JP3370783B2 - Device control device and control method - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device control apparatus and control method.

[0002]

2. Description of the Related Art Recently, in order to evaluate the control of a device without actually moving the device, the device is modeled, and the modeled device model and the same control logic as the control logic for the device are used. It has been proposed to combine with a control model (Japanese Patent Laid-Open No. 4-1.
(See Japanese Patent Publication No. 59439).

[0003]

By the way, recently,
In addition to the equipment and the actual control system that actually controls it, a simulation system that uses the above-mentioned equipment model is provided, and the simulation results are reflected in the actual control system, so that the actual control of the equipment is improved. It is considered to be done well.

In particular, when the input to the device changes significantly, the output from the device may result in an unfavorable result. However, a system that can prevent such an undesired output result is desired. It would be convenient if such a system could be realized by simulation using a device model.

Therefore, an object of the present invention is to prevent the output from the device from having an unfavorable result when the input to the device is largely changed by the simulation using the device model. An object of the present invention is to provide a device control device and a control method.

[0006]

In order to achieve the above object, the control device of the present invention has the following first configuration. In other words, in a device control device including a device and an actual control system that actually controls the device, a device that models the dynamic characteristics of the device based on the correspondence between the input to the device and the output from the device. A model, and controlling the device model with the same control logic as the actual control system during control of the device by the actual control system,
An identification unit that adjusts the dynamic characteristics of the device model so that the correspondence between the input and the output from the device matches the correspondence between the input and the output in the device model, and the change in the input to the device When it is large, the device model is controlled at high speed by the same control logic as the actual control system, and a high-speed simulation means for predicting an output for an input with a large change at a high speed, and an output predicted by the high-speed simulation means. The correction control amount for the device is obtained based on the above, and the correction control amount is reflected in the control of the device.

The control method of the present invention corresponding to the first configuration has the following configuration. That is, in a device control method including a device and an actual control system that actually controls the device, the device that models the dynamic characteristics of the device based on the correspondence relationship between the input to the device and the output from the device. The model is controlled by the same control logic as that of the actual control system during the control of the device by the actual control system, and the input and output in the device model with respect to the correspondence between the input to the device and the output from the device. The identification step of adjusting the dynamic characteristics of the device model so that the correspondence relationship with the device model and the change in the input to the device are large, and the device model is controlled at high speed by the same control logic as the actual control system. A prediction step for predicting an output with respect to an input having a large change at a high speed, and a correction control amount for the device is determined based on the output predicted in the prediction step, Certain correction control amount as a configuration and a correction step to be reflected in control of the device.

In order to achieve the above object, the control device of the present invention has the following second configuration. In other words, in a device control device including a device and an actual control system that actually controls the device, a device that models the dynamic characteristics of the device based on the correspondence between the input to the device and the output from the device. The model and the device model are controlled by the same control logic as that of the actual control system during the control of the device by the actual control system, and the device model is compared with the correspondence between the input to the device and the output from the device. Identification means for adjusting the dynamic characteristics of the equipment model so that the correspondence relationship between the input and the output in the above item and a plurality of input change patterns are sequentially generated, and the generated input change pattern is generated.
Based on the output predicted by the simulation means, by controlling the device model with the same control logic as the actual control system using the input as input, and predicting the output corresponding to the input change pattern. A correction control amount determining means for obtaining a correction control amount for the device for each input change pattern and a correction control amount for each input change pattern determined by the correction control amount determining means are stored. A storage means and a correction control amount corresponding to an input change pattern that is similar to the input to the device among the plurality of input change patterns are selected from the correction control amounts stored in the storage means, and are selected. The correction control amount is reflected in the control of the device.

The control method of the present invention corresponding to the above second structure has the following structure. That is, in a device control method including a device and an actual control system that actually controls the device, the device that models the dynamic characteristics of the device based on the correspondence relationship between the input to the device and the output from the device. The model is controlled by the same control logic as that of the actual control system during the control of the device by the actual control system, and the input and output in the device model with respect to the correspondence between the input to the device and the output from the device. And an identification step of adjusting the dynamic characteristics of the device model so that the correspondence relationship with the device model and a plurality of input change patterns are sequentially generated, and the generated input change pattern is used as an input. Is controlled by the same control logic as the actual control system,
A prediction step for predicting an output corresponding to the input change pattern, and a correction control amount for obtaining a correction control amount for the device for each input change pattern based on the prediction result predicted in the prediction step. Determination step, a storage step of storing the correction control amount for each input change pattern determined in the correction control amount determination step, and an input change approximate to the input to the device among the plurality of input change patterns. The correction control amount corresponding to the pattern is selected from the correction control amounts stored in the storage step, and the selected correction control amount is reflected in the control of the device. .

