich am größten. Die Maxima befinden sich dabei bevorzugt beabstandet zum Rand des Rastumgebungsbereichs, wobei das Kraftsignal insbesondere vom Rand des Rastumgebungsbereichs linear zu den jeweils nächstliegenden Maxima hin ansteigt.The force signal is preferably greatest at maxima in the detent environment. The maxima are preferably spaced apart from the edge of the detent environment, wherein the force signal in particular increases linearly from the edge of the detent environment to the respective closest maxima.

Die Ausgabe des Steuersignals erfolgt vorzugsweise antisymmetrisch zur Rastauslenkung.The output of the control signal is preferably antisymmetric to the latching deflection.

Die Ausgabe des Steuersignals erfolgt vorzugsweise abhängig von der Geschwindigkeit des Bedienelements. Dabei wird weiter bevorzugt von der Steuereinrichtung ein geschwindigkeitsabhängiges Dämpfungssignal erzeugt, das mit dem Kraftsignal zu dem Steuersignal verrechnet wird. Insbesondere wird das geschwindigkeitsabhängige Dämpfungssignal zu dem Kraftsignal addiert, sodass als Ergebnis die Steuereinrichtung das Steuersignal als Summe aus Kraftsignal und geschwindigkeitsabhängigem Dämpfungssignal an den Elektromotor ausgibt.The output of the control signal preferably takes place as a function of the speed of the operating element. In this case, a speed-dependent damping signal is further preferably generated by the control device, which is offset with the force signal to the control signal. In particular, the speed-dependent damping signal is added to the force signal, so that as a result the control device outputs the control signal as the sum of the force signal and the speed-dependent damping signal to the electric motor.

Weiter bevorzugt wird das geschwindigkeitsabhängige Dämpfungssignal nur zwischen den Maxima mit dem Kraftsignal verrechnet.More preferably, the speed-dependent damping signal is only offset between the maxima with the force signal.

Vorzugsweise misst ein Bedienelement-Positionssensor der Bedieneinrichtung die Auslenkungsposition des Bedienelements, insbesondere mit einer Auflösung von mehr als 10 Bit, besonders bevorzugt mit einer Auflösung von mehr als 18 Bit.Preferably, a control element position sensor of the operating device measures the deflection position of the operating element, in particular with a resolution of more than 10 bits, particularly preferably with a resolution of more than 18 bits.

Die Steuereinrichtung ist vorzugsweise mit mehr als 5 kHz, insbesondere mit mehr als 10 kHz, getaktet.The control device is preferably clocked at more than 5 kHz, in particular at more than 10 kHz.

Zur Ermittlung der Bewegungsgeschwindigkeit des Bedienelements erfolgt bevorzugt in der Steuereinrichtung eine zeitliche Ableitung des Signals des Bedienelement-Positionssensors.In order to determine the movement speed of the operating element, a time derivative of the signal of the operating element position sensor preferably takes place in the control device.

Weiter bevorzugt erfolgt die Regelung der Rotorposition des Elektromotors auf Basis eines Signals eines Elektromotor-Positionssensors der Bedieneinrichtung.More preferably, the control of the rotor position of the electric motor is based on a signal of an electric motor position sensor of the operating device.

In einem vorbestimmten Vermeidungs-Auslenkungsbereich des Bedienelements wird der Elektromotor vorzugsweise zur mittelbaren oder unmittelbaren Oszillation des Bedienelements angesteuert.In a predetermined avoidance deflection range of the operating element, the electric motor is preferably activated for direct or indirect oscillation of the operating element.

Alternativ oder zusätzlich dazu kann der Elektromotor in einem vorbestimmten Rückführungs-Auslenkungsbereich des Bedienelements zu einer vorbestimmten Auslenkungsposition bewegt werden.Alternatively or additionally, the electric motor can be moved in a predetermined return deflection range of the operating element to a predetermined deflection position.

Die Ausgabe der Kraft auf das Bedienelement, d.h. die Ausgabe der Unterstützungskraft und der Widerstandskraft, erfolgt vorzugsweise in Form eines Unterstützungsdrehmoments bzw. Widerstandsdrehmoments des Elektromotors.The output of the force on the control, i. the output of the assisting force and the resisting force is preferably in the form of an assisting torque of the electric motor.

Die Steuerung des Elektromotors erfolgt bevorzugt mittels Vektorkommutierung.The control of the electric motor is preferably carried out by means of vector commutation.

Die Bedieneinrichtung wird weiter bevorzugt mittelbar oder unmittelbar durch eine mechanische Reibbremse der Bedieneinrichtung gebremst.The operating device is further preferably indirectly or directly braked by a mechanical friction brake of the operating device.

Weitere Merkmale und Vorteile der Erfindung ergeben sich aus der nachfolgenden detaillierten Beschreibung mehrerer Ausführungsbeispiele der Erfindung, aus den Patentansprüchen sowie anhand der Figuren der Zeichnung, die erfindungswesentliche Einzelheiten zeigt.Further features and advantages of the invention will become apparent from the following detailed description of several embodiments of the invention, from the claims and with reference to the figures of the drawing showing essential to the invention details.

