CN108073071A - For performing to adjust the method and apparatus of the position adjusting of transmitter unit - Google Patents
For performing to adjust the method and apparatus of the position adjusting of transmitter unit Download PDFInfo
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- CN108073071A CN108073071A CN201711144519.7A CN201711144519A CN108073071A CN 108073071 A CN108073071 A CN 108073071A CN 201711144519 A CN201711144519 A CN 201711144519A CN 108073071 A CN108073071 A CN 108073071A
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- Prior art keywords
- adjustment
- adjusting
- correction parameter
- transmitter unit
- amount
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
Abstract
The present invention relates to a kind of adjustment transmitter units in drive system（3）Position adjust method, with following step：According to the adjustment transmitter unit（3）Predefined nominal position（ s）Adjusting is performed with physical location, wherein, the adjusting is performed according to adjustment parameter, and described is adjusted adjustment amount（u）It is supplied to the adjustment transmitter unit（3）；At least one correction parameter is provided（、）, to be adapted to the adjusting；According to error deviation（e）Obtain at least one correction parameter（、）, wherein, the error deviation（e）Provide the adjustment transmitter unit（3）According to the dynamic amount that is modeled of adjustment transmitter model and the physical location of the adjustment transmitter unit（ i）Dynamic behaviour between deviation.
Description
Technical field
The present invention relates to for adjusting transmitter, in particular for adjustment transmitter, such as camshaft in internal combustion engine
The position of adjuster is adjusted.The present invention is additionally related to match the measure of the position for adjusting transmitter adjusting.
Background technology
Much the adjustment transmitter in the drive system with internal combustion engine is adjusted to nominal position.One of this respect
Example is camshaft adjuster, the cam shaft mechanical coupling of the camshaft adjuster and the internal combustion engine and by hydraulic pressure or
The adjustment system of electricity is compared with camshaft described in crankshaft torsion.Thus, it is possible to adjust phase of the valve opening time compared with crankshaft angles
Position.The camshaft adjuster is adjusted by prespecified adjustment amount, and the adjustment amount for example can be in the form of duty cycle
Provide adjustment torque.
Traditional position is adjusted based on PID regulator, and position deviation is fed to the PID regulator.By the adjuster
Quadrature components can calculate holding duty cycle（Haltetastverhältnis）, the holding duty cycle is connected to described
In system, to compensate the interference effect of quasi-static, such as the spring torque of resetting spring, moment of friction, leak, come from
External consumption product（Verbraucher）Disturbance torque and similar.It is adjusted for adjusting the position of transmitter now by parameter
Change, to enhance the adjustment parameter of PID regulator component and feedback（Rückführverstärkungen）It is adapted to corresponding
The different operating points of motor model, the operating point for example can pass through hydraulic oil for hydraulic cam axle adjuster
Temperature, hydraulic pressure, motor rotary speed and similar predefined, so as to so as to ensuring consistent tune in whole service scope
Save quality.Since batch in production is spread（Serienstreuung）With the aging effect during vehicle is run, due to
The physical behavio(u)r of the adjustment transmitter and the variation in adjusting path can result in the apparent deviation of regulation quality, the deviation energy
Overshoot when enough by the static adjuster deviation when rated value jumps or between rated value and actual value（Ü
berschwingung）It has an effect, so that entire characteristic of the drive system in terms of power, loss and discharge also occurs
Unfavorable variation.Consider that these effects need to spend time taking application by additional parameter, it is therefore desirable for improving to adjust
Regulation quality that the position of transmitter is adjusted and improve the adjustment transmitter compared with being spread by batch and aging forms
The robustness of effect.
The content of the invention
According to the present invention, a kind of adjustment transmitter unit according to claim 1 in drive system is set
The method and the equipment and drive system according to claim arranged side by side that position is adjusted.
Other structural schemes provide in the dependent claims.
