# US 2014/0152229 A1 · Method and device for calibrating a positioner system having an electronically commutated servomotor > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0152229 A1 - Document ID: US20140152229A1 - Status: Published application - Kind: A1 - Application number: 14/005,145 - Filed: 2012-01-10 - Published: 2014-06-05 - Earliest claimed: 2011-03-15 - Assignees: Robert Bosch GmbH - Inventors: Alex Grossmann; Udo Sieber; Ralf Buehrle; Zeynep Tosun - Web page: https://patentgrep.com/patent/US20140152229A1 ## CPC - G05B 13/0265: {the criterion being a learning criterion} - F02D 11/106: {Detection of demand or actuation} - F02D 41/2438: {Active learning methods} - F02D 41/2464: {Characteristics of actuators} - G05B 6/02: electric - F02D 2200/0404: Throttle position - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - F02D: CONTROLLING COMBUSTION ENGINES (vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed B60K31/00; conjoint control of vehicle sub-units of different type or different function, road vehicle drive control systems for purposes other than the control of a single sub-unit B60W) ## Abstract A method for calibrating a positioner system that has an electronically commutated servomotor and a counterforce-loaded actuator coupled thereto includes actuating the servomotor such that a first motor magnetic field of a first strength is generated and determining a first position specification for the position of the actuator aligned to the first motor magnetic field. The servomotor is actuated such that a second motor magnetic field of a second strength is generated and a second position specification for the position of the actuator aligned to the second motor magnetic field is determined. Based on the first and the second position specifications, a position specification which indicates a position of the actuator under the assumption that the actuator is not loaded with a counterforce is determined. The determined position is allocated to a rotor position which corresponds to the direction of the first and second motor magnetic field. ## Claims ### Claim 1 A method for calibrating a positioner system including an electronically commutated servomotor and an actuator that is influenced by a counter force and is coupled to said servomotor, wherein a position of the actuator is detected in order to obtain a position variable, and wherein the servomotor is commutated in order to generate a motor magnetic field based on a rotor position that is ascertained with the aid of the position variable, said method comprising: controlling the servomotor so that a first motor magnetic field of a first magnitude is generated, and ascertaining a first position variable for the position of the actuator that is aligned with the first motor magnetic field; controlling the servomotor so that a second motor magnetic field of a second magnitude is generated, and ascertaining a second position variable for the position of the actuator that is aligned with the second motor magnetic field, wherein the directions of the first motor magnetic field and the second motor magnetic field are identical; based on the first position variable and the second position variable, ascertaining a position variable that indicates a position of the actuator under the assumption that the actuator is not influenced by a counter force; and allocating the ascertained position variable to a rotor position that corresponds to the direction of the first motor magnetic field and second motor magnetic field. ### Claim 2 (depends on 1) The method as claimed in claim 1, wherein the position variable that indicates a position of the actuator under the assumption that the actuator is not influenced by a counter force is ascertained for the position of the actuator for the actuator that is not influenced by a counter force by extrapolation of the first position variable and the second position variable. ### Claim 3 (depends on 2) The method as claimed in claim 2, wherein the extrapolation is performed at a point where the magnitude of the motor magnetic field corresponds to zero or almost zero. ### Claim 4 (depends on 1) The method as claimed in claim 1, wherein the servomotor is configured to be controlled with the aid of phase voltages, wherein the magnitude of the motor magnetic field is ascertained by a duty cycle of phase voltages that are applied to the servomotor and/or wherein the direction of the motor magnetic field is ascertained by the ratio of the phase voltages. ### Claim 5 (depends on 1) The method as claimed in claim 1, wherein the direction of the first motor magnetic field and the second motor magnetic field is circular and wherein several allocations of the respective ascertained position variable are made to the rotor positions that correspond to the directions of the first motor magnetic field and the second motor magnetic field. ### Claim 6 A device for calibrating a positioner system including an electronically commutated servomotor and an actuator that is influenced by a counter force and is coupled to said servomotor, wherein a position of the actuator is detected in order to obtain a position variable, and wherein a commutation of the servomotor is performed in order to generate a motor magnetic field based on a rotor position that is ascertained with the aid of the position variable, the device being configured: to control the servomotor in such a manner that a first motor magnetic field of a first magnitude is generated, and to ascertain a first position variable for the position of the actuator that is aligned with the first motor magnetic field; to control the servomotor in such a manner that a second motor magnetic field of a second magnitude is generated, and to ascertain a second position variable for the position of the actuator that is aligned with the second motor magnetic field, wherein the directions of the first motor magnetic field and the second motor magnetic field are identical; based on the first position variable and the second position variable, to ascertain a position variable that indicates a position of the actuator under the assumption that the actuator is not influenced by a counter force; and to allocate the ascertained position variable to a rotor position that corresponds to the direction of the first and second motor magnetic field. ### Claim 7 A positioner system, comprising: an electronically commutated servomotor; an actuator that is influenced by a counter force and is coupled to the servomotor; a position detector configured to detect a position of the actuator and to provide a position variable that indicates the position of the actuator; a control device configured to implement a commutation of the servomotor in order to generate a motor magnetic field based on the rotor position that is ascertained with the aid of the position variable; and a device configured to calibrate the positioner system, wherein the device causes the control device: to control the servomotor in such a manner that a first motor magnetic field of a first magnitude is generated, and to ascertain a first position variable for the position of the actuator that is aligned with the first motor magnetic field; and to control the servomotor in such a manner that a second motor magnetic field of a second magnitude is generated, and to ascertain a second position variable for the position of the actuator that is aligned with the second motor magnetic field, wherein the directions of the first motor magnetic field and the second motor magnetic field are identical; and wherein the device is configured: based on the first position variable and the second position variable, to ascertain a position variable that indicates a position of the actuator under the assumption that the actuator is not influenced by a counter force; and to allocate the ascertained position variable to a rotor position that corresponds to the direction of the first motor magnetic field and second motor magnetic field. ### Claim 8 (depends on 6) The device of claim 6, further comprising a computer program product that comprises a program code that causes the device to implement a method to calibrate the positioner system if it is implemented on a data processing unit ### Claim 9 (depends on 2) The method as claimed in claim 2, wherein the position variable that indicates a position of the actuator under the assumption that the actuator is not influenced by a counter force is ascertained for the position of the actuator for the actuator that is not influenced by a counter force by linear extrapolation of the first position variable and the second position variable.