Die in der Zeichnung gezeigten Merkmale sind derart dargestellt, dass die erfindungsmäßen Besonderheiten deutlich sichtbar gemacht werden können. Die verschiedenen Merkmale können je einzeln für sich oder zu mehreren in beliebigen Kombinationen bei Varianten der Erfindung verwirklicht sein.The features shown in the drawing are shown such that the features according to the invention can be made clearly visible. The various features may be implemented individually for themselves or for a plurality of combinations in variants of the invention.

Es zeigen:

Fig. 1
eine perspektivische Darstellung einer Bedieneinrichtung;
Fig. 2
eine perspektivische Darstellung einer weiteren Bedieneinrichtung;
Fig. 3a
eine perspektivische Darstellung einer weiteren Bedieneinrichtung;
Fig. 3b
eine Rückansicht der Bedieneinrichtung gemäß Fig. 3a;
Fig.4
ein Blockschaltbild einer Bedieneinrichtung;
Fig. 5a
eine schematische Darstellung einer motorischen Rastung;
Fig. 5b
eine schematische Darstellung einer mechanisch gedämpften motorischen Rastung;
Fig. 5c
eine schematische Darstellung einer Rastung mit aktiver Dämpfung;
Fig. 6a
eine schematische Auftragung eines Steuersignals im Rastumgebungsbereich, das aus einem Kraftsignal besteht; und
Fig. 6b
eine schematische Auftragung des Steuersignals gemäß Fig. 6a, das sich aus einem Kraftsignal und einem aktiven Dämpfungssignal zusammensetzt.
Show it:
Fig. 1
a perspective view of an operating device;
Fig. 2
a perspective view of another operating device;
Fig. 3a
a perspective view of another operating device;
Fig. 3b
a rear view of the operating device according to Fig. 3a ;
Figure 4
a block diagram of an operating device;
Fig. 5a
a schematic representation of a motorized detent;
Fig. 5b
a schematic representation of a mechanically damped motor detent;
Fig. 5c
a schematic representation of a detent with active damping;
Fig. 6a
a schematic plot of a control signal in the detent environment, which consists of a force signal; and
Fig. 6b
a schematic diagram of the control signal according to Fig. 6a , which is composed of a force signal and an active damping signal.

Fig. 1 zeigt eine Bedieneinrichtung 10 für Steuerungsaufgaben, mit einem manuell betätigbaren Bedienelement 12. Eine Drehung des Bedienelements 12 um seine Bewegungsachse 14, die hier in Form einer Drehachse ausgebildet ist, kann beispielsweise eine Änderung eines elektrischen Widerstandes in der Bedieneinrichtung 10 bewirken. Diese Änderung des elektrischen Widerstandes ist durch den Anschluss elektrischer Leitungen an einen - hier elektrischen - Anschluss 16 der Bedieneinrichtung ermittelbar bzw. auslesbar. Der Anschluss 16 ist dabei - wie in Fig. 1 angedeutet - mit einer von der Bedieneinrichtung 10 zu steuernden Vorrichtung 18 verbunden. Die zu steuernde Vorrichtung 18 kann beispielsweise in Form eines Antriebs eines Fahrzeugs, wie etwa eines Schiffs oder eines schienengebunden Fahrzeugs ausgebildet sein. Die Bedieneinrichtung kann grundsätzlich im aktiven Steuerbetrieb und/oder im passiven Nachführungsbetrieb eingesetzt werden. Fig. 1 shows a control device 10 for control tasks, with a manually operable control element 12. A rotation of the control element 12 about its axis of movement 14, which is here in the form of a rotation axis, for example, cause a change in electrical resistance in the operating device 10. This change in the electrical resistance can be determined or read by the connection of electrical lines to a - here electrical - connection 16 of the operating device. The connection 16 is - as in Fig. 1 indicated - connected to a device 18 to be controlled by the operating device 10. The device 18 to be controlled can be designed, for example, in the form of a drive of a vehicle, such as a ship or a rail-bound vehicle. The operating device can basically be used in active control mode and / or in passive tracking mode.

Erfindungsgemäß erhält ein Nutzer der Bedieneinrichtung 10 bei der Betätigung des Bedienelements 12 ein haptisches Feedback von einem Elektromotor 20. Im Ausführungsbeispiel gemäß Fig. 1 ist der Elektromotor 20 mit dem Bedienelement 12 unmittelbar verbunden, sodass das Bedienelement auf der Motorwelle (nicht gezeigt) des Elektromotors 20 angeordnet und mit dieser drehfest verbunden ist.According to the invention, a user of the operating device 10 receives a haptic feedback from an electric motor 20 during the actuation of the operating element 12 Fig. 1 is the electric motor 20 directly connected to the operating element 12, so that the operating element on the motor shaft (not shown) of the electric motor 20 is arranged and connected to this rotationally fixed.

Fig. 2 zeigt eine alternative Ausführungsform der Bedieneinrichtung 10. Ein Elektromotor 20 ist in dieser Ausführungsform der Bedieneinrichtung 10 mittelbar - über ein Getriebe 22 - mit dem Bedienelement 12 verbunden. Das Getriebe 22 kann insbesondere in Form eines Zahnriemengetriebes ausgebildet sein. Fig. 2 shows an alternative embodiment of the operating device 10. An electric motor 20 is in this embodiment of the operating device 10 indirectly - via a transmission 22 - connected to the control element 12. The transmission 22 may be formed in particular in the form of a toothed belt transmission.