According in a first aspect, setting the side that a kind of position of the adjustment transmitter unit in drive system is adjusted
Method, with following step：
- adjusting performed according to the predefined nominal position and physical location of the adjustment transmitter unit, wherein, according to
Adjustment parameter performs the adjusting, and adjustment amount is supplied to the adjustment transmitter unit by the adjusting；
- at least one correction parameter is provided, to be adapted to the adjusting；
- according to error deviation acquisition at least one correction parameter, wherein, the error deviation provides the adjustment transmitter
The dynamic row of the dynamic amount and the physical location of the adjustment transmitter unit that are modeled according to adjustment transmitter model of unit
Deviation between.
The above method adjusts transmitter model based on simplified mathematics, utilizes described adjustment transmitter specification of a model adjustment
The dynamic behaviour of transmitter unit.The adjustment transmitter can be related to the adjustment transmitter of physics（Actuator）Or including this
Adjust the entire adjusting path including transmitter.The adjustment transmitter model maps the adjustment position when the adjustment amount changes
First derivative（It regulates the speed）, wherein, mapping, the variation regulated the speed of the adjustment transmitter unit is in the adjustment amount
Occurred during variation with temporal delay.Here, the speed of the variation regulated the speed and type are determined when the adjustment amount changes
The operating point of the adjustment transmitter unit is qualitatively depended on, wherein, the operating point is convex by systematic parameter, such as this
For the example for taking turns axial adjustment transmitter, by the temperature of the hydraulic oil, by motor rotary speed and similar determine and by dissipating in batches
The effect of cloth and aging composition determines.Alternative embodiment can set adjustment transmitter model, in the adjustment transmitter
In model, the adjustment amount is also mapped onto on the derivative of the higher order of the adjustment sender location.
The adjusting can be designed to nominal system action, and be accordingly identified by means of adaptive device
, the real behavior of the adjustment transmitter unit of the physics and the deviation of mathematics adjustment transmitter model can obtain one
Or multiple correction parameters, accordingly adapt to described adjust by the correction parameter.
The acquisition of correction parameter be behavior based on the adjustment transmitter unit with the behavior of the adjustment transmitter model it
Between deviation and carry out, which is defined in terms of the single order of the adjustment position or higher order derivative,
Wherein, the correction parameter corresponds to the model parameter of the adjustment transmitter model.In other words, the correction parameter, which corresponds to, is somebody's turn to do
The parameter of transmitter model is adjusted, the parameter makes it possible following：The adjustment transmitter model is made to be sent out in the adjustment
It is adapted in terms of sending the dynamic behaviour of device unit.
In this way, the dynamic property of the adjustment transmitter unit in being adjusted in position can be examined by correction parameter
Consider or illustrated.The correction parameter can be used for the component for being adapted to the adjusting now.
By the adjustment transmitter model for providing the dynamic behaviour for being adapted to the adjustment transmitter unit, it is possible to, make
The different components of the adjusting, such as PID regulator, dynamic Proctor Central, interference volume viewer and analog, are adapted to and the tune
The nominal behavior behavior devious of whole transmitter unit.Thus, it is possible to compensate input nonlinearities, such as spring torque or reset
The spring torque of spring, moment of friction, leakage, the disturbance torque of external consumption product and similar, and static standard can be improved
True property and transient behavior.By this automatic offer of correction parameter, the behavior that the position is adjusted can be made to adapt to reality
The system action on border, and thus, it is possible to improve the regulation quality in the case of batch distribution or aging effect.Except this
Outside, the above method is set also to make it possible following：Even if when replacing the adjustment transmitter unit, can also avoid pair
The supplementary parameter that the position answered is adjusted（Nachbedatung）.
In addition, the adjustment transmitter model can also be adapted by least one correction parameter, and the correction
Parameter is acquired by following manner, i.e., described error deviation is minimized.
According to a kind of embodiment, the adjusting can be adapted by following manner, i.e., according at least one school
Positive parameter adapts to the adjustment parameter or adapts to adjusting input according at least one correction parameter.
It can set, be led by the first time derivative or higher order time of the physical location of the adjustment transmitter unit
Number provides the dynamic behaviour of the physical location, wherein, the adjustment amount is mapped to correspond to and be somebody's turn to do by the adjustment transmitter model
The first time derivative of physical location or corresponding in the amount of one or more higher order time-derivative of the physical location.
