JP3309542B2 - Vehicle air conditioner - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle for processing a plurality of physical quantities related to a heat load required for air conditioning, such as an outside air temperature and an amount of solar radiation, based on a system control theory (modern control theory) to air-condition a vehicle interior to a target temperature. The present invention relates to an air conditioner.

[0002]

2. Description of the Related Art A vehicle interior temperature set value, an actual vehicle interior temperature,
2. Description of the Related Art There is known a vehicle air conditioner that controls a blowing temperature and a blowing air amount based on an outside air temperature and a solar radiation amount and air-conditions a vehicle interior to a target temperature (for example, Nissan Motor Co., Ltd. New Model Manual (Y32-1)). See June 1991). In this type of device, as shown in FIG. 12, a vehicle interior temperature set value Tptc set by a room temperature setting device, a vehicle interior temperature Tinc detected by an internal temperature sensor, a solar radiation amount Qsun detected by a solar radiation sensor, and The outside air temperature Tamb detected by the outside air temperature sensor is input to the controller 1, and the difference between the set temperature Tptc and the actual vehicle interior temperature Tinc, the amount of solar radiation Qsun, and the outside air temperature Tam
b and the set temperature Tptc are respectively multiplied by experimentally obtained control constants K10 to K13 to calculate a control command value. The control units 1a and 1b control the air conditioner unit 2, that is, the air mix door opening X and The blower drive voltage Vf is determined, and the air conditioner unit 2 including a heater core, an evaporator, an air mix door, a blower, a ventilator, a defroster, a foot outlet, each outlet door, and the like is controlled to set a target outlet temperature To and a target outlet air volume Ga. The air conditioning of the passenger compartment 3 is performed.

[0003]

However, if air conditioning is performed when the outside air temperature is low, the state where the vehicle interior temperature Tinc is high continues for a long time, which may give the passenger a feeling of haze. In such a case, when the fresh vent door is opened by the occupant and cool air is introduced from the ventilator, the airflow in the vehicle interior changes and the cool air comes into contact with the internal air temperature sensor, and as shown in FIG. , The detected value of the vehicle interior temperature Tinc greatly changes. by this,
There is a problem that the blowing temperature To suddenly rises or the blowing air amount Ga suddenly increases, giving an uncomfortable feeling to the occupant.

[0004] It is an object of the present invention to provide a vehicle in which even if the temperature detected by an internal temperature sensor suddenly changes due to a disturbance factor, a rapid change in the blow-out temperature and the blow-off air volume can be suppressed and stable air conditioning can be continued. It is an object of the present invention to provide an air conditioner for air conditioning.

[0005]

The present invention will be described with reference to FIG. 3 showing an embodiment. The invention according to claim 1 comprises means for adjusting the temperature of the conditioned air and adjusting the amount of the conditioned air blown out. Air conditioning unit 10 having means for adjusting the outlet of the conditioned air; generating a target value to be temporally changed from at least one of a plurality of physical quantities relating to a heat load required for vehicle interior air conditioning control. Target value generating means 4
1, a temperature detecting means for detecting a vehicle interior temperature, an estimation means 42 for estimating an unmeasurable or difficult to measure physical quantity including a vehicle interior temperature among a plurality of physical quantities, and calculating an optimum value of a control constant, Calculating means 44 for calculating the control amounts of the temperature adjusting means, the air volume adjusting means and the outlet adjusting means based on the target value, the estimated physical quantity, and the measurable physical quantity including the detected value of the cabin temperature by the temperature detecting means; the arithmetic unit 44 and the air conditioning control unit 30 and a linear compensation unit 43 for linear operation; a vehicle air-conditioning apparatus provided with a temperature
The vehicle interior temperature detected value by the degree detecting means and the estimating means 42
If the difference from the estimated vehicle interior temperature exceeds a predetermined value, the vehicle
Disturbance into the air conditioning control system of vehicles equipped with
When the detection means 30 detects the intrusion of disturbance into the air-conditioning control system by the calculating means 44, the estimation means 42 replaces the temperature detected by the temperature detection means. The above object is achieved by calculating the control amount using the estimated temperature value. Further, the invention according to claim 2 is a means for adjusting the temperature of the conditioned air,
Means for adjusting the amount of air blown out, and air-conditioned air blowout
The air conditioning unit 10 and a means for adjusting the mouth; cabin
Of multiple physical quantities related to the heat load required for internal air conditioning control
Generate at least one target value to be changed over time
Target value generating means 41 for detecting the vehicle interior temperature
Detecting means and measurement including vehicle interior temperature among a plurality of physical quantities
Estimating means 42 for estimating an impossible or difficult to measure physical quantity
And the optimal value of the control constant is calculated, and the target value, estimated physical quantity,
Including the detected value of the cabin temperature by the
Temperature adjustment means and air volume adjustment means based on determinable physical quantities
Calculating means for calculating the control amount of the outlet adjusting means
And 44, linear compensation hand for linear operation the calculation means 44
Air conditioning control means 30 having a step 43;
An air conditioner, which is manually operated while the vehicle air conditioner is operating.
When the speed of the lower fan is switched, the vehicle air conditioner
Recognizes that disturbance has entered the air conditioning control system of a vehicle equipped with
The calculating means 44 includes the detecting means 30
When it detects that disturbance has entered the air conditioning control system,
Estimating means 4 in place of the cabin temperature detected value by the temperature detecting means
The control amount is calculated by using the cabin temperature estimated value obtained by the method 2
Thereby, the above object is achieved.

