CN1289878C - Control device and air conditioner for vehicle - Google Patents
Control device and air conditioner for vehicle Download PDFInfo
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- CN1289878C CN1289878C CN 02160518 CN02160518A CN1289878C CN 1289878 C CN1289878 C CN 1289878C CN 02160518 CN02160518 CN 02160518 CN 02160518 A CN02160518 A CN 02160518A CN 1289878 C CN1289878 C CN 1289878C
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Abstract
The controller suitable for the vehicular air-conditioner is provided with: a control object output target value setting means; a control object output detecting means; a control object control means for controlling an output value of a control object to be brought into a target value; a control object output target response calculating means for calculating a target response in a transition state through which a control object output reaches to the target value and for assigning it; and a control object output feed-back computing means for computing a deviation between a control object output target value in the target response and a control object output value detected by the control object output detecting means. The controller has a feed-forward control input predicting means for predicting a feed-forward control input required for realizing a transition characteristic in the target response by the control object output target response calculating means, and the control output value is controlled using, as a control input to the control object control means, a sum of the feed-forward control input and a feed-back control input calculated by the control object output feed-back computing means, in the controller suitable for the vehicular air-conditioner.
Description
Technical field
The present invention relates to control device and air conditioner for vehicles applicable to aircondition etc.
Background technology
As an example of control device, known have an air conditioner for vehicles that cooler, heater and damper are set in ventilation shaft.In this air conditioner for vehicles, the effect of cooler and heater is controlled, controlled to adjust air door simultaneously, reach car indoor temperature like this as desired value with reference to design temperature and various detected temperatures.For example, automatic air condition device as a kind of air conditioner for vehicles, with reference to thermic load detected values such as car indoor temperature, air themperature, sunshine amount, cooler outlet side air themperatures, the target temperature of the air that calculating blows out from ventilation shaft, according to this target temperature to control appliance, for example conversion damper etc. is controlled, this conversion damper is used to control so-called air mix damper and blows out model, and inner air and outer air is changed.
, existing automatic air condition facility have many thermic load test sections and all temps adjustment control apparatus drive division, with more complex control system and arithmetic expression, need a lot of times and expense so constitute control system.
Summary of the invention
For this reason, the object of the present invention is to provide a kind of cheap control device of simplified control system greatly.
Another object of the present invention provides a kind of both can the maintenance and the identical performance of existing automatic air condition machine, again the cheap air conditioner for vehicles of simplified control system greatly.
According to a kind of form of the present invention, can obtain a kind of control device, this control device is the control device that disposes following mechanism, promptly has: the desired value set mechanism that the export target value of setting control object is used; Detect the output valve testing agency that the real output value of above-mentioned control object is used; Above-mentioned control object is controlled to the controlling organization that makes above-mentioned output valve become desired value, it is characterized in that, above-mentioned controlling organization comprises: the target response arithmetical organ, and the target response value that is used for above-mentioned output valve is reached the transition state before the desired value is calculated; Control object output feedback arithmetical organ is used for the above-mentioned desired value of above-mentioned transition state and the difference of output valve are carried out computing, generates the FEEDBACK CONTROL input; FEEDFORWARD CONTROL input projecting body is used to predict the needed FEEDFORWARD CONTROL input of the transient characteristic of realizing above-mentioned target response; Control the mechanism of above-mentioned output valve, this mechanism imports sum as input with above-mentioned FEEDFORWARD CONTROL input and FEEDBACK CONTROL, and above-mentioned output valve is controlled.
According to other form of the present invention, can obtain a kind of air conditioner for vehicles, this aircondition is the air conditioner for vehicles with following mechanism, promptly has: the temperature set mechanism that the temperature that car is indoor is set as design temperature; The temperature testing organization that the actual temperature that above-mentioned car is indoor detects as detected temperatures; The temperature that above-mentioned car is indoor is controlled, make above-mentioned detected temperatures become the temperature control device of design temperature, it is characterized in that the said temperature controlling organization comprises: above-mentioned detected temperatures is reached the target response calculation mechanism that the target response value of the transition state before the above-mentioned design temperature is calculated; The target temperature of above-mentioned target response and the difference of detected temperatures are carried out computing, generate the feedback arithmetical organ of FEEDBACK CONTROL input; The feed forward prediction mechanism that necessary FEEDFORWARD CONTROL input is predicted to the transient characteristic of realizing above-mentioned target response; Above-mentioned FEEDFORWARD CONTROL input and FEEDBACK CONTROL input sum are imported as control, controlled the mechanism of above-mentioned car indoor temperature.