Additionally it is possible to set interference volume viewer, the interference volume viewer is according to passing through at least one correction
The inverse adjustment transmitter model that parameter is adapted adapts to the adjustment amount, and adjustment amount compensating action is kept described in will pass through
Adjust the interference effect in sender system.
Especially, it is described to keep what adjustment amount be loaded as the adjustment amount filtered and by the physical location
Difference between the model value for the inverse adjustment transmitter model being adapted is determined.
In addition, the adjusting can also be loaded by means of dynamic Proctor Central, the Proctor Central provides the volume of prediction
The pre-control adjustment amount component for the nominal position put and corresponding to the prediction is positioned, for loading the adjustment amount, wherein, root
The adjusting is performed according to the nominal position of the prediction, wherein, the dynamic Proctor Central is joined according at least one correction
Number determines the pre-control adjustment amount component.
Description of the drawings
Embodiment is elaborated below according to appended attached drawing.Attached drawing is shown：
The schematic illustration that the position of adjustment transmitter units of the Fig. 1 for adjusting in the drive system of motor vehicle is adjusted；
Fig. 2 a and 2b obtains the possible realization method of the correction parameter for the adjusting by means of gradient descent method；With
Fig. 3 has the regulating system of the extension of additional interference volume viewer and dynamic Proctor Central.
Specific embodiment
Simplified regulating system 1 is provided in Fig. 1, the regulating system has to adjust adjustment transmitter unit 3
Adjustment unit 2.The position that the regulating system 1 is configured to the adjustment transmitter unit 3 is adjusted, the adjustment transmitter list
Member 3 for example can be adjustment transmitter in the drive system of motor vehicle, for continuously adjusting camshaft phase.Institute's rheme
Adjusting is put to construct by being accommodated property of following manner：It is described to adjust operating status of the transmitter unit 3 according to the drive system
With different operating points, and the operating point is additionally spread be subject to batch and aging effect is influenced.For this purpose, it sets suitable
With box 4, the adaptation box obtains one or more correction parameter、, the correction parameter is fed to the adjusting
Unit 2, to make the behavior for adjusting the change for being accordingly adapted to the adjustment transmitter unit.
The adjustment unit 2 has simple adjustment means 21, and the adjustment means can be configured to such as PD adjustings
Device.The PD adjusters can have transmission function kp + kd S, and it is designed to the adjustment sender system 3
Nominal system action.In order to it is unnecessary to make the adjusting be adapted to the adjustment sender system 3 change behavior and do
The pre- adjustment means 21, in input side（That is as adjusting input）Compensator 22 is provided with, the compensator corresponds to
Ground scales adjusting deviation, and the adjusting deviation passes through predefined nominal position in difference component 23 sWith physical location iBetween subtraction（Differenzbildung）It is acquired.The transmission function of the compensator 22 can for example be arranged to have
Single order filter, wherein, anom、bnomCorresponding to for the adjustment transmitter unit it is nominal system action,
Predefined path parameter.
The adjustment unit 2 provides adjustment amount u, and the adjustment amount usually provides adjustment torque in the form of duty cycle.Institute
Stating duty cycle can be defined by the value between 0 and 1 or between -1 and 1.It is prespecified for the adjustment sender system 3
The duty cycle, the adjustment transmitter unit are reacted corresponding to the system action and are sailed by accelerating or slowing down
To definite position。
The adaptation box 4 has first filter 41 and adjustment transmitter model box 42.The first filter 41
For forming the physical location of the adjustment transmitter unit 3 iFirst derivative, and can be for example with following transmission letter
Number：
Or discretely。
The adjustment transmitter model box 42 includes adjustment transmitter model, and the adjustment transmitter model corresponds to letter
The mathematical model of change should illustrate the dynamic system action by the model.The adjustment transmitter model will be current
Adjustment amount, that is in this embodiment the data of duty cycle be mapped to location variation, that is for example should
In the first derivative for adjusting position.Adjustment transmitter function can so be selected so that it simulates the adjustment transmitter unit 3
Agenda.For example, the adjustment transmitter model can have following transmission function：
Wherein, τdCorresponding to for considering dead time（Totzeit）Constant.