[0006]

According to the vehicle air conditioner of the present invention, a target value of a physical quantity relating to a heat load required for vehicle interior air conditioning control to be temporally changed and an estimation of an unmeasurable or difficult-to-measure physical quantity including a vehicle interior temperature. The control amounts of the temperature control means, the air flow control means, and the outlet control means are calculated based on the values and the measurable physical quantities including the detected value of the vehicle interior temperature, and each control means is controlled in accordance with these control amounts to control the vehicle. Is operated. When the air conditioning control system of this vehicle is operating , the difference between the detected cabin temperature value and the estimated cabin temperature value is
Recognizes that disturbance has entered the air conditioning control system when it exceeds a certain value
Then, the control amount is calculated using the estimated value of the vehicle interior temperature instead of the actual detected value of the vehicle interior temperature. As a result, even if the actual detected value of the vehicle interior temperature changes suddenly due to the inclusion of disturbance, various control amounts are calculated using the stable estimated value of the vehicle interior temperature, so the control amount itself changes suddenly. Without this, abrupt changes in the blowing temperature and the blowing air volume due to disturbance are suppressed, and stable air conditioning can be continued. Claims
In vehicle air conditioner 2, the heat load required for vehicle interior air conditioning
Target values to be changed over time for physical quantities related to loads,
Unmeasurable or difficult to measure physical quantities including vehicle interior temperature
Estimated values and measurable physical quantities including detected values of cabin temperature
Temperature adjusting means, air volume adjusting means and blowing
The control amount of the mouth adjusting means is calculated, and according to these control amounts,
The air conditioning control system of the vehicle is operated
You. When the air conditioning control system of this vehicle is operating,
Blower fan speed switch manually during air conditioner operation
When it is obtained, it recognizes that disturbance has entered the air conditioning control system, and
Use the estimated value of the cabin temperature instead of the actual detected value of the interior temperature
To calculate the control amount. As a result, the
Even if the actual detected value of the cabin temperature changes suddenly,
Various controlled variables are calculated using the estimated value of the vehicle interior temperature
Because the control amount itself does not change suddenly,
Abrupt changes such as temperature and air volume are suppressed and stable
Air conditioning can be continued.

[0007] In the means and means for solving the above-mentioned problems which explain the configuration of the present invention, the drawings of the embodiments are used to facilitate understanding of the present invention. However, the present invention is not limited to this.

[0008]

FIG. 1 is a functional block diagram showing the configuration of one embodiment, and FIG. 2 is a sectional view of an air conditioning unit of one embodiment. First, in FIG. 2, an outside-air-side suction port 1 and a inside-air-side suction port 12 are provided upstream of the air-conditioning unit 10, and the intake door 13 adjusts the ratio of outside air and inside air to be sucked. The air sucked from both the suction ports 11 and 12 is blown to the downstream of the air conditioning unit 10 by the blower fan 14,
First, heat is exchanged by the evaporator 15 to produce cool air. The amount Ga of the conditioned air blown from the outlet of the air conditioning unit 10 is determined substantially by the rotation speed of the blower fan 14. Downstream of the evaporator 15, the flow path of the conditioned air is divided into two. One is a flow path 17 passing through the heater core 16, and the air passing through the flow path 17 undergoes heat exchange by the heater core 16 to become hot air. The other is a flow path 18 that bypasses the heater core 16, and the air passing through the flow path 18 is cold air that has passed through the evaporator 15. An air mix door 19 is provided at a branch point of these two flow paths 17 and 18, and the ratio of the air passing through both flow paths 17 and 18 is adjusted by controlling the opening degree of the air mix door 19,
The temperature of the conditioned air, that is, the blowing temperature To is determined.