Fig. 3a zeigt eine weitere Bedieneinrichtung 10 mit zwei Bedienelementen 12a, 12b in Form von Schwenkhebeln. Die Auslenkung des ersten Bedienelements 12a wird durch eine erste mechanische Reibbremse 24a gedämpft. Fig. 3a shows a further operating device 10 with two operating elements 12a, 12b in the form of pivoting levers. The deflection of the first operating element 12a is damped by a first mechanical friction brake 24a .

Fig.3b zeigt die Bedieneinrichtung 10 gemäß Fig. 3a in einer Rückansicht, wobei ersichtlich wird, dass das zweite Bedienelement 12b durch eine zweite mechanische Reibbremse 24b gedämpft ist. 3b shows the operating device 10 according to Fig. 3a in a rear view, wherein it can be seen that the second control element 12b is damped by a second mechanical friction brake 24b .

In Fig. 3b ist beispielhaft die Auslenkung des zweiten Bedienelements 12b, die durch einen Nutzer der Bedieneinrichtung 10 einstellbar bzw. wählbar ist, mit einem Doppelpfeil 26 gekennzeichnet. Die Auslenkung des Bedienelements 12b kann dabei in eine erste Richtung 28a und in eine der ersten Richtung 28a entgegengesetzte zweite Richtung 28b erfolgen. Zwischen den Richtungen 28a, 28b kann der Nutzer eine Rastauslenkung 30 bestimmen. Die Rastauslenkung 30 ist in Fig. 3b durch ein Kreuz angedeutet. Die Rastauslenkung 30 stellt eine Position des zweiten Bedienelements 12b dar, in der dem Nutzer der haptische Eindruck einer Verrastung bzw. eines Rastpunkts vermittelt wird. Das zweite Bedienelement 12b kann bei seiner Auslenkung mehrere Rastauslenkungen 30 aufweisen. Die Rastauslenkung 30 bzw. die mehreren Rastauslenkungen 30 wird/werden dabei nicht durch mechanische Bauteile der Bedieneinrichtung 10 im Sinne einer klassischen mechanischen Rastung erzeugt, sondern kraftbasiert bzw. drehmomentbasiert durch einen Elektromotor 20 (siehe bspw. Fign. 1 und 2) generiert. Der Elektromotor 20 ist vorzugsweise als bürstenloser Elektromotor ausgeführt. Die Steuerung des Elektromotors 20 erfolgt durch eine Steuereinrichtung, deren Funktionsweise nachfolgend in Bezug auf Fig. 4 erläutert wird.In Fig. 3b By way of example, the deflection of the second operating element 12b, which can be set or selected by a user of the operating device 10, is identified by a double arrow 26 . The deflection of the operating element 12b can take place in a first direction 28a and in a second direction 28b opposite to the first direction 28a. Between the directions 28a, 28b, the user can determine a detent 30 . The latching extension 30 is in Fig. 3b indicated by a cross. The latching deflection 30 represents a position of the second operating element 12b, in which the user is given the haptic impression of a latching or a latching point. The second operating element 12b may have a plurality of latching deflections 30 during its deflection. The locking extension 30 and the several locking deflections 30 is / are not generated by mechanical components of the operating device 10 in the sense of a classic mechanical detent, but force-based or torque-based by an electric motor 20 (see, for example. FIGS. 1 and 2 ) generated. The electric motor 20 is preferably designed as a brushless electric motor. The control of the electric motor 20 is effected by a control device whose operation is described below with respect to Fig. 4 is explained.

Fig. 4 zeigt den grundsätzlichen Aufbau einer Bedieneinrichtung 10. Die Bedieneinrichtung 10 weist einen Elektronikteil und einen Mechanikteil auf. Der Elektronikteil ist diagonal schraffiert hinterlegt. Der Mechanikteil ist mit gekreuzten Linien hinterlegt. An der Schnittstelle zwischen Elektronikteil und Mechanikteil befindet sich der Elektromotor 20. Der Mechanikteil umfasst weiterhin optional das Getriebe 22 und darüber hinaus die mechanische Reibbremse 24. Der Elektromotor 20 kann, wie vorstehend erläutert, unmittelbar oder mittelbar mit dem Bedienelement 12 mechanisch wirksam bewegbar gekoppelt sein. Das Bedienelement 12 ist durch einen Nutzer 32 betätigbar, d.h. um die in Figur 1 gezeigte Bewegungsachse 14 drehbar. Alternativ kann das Bedienelement auch entlang einer Bewegungsachse translatorisch verstellbar sein. Fig. 4 shows the basic structure of an operating device 10. The operating device 10 has an electronic part and a mechanical part. The electronic part is diagonally hatched. The mechanical part is marked with crossed lines. The mechanical part further optionally comprises the gear 22 and beyond the mechanical friction brake 24. The electric motor 20 may, as explained above, be coupled directly or indirectly with the control element 12 mechanically movable , The operating element 12 can be actuated by a user 32 , that is to say in FIG FIG. 1 shown movement axis 14 rotatable. Alternatively, the operating element can also be translationally adjustable along a movement axis.

Eine jeweilige Auslenkungsposition des Bedienelements 12 ist durch einen Bedienelement-Positionssensor 34 erfassbar. Eine jeweilige Position bzw. Drehstellung des Rotors des Elektromotors 20 ist durch einen Elektromotor-Positionssensor 36 erfassbar.A respective deflection position of the operating element 12 can be detected by a control element position sensor 34 . A respective position or rotational position of the rotor of the electric motor 20 can be detected by an electric motor position sensor 36 .