[0010]

According to the control device of the present invention described in claim 1, when a large input change occurs in the device,
The output of the device is predicted at high speed using the device model, and the control amount of the device is corrected by the correction control amount obtained based on this prediction result, so the output from the device becomes an unfavorable result. Can be prevented in advance. In addition, the dynamic characteristics of the equipment model are identified so as to be the same as the actual equipment dynamic characteristics, so it is possible to adequately cope with individual differences in equipment and aging, and to prevent deterioration of equipment output. You can

By adopting the configuration as described in claim 2, the input to the device model is made as accurate as possible to correspond to the input change to the actual device, and the output prediction of the device using the device model is made accurate. This is preferable in performing the correction of the control amount of the device more accurately while satisfying the responsiveness.

According to the control device of the present invention described in claim 3, it is possible to obtain the same effect as the effect corresponding to claim 1. In particular, according to the control device of the present invention, it can be implemented without using a high-speed arithmetic device.

With the configuration as described in claim 4, since the correction control amount is determined from the input change pattern close to the actual input change to the device, the correction control amount for all input change patterns is determined. It is possible to prevent the output from the device from deteriorating even before it is decided.

With the structure as described in claim 5, it is possible to obtain the same effect as the effect corresponding to claim 4.

With the structure as described in claim 6, it is possible to prevent deterioration of the idle speed. With the configuration as described in claim 7,
It is possible to prevent a situation where the idle speed is abnormally reduced and the engine stalls.

The structure as described in claim 8 is preferable for preventing a situation in which the control amount of the device is corrected by an unfavorable correction control amount.

With the structure as described in claim 9, it is possible to obtain the same effect as the effect corresponding to claim 1. With the configuration described in claim 10, it is possible to obtain the same effect as the effect corresponding to claim 3.

[0018]

Embodiments of the present invention will be described below with reference to the accompanying drawings. In the embodiment, the idle speed control (ISC) is performed, and the device to be controlled is the intake air amount adjustment ISC valve.

Description of FIG. 1 In FIG. 1, reference numeral 1 denotes an engine intake passage, in which an air cleaner 2, an air flow meter 3, and a throttle valve 4 are sequentially arranged from the upstream side to the downstream side. The intake passage 1 is provided with a bypass passage 6 that bypasses the throttle valve 4, and the bypass passage 6 is connected with an ISC valve 7 as an idle speed adjusting means.

The ISC valve 7 is for adjusting the amount of intake air passing through the bypass passage 6 to adjust the idle speed, and its opening is controlled continuously by the electromagnetic actuator 5. It has become so. That is, during the idle operation in which the accelerator opening is zero or almost zero and the engine speed is equal to or lower than the predetermined speed, the engine speed is equal to the target idle speed (for example, 700 rp).
m), the ISC valve 7 is controlled. The control unit for controlling this ISC valve 7 or actuator 5 is designated by the symbol U, and this control unit U
A sensor or a switch group for picking up a signal used for the control by is collectively indicated by a symbol S. The output value from the control unit U to the actuator 5 is a duty ratio as a control value for achieving the target idle speed. The control unit U is configured by using a microcomputer.

Description of FIG. 2 FIG. 2 is a block diagram showing the control contents in the control unit U, and includes each part except the part 21A shown as the actual engine in the figure. There is. In FIG. 2, roughly, what is indicated by a symbol U1 is an actual control system which controls the actual engine 21A, and what is indicated by a symbol U2 is a model control system which controls the device model 21B corresponding to the actual engine 21A. Is.

The actual control system U1 is provided with an integrating circuit 22A for feedback control and an observer circuit 23A which is a main constituent element of modern control. The target idle speed NT is input to the actual control system U1, and the subtracter 24
By A, the deviation between the NT and the actual engine speed (idle speed) NE1 is input to the integrating circuit 22A.

