JPH02155498A - Learning controller for stepping motor - Google Patents

Abstract

PURPOSE:To prevent erroneous learning by updating detecting values corresponding to each angle of stepping as novel learning values only when keeping within a specified tolerance of the detecting values is decided. CONSTITUTION:Whether a detecting signal from a position sensor 4 is close to a detecting signal corresponding to the angle of stepping of '0' of a stepping motor 3 or not is discriminated by an ECU 12 constituting a learning-value storage means and a learning-value update means. The target number of, stepping for controlling the stepping motor 3 is set to '0'. The output of stepping is read from the position sensor 4. Whether the absolute value of the difference of the output of stepping read and a reference value corresponding to the target number of stepping previously stored is brought to a fixed value or less or not is discriminated. When the absolute value of the difference of the output of stopping and the previously stored reference value is brought to the fixed value or less, the output of stepping is updated as a stepping learning value and stored.

Description

[Detailed Description of the Invention] Industrial Application] This invention detects the operating position corresponding to the step angle of the step motor using a position detector, and uses the detected value as a learning value for subsequent step motor control. The present invention relates to a step motor learning control device that stores information in advance.

[Prior Art] Conventionally, for example, in JP-A-62-91644, a control device for operating a step motor is provided with a position detector that detects the operating position of the step motor, and the control device uses the detected value to determine the position of the step motor. If the target step angle of the step motor does not match the target step angle of the step motor, the reliability of step motor control is improved by detecting that an abnormality such as step out has occurred in the step motor (first conventional method). example).

On the other hand, in Japanese Patent Application Laid-Open No. 62-96756, in order to absorb variations in the output characteristics of a position detector, changes over time, mounting errors of the step motor, etc. The operating position is detected by a position detector.
A control device has been proposed (second conventional example) in which the position sensor is calculated in advance and the detected value of the position detector is calibrated based on the learned value during normal step motor control.

[Problems to be Solved by the Invention] However, in the control device of the second conventional example, there is a risk of erroneous learning in which the learned value is calculated even when the step motor is out of synch or the like. In this case, in normal step motor control, the detected value of the position detector is calibrated based on the learned value at the time of abnormality, and even if the step motor is controlled normally, the control may be abnormal. There was a risk that a malfunction would occur.

This invention was made in view of the above-mentioned circumstances, and its purpose is to adapt to the step angle of the step motor in order to absorb variations in the output characteristics of the position clamping means, changes over time, mounting errors of the step motor, etc. To provide a learning control device for a step motor that can prevent erroneous learning when detecting an operating position by a position clamping means and storing the detected value in advance as a learning value for subsequent step motor control. be.

[Means for Solving the Problems] In order to achieve the above object, the present invention has the following features:
As shown in the figure, a step motor M1 that advances the step angle in accordance with the number of input pulses, a position detection means M2 that detects the actual operating position corresponding to each step angle of the step motor M1, and its position In a step motor learning control device comprising a learning value storage means M3 that stores in advance a value detected by the detection means M2 as a learning value for controlling the step motor M1, a predetermined learning condition is satisfied. Sometimes, only when it is determined that the detected value detected by the position detecting means M2 corresponding to each step angle is within a predetermined tolerance range, the learned value storage means uses the detected value as a new learned value. The learning value updating means M4 updates M3.

[Operation] Therefore, when the predetermined learning condition is satisfied, the step motor M1 is driven, and the position detection means M is activated in response to each step angle of the step motor M1.
The learning value updating means M4 determines whether the detected value detected by step 2 is within a predetermined allowable range. Then, only when it is determined that the detected value is within the allowable range, the learned value storage means M3 is updated by the learning update means using the detected value as a new learned value.

[First Embodiment] Hereinafter, a first embodiment in which the present invention is embodied in a control device for a metering oil pump of a vehicle engine will be described in detail with reference to FIGS. 2 and 3.