The conditioned air whose blowing temperature To has been adjusted by the air mix door 19 is blown into the vehicle interior from a ventilator 20, a defroster 21 and a foot outlet 22 respectively. These outlets 20, 2
Vent door 23, differential door 24,
A foot door 25 is provided, and a blowing direction of the conditioned air is selected. The ventilator 20 is the center vent 20
a, a rear vent 20b, a side vent 20c, and a lower vent 20d. The defroster 21 is branched into outlets such as a front defroster 21a and a side defroster 21b. The foot outlet 22 is branched into a front foot outlet 22a and a rear foot outlet 22b. The fresh vent passage 26 is a passage for directly guiding the cool air that has passed through the evaporator 15 to the ventilator 20, and when the fresh vent door 27 is opened by the occupant during heating operation in order to eliminate the feeling of mist on the head, the cool air is ventilated by the ventilator 2.
0 is introduced.

In FIG. 1, an operation panel 31 of an air conditioner is provided on an instrument panel of a vehicle. The operation unit 31 includes an air conditioner switch, a fan switch, an outlet switch, a defrost switch, an inside / outside air changeover switch, a display device, and the like. The room temperature setting device 32 is a setting device that sets the vehicle interior setting temperature Tptc. Also,
The vehicle is provided with a sensor for detecting the air temperature of each part. The outside air temperature sensor 33 detects the outside air temperature Tamb, the inside air temperature sensor 34 detects the vehicle interior temperature Tinc, and the solar radiation sensor 35 detects the solar radiation Qsun. Further, the suction temperature sensor 36 detects the temperature Tint of the air passing through the evaporator 15, the refrigerant temperature sensor 37 detects the refrigerant temperature Teva at the inlet of the evaporator 15,
The water temperature sensor 38 detects the engine cooling water temperature Tw.

The controller 30 is composed of a microcomputer and its peripheral parts, and various operation information from an operation unit 31, a vehicle interior set temperature Tptc set by a room temperature setter 32, and an outside air temperature Tamb detected by sensors 33 to 38. , Car interior temperature Tinc, solar radiation Q
sun, air temperature Tint, refrigerant temperature Teva, cooling water temperature Tw, etc., the compressor 39, the intake door actuator 13m, the air mix door actuator 19m, the vent door actuator 23
m, differential door actuator 24m, foot door actuator 25m, fresh vent door actuator 27m, blower fan drive circuit 14d and motor 1
4m is controlled. The air mix door actuator 19m and the fresh vent door actuator 27
Each of m has a built-in opening sensor 19s and 27s for converting the door opening X into a resistance value and outputting the resistance value.

FIG. 3 is a control block diagram of one embodiment.
The controller 30 includes a reference model 41, an observer 42, a linear compensator 43, and an optimal regulator 44 which are configured in a software form described later.
Based on n, the outside air temperature Tamb, the vehicle interior temperature set value Tptc, the vehicle interior temperature Tinc, and the like, the control amount, that is, the air mix door opening X, the blower driving voltage Vf, and the like are calculated, and the above-described air conditioning unit 10 is controlled.

Further, the controller 30 executes a control program to be described later, estimates the vehicle interior temperature Tinc by the observer 42, and estimates the vehicle interior temperature Tinc ^S.
And when the difference between the detected temperature Tinc of the vehicle interior temperature detected by the internal temperature sensor 34 is 3 ° C. or more, various control amounts are calculated using the vehicle interior temperature estimated value Tinc ^S estimated by the observer 42, The air conditioning unit 10 is controlled.

In the reference model 41, the change of the blow-off air volume Ga and the blow-off temperature To over time and the environment due to the comfortable feeling of human being are expressed by the following equation, and the vehicle interior temperature set value Tptc is changed. The target skin temperature Tf ^* and the target vehicle interior temperature Tinc ^* are calculated. These target skin temperature Tf ^* and target vehicle interior temperature Tinc ^*
Is to determine a comfortable air-conditioning temperature in a steady state and at the same time, to determine a degree of change in the temperature in accordance with the comfort of the occupant even during a transition until reaching the target temperature.

## EQU00001 ## dTinc ^* / dt = Ar.Tinc ^* + Br.Tptc

DTf ^* / dt = Af · Tf ^* + Bf · Tptc where Ar, Br, Af and Bf are coefficient matrices.