The observer circuit 23A calculates a predetermined control value based on the actual engine speed NE1 and the input value for the actual engine 21A, that is, the duty ratio for the actuator 5. Then, the deviation between the control value calculated by the observer circuit 23A and the output value from the integrating circuit 22A is calculated by the subtractor 24A, and the calculation result is used as the input value to the actual engine 21A (observer). Input value to the bus circuit 23A).

On the other hand, the model control system U2 is a device model (hard model) 2 that models the dynamic characteristics of the actual engine.
Control 1B. The device model 21B is set based on the correspondence between the input value and the output value of the actual engine 21A, and in the state where the dynamic characteristics of the actual engine 21A are completely matched, the same output is obtained for the same input value. It is set to be a value. The model control system U2 for this equipment model 21B is set to have the same control logic as the control system U1, and the constituent elements corresponding to the constituent elements in the control system U1 are designated by the symbol "A" in the control system U1. Instead, it is shown by using the symbol “B”. Then, the target idle speed as an input value in the control systems U1 and U2 is shared as NT, and the actual control system U1
Is output as the engine speed NE1 in the actual engine 21A, and the output value in the model control system U2 is set as the calculated engine speed NE2.

Both control systems U1 and U2 are provided with a management circuit 26.
Managed by the device model 21B, as will be described later.
The identification for adjusting the dynamic characteristics of the control is performed, and the control amount of the actual control system U1 is corrected (correction amount determination). Therefore, the identification circuit 28 that adjusts the dynamic characteristics of the device model 21B and the correction circuit 2 that corrects (corrects) the control amount by the actual control system U1.
7 is provided and both circuits 27 and 28 are operated under the control of the management circuit 26.

Description of FIGS. 3 and 4 FIG. 3 shows a specific example of the device model 21B in FIG. The circuit R3 is for obtaining the magnitude of the engine generated torque, and as the parameters therefor, the filling amount Q, the fuel injection amount TP, and the ignition timing IG are used.
In order to obtain the filling amount Q used in this circuit R3, each processing in the circuits R1, R2, R4 is performed.
TVO indicates the throttle opening, and Duty in the circuit R2 indicates the duty ratio to the actuator 5. Circuits R1 and R
After the outputs from 2 are added by the adder R8,
After the delay processing is performed in the circuit R4, the filling amount Q is output to the circuit R3.

The circuit R6 indicates the torque loss of the engine, and includes charging efficiency and pumping loss data. The torque loss TH in the circuit R6 is subtracted from the torque calculated in the circuit R3 by the subtracter R9, and the torque T after the subtraction is input to the circuit R7. In the circuit R7, the engine speed NE2 in the model control system U2 is calculated according to the equation shown here. In addition,
In the formula shown by R7, I and K are control constants.

FIG. 4 shows characteristic equations of the circuits 22B and 23B in the model control system U2 shown in FIG. In FIG. 4, "i" is a suffix, KI is a control constant (integral constant) of the integrating circuit 22B, and K1 to K7 are control constants of the observer circuit 23B. Observer circuit 2
In the characteristic formula of 3B, the current value and the previous value of the output value NE (NE2), and the duty ratio for the actuator 5 from the previous value to five times before are used, and a total of seven values are obtained. It is used as a calculation parameter.

Here, the circuit 22 in the actual control system U1
The characteristic expressions for A and 23A are the circuit 22B shown in FIG.
23B is set in the same manner as the characteristic formula (circuit 22
The characteristic expressions of B and 23B are set according to the circuits 22A and 23A).

Description of FIG. 5 and FIG. 6 The control unit U uses a microcomputer to
Actual control systems U1 and U2 and circuits 26 and 27 in FIG.
The control contents will be described below. The control by the control unit U is
In addition to the dynamic characteristic adjustment (identification) of the equipment model 21B, a simulation using this equipment model 21B and control for reflecting the result in the actual control system U1 are also included.
The simulation is for correcting the control amount of the actual control system U1.

First, in Z51 of FIG. 5, identification is performed to adjust the dynamic characteristics of the equipment model 21B, which will be described later, so as to match the actual dynamic characteristics of the engine, and then in Z52, the simulation and the actual control system of the result are identified. U
The control of reflection to 1 is performed.