FIG. 2 shows a metering oil pump (lubricating oil flow rate adjustment device) 1 and its control system for supplying lubricating oil to an internal combustion engine such as a rotary engine. The metering oil pump 1 includes a pump body 2 for discharging oil, a step motor 3 operated to adjust the discharge amount,
A position detector 4 as a position detection means for detecting the actual operating position corresponding to each step angle of the step motor 3
It is equipped with

The step motor 3 advances the step angle in accordance with the number of input pulses, and is provided with an output shaft 3a projecting downward at its lower part, which extends and contracts in accordance with the step angle. In this embodiment, the step motor 3 is "0".
'' to the maximum step angle of rlooJ, and the output shaft 3 is operated in proportion to each step angle.
The expanded/contracted position of a is changed.

Further, the position detector 4 includes a potentiometer 5, the contact 5a of which is biased to protrude upward.

Inside the pump body 2, there is provided a hole 2a extending in the vertical direction and a cavity 2b continuous to the upper part thereof, and the output shaft 3a of the step motor 3 and the contact 5a of the position detector 4 are disposed inside the cavity 2b. is located. Further, an actuation rod 6 that can move up and down is provided in the hole 2a, and an actuation plate 7 that spreads laterally in the cavity 2b is fixed to the upper end of the rod 6, and both 6 and 7 are moved upwardly through a compression spring 8. is integrally energized. A recess 7a is formed in the center of the actuating plate 7, and the output shaft 3a is engaged with the recess 7a from above, and the contact 5a is engaged with the edge of the actuating plate 7 from below. There is.

Then, the step motor 3 is operated and its output shaft 3a
By extending downward, the actuating plate 7 and the actuating rod 6 are pushed downward against the biasing force of the compression spring 8. At this time, the contact 5a is pressed downward in proportion to the amount of movement, and the actual operating position, that is, the extended position, of the output shaft 3a corresponding to each step angle of the step motor 3 is detected, and the detection signal is It is output from the position detector 4 as a step output.

Further, the lower part of the operating rod 6 has a circumferential surface 6a and a circumferential surface 6a.
A tapered surface 6b continuous to a is formed. and,
Corresponding to these surfaces 6a and 6b, the pump body 2 is provided with a cylinder portion 2C that communicates with the hole portion 2a and extends laterally.

This cylinder portion 2C is provided with a plunger 9 that can reciprocate and rotate. The base end of the plunger 9 is a valve portion 11 that opens and closes oil passages 10a and 10b provided in the pump body 2.

Further, a gear portion 9a is provided on the outer periphery of the plunger 9, and the plunger 9 is drivingly connected to an engine (not shown) via the gear portion 9a.

The plunger 9 is provided with a pair of locking projections 9b spaced apart from each other in the radial direction and a locking pin 9c located between the locking projections 9b.

The plunger 9 is biased by a biasing member (not shown) in a direction such that its engagement protrusion 9b and engagement pin 9c engage with the actuating rod 6. Furthermore, since both the engagement protrusions 9b are spaced apart in the radial direction of the plunger 9, the re-engagement protrusion 9 shown in FIG.
b and the engagement pins 9c are arranged vertically, one of the engagement protrusions 9b engages with the circumferential surface 6a of the actuating rod 6. Further, when the plunger 9 rotates 90 degrees from the state shown in FIG. 2 and the re-engaging projections 9b and the engaging pins 9c are lined up side by side, both the locking projections 9b engage with the circumferential surface 6a. Therefore, only the retaining pins 9c engage with the circumferential surface 6a or the tapered surface 6b.

Therefore, when the plunger 9 is rotationally driven via the gear portion 9a, the retaining protrusion 9b at its tip repeatedly engages and disengages from the actuating rod 6 at a rotation period of 90 degrees. In a state where the engagement pin 9c is engaged with the circumferential surface 6a of the actuating rod 6, the plunger 9 is rotated at a fixed position without being reciprocated.