FIG. 4 is a time chart showing the result of air conditioning (solid line) by the vehicle air conditioner according to the present invention and the result of air conditioning (broken line) by the conventional device.
Shows the time when the set temperature Tptc is lowered, and FIG.
2 shows when the set temperature Tptc is increased. In the conventional air conditioner, the transient change in the vehicle interior temperature Tinc when the set temperature Tptc is changed is determined by the control amount of the controller 30, and the transient state does not always satisfy the comfort of the occupant. In the air conditioner of the present invention, the target skin temperature Tf ^* and the target vehicle interior temperature Tinc ^* according to the time change and the environmental change are determined in the reference model 71. The air conditioning temperature that suits the feeling is set.

FIG. 5 is a control block diagram showing the structure of the observer 42. In the following, symbols and the like in the control block diagram are displayed according to a general notation of system control (modern control), and description thereof will be omitted. In the figure, reference numeral 42a denotes an actual system to be controlled, and fixed coefficient matrices Ao, Bo, C
Assume a linear time-invariant system (fixed coefficient system) with o. The observer 42 has an estimated model of the air-conditioning system 42a to be controlled which is identified in advance, and a measurable interior temperature Yo (= Tinc) and an estimated interior temperature Yo ^S (= Tin) output from the identified model.
By feeding back tinc ^S) and the deviation (Yo-Yo ^S), unmeasurable or difficult to measure the body temperature Tm shown in FIG. 6, such as to estimate the balloon air volume Ga, these estimates and opening sensor 19s The current skin temperature Tf and the blowing temperature To are estimated based on the air mix door opening X and the like detected by the above.

The state equation and output equation of the system 42a to be controlled are expressed as follows.

## EQU3 ## dXo / dt = Ao.Xo + Bo.U

## EQU4 ## where Xo is a state variable vector, and Xo = [T
m, Tinc, Ga, X] ^T and U is a control command value vector. Body temperature Tm estimated by the previously identified estimation model, when the estimated value of the state variable Xo blowing air volume Ga and the air mix door opening degree X and Xo ^S, estimation model can be expressed by the following equation.

## EQU5 ## dXo ^S / dt = Ao · Xo ^S + Bo · U

Yo = Tinc ^S = Co · Xo ^S where Xo ^S = [Tm ^S , Tinc ^S , Ga ^S , X ^S ] ^T ,
Tm ^S is an estimated value of the vehicle body temperature Tm, Tinc ^S is an estimated value of the vehicle compartment temperature Tinc, Ga ^S is an estimated value of the blowing air volume Ga, and X ^S is an estimated value of the air mix door opening X.
Coefficient matrix Ao, variation or Bo, for converging the estimated error eo of each state variable generated by the disturbance of the (= Xo ^S -Xo) to 0, by adding the estimation model feedback as shown in FIG. 5, an observer 42 Is expressed as follows.

DXo ^S / dt = Ao · Xo ^S + Bo · U + F ·
(Yo-Yo ^S) where, F is a feedback coefficient Matorisukusu.

As described above, the vehicle interior temperature T
When the state of high inc continues for a long time, the occupants manually open the fresh vent door 27, open the window panel,
When the blower fan speed is switched or the outlet is switched, the airflow in the vehicle interior changes and cold air comes into contact with the internal temperature sensor 34, and the detection value Tinc of the vehicle interior temperature detected by the internal temperature sensor 34 greatly changes. If the air conditioning control is performed based on the detected value Tinc of the vehicle interior temperature which has suddenly changed due to such a disturbance factor, the outlet temperature To suddenly increases or the outlet air amount Ga suddenly increases, so that the occupant feels uncomfortable. give. Therefore, in this embodiment, when the detection value Tinc of the inside air temperature sensor 34 suddenly changes due to the above-described disturbance factors, it is assumed that the control amounts such as the outlet temperature To and the outlet air amount Ga suddenly change. In order to suppress the air-conditioning, the air-conditioning control is performed using the vehicle interior temperature estimated value Tinc ^S estimated by the observer 42 instead of the vehicle interior temperature detection value Tinc detected by the internal air temperature sensor 34.