Contents of Z51 in FIG. 5 (control for identification)
Is shown in FIG. At Z31 in FIG. 6, it is determined whether or not many inputs have changed with respect to the actual engine 21A. Specifically, the amount of change in the throttle opening is equal to or greater than a predetermined value, the amount of change in DFB indicating the amount of change in the duty ratio output to the actuator 5 is equal to or greater than a predetermined value, and the target rotation speed NT. When the three conditions that the amount of change in is greater than or equal to the predetermined value are satisfied, it means that multi-input change is in progress, the determination of Z31 is YES, and in this case, the return is performed without identification. To be done.

When the determination in Z31 is NO, it is determined in Z32 whether or not the evaluation value Hi indicating the degree of coincidence between the actual engine 21A and the equipment model 21B in the steady state, that is, the steady operation state is small. . As will be described later, when the evaluation value Hi is small, the degree of coincidence is high. When the determination in Z32 is NO, it is determined in Z33 whether the actual engine 21A is currently in steady operation. Y is determined by the determination of Z33.
In the case of ES, the equipment model 21B is identified during steady operation by the processing of Z34 to Z37. Identification during this steady operation is performed by the circuits R1 and R shown in FIG.
2, by optimizing the control constant such as the time constant in R3.

At Z34, one of the stored control constants for the circuits R1 to R3 is selected from the stored combinations from the experimental design method map.
Next, in Z35, the selected i-th (i = 1 to 1)
n) the output value NE2 of the model control system U2 and the output value NE1 of the actual control system U1 obtained by the operation based on the combination
The square of the absolute value of the deviation between and is integrated for a predetermined time,
Evaluation value H indicating the error degree for the i-th integration constant
i is determined. The smaller the evaluation value Hi, the more preferable it is, as described above.

The evaluation value Hi at Z35 is sequentially obtained for the first to nth values, and the result is stored as H1 to Hn at Z36. After that, in Z37, the control constant which shows the smallest evaluation value among the evaluation values H1 to Hn stored in Z36 is used as the control constant for the circuits R1 to R3 of the device model 21B ( Be changed).

If YES in the determination of Z32, Z3
At 8, it is determined whether the operating state of the actual engine 21A is in a transient state. Specifically, when the amount of change in the engine speed NE1 is greater than or equal to a predetermined value, or when the amount of change in DFB is greater than or equal to the predetermined value, the determination of Z38 is YES, and at this time, by the processing of Z39 to Z42. The device model 21B during the transition is identified. The identification during this transition optimizes the control constants of the circuits R4 and R5 in FIG. Note that this optimization method is performed in substantially the same manner as in the steady state,
The duplicated description will be omitted.

When the determination of Z33 is NO, or when the determination of Z38 is NO, the routine is returned without identification. It should be noted that when it is NO in the determination of Z33, it may be possible to shift to Z38, but in the embodiment, the circuit R1 that has a great influence during the steady operation.
~ Since priority is given to the identification of the control constant for R3 (to identify first), if NO in the determination of Z33, it is returned as it is.
I am trying to make it.

Description of FIGS. 7 and 8 The contents of Z52 in FIG. 5 are shown in FIGS. 7 and 8. First, the outline of the control will be described with reference to FIG. In FIG. 8, time t1 shows the time when the actual throttle opening starts to decrease rapidly (when the absolute value of the change rate of the throttle opening is equal to or more than the first predetermined value), and the throttle opening is performed at time t2. When the rapid decrease in the degree of convergence has converged (when the rate of change of the throttle opening becomes equal to or less than the second predetermined value-however, the first predetermined value is sufficiently larger than the second predetermined value).

At time t2, the flag is set from 0 to 1, and the state where this flag is 1 is continued for a predetermined time 2T, and the time when 2T has elapsed is indicated by t3. This time T
Is a time constant from the change of the throttle opening to the actual change of the engine speed, and in the embodiment, the change of the engine speed between the time point t2 and 2T is predicted. FIG. 8C shows how the predicted engine speed changes. Then, the prediction of the change in the engine speed is performed by a high speed simulation within an extremely short time (for example, 5 msec) after the flag is set to 1. FIG. 8D shows a predicted input pattern for simulation, which is set based on the actual change of the throttle opening from time t1 to time t2. This predictive input pattern may be created including the minutes before the time t1 by a predetermined time.

Based on the above, in Z1 of FIG. 7, it is judged whether or not it is the time when the flag is changed from 0 to 1. If NO in the determination of Z1, the process proceeds to Z9 and the output of the device model is calculated at the normal speed.