Die Informationen der Positionssensoren 34, 36 werden von einer Steuereinrichtung 38 erfasst. Die Steuereinrichtung 38 steuert den Elektromotor 20. Hierzu weist die Steuereinrichtung 38 einen Stromregler 40 und eine Vektorkommutierung 42 auf. Die Vektorkommutierung 42 ist zur Durchführung einer Pulsweitenmodulation ausgebildet. Das Ausgangssignal der Vektorkommutierung 42 wird einer Dreiphasen-H-Brücke 44 zugeführt, um letztlich den Elektromotor 20 anzutreiben.The information of the position sensors 34, 36 are detected by a control device 38 . The control device 38 controls the Electric motor 20. For this purpose, the control device 38 has a current regulator 40 and a vector commutation 42 . The vector commutation 42 is designed to carry out a pulse width modulation. The output of the vector commutation 42 is applied to a three-phase H-bridge 44 to ultimately drive the electric motor 20.

Der Elektronikteil weist weiterhin Shunts 46 auf, an denen Spannungen abfallen, die von einer Strommessung 48 erfasst und dem Stromregler 40 zur Motorregelung zugeführt werden.The electronic part further has shunts 46 , at which voltages drop, which are detected by a current measurement 48 and supplied to the current controller 40 for motor control.

Die Ausgabe der Vektorkommutierung 42 wird durch einen Mikrocontroller 50 der Steuereinrichtung 38 bestimmt. Der Mikrocontroller 50 weist einen Kaskadenregler 52 auf, der die Ausgabe des Stromreglers 40 durch eine Auswahl des Betriebsmodus - hier dargestellt durch einen Kreis 54 - bestimmt. Der Kaskadenregler 52 weist vorliegend beispielhaft drei Betriebsmodi 56a, 56b, 56c auf. Die Betriebsmodi können in der Steuereinrichtung fix vorgegeben sein bzw. variabel abgeändert werden. Befindet sich das Bedienelement 12 in einem ersten Auslenkungsbereich, so wird im Betriebsmodus 56a beispielhaft eine Rastung simuliert. Befindet sich das Bedienelement 12 in einem zweiten Auslenkungsbereich, einem sogenannten Vermeidungs-Auslenkungsbereich (verbotener Bereich) so wird gemäß Betriebsmodus 56b der Elektromotor 20 zu Oszillationen angeregt. Dem Nutzer 32 wir dadurch signalisiert, dass er sich in einem verbotenen bzw. gefährlichen Auslenkungsbereich bezüglich der Vorrichtung 18 (siehe Fig. 1) befindet. Befindet sich das Bedienelement 12 hingegen in einem dritten Auslenkungsbereich, so befindet sich der Kaskadenregler 52 im Betriebsmodus 56c, in dem das Bedienelement 12 durch den Elektromotor 20 zu einer vorbestimmten Position rückgeführt wird. Dies entspricht einer Rückführung des Bedienelements 12 in eine vorbestimmte Nullstellung. Die Zuordnung der Betriebsmodi 56a-c zu bestimmten Auslenkungsbereichen erfolgt durch eine Positionsangabe 58. The output of the vector commutation 42 is determined by a microcontroller 50 of the controller 38. The microcontroller 50 has a cascade controller 52 , which determines the output of the current regulator 40 by selecting the operating mode - represented here by a circle 54 . In the present case , the cascade controller 52 has, for example, three operating modes 56a, 56b, 56c . The operating modes can be predefined or variably changed in the control device. If the operating element 12 is located in a first deflection range, a detent is simulated by way of example in the operating mode 56a. If the operating element 12 is located in a second deflection region, a so-called avoidance deflection region (prohibited region), the electric motor 20 is excited to oscillate in accordance with the operating mode 56b. The user 32 is signaled that he is in a prohibited or dangerous deflection range with respect to the device 18 (see Fig. 1 ) is located. On the other hand, if the operating element 12 is located in a third deflection range, then the cascade controller 52 is in the operating mode 56c, in which the operating element 12 is returned by the electric motor 20 to a predetermined position. This corresponds to a return of the operating element 12 in a predetermined zero position. The assignment of the operating modes 56a-c to certain deflection ranges is effected by a position indication 58.

Das mögliche Verhalten des Bedienelements 12 im Betriebsmodus 56a wird nachfolgend anhand der schematischen Fign. 5a-c erläutert.The possible behavior of the operating element 12 in the operating mode 56a will be described below with reference to the schematic FIGS. 5a-c explained.