As described above, in the observer 42,
The vehicle body that cannot be measured or is difficult to measure by feeding back a deviation between the estimated value Tinc ^S of the vehicle interior temperature output from the estimation model of the control target system 42a and the actual vehicle interior temperature Tinc detected by the internal temperature sensor 34. The temperature Tm, the skin temperature Tf, the blowing temperature To and the like are estimated. In other words, these estimated values are values estimated under the condition that the estimated value Tinc ^{S of the} cabin temperature output from the estimation model matches the detected value Tinc of the cabin temperature. However, when the detection value Tinc of the inside air temperature sensor 34 changes rapidly due to the above-mentioned disturbance factors, the vehicle interior temperature detection value Tinc and the estimated value Tic are used.
A large difference occurs transiently with nc ^S. The observer 42 estimates the vehicle body temperature Tm, the skin temperature Tf, the blowout temperature To, and the like using the detected vehicle interior temperature Tinc, and obtains the optimum regulator 44 and the linear compensator 43.
When the control amounts of the air mix door actuator 19m, each of the outlet door actuators 23m, 24m, 25m, the blower fan 14 and the like are calculated, the control amount changes abruptly, and the blowout temperature To and the blowout air amount Ga suddenly change. Change. Therefore, in this embodiment, if the difference between the estimated value Tinc ^S and the detection value Tinc, for example more than 3 degrees C in the passenger compartment temperature, rapid detection value Tinc the cabin temperature of the inside air temperature sensor 34 due to disturbance factors It is determined that the vehicle interior temperature has changed, and the vehicle interior temperature is estimated by the following procedure and output to the optimal regulator 44 and the linear compensator 43. It should be noted that the temperature difference serving as a criterion for determination is not limited to the above embodiment.

First, based on the air-mix door opening X detected by the opening sensor 19s and the blower driving voltage Vf applied to the blower fan 14, the blow-off air volume Ga and the blow-off temperature To are calculated by the following equations. .

Ga = A.Vf + B To = A.X + B where A and B are control constants. Next, based on the outside air temperature Tamb detected by the outside air temperature sensor 33, the insolation Qsun detected by the insolation sensor 35, and the vehicle interior temperature Tinc detected by the inside air temperature sensor 34, the vehicle body temperature Tm is calculated by the following equation. I do.

DTm / dt = Am1 (Tamb−Tm) + A
m2 (Tm−Tinc) + Am3 · Qsun Here, Am1, Am2, and Am3 are control constants.

Further, the calculated vehicle body temperature Tm and the blown air amount Ga, the blowout temperature T calculated by the equation (8)
Based on o and the vehicle interior temperature Tinc detected by the internal temperature sensor 34, the vehicle interior temperature is estimated by the following equation.

DTinc ^S / dt = Ar1 (Tm−Tin
c ^S ) + Ar2 · Cp · γ · Ga · (To-Tinc ^S )
+ Ar3 · Qsun + F (Tinc ^S −Tinc) where Cp is the specific heat of air, γ is the specific gravity of air, and F is the feedback gain of the observer 42. The estimated vehicle compartment temperature Tinc ^S thus estimated is output to the optimal regulator 44 and the linear compensator 43 to perform air conditioning control. Incidentally, the estimated value Tinc ^S of cabin temperature outputted from the estimated model observer 42, if the difference between the detected value Tinc by the inside air temperature sensor 34 is less than 3 ° C, the detected vehicle by an inside air temperature sensor 34 Room temperature T
Inc is output to the optimal regulator 44 and the linear compensator 43 to perform air conditioning control.

Incidentally, the system to be controlled in the air conditioner is non-linear, and it is difficult to make the optimum regulator 44 described later to operate non-linearly. Therefore, linearization compensation is performed by the linear compensator 43. The linear compensator 43 is configured as shown in FIG.
As shown in (a), it is constituted by nonlinear state feedback and nonlinear state feedforward. That is,

U = f (X, t) + g (X, t) · U where U = [u1, u2] ^T , where u1 is a control command value for determining the blower voltage, and u2 is a blowout temperature. This is the control command value to be determined. Also, f
(X, t) is a nonlinear feedback function, g (X, t)
Is a non-linear feedforward function. U to Y are linearized by Expression 11 and converted as shown in FIG.
(B)).

DY / dt = A1.Y + B1.U where A1 and B1 are coefficient matrices.

The optimal regulator 44 is based on the reference model 41
In order to follow the target value, the optimum value of the control constant for achieving both the response and the stability is calculated using the evaluation function J, and the control amount is determined. The evaluation function J is represented by the following equation.

J = １３W1 · (ΔTinc) ² + W2 ·
(ΔTf) ² + W3 · (du1 / dt) ² + W4 · (du
2 / dt) ² ｝ dt Here, ΔTinc is the deviation between the cabin temperature Tinc and its target value Tinc ^* , ΔTf is the deviation between the occupant's skin temperature Tf and its target value Tf ^*, and du1 / dt is the blower driving voltage. Du2 / dt is a time differential value indicating the sharpness of the change in the control command value for determining the Vf, and W2 / W is the time differential value indicating the sharpness of the change in the control command value for determining the outlet temperature To.
2, W3 and W4 are weighting factors. ∫ indicates an integral operation from 0 to ∞. In the above equation, ΔTf represents a local thermal sensation at a site where solar radiation or blowing wind hits, and du1 / d
t and du2 / dt are blower noise, blowout air volume,
It indicates the feeling of change in the blowing temperature. These ΔTinc, ΔT
f, du1 / dt and du2 / dt are main parameters that affect the comfort of the occupant. In order to comprehensively evaluate the feeling of comfort, first, weighting factors W1 and W of each parameter are used.
2, W3 and W4 are determined.