When the determination of Z1 is YES, the mode is switched to the high speed operation mode in Z2. Then Z3
In FIG. 8, a predictive input pattern as shown in FIG. 8D is set based on the actual change in the throttle opening between t1 and t2. After this, Z24, Z2
By the processing of 5, the output corresponding to the predicted input pattern set in Z3 is obtained by high-speed calculation (prediction of engine rotation change as shown in FIG. 8C).
This calculation is performed n times, and this n is an integer obtained by dividing the value obtained by dividing the prediction period 2T by the sampling period (sampling period in high-speed mode) with the decimal point omitted (time in FIG. 8). From time t2, a total of n predicted engine speeds are obtained for each sampling period).

When the high speed calculation for the 2T period is completed, the determination of Z4 is YES and the process proceeds to Z6. In this Z6, the minimum engine speed among the predicted engine speeds calculated in Z5 at high speed is determined. Then, at Z7, the predicted minimum engine speed is
It is determined whether it is less than 500 rpm. This Z
If the result of the determination in 7 is YES, there is a risk of engine stalling, so correction is performed at Z8 to increase the intake air amount. It should be noted that the amount of increase in the intake air amount (correction amount) at Z8
May be a certain constant value, but for example, the predicted minimum engine speed and the allowable minimum speed (500 rpm in the embodiment)
It is possible to adopt an appropriate setting method, such as setting the deviation to be larger as the deviation is larger. Of course, the realization of the correction amount in Z8 is performed as the opening correction for the ISC valve 7 (correction of the duty ratio output to the actuator 5).

Description of FIG. 9 FIG. 9 shows a preferable example for determining the correction control amount at Z8 in FIG. In this FIG.
At Z61, it is judged if the identification explained in FIG. 6 is completed. This determination can be made, for example, when the minimum evaluation H at Z37 in FIG. 6 is smaller than a predetermined value, the identification is sufficiently performed (Z42).
The condition that the minimum evaluation H is less than or equal to a predetermined value may be further added). If the determination in Z61 is NO, the dynamic characteristics of the device model 21B do not sufficiently match the actual dynamic characteristics of the device 21A. To be done. Z6
The determination of 1 is provided before Z1 in FIG. 7, and when the identification is not sufficiently performed, the high speed calculation using the device model 21B is set to be prohibited, and as a result, the correction is prohibited. You can also

If YES in the determination of Z61, Z62-
By the processing of Z65, a large number of correction control amounts Pi (i = 1, 2, ... N, where P is a duty ratio for adjusting the intake air amount) set in the experimental design method map For each of them, the engine speed is predicted by high speed calculation using the predictive input pattern used in Z3 of FIG. 7 (Z
63), and the evaluation is performed for each correction control amount (Z
At 64, the evaluation corresponding to Pi is Ji). This evaluation can be shown, for example, as a deviation amount with respect to the center value of the engine speed predicted at Z5 in FIG. 7 (the smaller the deviation amount, the higher the evaluation). Then, in Z66, the correction control amount Pi corresponding to the most preferable evaluation of the evaluation Ji in Z64 is realized as the correction control amount for the actual device 21A.

Description of FIGS. 10 to 12 FIGS. 10 to 12 show another embodiment of the present invention. In this embodiment, as shown in FIG. 12, for example, a large number of input change patterns are preset. Assuming (setting)
The engine speed as an output is predicted for each input change pattern, and the correction control amount is determined and stored. When the input to the actual device 21A greatly changes, the correction control amount corresponding to the input change pattern approximated to this change is selected, and the selected correction control amount is used for the actual device 21A. The control amount is corrected. In the case of this embodiment, since it is not necessary to perform high-speed calculation, a cheap control unit U can be implemented.

On the premise of the above, what is shown as Vm1 and Vm2 in FIG. 10 are the control unit U2 and the equipment model 21B in FIG. 2, respectively.
It is equivalent to the combination with. Of these, Vm1
Is used exclusively for making the above-mentioned identification. Then, Vm2 is exclusively a large number of input change patterns.
It is used to determine the correction control amount corresponding to the engine.
Therefore, the parameter transfer unit 31 transfers (uses) each parameter indicating the dynamic characteristic of the device model 21B in Vm1 after completion of the identification for the dynamic characteristic of the device model 21B in Vm2. In addition, in the input generation unit 32 of FIG. 10, a large number of input change patterns described above are used.
Are sequentially generated, and the generated input change pattern is used as an input of Vm2.