Fig. 5a zeigt eine fiktive Kugel 60, die in eine fiktive Rastausnehmung 62 eindringt. Die fiktive Kugel 60 und die fiktive Rastausnehmung 62 entsprechen der haptischen Rückkopplung einer erfindungsgemäßen Bedieneinrichtung 10 (siehe Fign. 1 bis 4). Fig. 5a veranschaulicht dabei den Fall, dass der Elektromotor 20 (siehe Fign. 1 bis 4) eine ungedämpfte Rastung simuliert. Die Kugel 60 schwingt dabei gefühlt um die Rastauslenkung 30. Das Rastverhalten gemäß Fig. 5a entsteht, wenn sich ein Steuersignal der Steuereinrichtung 38 (siehe Fig. 4) nur aus einem Kraftsignal zusammensetzt, das die Dämpfung der Bedieneinrichtung 10 (siehe Fign. 1 bis 4) zumindest kompensiert. Ohne Dämpfung überfährt das vom Nutzer betätigte Bedienelement 12, 12a, 12b (siehe Fign. 1 bis 4) nämlich stets die Rastauslenkung 30. Fig. 5a shows a fictitious ball 60, which penetrates into a notional recess 62 . The fictitious ball 60 and the notional recess 62 correspond to the haptic feedback of an operating device 10 according to the invention (see FIGS. 1 to 4 ). Fig. 5a illustrates the case that the electric motor 20 (see FIGS. 1 to 4 ) simulates an undamped detent. The ball 60 vibrates felt about the detent displacement 30. The latching behavior according to Fig. 5a arises when a control signal of the control device 38 (see Fig. 4 ) composed only of a force signal, the damping of the operating device 10 (see FIGS. 1 to 4 ) at least compensated. Without damping passes over the user-operated control element 12, 12a, 12b (see FIGS. 1 to 4 ) namely always the locking projection 30th

Fig. 5b zeigt die fiktive Kugel 60 und die fiktive Rastausnehmung 62 gemäß Fig. 5a für den Fall, dass die durch den Elektromotor 20 (siehe Fign. 1 bis 4) auf das Bedienelement 12, 12a, 12b (siehe Fign. 1 bis 4) wirkende Kraft die mechanische (Gesamt-)Reibung der Bedieneinrichtung 10 (siehe Fign. 1 bis 4) nicht kompensiert oder übersteigt. Die mechanische Reibung der Bedieneinrichtung 10 ist dabei durch eine stets vorhandene Lager- und Luftreibung bedingt. Darüber hinaus kann die mechanische Reibung der Bedieneinrichtung 10 durch eine mechanische Reibbremse 24a, 24b (siehe Fign. 3a und b) beabsichtigt verstärkt sein. Die fiktive Kugel 60 fühlt sich im vorliegenden Fall im Bereich der Rastauslenkung 30 nicht präzise verrastet an. Fig. 5b shows the fictitious ball 60 and the notional recess 62 according to Fig. 5a in the event that by the electric motor 20 (see FIGS. 1 to 4 ) on the operating element 12, 12a, 12b (see FIGS. 1 to 4 ) acting force the mechanical (total) friction of the operating device 10 (see FIGS. 1 to 4 ) does not compensate or exceed. The mechanical friction of the operating device 10 is conditioned by an always existing bearing and air friction. In addition, the mechanical friction of the operating device 10 by a mechanical friction brake 24a, 24b (see FIGS. 3a and b ) intends to be strengthened. The fictitious ball 60 does not feel precisely latched in the present case in the region of the latching deflection 30.

Fig. 5c zeigt die fiktive Kugel 60 und die fiktive Rastausnehmung 62 für den Fall, dass der Elektromotor 20 (siehe Fign. 1 bis 4) eine vom Bedienelement 12, 12a, 12b (siehe Fign. 1 bis 4) geschwindigkeitsabhängige aktive Dämpfung bereitstellt. Eine solche geschwindigkeitsabhängige aktive Dämpfung erzielt eine stabile und gleichzeitig präzise Rastung in der Rastauslenkung 30. Fig. 5c shows the fictitious ball 60 and the notional recess 62 in the event that the electric motor 20 (see FIGS. 1 to 4 ) one of the control element 12, 12 a, 12 b (see FIGS. 1 to 4 ) provides speed-dependent active damping. Such a speed-dependent active damping achieves a stable and at the same time precise latching in the latching deflection 30.

Fig. 6a zeigt ein Steuersignal S der Steuereinrichtung 38 (siehe Fig. 4), aufgetragen in Abhängigkeit von der Auslenkung a eines Bedienelements 12, 12a, 12b (siehe Fign. 1 bis 4). Im unmittelbaren Anschluss an die Rastauslenkung 30 wird ein linear ansteigendes Steuersignal S ausgegeben, sodass das Bedienelement 12 zur Rastauslenkung 30 hingezogen wird. Das Steuersignal S wirkt hier antisymmetrisch zur Rastauslenkung 30. Endpunkte 64a, 64b begrenzen einen Rastumgebungsbereich 66. Im Rastumgebungsbereich 66 befinden sich äquidistant zur Rastauslenkung 30 Maxima 68a, 68b. Das Steuersignal S fällt von den Maxima 68a, 68b zu den Endpunkten 64a, 64b hin linear ab. Diese Abstandspunkte 64a, 64b sind vorzugsweise gleich weit von der Rastauslenkung 30 beabstandet. Das Steuersignal S gemäß Fig. 6a besteht ausschließlich aus einem Kraftsignal K. Das Verhalten der Bedieneinrichtung 10 (siehe Fign. 1 bis 4) ist - je nach Stärke der mechanischen Reibung der Bedieneinrichtung 10 - in den Fign. 5a und 5b dargestellt. Fig. 6a shows a control signal S of the controller 38 (see Fig. 4 ), plotted as a function of the deflection a of a control element 12, 12a, 12b (see FIGS. 1 to 4 ). Immediately following the latching deflection 30, a linearly rising control signal S is output, so that the operating element 12 is attracted to the latching deflection 30. The control signal S here acts antisymmetrically to the latching deflection 30. End points 64a, 64b define a latching environment 66. In the latching environment 66, there are equidistant to the latching deflection 30 maxima 68a, 68b. The control signal S drops linearly from the maxima 68a, 68b to the end points 64a, 64b. These distance points 64a, 64b are preferably equidistant from the latching extension 30. The control signal S according to Fig. 6a consists exclusively of a force signal K. The behavior of the operating device 10 (see FIGS. 1 to 4 ) is - depending on the strength of the mechanical friction of the operating device 10 - in the FIGS. 5a and 5b shown.