Meanwhile, the actuating rod 6 is moved downward and its tapered surface 6
b faces the engagement pin 9c, when the retaining protrusion 9b separates from the actuating rod 6 as the plunger 9 rotates, the plunger 9 moves by the distance between the engagement pin 9c and the tapered surface 6b. is moved forward, and when the retaining protrusion 9b engages with the actuating rod 6 again, the plunger 9 is moved back.

Based on such reciprocating motion of the plunger 9, lubricating oil is discharged from the valve portion 11, and the operating rod 6
by changing the vertical position of the taper surface 6b and the engaging pin 9C.
By changing the distance between the two, the amount of reciprocating movement of the plunger 9 is changed, and the amount of lubricating oil discharged from the valve portion 11 is changed and adjusted.

The ECU I2 constitutes a learning value storage means and a learning value updating means. Further, the ECU 12 has a memory function, stores a predetermined control program, and executes control operations for the metering oil pump 1, the engine, etc. based on the program.

The ECU 12 outputs an appropriate pulse signal to the step motor 3 in order to drive and control the metering oil pump 1, and also detects the operating position of the step motor 3 at that time, that is, the actual expansion/contraction position of the output shaft 3a. A detection signal is input from the position detector 4.

Further, as is well known, the ECU 12 sends various signals such as a throttle opening signal, an engine rotation speed signal, an intake air signal, a cooling water temperature signal, and an intake air temperature signal from various sensors (not shown) in order to control the operating state of the engine. input.

Then, when the predetermined learning conditions are satisfied, that is, in this embodiment, the step angle of the step motor 3 is close to "0" in the engine starting state flQ, and the cooling water temperature is sufficiently high at 80° C. or higher. In this state, learning control is executed to store the detected value by the position detector 4 as a learning value in advance.

On the other hand, when the learning control is finished and normal control of the metering oil pump 1 is performed, the ECUI 2 detects the position detector 4 corresponding to each step angle of the step motor 3 based on the learning value obtained by the learning control. It determines whether the value is appropriate and controls the step motor 3 as well as the operation of the engine.

Next, learning control by the ECU 12 of the metering oil pump 1 configured as described above will be explained according to the learning update routine shown in the flowchart of FIG.

In the engine starting state, first, in step 101, it is determined whether a predetermined learning condition is satisfied. That is, it is determined whether the detection signal from the position detector 4 is close to the detection signal corresponding to a step angle of "0" of the step motor 3 and whether the cooling water temperature is sufficiently high. and,
If this learning condition is not met, the learning update routine is ended, and if the learning condition is met, the process moves to step 102 to start a series of learning controls.

In step 102, the target number of steps N for controlling the step motor 3 is set to "0", and step 10
Move to 3. In step 103, the target number of steps N
is the maximum number of steps Nmax (in this example, rloo-
J) is exceeded.

In this case, since the target number of steps N is "0", the process moves to step 104 and the step angle of the step motor 3 is operated to the target number of steps N.

That is, in this case, the step angle of the step motor 3 is set to "0".
”.

Next, the process moves to step 105, and the step output PA (
N) is read from the position detector 4. That is, in this case "
Step output PA corresponding to a step angle of 0 (0)
is read from the position detector 4.

Next, the process moves to step 106, and it is determined whether the absolute value of the difference between the read step output PA (N) and the reference value α corresponding to the target number of steps N stored in advance is less than or equal to the predetermined value X. Discern. That is, in this case, it is determined whether the absolute value of the difference between the step output PA (0) and the reference value α is less than or equal to the predetermined value X. In other words, step output PA
It is determined whether or not (0) is within a range that is greater or less than the reference value α by a predetermined value X.

If the absolute value of the difference between the step output PA (0) and the pre-stored reference value α is larger than the predetermined value Hejumps and re-executes steps 101 to 106. On the other hand, if the absolute value of the difference is less than or equal to the predetermined value X, step 106
The process moves to step 107, and the step output PA(N)
is updated and stored as an N-step learning value VLRN(N). That is, in this case, the step output PA(0) is updated and stored as the 0 step learning value VLRN(0).