In this air conditioner for vehicles, automatically calculate the response model that responds this desired value according to design temperature, i.e. target response, prediction reaches the necessary FEEDFORWARD CONTROL amount of this target response, the FEEDBACK CONTROL amount is added in this predicted value, predicted value is modified to more suitably controlled quentity controlled variable.This revised controlled quentity controlled variable is adopted as the controlled quentity controlled variable of control car indoor temperature, according to the indoor temperature of this controlled quentity controlled variable control car.Promptly, select to have before reaching design temperature the target response of suitable transient characteristic aptly, the limit carries out feeding back to this feed-forward signal according to the FEEDFORWARD CONTROL of this target response, the detection signal that the limit only will record with testing agency basically basically, feed-forward signal is modified to the suitable controlled quentity controlled variable that comprises feedback signal, according to the indoor temperature of this controlled quentity controlled variable control car.
As mentioned above, according to control device of the present invention, particularly air conditioner for vehicles, detect needed system and have only this open-and-shut control system of car indoor temperature in fact, just can realize desirable comfortable air-conditioning control, can make the automatic air condition control system simplify greatly, can reduce cost.
Particularly available difierence equation shows car indoor temperature target response model, can realize with cheap control system, and for example available control system of ECU of having used realizes, can reduce cost significantly.
As implement shown in the form, owing in the controlled quentity controlled variable computing, considered the dynamic characteristic of car indoor temperature, therefore, can bring into play good FEEDFORWARD CONTROL performance.Again because of this dynamic characteristics of expression such as available difierence equations, so can install at low cost.
Description of drawings
Fig. 1 is the mechanical system figure of the air conditioner for vehicles of the embodiment of the invention 1;
Fig. 2 is the block diagram of the master controller that air conditioner for vehicles comprised of presentation graphs 1;
Fig. 3 is the temperature controlled performance plot that is used for the air conditioner for vehicles of key diagram 1;
Fig. 4 is the block diagram of action that is used for the master controller of key diagram 2;
Fig. 5 is the mechanical system figure of the air conditioner for vehicles of the embodiment of the invention 2;
Fig. 6 is the block diagram of the master controller that air conditioner for vehicles comprised of presentation graphs 5;
Fig. 7 is the block diagram of action that is used for the master controller of key diagram 6.
The specific embodiment
With reference to Fig. 1 the integral body of the air conditioner for vehicles of the embodiment of the invention 1 is explained.
Among Fig. 1, symbol 1 is the whole mechanical component part of air conditioner for vehicles, the entrance side of ventilation shaft 2 is provided with inner air and outer air conversion damper 5, is used to control the ratio of air introducing port 3 one sides air imbibed quantity that sucks and the air imbibed quantity that sucks from extraneous air introducing port 4 one sides internally.Inhaled air by the air blast 7 that motor 6 drives in pipeline 2, attract, force feed.
The cold-producing medium of circulation is supplied to the evaporimeter that is provided with as cooler 8 in refrigerant loop (refrigerating circuit) 11.Cold-producing medium is compressed by fixed capacity formula compressor 12, carries out condensation by condenser 13, and this compressor is driven by automobile engine, and can carry out variable control to capacity by Clutch Control.Condensed cold-producing medium is delivered in the evaporimeter and is evaporated through accumulator 14, expansion valve 15, and near the air the evaporimeter is cooled off.Cold-producing medium after the evaporation sucks in the compressor 12 from evaporimeter.The running of compressor 12 can be controlled by the control of clutch controller 16.
It is indoor that cooled air is blown out to car through blow-off outlet (for example DEF blow-off outlet, VENT blow-off outlet, FOOT blow-off outlet) 19,20,21.Be respectively equipped with damper 22,23,24 on the blow-off outlet 19,20,21.