Fig. 6b zeigt - wie Fig. 6a - das Steuersignal S der Steuereinrichtung 38 (siehe Fig. 4) in Abhängigkeit von der Auslenkung a des Bedienelements 12, 12a, 12b (siehe Fign. 1 bis 4). Gestrichelt ist das Kraftsignal K aufgetragen, das dem Kraftsignal K gemäß Fig. 6a entspricht. Zusätzlich zu dem Kraftsignal K zeigt Fig. 6b mit strichpunktierter Linie ein geschwindigkeitsabhängiges Dämpfungssignal D. Die durchgezogene Linie gibt das Steuersignal S wieder. Das Steuersignal S ist die Summe aus Kraftsignal K und geschwindigkeitsabhängigem Dämpfungssignal D. Das geschwindigkeitsabhängige Dämpfungssignal D wirkt nur zwischen den beiden Maxima 68a, 68b. Durch das geschwindigkeitsabhängige Dämpfungssignal D wird ein Verhalten der Bedieneinrichtung 10 (siehe Fign. 1 bis 4) gemäß Fig. 5c erzielt, bei dem das Bedienelement 12, 12a, 12b in der Rastumgebung 66 ohne Betätigung durch einen Nutzer 32 (siehe Fig. 4) präzise in der Rastauslenkung 30 verrastet. Fig. 6b shows - how Fig. 6a the control signal S of the control device 38 (see Fig. 4 ) in response to the deflection a of the operating element 12, 12a, 12b (see FIGS. 1 to 4 ). Dashed is that Force signal K applied, the force signal K according to Fig. 6a equivalent. In addition to the force signal K shows Fig. 6b dash-dotted line a speed-dependent damping signal D. The solid line is the control signal S again. The control signal S is the sum of the force signal K and the speed-dependent damping signal D. The speed-dependent damping signal D acts only between the two maxima 68a, 68b. By the speed-dependent attenuation signal D is a behavior of the operating device 10 (see FIGS. 1 to 4 ) according to Fig. 5c achieved in which the operating element 12, 12 a, 12 b in the rest environment 66 without actuation by a user 32 (see Fig. 4 ) locked precisely in the locking projection 30.

Unter Vornahme einer Zusammenschau aller Figuren der Zeichnung betrifft die Erfindung zusammenfassend eine Bedieneinrichtung 10 zur Steuerung einer Vorrichtung 18 durch einen Nutzer 32. Die Bedieneinrichtung 10 weist ein Bedienelement 12, 12a, 12b auf, das durch den Nutzer 32 auslenkbar ist, sodass die Bedieneinrichtung 10 ein elektrisches Signal erzeugt oder verändert, um die Vorrichtung 18 zu steuern. Die Bedieneinrichtung 10 weist einen Elektromotor 20 auf, der zumindest mittelbar mit dem Bedienelement 12, 12a, 12b verbunden ist. Der Elektromotor 20 ist dazu ausgebildet, die Betätigung des Bedienelements 12, 12a, 12b durch den Nutzer 32 zu unterstützen und zu bremsen. Die Bedieneinrichtung 10 weist weiterhin eine Steuereinrichtung 38 auf, die dazu ausgebildet ist, den Elektromotor 20 so zu steuern, dass der Nutzer 32 an einer voreingestellten Rastauslenkung 30 den haptischen Eindruck einer mechanischen Rastung bekommt. Die Steuereinrichtung 38 ist dabei vorzugsweise derart ausgebildet, den Elektromotor 20 so zu steuern, dass das Bedienelement 12, 12a, 12b in unmittelbarer Nähe der Rastauslenkung 30 zur Rastauslenkung 30 hingezogen wird. Der Auslenkungsbereich, in dem das Bedienelement 12, 12a, 12b zur Rastauslenkung 30 hingezogen wird, ist vorzugweise symmetrisch zur Rastauslenkung 30.Taking a synopsis of all the figures of the drawing, the invention relates in summary to an operating device 10 for controlling a device 18 by a user 32. The operating device 10 has an operating element 12, 12a, 12b, which can be deflected by the user 32, so that the operating device 10 generates or modifies an electrical signal to control the device 18. The operating device 10 has an electric motor 20 which is at least indirectly connected to the operating element 12, 12a, 12b. The electric motor 20 is designed to support and brake the actuation of the operating element 12, 12 a, 12 b by the user 32. The operating device 10 further has a control device 38, which is designed to control the electric motor 20 so that the user 32 receives the haptic impression of a mechanical detent at a preset detent displacement 30. The control device 38 is preferably designed such that the electric motor 20 is controlled so that the Operating element 12, 12a, 12b is attracted in the immediate vicinity of the latching deflection 30 to the latching deflection 30. The deflection region, in which the control element 12, 12 a, 12 b is attracted to the latching deflection 30, is preferably symmetrical to the latching deflection 30.