At Z71 in FIG. 11, it is determined which input change pattern of the many input change patterns shown in FIG. 12 should be used to start the simulation. The selection of the input change pattern on this Z71 depends on the actual device 21.
The one that is similar to the input change for A is preferentially selected (the output from the input change pattern generation unit 32 of the selected input change pattern). Next, in Z72, a simulation is executed to predict the engine speed corresponding to the input change pattern selected in Z71. It should be noted that this simulation is performed at normal speed, not high speed.

At Z73, the most preferable correction control amount (correction intake air amount) is determined (for example, by the method shown in FIG. 9 described above) and is determined based on the predicted engine speed. The corrected control amount is stored.

In Z74, it is judged whether or not it is time to retrieve the stored correction control amount. This judgment corresponds to the judgment as to whether or not it is time t1 in FIG. 8 (throttle opening degree). Of whether or not the change rate of is greater than or equal to a predetermined value). If the determination of Z74 is NO, it means that the correction by the correction control amount is not necessary, and the routine is returned as it is. If the result of the determination in Z74 is YES, in Z75, the matching state Ri (i = 1, 2, ...) Of the actual input state to the device 21A and the input change pattern in Vm2.
.., where n is an integer obtained by dividing the prediction period 2T by the sampling period) is calculated based on the calculation formula shown by Z75 in FIG. In this calculation formula, yi is the throttle opening at time i. Then, when the actual change in the throttle opening is exactly the same as the input change pattern for simulation, yi becomes zero, and thus the matching degree Ri becomes one.

After Z75, it is determined in Z76 whether or not it is the time to end the search. This determination is made by checking whether or not the rate of change of the throttle opening has become almost 0 (corresponding to time point t2 in FIG. 8). If YES in the determination of Z76, the final correction control amount Pf is calculated in Z77 based on the equation shown here. The calculation in Z77 is to weight the correction control amount Pi corresponding to a plurality of (in some cases, one) input change patterns that approximate the actual change state of the throttle opening. Then, in Z78, the final correction control amount Pf is output to the actual device 21A.

Description of FIG. 13 FIG. 13 shows an example in which the correction using the correction control amount is prohibited when the equipment model is not sufficiently identified. That is, first, at Z81, a parameter indicating the current operating region of the engine (engine speed, engine load and engine cooling water temperature in the embodiment).
Is held. Then, in Z82, Z in FIG.
Each time the identification in 51 is performed, the count value of the engine operating region corresponding to the parameter held in Z81 is incremented.

At Z83, it is judged if the count value of the engine operating region held at Z81 is equal to or larger than a predetermined value. If NO in this determination of Z83, it is determined that the operating region is one in which identification is not sufficiently performed, and Z in FIG.
The simulation execution of 52 is prohibited (Z84).
If YES in the determination of Z83, the simulation of Z52 in FIG. 5 is executed assuming that the operating region is sufficiently identified (Z85).

Description of FIG. 14 FIG. 14 uses a total of four simulation model systems Vm11 to Vm14 each having the device model 21B and the control unit U2 of FIG. That is, Vm
Reference numeral 11 is for simulation using the same input as that of an actual device, and is used for correction by the above-mentioned identification and correction control amount. Vm12 performs a simulation with an input obtained by adding a predetermined error (variation) α to the actual input. Vm13 performs a simulation with an input obtained by subtracting a predetermined error α from the actual input. The Vm 14 performs a simulation in which noise is added to an actual input. By simulations of these three model systems Vm12 to Vm14, a simulation with α variation and a simulation with noise are performed in advance, and based on the result (engine speed as output), It can be used for decisions. In this case, if high-speed calculation is to be performed, the input is switched (+ α, −α, there is noise, the same four switches as the input of the actual device), and only one model system is used.
A function similar to that of 4 can be obtained.

Although the embodiments have been described above, the present invention is not limited to this, and includes, for example, the following cases. Not only the idle speed control of the engine but also appropriate device control such as shift control of an automatic transmission, traction control, ABC control, constant torque control of the engine, air-fuel ratio control of the engine, and the like.