With reference to Fig. 2 master controller 25 is explained.
Design temperature (desired value) according to 26 settings of car indoor temperature setting apparatus, target response calculation mechanism 32 is carried out computing with the desired value response model (target response) that reaches from predefined initial value (for example, normal temperature is 25 ℃) till this design temperature as F (S).According to this operation result, feed forward prediction mechanism 33 just blows out the temperature controlling object model as 1/P ' FEEDFORWARD CONTROL input (S) carrying out computing with target.
In addition, the detected temperatures signal that sends of car indoor temperature transmitter 27 is added in the prediction signal of expression target response as feedback signal.That is,, carry out the PID computing with PID arithmetical organ 34 with the deviate of the detected temperatures signal that feeds back as the desired value response model F (S) of PREDICTIVE CONTROL amount.Then, be FEEDBACK CONTROL input addition with the input of above-mentioned FEEDFORWARD CONTROL with through the corrected signal of PID computing, it is blown out the temperature controlling signal as target, promptly as the baseband signal output of cooler outlet air themperature control.Utilize this target to blow out the temperature controlling signal, the computing that cooler outlet air themperature desired value arithmetical organ 35 is stipulated outputs to clutch engagement signal in the clutch controller 16.According to this clutch engagement signal, the running of the clutch (not shown) of 16 pairs of fixed capacity formulas of clutch controller compressor 12 is controlled.Its result, the air themperature of cooler 8 outlet sides is controlled.Like this, just, can make the indoor temperature of car near desired value.
With reference to Fig. 3, the temperature control indoor to car is illustrated.
According to target response calculate suitably, the given settings temperature, transient characteristic when this target response comprises the control beginning, predictive feed forward controlled quentity controlled variable then, with the differential feedback of indoor detected temperatures of the car of reality and target response value in the FEEDFORWARD CONTROL amount, and with this FEEDFORWARD CONTROL input and the baseband signal of feedback sum as the working control amount.That is,, will according to the signal feedback of unique indoor detected temperatures of car in this feedforward control system, the FEEDFORWARD CONTROL input be modified to more suitably semaphore, can carry out working control as the feedforward control system that can constitute control system basically simply.
With reference to Fig. 2, Fig. 4, specify the action of master controller 25.
According to the design temperature of setting with car indoor temperature setting apparatus 26, i.e. car indoor temperature desired value Tset, car indoor temperature response desired value Tf conduct
The once hysteresis approximate difference equation formula of Tf=(TL * Tset+Tc * Tf (last value))/(Tc+TL) is carried out computing.In the formula, TL is a control cycle, and Tc is a car indoor temperature response designated parameter.
When the computing target blew out temperature T oc, Tf calculated the feed forward prediction operation values Toc1 that target blows out temperature for car indoor temperature response desired value.This computing item has has considered that the control object is the dynamic dynamics model of the response change of car indoor temperature, and this dynamic dynamics model is with static characteristic formula Tff1 and the model that is similar to after the difierence equation Tff2 that once lags behind carries out approximate processing.Originally, with car indoor temperature response desired value Tf, be input to the control object when being car indoor temperature dynamic dynamics model, feed forward prediction operation values Toc1 just nature can be output, but, be actually and car indoor temperature response model and control object, promptly the model that combines of dynamic dynamics model is identical.Therefore, be to have adopted the model that combines like this, result, input value become car indoor temperature desired value Tset.
Then, the car indoor temperature TR according to car indoor temperature response desired value Tf and actual detected calculates the feedback operation values Toc2 that target blows out temperature.
Blow out the feed forward prediction operation values Toc1 of temperature and feed back operation values Toc2 sum according to this target, target blows out temperature T oc and uses
Toc=Toc1+Toc2 calculates.
Reference object blows out temperature T oc, calculate cooler outlet air themperature target temperature operation values TV, consider detected cooler outlet air themperature Te and send clutch engagement signal, with clutch controller 16 control cooler outlet air themperatures, control car indoor temperature.
With reference to Fig. 5, the integral body of the air conditioner for vehicles of the embodiment of the invention 2 is explained.The part prosign same with Fig. 1, and omit its explanation.