The dynamic behaviour of the adjustment sender system 3 is obtained in the second difference component 43, i.e. in first filter 41
Error deviation e between the first derivative of the adjustment position in exit and the output of mathematics adjustment transmitter model.The mistake
Poor deviation e is fed to correction parameter box 44, and the correction parameter box determines the correction ginseng from the error deviation e
Number、As the path parameter being corrected.
Corresponding to the correction parameter、Adapt to the adjustment transmitter model, in the correction parameter box such as
This determines the correction parameter so that the error deviation e is minimized.
In the correction parameter box 44, the operation shown in Fig. 2 a and 2b is carried out, and the operation can be by means of ladder
It spends descent method and obtains the correction parameter.For this purpose, the error deviation e is multiplied by Adaptation factor kaIt is defeated with the second filter 51
Go out, and accordingly result is integrated in box 52 is integrated.The output for integrating box corresponds to the first correction parameter, it is described
First correction parameter is fed back in second filter 51.In addition, the input of second filter 51 is the second correction ginseng
NumberAnd derivative.Second filter 51 can be for example with following transmission functions：
。
The output of the model is filtered, and is multiplied by the error from model and the speed of " measured "（Gradient declines
Method）.
Similarly, second correction parameterIt can be accordingly acquired in the calculating schematic diagram of Fig. 2 b.Fig. 2 b show
Go out the 3rd filter 61, first correction parameterWith the amountIt is fed to the 3rd filter.In addition, the mistake
Poor deviation e is multiplied by the output of the 3rd filter 61 and corresponding fitness factors kb, and result is supplied to second integral
Device 62.The output of the second integral device 62 corresponds to second correction parameter, and it is fed back to the 3rd filter
61.The possible transmission function of 3rd filter can be：
。
The computation rule of Fig. 2 a and 2b represent merely illustratively to be chased after simultaneously in real corresponding to the error deviation
The possibility of correction parameter described in track.It can also use herein and the other of the correction parameter is obtained from the error deviation
Possibility.
Except when preceding adjusted by model（Modellabgleich）Outside the method for tracing model parameter, can also it make
With recursive parameter estimation device（Minimal error square law）Or kalman filter.In the recursive parameter estimation device, not only
Use input quantity（Such as duty cycle）Also use measured value（Such as camshaft location）, to estimate the model parameter.It " passs
Return " it represents, change the old valuation for the model parameter using correction term, the correction term is by new measured value with being based on old survey
Difference composition between the prediction of magnitude.Kalman filter is commonly used in the quantity of state that estimation can not be measured.But
Also can defined parameters as additional quantity of state.The novel model of calculating parameter from old parameter and correction term.The correction term
Again depend on the measured value and the predicted value based on the old measured value.
Fig. 3 shows another embodiment, and in said embodiment, the regulating system 1 of Fig. 1, which is expanded, adds dynamic
Proctor Central 7 and interference volume viewer 8.The dynamic Proctor Central 7 be configured to based on mathematics adjust transmitter model from
Predefined nominal position sTime graph in estimate pre-control adjustment amount component ufwdRequired curve, and
This clearly considers that adjustment amount limits.The nominal position is used as being used to be calculated what is returned by the adjustment transmitter model
Then the output information of track, the track are implemented by the pre-control.The track can also correspond to the specified position
The curve put.This track can include adjustment amount and limit, and may also include the nominal position sTemporal filtering.
Therefore, the position of the prediction is utilizedRather than nominal positionFeedback mitigate the adjustment unit 2 it is original
Adjusting burden.The pre-control adjustment amount component ufwdIt is added to the adjustment amount u in the exit of the adjustment unit 2R。
The dynamic Proctor Central 7 can be for example with following transmission function：
。
This is used for the nominal positionThe inversion model being transformed on adjustment amount u.In addition, the dynamic Proctor Central is also
Including the nominal position sPre-filtering, utilize：
。
Therefore equally adaptively it is based on the correction parameter、Adapt to the dynamic Proctor Central 7.