In the shift control of the automatic transmission, as a device model, in addition to the dynamic characteristic model of the engine shown in FIG. 3, a dynamic characteristic model of the automatic transmission (changes with time depending on loss characteristics, oil temperature, etc.). Dynamics characteristics) and the dynamic characteristics of the drive system to the tire are set, and the longitudinal acceleration of the vehicle body (driving wheel) as the output from the drive system to the tire dynamic characteristics that is the final output is predicted. In this case, the identification is based on loss characteristics and dynamics characteristics of the automatic transmission, and the evaluation function at the time of identification is best when the integration of the deviation between the actual longitudinal acceleration and the predicted longitudinal acceleration is minimum. Then, the shift schedule can be corrected so that the predicted rate of change in longitudinal acceleration is minimized (variably changing the rotational axis direction and the load direction, the shift schedule that minimizes longitudinal acceleration). Look for le).

In the traction control (ABS control), in addition to the dynamic characteristic model of the engine shown in FIG. 3, the correlation between the vehicle speed and the road surface μ is used for the road surface state (asphalt road surface,
The difference between snowy roads and the like) is set as a parameter to set the dynamic characteristic of "road surface μ-vehicle speed", and the output of the dynamic characteristic of "road surface μ-vehicle speed" is taken as the longitudinal acceleration of the vehicle body. The identification is performed on the characteristic of "road surface μ-vehicle speed". In the case of traction control, the identification evaluation function is best that minimizes the integral of the deviation between the actual slip rate of the drive wheel and the predicted slip rate. For the input patterns of various throttle openings, the optimum values of the initial operation amount of traction control (for example, the throttle opening reduction amount, the ignition timing retard amount) and the target slip ratio can be obtained in advance by simulation. It is good (the initial manipulated variable and the optimum target slip rate are subject to correction). In the case of the ABS control, the optimum target wheel deceleration at the brake pressure input may be obtained (the brake pressure should be corrected).

In the constant torque control of the engine, the same equipment model as in the case of the automatic transmission is used, and the identification is performed for both steady and transient parameters of both the engine and the automatic transmission. A throttle opening that satisfies the target torque (vehicle body longitudinal acceleration) may be obtained by simulation for each engine speed and accelerator opening (throttle opening is a correction target).

[Brief description of drawings]

FIG. 1 is a diagram showing an idle speed adjusting portion to which the present invention is applied.

FIG. 2 is a block diagram showing a control system to which the present invention is applied.

FIG. 3 is a diagram showing an example of a device model corresponding to an actual engine.

FIG. 4 is a diagram showing an example of setting a control characteristic expression in a model control system.

FIG. 5 is a flow chart showing a control example of the present invention.

FIG. 6 is a flowchart showing a control example of the present invention, showing a part for identifying a device model.

FIG. 7 is a flowchart showing a control example of the present invention, showing a portion for performing a simulation using an equipment model.

FIG. 8 is a time chart schematically showing the content of the simulation in FIG.

FIG. 9 is a flowchart showing a preferred control example for determining a correction control amount.

FIG. 10 shows another embodiment of the present invention and is a view corresponding to FIG.

11 is a flow chart showing an example of control of the embodiment shown in FIG.

12 is a diagram showing a setting example of a large number of input change patterns used in the embodiment shown in FIG.

FIG. 13 is a flowchart showing a control example in which correction control is prohibited.

FIG. 14 shows another control example of the present invention, and is a diagram corresponding to FIG. 2.

[Explanation of symbols]

1: Intake passage 5: Actuator 6: Bypass passage 7: Intake air amount adjustment valve U: Control unit U1: Actual control system U2: Model control system 21A: real engine 21B: Model engine (device model)

─────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-4-159439 (JP, A) JP-A-6-51805 (JP, A) JP-A-5-303408 (JP, A) JP-A-3- 148714 (JP, A) JP 4-234546 (JP, A) JP 58-140813 (JP, A) JP 58-79278 (JP, A) JP 6-117318 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G05B 17/02 G05B 13/02-13/04 G05B 9/02 G05B 23/02 F02D 45/00

Claims (10)