Among Fig. 5, the downstream of evaporimeter is provided with the hot-water heater as heater 9.Engine cooling water 10 from automobile engine circulates in heater 9, therefrom the heat hot water heater.
The downstream of hot-water heater is provided with air mix damper 17.Air mix damper 17 is regulated apertures by air mix damper actuator 18, can control the ratio of the air capacity of air capacity by heater 9 and bypass.Air mix damper actuator 18 and clutch controller 16 according to master controller 25 ' signal control.It is indoor that air after the adjustment is blown out to car by each blow-off outlet 19,20,21 (for example, DEF, VENT, FOOT blow-off outlet).The above-mentioned air conditioner for vehicles of the structure of other machineries and Fig. 1 is identical.
With reference to Fig. 6 to master controller 25 ' explain.
Design temperature (desired value) according to car indoor temperature setting apparatus 26, target response calculation mechanism 32 is carried out computing with the desired value response model (target response) that begins from predefined initial value (for example, normal temperature is 25 ℃) to reach till this design temperature desired value as F (S).According to this operation result, FEEDFORWARD CONTROL input projecting body 33 with target blow out the temperature controlling object model as 1/P ' FEEDFORWARD CONTROL input (S) carry out computing.
In addition, the detected temperatures signal that sends of car indoor temperature transmitter 27 is added in the prediction signal of expression target response as feedback signal.That is, the desired value response model F (S) as the PREDICTIVE CONTROL amount carries out the PID computing with the deviate of the detected temperatures signal of feedback with PID arithmetical organ 34.Then, corrected signal with above-mentioned FEEDFORWARD CONTROL input and process PID computing, be FEEDBACK CONTROL input addition, it is blown out the temperature controlling signal as target, promptly export as the baseband signal of air mix damper control and the control of cooler outlet air themperature.This target blows out the temperature controlling signal and is sent to air mix damper aperture arithmetical organ 41 and the computing of cooler outlet air themperature, decision mechanism 42.
Air mix damper aperture arithmetical organ 41 comprises the interface 43 as the operating side, with the aperture operational part 44 of the conduct control object that is connected with interface 43.Target blows out the temperature controlling signal and is fed to aperture operational part 44 via interface 43.Aperture operational part 44 carries out the regulation computing of the aperture aspect of air mix damper 17, generates the air mix damper signal, sends this air mix damper signal to air mix damper actuator 18.Air mix damper actuator 18 is controlled the aperture of air mix damper 17 according to the air mix damper signal.As a result, controlled near the air capacity of passing through the heater 9.
Cooler outlet air themperature desired value arithmetical organ comprises: supply with the TVI operational part 45 that target blows out temperature control signals; The TVII operational part 46 that is connected with car indoor temperature setting apparatus 26; The comparison judging part 47 that is connected with TVII operational part 46 with TVI operational part 45; The efferent 48 that is connected with comparison judging part 47.TVI operational part 45 blows out temperature control signals according to target cooler outlet air themperature desired value TVI is carried out computing.TVII operational part 46 carries out computing according to the design temperature of car indoor temperature setting apparatus 26 to cooler outlet air themperature desired value TVII.Cooler outlet air themperature desired value TVI and TVII compare with comparing judging part 47, the side that its intermediate value is little, and promptly minimum of a value sends clutch controller 16 as clutch engagement signal to by efferent 48.According to this clutch engagement signal, the action of the clutch (not shown) of 16 pairs of fixed capacity formulas of clutch controller compressor 12 is controlled.As a result, the outlet side air themperature of cooler 8 is controlled.
Like this, near the control of the air capacity passed through the heater 9 and to the control of the air themperature of the outlet side of cooler 8, can make the car indoor temperature by above-mentioned near desired value.In addition, the control of the refrigerant temperature of control of the temperature of also available cooler self or cooler gateway replaces the control of cooler outlet air themperature.
With reference to Fig. 6 and Fig. 7, to master controller 25 ' action be specifically described.