In addition, being provided with interference volume viewer 8, the interference volume viewer has to calculate inverse adjustment transmitter model
81 and the 3rd filter 82 of model box.The adjustment amount u of the adjustment transmitter unit 3 or amount related to this are fed to
3rd filter 82.The adjustment amount u of the adjustment transmitter unit 3 must be filtered using filter 82, the filter
With the time constant identical with filter 81.Otherwise, the error（Input nonlinearities）It can not be from actual and calculated back
It is correctly acquired in the adjustment amount come.The inverse adjustment transmitter model can have following transmission function：
。
3rd filter 82 can have following transmission function：
。
For the interference volume viewer 8 for compensating position deviation, the position deviation can be due to sending in the adjustment
Input nonlinearities in device unit and occur.If the position is due to interference, such as the spring torque of resetting spring, frictional force
Square, hydraulic pressure leakage, come from the disturbance torque of external consumption product, and change, then the interference can pass through the interference volume
Viewer 8 is compensated.The interference volume viewer 8 can be from current adjustment amount u and the physical location iDescribed in middle calculating
Interference.For this purpose, by the inverse transmitter model that adjusts by the physical location iIt is scaled viewer adjustment magnitude ub, and
With the adjustment amount filteredCompare.Difference is formed in the 3rd difference component 83.The difference is as holding adjustment amount uHBy again
It is secondary to be added on the adjustment amount u.The inverse adjustment transmitter model is it is also contemplated that the correction parameter、, so that described
Inverse adjustment transmitter model adapts to the current dynamic behaviour of the adjustment transmitter unit 3 always.
Due to not only the dynamic Proctor Central 7, adjusting box 3, but also the interference volume viewer 8 is with the mathematics
Based on adjusting transmitter model, corresponding model parameter must lead to according to operating point or when batch is spread with aging effect
It crosses by means of the correction parameter、Adaptation and be tracked.
Proposed regulating system is it can be considered that the dynamic characteristic of the adjustment transmitter unit in the regulating system, especially
It is by the dynamic Proctor Central, thus improves the regulation quality.Enable in particular to spring of the compensation by resetting spring
Torque, moment of friction, the leakage of hydraulic pressure, external consumption product disturbance torque and analog caused by input nonlinearities, and thus
Improve the static accuracy and transient behavior.
Adaptation and interference volume viewer can always or be only active once in a while, and the holding adjustment amount is most
Rear value or the model parameter being adapted are retained, until the adaptation and the interference volume viewer are activated again.It replaces
Dai Di, the adaptation can be performed according to the size of the error e between model value and measured speed.
Claims (11)
1. for the adjustment transmitter unit in drive system（3）Position adjust method, with following step：
- according to the adjustment transmitter unit（3）, predefined nominal position（ s）Adjusting is performed with physical location,
Wherein, the adjusting is performed according to adjustment parameter, and described adjusted adjustment amount（u）It is supplied to the adjustment transmitter unit
（3）；
At least one correction parameter of-offer（、）, to be adapted to the adjusting；
- according to error deviation（e）Obtain at least one correction parameter（、）, wherein, the error deviation（e）Provide institute
State adjustment transmitter unit（3）According to the dynamic amount that is modeled of adjustment transmitter model and the adjustment transmitter unit
Physical location（ i）Dynamic behaviour between deviation.
2. according to the method described in claim 1, wherein, the adjustment transmitter model passes through at least one correction parameter
（、）It is adapted to, and the correction parameter（、）It is obtained by following manner, that is, it is inclined to minimize the error
Difference（e）.
3. according to claim 1 or claim 2, wherein, the adjusting is adapted to by following manner, i.e., according to institute
State at least one correction parameter（、）The adjustment parameter is made to adapt to or according at least one correction parameter（、）
Adapt to adjusting input.