(57) [Claims] 1. A control apparatus for equipment with a real control system actually performs control to the device and the device, the dynamic characteristics of the device based on the correspondence relationship between the output from the input and the device for an equipment model And a device model that is controlled by the same control logic as the actual control system during control of the device by the actual control system.
And identifying means for adjusting the dynamic characteristics of the instrument model as correspondence between the input and the output of the instrument model matches to the corresponding relationship between the output from the input and the device for, a large change in the input of the appliance At this time, the device model is controlled at a high speed by the same control logic as that of the actual control system, and a high-speed simulation means for predicting an output with respect to an input having a large change at a high speed; And a correction unit for calculating the correction control amount for the device based on the correction control amount and reflecting the correction control amount on the control of the device. 2. The input change pattern according to claim 1, wherein the high-speed simulation means predicts an input change pattern based on a state of an input change from a state in which a change in an input to a device is large to a time when the change is converged. The input is a high speed control of the device model. 3. A control apparatus for equipment with a real control system actually performs control to the device and the device, the dynamic characteristics of the device based on the correspondence relationship between the output from the input and the device for an equipment model And a device model that is controlled by the same control logic as the actual control system during control of the device by the actual control system.
And identifying means for adjusting the dynamic characteristics of the instrument model as correspondence between the input and the output of the instrument model matches to the corresponding relationship between the output from the input and the device for a plurality of input variation patterns - down Are sequentially generated, the device model is controlled by the same control logic as the actual control system by using the generated input change pattern as an input, and an output corresponding to the input change pattern is predicted. Based on the output of the simulation means, the correction control amount determining means for determining the correction control amount for the device for each input change pattern, and the correction control amount determining means. Input change pattern
Storage means for storing a correction control amount for each of the plurality of input change patterns, and a correction control amount stored in the storage means for a correction control amount corresponding to an input change pattern that is similar to an input to a device among the plurality of input change patterns. A controller for a device, comprising: a correction unit that selects from the amounts and reflects the selected correction control amount in the control of the device. 4. The control by the simulation means according to claim 3, wherein the input change pattern having the closest initial value to the current input to the device among the plurality of input change patterns is prioritized. The correction control amount is determined by the correction control amount determination means and the correction control amount is stored by the storage means. 5. The input change pattern according to claim 3, wherein a series of controls including control by the simulation means, determination of the correction control amount by the correction control amount determination means, and storage of the correction control amount by the storage means. After the following input change pattern. 6. The device according to claim 1, wherein the device is an engine idle speed adjusting device, and the output is an idle speed. 7. The correction control amount according to claim 6, wherein the correction control amount is set so as to prevent the idle rotation speed from falling below a predetermined value. 8. The method according to any one of claims 1 to 5, wherein when the identification is not sufficiently performed by the identifying means,
A device provided with a prohibition unit that prohibits the correction by the correction unit. 9. A method of controlling a device comprising the device and an actual control system for actually controlling the device, wherein the dynamic characteristics of the device are modeled based on a correspondence relationship between an input to the device and an output from the device. The converted device model is controlled by the same control logic as that of the actual control system during the control of the device by the actual control system, and the input to the device and the device are controlled.
Response and identification step of adjusting the dynamic characteristics of the instrument model as correspondence between the input and the output of the instrument model matches against relationship, when the change in the input to the device is large, the equipment model with the output At a high speed with the same control logic as the actual control system, and a prediction step for predicting an output for a large change in the input at a high speed, and a correction control for the device based on the output predicted in the prediction step. A method of controlling a device, comprising: a correction step of determining an amount and reflecting the correction control amount in control of the device. 10. A method of controlling a device comprising a device and an actual control system for actually controlling the device, wherein a model of a dynamic characteristic of the device is modeled based on a correspondence relationship between an input to the device and an output from the device. The converted device model is controlled by the same control logic as that of the actual control system during the control of the device by the actual control system, and the input to the device and the device are controlled.
The identification step of adjusting the dynamic characteristics of the device model so that the correspondence relationship between the input and the output in the device model matches the correspondence relationship with the output of the device model, and a plurality of input change patterns are sequentially generated. A prediction step of predicting an output corresponding to the input change pattern by controlling the device model with the same control logic as the actual control system using the generated input change pattern as an input; A correction control amount determination step of obtaining a correction control amount for the device for each input change pattern based on the prediction result predicted in the prediction step, and each input change pattern determined in the correction control amount determination step. A storage step of storing a correction control amount for each pattern, and a correction control amount corresponding to an input change pattern approximate to the input to the device among the plurality of input change patterns, And a correction step of selecting the correction control amount stored in the storing step and reflecting the selected correction control amount in the control of the device.