Claims (11)

  1. Operating device (10) for open-loop/closed-loop control of an apparatus (18), the operating device (10) comprising:
    a) an operating element (12, 12a, 12b) that can be deflected mechanically by a user (32) about/along a movement axis (14);
    b) a connector (16) for outputting an operating signal correlated with the deflection of the operating element (12, 12a, 12b) for open-loop/closed-loop control of the apparatus;
    c) an electric motor (20) for directly or indirectly applying force to the operating element (12, 12a, 12b); and
    d) a controller (38) for outputting control signals (S) for open-loop control of the electric motor (20);
    the controller (38) being designed to control the electric motor (20) at a predetermined latching deflection (30) of the operating element (12, 12a, 12b) in order to simulate latching by the controller (38) generating a force signal (K) that indirectly exerts a force on the operating element (12, 12a, 12b) by means of the electric motor (20), the force pulling the operating element (12, 12a, 12b) about/along the movement axis in the direction of the latching deflection (30) when the operating element (12, 12a, 12b) is located in a predetermined latching surrounding range (66) around the latching deflection (30), the force signal (K) being greatest at two maxima (68a, 68b) that are located in the latching surrounding range (66), characterized in that the operating device (10) is designed to indirectly and/or directly detect the movement speed of the deflection (a) of the operating element (12, 12a, 12b), and in that the controller (38) is designed to output the control signal (S) in a speed-dependent manner by offsetting a speed-dependent damping signal (D) against the force signal (K).
  2. Operating device according to claim 1, wherein the maxima (68a, 68b) are at a distance from the edge of the latching surrounding range (66).
  3. Operating device according to claim 1, wherein the operating device (10) is designed to offset the speed-dependent damping signal (D) against the force signal (K) only between the maxima (68a, 68b).
  4. Operating device according to any of the preceding claims, wherein the operating device (10) has an operating element position sensor (34) for determining the deflection (a) of the operating element (12, 12a, 12b) by means of the controller (38).
  5. Operating device according to claim 4, wherein the controller (38) is designed to determine the movement speed of the deflection (a) of the operating element (12, 12a, 12b) in order to derive the signal from the operating element position sensor (34) over time.
  6. Operating device according to any of the preceding claims, wherein the operating device (10) has an electric motor position sensor (36) for determining the rotor position of the electric motor (20), the controller (38) being designed for closed-loop control of the rotor position on the basis of the signal from the electric motor position sensor (36).
  7. Operating device according to any of the preceding claims, wherein, in a predetermined avoidance deflection range of the operating element (12, 12a, 12b), the electric motor (20) can be controlled by the controller (38) for indirectly or directly oscillating the operating element (12, 12a, 12b).
  8. Operating device according to any of the preceding claims, wherein, in a predetermined return deflection range of the operating element (12, 12a, 12b), the controller (38) is designed to output a control signal (S) in order to move the operating element (12, 12a, 12b) into a predetermined deflection position by means of the electric motor (20).
  9. Operating device according to any of the preceding claims, wherein the electric motor (20) is in the form of a brushless electric motor.
  10. Operating device according to any of the preceding claims, wherein the operating device (10) does not have a purely mechanical latching of the operating element (12, 12a, 12b).
  11. Operating device according to any of the preceding claims, wherein the operating device (10) has a mechanical friction brake (24a, 24b) that indirectly or directly brakes the deflection (a) of the operating element (12, 12a, 12b).
EP15180531.4A 2015-08-11 2015-08-11 Operating device with electromechanical haptic locking function Active EP3130978B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP15180531.4A EP3130978B1 (en) 2015-08-11 2015-08-11 Operating device with electromechanical haptic locking function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP15180531.4A EP3130978B1 (en) 2015-08-11 2015-08-11 Operating device with electromechanical haptic locking function

Publications (2)

Publication Number Publication Date
EP3130978A1 EP3130978A1 (en) 2017-02-15
EP3130978B1 true EP3130978B1 (en) 2019-07-10

Family

ID=53794144

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15180531.4A Active EP3130978B1 (en) 2015-08-11 2015-08-11 Operating device with electromechanical haptic locking function

Country Status (1)

Country Link
EP (1) EP3130978B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022207142A1 (en) 2022-07-13 2024-01-18 Robert Bosch Gesellschaft mit beschränkter Haftung Throttle twist grip system with haptic feedback for controlling a motorized two- or three-wheeler

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6481699B2 (en) * 2017-02-21 2019-03-13 マツダ株式会社 Vehicle control device
DE102019125821A1 (en) * 2019-09-25 2021-03-25 Knorr-Bremse Systeme für Schienenfahrzeuge GmbH Adjustment element, control unit and method for supporting a driver of a rail vehicle