Next, the process moves to step 108, and the target step number N of 7 steps is determined.
After raising the knob by 1 step, jump from step 108 to step 103. Then, step 103 is performed until the target number of steps N reaches the maximum number of steps Nmax.
- Repeat the series of processes from step 108.

That is, in this embodiment, the target number of steps N is rloOJ
Operate the step motor 3 to a step angle of 0 to 100J by increasing the angle by one step until
Each step output PA corresponding to a step angle of 100J
(0) to PA (100) are read from the position detector 4,
Step output PA (0) to PA (100) at that time
Each step output PA (0) to PA (100
) is updated and stored as O step learning value VLRN(0) to 100 step learning value VLRN(100).

In this embodiment, the above learning control is periodically performed every 50 times when the learning condition is satisfied.

Second Embodiment] Next, a second embodiment in which the present invention is similarly embodied in a control device for a metering oil pump will be described with reference to the flowchart of FIG. 4. Note that in this embodiment, the first
Since the same metering oil pump and its control system as in the embodiment are used, the explanation will be omitted.

As shown in FIG. 4, the learning update routine of this embodiment is basically the same as that of the first embodiment shown in FIG.

That is, in the engine starting state, the stepper 201 determines whether or not the learning condition is satisfied, as in the first embodiment. Then, if the learning conditions are met,
The process moves to step 202, and the target number of step knobs N for controlling the step motor 3 is set to rOJ, and further, in step 203, it is determined whether the target number of steps N exceeds the maximum number of step knobs Nll1ax. Discern.

Then, the target number of steps N is the maximum number of steps Nn+ax
If it is below, the process moves to step 204, where the step angle of the step motor 3 is operated to the target step number N,
Further, the process moves to step 205 and the step output PA (N
) is read from the position detector 4.

Next, the process moves to step 206, where the step output PA (N) read in step 205 and the target step number N
It is determined whether the absolute value of the difference from the currently stored current learning value β is less than or equal to a predetermined value Y or not. In other words,
It is determined whether the step output PA(N) is within a range that is greater or less than the current learning value β by a predetermined value Y.

If the absolute value of the difference between the step output PA (N) and the current learning value β recorded in advance at t9 is larger than the predetermined value Y, it is assumed that an abnormality such as step-out has occurred in the step motor 3. step 201 hedge jump, step 201
- Re-execute the process in step 206. On the other hand, if the absolute value of the difference is less than or equal to the predetermined value Y, the process moves from step 206 to step 207, and the step output PA
(N) is updated and stored as the N-step learning value VLRN(N).

Subsequently, the process moves to step 208, where the target step number N is amplified by one step, and then jumps from step 208 to step 203. Then, the series of processes from step 203 to step 208 is repeated until the target number of steps N reaches the maximum number of steps Nmax.

As described above, in the first and second embodiments, the ECU 12 controls the step motor 3 from "0 to
Each step output PA (0) to PA (100) of the position detector 4 corresponding to the total step angle of 100'' is set to the 0 step learning value VLRN (0) to the 100 step learning value VLI.
It can be updated and stored as IN(l OO).

Also, during this learning control, an abnormality such as step-out occurs in the step motor 3, and the step output PA (N
) is an abnormal value, the step output PA (
Since N) is not set as the N-step learning value VLRN(N), erroneous learning can be prevented.

Therefore, when performing normal control of the step motor 3, it is not determined whether the detected value of the position detector 4 is appropriate or not based on the N step learning value VLRN(N) at the time of abnormality occurrence. , the reliability of control of the step motor 3 can be further improved.

Also, in this example, from the minimum rOJ to the maximum rloo
The step output PA (N) of the position detector 4 is learned corresponding to all step angles up to j, and the N step learning value VLR is determined.
Since N(N) is obtained, the step output PA(
It is also possible to reliably obtain a learned value for N). Therefore, the installation error of the step motor 3 or the position detector 4 may
It is possible to absorb mounting errors and detection errors of the position detector 4, and to appropriately control the step motor 3 in consideration of its entire step angle without being affected by variations in the output characteristics of the position detector 4, changes over time, etc.