From the above equations 1, 2 and 12, an expansion system as shown in the following equation is constructed.

DE / dt = Ae · E + Be · dU / dt where E = [dY / dt, e, dXr / dt] ^T , Ae and Be are coefficient matrices, and e is a deviation vector (e = Yr -Y). In Equation 14, the control law that minimizes the evaluation function J is expressed by the following equation.

## EQU15 ## dU / dt = K1.dY / dt + K2.e +
K3 · dXr / dt Here, K1, K2, and K3 are control constant matrices. The time differential value dU / of the control command value vector of Expression 15
In order to make dt as small as possible and follow the target value, control constants K1, K2 and K3 are determined by the following equations.

(K1, K2, K3) =-R ^-1 Be ^T P Here, R is a weight coefficient matrix, and P is a matrix solution of the following Riccati equation.

[Equation 17] Ae ^T · P + P · Ae + Q−P · Be · R ⁻¹
* Be ^T * P = 0 Here, Q is a weight coefficient matrix. in this way,
By setting the weight coefficient matrices Q and R, the control constants K1, K2 and K3 are determined according to a predetermined algorithm. The control constants K1, K2 determined by the above equations,
The optimal control command value vector U, that is, the control amount of the air-conditioning unit 10 is determined by substituting K3 into Equation 15 and integrating.

[Expression 18] U = K1 · Y + K2 · ∫edt + K3 · Xr
+ {U (0) -K1.Y (0) -K3.Xr (0)} where U (0), Y (0) and Xr (0) are the control command value, output and state variable, respectively. This is the initial value.

FIG. 8 is a control block diagram showing the configuration of the optimum regulator 44 designed in this way. FIG. 9 is a time chart showing a process of calculating the control command value of the optimal regulator 44. Optimal regulator 44
Difference, as shown at time t3 in FIG. 9, and the calculated target vehicle interior temperature Tinc ^* and the target skin temperature Tf ^* in the reference model 41, the estimated value Tf ^S of the actual cabin temperature Tinc and skin temperature The control amount of the air conditioning unit 10 is determined so that the area of the air conditioner is minimized. That is, based on the evaluation function J for evaluating the comfort of the occupant, the responsiveness and stability under all conditions are ensured, and the air conditioning unit 10 is set to the temperature target value of the reference model 41 that matches the comfort of the occupant. Control. Note that, as described above, the optimal regulator 44
Is linearized by the linear compensator 43.

FIGS. 10 to 11 are flowcharts showing the main program of the air conditioning control. The operation of the controller 30 will be described with reference to this flowchart. The microcomputer of the controller 30 starts executing the control program when the main switch of the operation unit 31 is turned on. In step S1, the vehicle interior temperature set value Tptc set by the room temperature setting device 32 is input, and the target skin temperature Tf ^* and the target vehicle interior temperature Tin to be changed with time in the reference model 41 in accordance with the comfort of the occupant.
c ^* are calculated and output to the optimal regulator 44. In step S2, the estimated value Tinc ^S of the vehicle interior temperature output from estimation model observer 42 during the previous run of the control program, an inside air temperature sensor 34
Is compared with the detected value Tinc of the vehicle interior temperature, and it is determined whether or not the difference between them is 3 ° C. or more.
If there is a difference, the process proceeds to step S3; otherwise, the process proceeds to step S6. Since the first time execution of the control program unsolicited estimate Tinc ^S of cabin temperature, the process proceeds to step S6.

When the difference between the estimated value Tinc ^S of the vehicle interior temperature by the observer 42 and the detected value Tinc of the vehicle interior temperature by the internal temperature sensor 34 is 3 ° C. or more, the detection of the internal temperature sensor 34 by the above-mentioned disturbance causes. Value Ti
It is determined that nc has fluctuated, and the vehicle interior temperature is estimated in the following procedure. First, in step S3, the blowing temperature To and the blowing air amount Ga are calculated by Expression 8. In a succeeding step S4, the vehicle body temperature Tm is calculated by Expression 9.
In step S5, it estimates the vehicle interior temperature by equation 10, and outputs the estimated value Tinc ^S to the optimum regulator 44 and a linear compensator 43. At this time, the estimated value Tf ^S of the skin temperature estimated by the observer 42 during the previous execution of the control program is also output to the optimal regulator 44 and the linear compensator 43. On the other hand, when the difference between the vehicle interior temperature estimated value Tinc ^S by the observer 42 and the vehicle interior temperature detected value Tinc by the internal temperature sensor 34 is less than 3 ° C., the normal skin temperature Tf ^S is estimated by the observer 42. . In step S6, the measurement impossible or difficult to measure the body temperature Tm, such as estimating the balloon air volume Ga, optimal regulator 44 and a linear compensator predictive value Tf ^S predicts the current skin temperature on the basis of these estimates 4
Output to 3.