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4205875A1 (en) * 1992-02-26 1993-09-02 Vdo Schindling Rotary selector e.g. for manual input of data in to electronic equipment - has movement of rotary input knob controlled by motor and generator with positions defined by load data in memory
US6154201A (en) * 1996-11-26 2000-11-28 Immersion Corporation Control knob with multiple degrees of freedom and force feedback
JP3920559B2 (en) * 2000-11-10 2007-05-30 アルプス電気株式会社 Manual input device
ITTO20020473A1 (en) * 2002-06-04 2003-12-04 C R F Societa Con Sortile Per COMMAND GROUP FOR THE ADJUSTMENT OF A OPLURALITY OF FUNCTIONS, PARTICULARLY FOR A VEHICLE.
JP4826357B2 (en) * 2005-07-27 2011-11-30 株式会社デンソー Manual operation device
JP2011028601A (en) 2009-07-28 2011-02-10 Kobe Steel Ltd Lever device for force feedback operation
US9050529B2 (en) 2012-01-30 2015-06-09 Microsoft Technology Licensing, Llc Force feedback triggers
DE102012024846A1 (en) 2012-12-19 2013-08-01 Daimler Ag Adjustable pedal arrangement for motor car, has locking device operatively coupled at pedals for inhibition of pedals in direction of action, and adjuster displacing pedals with respect to direction of action

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022207142A1 (en) 2022-07-13 2024-01-18 Robert Bosch Gesellschaft mit beschränkter Haftung Throttle twist grip system with haptic feedback for controlling a motorized two- or three-wheeler

Also Published As

Publication number Publication date
EP3130978A1 (en) 2017-02-15

Similar Documents

Publication Publication Date Title
WO2019106070A1 (en) Method for controlling a steer-by-wire steering system with an active return function
WO2018167005A1 (en) Estimating the rack force in a steer-by-wire system
EP3645919B1 (en) Device and method for selecting gears in motor vehicles
EP3024684B1 (en) Haptic motor-vehicle accelerator pedal having an elastically coupled actuator and method and control unit for controlling said accelerator pedal
DE102006025380B4 (en) A vehicle steering system for setting a steering response without using a difference between target and actual steering angles
EP3130978B1 (en) Operating device with electromechanical haptic locking function
EP3943368B1 (en) Generation of manual steering torque as haptic feedback in vehicle steering systems
DE102018222442A1 (en) Method for controlling a steer-by-wire steering system in a motor vehicle and steer-by-wire steering system
DE10102244A1 (en) Steer by wire system includes feedback transducer for steering feel, which simulates end stop at maximum steering displacement of steered wheels
EP3343311B1 (en) Operating lever with active feedback unit
EP3481703B1 (en) Steer-by-wire steering system having different damping as a turn is entered and exited
DE102013110848B4 (en) METHOD FOR OPERATING A STEERING SYSTEM
DE102011015696B4 (en) Method for setting at least one vehicle-specific friction value, method for adjusting at least one vehicle-specific friction value and device for adjusting at least one vehicle-specific friction value
EP1081018B1 (en) Method and apparatus for reproducing a mechanical coupling
DE102005023539B4 (en) Method for influencing a hand and steering torque in a steering system of a motor vehicle
WO2002032743A1 (en) Steering system
WO2019057650A1 (en) Method for operating a steering system
EP3652605A1 (en) Control lever comprising a sliding guide
DE10032182B4 (en) Steer-by-wire steering system
DE102006031061A1 (en) Control sense producing method for motor vehicle, involves determining desired value to control feedback actuator for steering interface to supply feedback force of steering to driver from movement condition and steering-independent data
WO2022179732A1 (en) Method for operating a vehicle, and vehicle
DE102017114593B4 (en) Device and method for selecting gears in motor vehicles
EP3980314B1 (en) Setting a vehicle steering angle with a vehicle steering system while taking into consideration dynamic variables
DE102006051776A1 (en) Vehicle steering system, has control unit that determines control value in parameter-dependant manner, where control unit is provided with wear characteristic describing wear, which is considered during determination of control moment
EP4098518A1 (en) Method for operating a steering system

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20170309

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: G05G 1/04 20060101ALN20190225BHEP

Ipc: G05G 5/06 20060101ALI20190225BHEP

Ipc: G05G 1/08 20060101ALN20190225BHEP

Ipc: G05G 5/03 20080401AFI20190225BHEP

INTG Intention to grant announced

Effective date: 20190319

RIN1 Information on inventor provided before grant (corrected)

Inventor name: RADES, NIKOLAUS

Inventor name: GSCHELAK, MATTHIAS

Inventor name: EGGENSPERGER, MARTIN

Inventor name: CRISTEA, ALEXANDER

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1154241

Country of ref document: AT

Kind code of ref document: T

Effective date: 20190715

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502015009579

Country of ref document: DE

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: NL

Ref legal event code: FP

REG Reference to a national code

Ref country code: NO

Ref legal event code: T2

Effective date: 20190710

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191010

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191111

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191011

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20191110

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190811

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190831

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190831

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200224

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20190831

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502015009579

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG2D Information on lapse in contracting state deleted

Ref country code: IS

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190811

26N No opposition filed

Effective date: 20200603

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190831

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20191010

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20191010

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20150811

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1154241

Country of ref document: AT

Kind code of ref document: T

Effective date: 20200811

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200811

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190710

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NL

Payment date: 20240821

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240827

Year of fee payment: 10

Ref country code: FI

Payment date: 20240820

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20240823

Year of fee payment: 10

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: NO

Payment date: 20240820

Year of fee payment: 10

Ref country code: IT

Payment date: 20240830

Year of fee payment: 10

Ref country code: SE

Payment date: 20240821

Year of fee payment: 10