Therefore, the metering oil pump 1 can obtain learning values corresponding to the entire flow range of lubricating oil required by the engine, and can more accurately control the metering oil pump 1 from fully closed to fully open to discharge oil. The accuracy and reliability of quantity control can be improved.

The present invention is not limited to the above-mentioned embodiments, and may be implemented as follows by appropriately changing a part of the structure without departing from the spirit of the invention.

(1) In each of the above embodiments, the control device is implemented as a metering oil pump 10 control device for a vehicle engine, but it may also be implemented in an idle speed control device of an electronic engine control system as shown in FIG. .

That is, a bypass airflow control valve 27 operated by a step motor 26 is provided in a bypass passage 25 provided between the upstream side of the throttle valve 22 in the intake pipe line 21 and the surge tank 24 of the engine 23. A position detector 28 is provided to detect the actual operating position corresponding to each step angle of the step motor 26, and the ECU 29 detects the step output of the position detector 28 corresponding to the step angle from the minimum to the maximum of the step motor 26. It may be configured to update and store it as a learned value.

Further, the present invention is not limited to a vehicle engine, and may be embodied in other actuators using a step motor.

(2) In each of the above embodiments, when the absolute value of the difference between the step output PA (0) and the pre-stored reference value α is larger than the predetermined value If the absolute value of the difference between (N) and the pre-stored current learning value β is larger than the predetermined value Y, it is determined that an abnormality such as step-out has occurred in the step motor 3, and the process is executed in step 101 or step 20, respectively.
Although the configuration is such that the process is re-executed after a single jump, it may be configured such that an abnormality notification process or the like is performed and the series of processes is completed without having to re-execute the process.

(3) In each of the above embodiments, from the minimum "0" to the maximum rl
The step output of the position detector 4 is learned corresponding to all step angles up to oOJ and used as a learned value, but the step output of the position detector 4 is learned corresponding to any predetermined step angle. It may be configured to be a learned value.

[Effects of the Invention] As detailed above, according to the present invention, in order to absorb variations in the output characteristics of the position detector, changes over time, installation errors of the step motor, etc., the operating position corresponding to the step angle of the step motor is adjusted. is detected by the position clamping means, and erroneous learning can be prevented when the detected value is stored in advance as a learning value for subsequent step motor control, which in turn improves the reliability of step motor control. It exhibits an excellent effect of being able to improve even more.

[Brief explanation of the drawing]

Fig. 1 is a claim correspondence diagram of a control device according to the present invention, Fig. 2 is a schematic configuration diagram showing a metering oil pump of a first embodiment embodying this invention and its control system, and Fig. 3 is a learning diagram thereof. FIG. 4 is a flowchart explaining the learning control of the second embodiment embodying the present invention; FIG. 5 is a flowchart explaining the learning control of the second embodiment embodying the present invention; FIG. It is a schematic block diagram which shows another Example. In the figure, Ml is a step motor, M2 is a position detection means, and M
3 is a learning value storage means, M4 is a learning value updating means, 3,26
is a step motor, 4.28 is a position detector as a position detection means, and 12.29 is an EC1J as a learned value storage means and a learned value update means.

Claims (1)

[Scope of Claims] 1. A step motor that advances a step angle in accordance with the number of input pulses, a position detecting means for detecting an actual operating position corresponding to each step angle of the step motor, and a position detecting means for the step motor. In the learning control device for a step motor, the step motor learning control device is provided with a learning value storage means for storing in advance a detected value detected by the above as a learning value for controlling the step motor. Only when it is determined that the detected value detected by the position detection means corresponding to the step angle is within a predetermined tolerance range,
A learning control device for a step motor, comprising learning value updating means for updating the learning value storage means using the detected value as a new learning value.