[0028] In step S7, the optimal regulator 44, the target value of the reference model 41, based on the estimated skin temperature estimated value Tf ^S by observer 42, and the measured cabin temperature Tinc or estimates thereof Tinc ^S, The deviation from the target value and the amount of change in the control amount are calculated, the optimal control constant for following the target value is calculated by the evaluation function J, the control amount is determined and output to the linear compensator 43. In step S8, the control amount from the optimal regulator 44 is linearized by the linear compensator 43, and in step S9, the linearized control amount is
Output to The air conditioning unit 10 drives and controls the actuators 23m, 24m, and 25m of the air mix door 19 and each of the outlet doors in accordance with the control amount, and controls the drive of the blower fan 14 to air-condition the passenger compartment 45.

In the above-described embodiment, the vehicle interior temperature estimated value Tinc ^{S obtained} by the observer 42 and the vehicle interior temperature detected value Tinc obtained by the internal air temperature sensor 34 are compared.
Calculating the vehicle interior temperature estimated value it is determined that the detection value Tinc of the inside air temperature sensor 34 due to disturbance factors when there differences in both example 3 ° C or more is varied, but so as to continue the air conditioning control, warm When the occupant manually switches the speed of the floor fan during the chamber operation, the vehicle interior temperature estimated value may be calculated to perform the air conditioning control .

In the configuration of the above embodiment, the air mix door 19 and the actuator 19m serve as temperature control means, and the blower fan 14 and the blower fan drive circuit 14d.
And the motor 14m provide the air volume adjusting means, the vent door 2
3, the actuator 23m, the differential door 24, the actuator 24m, the foot door 25, and the actuator 25m, the outlet adjusting means, the air conditioning unit 10 the air conditioning unit, the reference model 41 the target value generating means, and the inside air sensor 34 the temperature detection. The means, the observer 42 constitutes the estimation means, the optimal regulator 44 constitutes the calculation means, the linear compensator 43 constitutes the linear compensation means, and the controller 30 constitutes the detection means and the air conditioning control means.

[0031]

As described above, according to the present invention, a target value to be temporally changed of a physical quantity relating to a heat load necessary for air-conditioning control of a vehicle interior, and a measurement including a vehicle interior temperature which is impossible or difficult to measure. The control amounts of the temperature control means, the air flow control means and the outlet control means are calculated based on the estimated physical quantity and the measurable physical quantity including the detected value of the cabin temperature, and each control means is controlled according to these control quantities. Then, the air conditioning control system of the vehicle is operated. When the air-conditioning control system of the vehicle is operating, the invention according to claim 1 detects the temperature in the vehicle interior.
If the difference between the value and the cabin temperature estimated value exceeds a predetermined value, air conditioning
The controller recognizes that disturbance has entered the control system.
In Ming, the blower fan is manually turned on during the operation of the vehicle air conditioner.
When the speed was switched, disturbance was introduced into the air conditioning control system.
Recognize and calculate the control amount using the estimated value of the cabin temperature instead of the actual detected value of the cabin temperature,
Even if the actual detected value of the vehicle interior temperature changes suddenly due to the incorporation of disturbance, various control amounts are calculated using the stable estimated value of the vehicle interior temperature, so the control amount itself does not change suddenly, Abrupt changes in the blowing temperature and the blowing air volume due to disturbance are suppressed, and stable air conditioning can be continued.

[Brief description of the drawings]

FIG. 1 is a functional block diagram showing a configuration of an embodiment.

FIG. 2 is a cross-sectional view of the air conditioning unit of one embodiment.

FIG. 3 is a control block diagram of one embodiment.

FIG. 4 is a time chart showing a change in vehicle interior temperature when a set value of vehicle interior temperature is changed.

FIG. 5 is a control block diagram illustrating a configuration of an observer.

FIG. 6 is a diagram showing physical quantities related to a heat load required for air conditioning control.

FIG. 7 is a control block diagram illustrating a configuration of a linear compensator.