4. according to the method in any one of claims 1 to 3, wherein, pass through the adjustment transmitter unit（3）Reality
Position（ i）First time derivative or higher order time-derivative provide the physical location（ i）Dynamic behaviour, wherein,
The transmitter model that adjusts is by the adjustment amount（u）It is mapped to corresponding to the physical location（ i）First time derivative or
Person corresponds to the physical location（ i）Higher order time-derivative amount on.
5. method according to any one of claim 1 to 4, wherein, interference volume observation is performed, the interference volume observes root
According to passing through at least one correction parameter（、）The inverse adjustment transmitter model being adapted adapts to the adjustment amount, so as to
By keeping adjustment amount compensating action to the adjustment sender system（3）On interference effect.
6. according to the method described in claim 5, wherein, the holding adjustment amount as the adjustment amount filtered with by described
Difference between the model value for the inverse adjustment transmitter model that physical location was loaded be adapted is determined.
7. method according to any one of claim 1 to 6, wherein, the adjusting is by dynamic Proctor Central（7）Loading,
The Proctor Central provides the nominal position of prediction（ pred）With the nominal position corresponding to the prediction（ pred）Pre-control
Adjustment amount component（ufwd）, for loading the adjustment amount（u）, wherein, according to the nominal position of the prediction（ pred）Perform institute
Adjusting is stated, wherein, the dynamic Proctor Central（7）According at least one correction parameter（、）Determine the pre-control tune
Whole amount component（ufwd）.
8. the adjustment transmitter unit in drive system（3）Position adjust, including：
- adjustment unit, is configured to, according to the adjustment transmitter unit（3）Predefined nominal position（ s）Adjusting is performed with physical location, wherein, the adjusting is performed according to adjustment parameter, and described is adjusted adjustment amount（u）It carries
Supply the adjustment transmitter unit（3）；
- adaptation box, is configured to, provides at least one correction parameter（、）, to be adapted to the adjusting；
- according to error deviation（e）Obtain at least one correction parameter（、）, wherein, the error deviation（e）Provide institute
State adjustment transmitter unit（3）According to the dynamic amount that is modeled of adjustment transmitter model and the adjustment transmitter unit
Physical location（ i）Dynamic behaviour between deviation.
9. position according to claim 8 is adjusted, wherein, it is provided with interference volume viewer（8）, it is configured to, root
According to passing through at least one correction parameter（、）The inverse adjustment transmitter model being adapted adapts to the adjustment amount, so as to
By keeping adjustment amount compensating action to the adjustment sender system（3）On interference effect.
10. computer program is configured for, implement all steps of method according to any one of claim 1 to 7
Suddenly.
11. machine readable storage medium, computer program storage according to claim 10 is on said storage.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102016222732.7 | 2016-11-18 | ||
| DE102016222732.7A DE102016222732A1 (en) | 2016-11-18 | 2016-11-18 | Method and device for performing a position control for a positioner unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108073071A true CN108073071A (en) | 2018-05-25 |
| CN108073071B CN108073071B (en) | 2023-08-08 |
Family
ID=62069055
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711144519.7A Active CN108073071B (en) | 2016-11-18 | 2017-11-17 | Method and device for performing a position adjustment for adjusting a transmitter unit |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108073071B (en) |
| DE (1) | DE102016222732A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114502450A (en) * | 2019-10-04 | 2022-05-13 | 曼卡车和巴士欧洲股份公司 | Dead time compensation technique in transverse and longitudinal guidance of motor vehicles |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3605249A1 (en) * | 2018-08-02 | 2020-02-05 | Siemens Aktiengesellschaft | Method for synchronizing, method for operating an industrial installation, system, and computer readable medium and computer program product |
| DE102020215820A1 (en) | 2020-12-14 | 2022-06-15 | Robert Bosch Gesellschaft mit beschränkter Haftung | Hydraulic pump for a hydrostatic drive, and hydrostatic drive |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN108073071B (en) | 2023-08-08 |
| DE102016222732A1 (en) | 2018-05-24 |
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