FIG. 8 is a control block diagram showing a configuration of an optimal regulator.

FIG. 9 is a diagram for explaining a method of calculating a control amount in an optimal regulator.

FIG. 10 is a flowchart showing an example of a control program executed by a microcomputer of the controller.

FIG. 11 is a flowchart showing an example of a control program executed by the microcomputer of the controller, following FIG. 10;

FIG. 12 is a functional block diagram showing a configuration of a conventional vehicle air conditioner.

FIG. 13 is a diagram showing a change in a detected value Tinc of a vehicle interior temperature when a fresh vent door is opened during a heating operation.

[Explanation of symbols]

 Reference Signs List 10 air conditioning unit 11 outside air suction port 12 outside air suction port 13 intake door 13m intake door actuator 14 blower fan 14d drive circuit 14m motor 15 evaporator 16 heater core 17, 18 flow path 19 air mix door 19m air mix door actuator 20 ventilator 20a Center vent 20b rear vent 20c side vent 20d lower vent 21 defroster 21a front defroster 21b side defroster 22 foot outlet 22a front foot outlet 22b rear foot outlet 23 vent door 23m vent door actuator 24 differential door 24m differential door actuator 25 foot door actuator 25m foot door actuator Vent Road 27 Fresh vent door 27 m Fresh vent door actuator 27 s Openness sensor 30 Controller 31 Operating section 32 Room temperature setting device 33 Outside temperature sensor 34 Inside temperature sensor 35 Solar radiation sensor 36 Suction temperature sensor 37 Refrigerant temperature sensor 38 Water temperature sensor 39 Compressor 41 Standard model 42 Observer 42a Air conditioning system to be controlled 43 Linear compensator 44 Optimal regulator 45 Cabin

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B60H 1/00 101

Claims (2)

(57) [Claims] An air conditioning unit having means for adjusting the temperature of the conditioned air, means for adjusting the amount of the conditioned air blown out, and means for adjusting the outlet of the conditioned air; heat required for vehicle interior air conditioning control Target value generating means for generating at least one target value to be temporally changed among a plurality of physical quantities relating to a load; temperature detecting means for detecting a vehicle interior temperature; and a vehicle interior temperature of the plurality of physical quantities. Estimating means for estimating a physical quantity that is unmeasurable or difficult to measure; calculating an optimum value of a control constant; and measurable including the target value, the estimated physical quantity, and a detected value of a vehicle interior temperature by the temperature detecting means. The temperature adjusting means based on a physical quantity,
A vehicle air conditioner comprising: an arithmetic unit for calculating control amounts of the air volume adjusting unit and the outlet adjusting unit; and an air conditioning control unit having a linear compensating unit for linearly operating the arithmetic unit. A vehicle interior temperature detected value by the temperature detecting means and the estimated value
The difference from the estimated value of the cabin temperature due to the gear is more than a predetermined value
To the air conditioning control system of the vehicle equipped with the vehicle air conditioner.
Detecting means for recognizing that the disturbance is mixed , the calculating means, when the detecting means detects the mixing of the disturbance into the air-conditioning control system, the temperature detecting means replaces the vehicle compartment temperature detection value with the detected temperature; An air conditioner for a vehicle, wherein a control amount is calculated by using an estimated value of a vehicle interior temperature by an estimation unit. 2. An air conditioning unit having means for adjusting the temperature of the conditioned air, means for adjusting the amount of the conditioned air blown out, and means for adjusting the outlet of the conditioned air.
And multiple physical quantities related to the heat load required for vehicle interior air-conditioning control.
At least one of the target values to be changed over time
A target value generating means for generating the temperature; a temperature detecting means for detecting a temperature in the vehicle compartment;
Or an estimating means for estimating a physical quantity that is difficult to measure , calculating an optimum value of a control constant,
And the detected value of the vehicle interior temperature by the temperature detecting means.
The temperature adjusting means based on a measurable physical quantity including:
Control of the air volume adjusting means and the outlet adjusting means
It has arithmetic means for calculating the quantity, and linear compensation means for linearly operating the arithmetic means.
And the air conditioning control unit; a vehicle air-conditioning apparatus provided with a manually blower fan speed during operation of the vehicle air-conditioning system
When the degree is switched, the vehicle air conditioner is mounted
Detection means for recognizing that disturbance has entered the air conditioning control system of the vehicle
Wherein the calculating means is provided with the air conditioning control system by the detecting means.
When the disturbance is detected, the temperature detecting means
Instead of the detected vehicle interior temperature value,
An air conditioner for a vehicle, wherein a control amount is calculated using a temperature estimation value .