According to the design temperature that car indoor temperature setting apparatus 26 is set, promptly according to car indoor temperature desired value Tset, car indoor temperature response desired value Tf uses
The approximate difierence equation that once lags behind of Tf=(TL * Tset+Tc * Tf (last value))/(Tc+TL) is carried out computing.In the formula, TL is a control cycle, and TC is a car indoor temperature response designated parameter.
When the computing target blew out temperature T oc, Tf calculated the feed forward prediction operation values Toc1 that target blows out temperature with respect to car indoor temperature response desired value.This computing item has has considered the control object, i.e. the dynamic dynamics model of the response change of car indoor temperature, this dynamic dynamics model are to carry out model after the approximate processing with static characteristic formula Tff1 and the approximate difierence equation Tff2 that once lags behind.Originally, car indoor temperature response desired value Tf is input to the control object when being car indoor temperature dynamic dynamics model, certainly can become Toc1 output, but it is identical being actually with the model that the dynamic dynamics model of car indoor temperature response model and control object is combined.Therefore, be to have adopted the model that combines like this, result, input value become car indoor temperature desired value Tset.
Then, the car indoor temperature TR according to car indoor temperature response desired value Tf and actual detected calculates the feedback operation values Toc2 that target blows out temperature.
Blow out the feed forward prediction operation values Toc1 of temperature and feed back operation values Toc2 sum according to this target, target blows out temperature T oc and uses
Toc=Toc1+Toc2 calculates.
Blow out the operation result of temperature T oc according to this target, the aperture AMD of air mix damper carries out computing by following formula.
AMD＝f(Toc.TW.Te)
TW generally is the calorifier inlets hot water temperature who detects as engine cooling water temperature in the formula, and Te is an evaporator air outlet temperature.
The signal of the air mix damper aperture AMD that expression generates is output in the air mix damper actuator 18, and reality is controlled the aperture of air mix damper.
In this control, be row operation during as feed-forward signal with the corresponding desired value response model of design temperature, come down to separated FEEDBACK CONTROL, the temperature detection signal that this FEEDBACK CONTROL utilizes car indoor temperature transmitter 27 to send of carrying out independently.Therefore, above-mentioned feed-forward control signals is revised aptly according to feedback signal, and blowing out the temperature controlling signal as target is the very high signal of reliability.And, add unique feedback signal in fact, this is the signal of the car indoor temperature at that time of actual detected, so can realize open-and-shut control structure, and can be stably, response carries out comfortable air-conditioning control well.
In addition, blow out temperature T oc computing cooler outlet air themperature TVI=f (Toc), according to above-mentioned design temperature computing cooler outlet air themperature TVII=f (TsetRH) according to target.RH is the target carriage indoor relative humidity, provides as fixing setting value.With the cooler outlet air themperature TVI that generates like this and the low side among the TVII as cooler outlet air themperature desired value TV, according to this desired value TV, to clutch controller 16 output clutch control signals.Clutch controller 16 is controlled like this, that is, make the detected value Te of cooler outlet air themperature become desired value TV.
Come solenoidoperated cluthes controller 16 according to desired value TV like this, thus, the running of control compressor 12 just can be carried out necessary minimal running, can improve energy conservation characteristic.And, also can make the evaporating temperature of cold-producing medium reach optimum level, so can further improve the comfortableness of air-conditioning.
Claims (7)
1. air conditioner for vehicles, it is the air conditioner for vehicles with following mechanism: the temperature set mechanism that the temperature that car is indoor is set as design temperature; The temperature testing organization that the actual temperature that above-mentioned car is indoor detects as detected temperatures; The temperature that above-mentioned car is indoor is controlled, make above-mentioned detected temperatures become the temperature control device of design temperature, it is characterized in that the said temperature controlling organization comprises: above-mentioned detected temperatures is reached the target response calculation mechanism that the target response value of the transition state before the above-mentioned design temperature is calculated; The target temperature of above-mentioned target response and the difference of detected temperatures are carried out computing, generate the feedback arithmetical organ of FEEDBACK CONTROL input; The feed forward prediction mechanism that necessary FEEDFORWARD CONTROL input is predicted to the transient characteristic of realizing above-mentioned target response; Above-mentioned FEEDFORWARD CONTROL input and FEEDBACK CONTROL input sum are imported as control, controlled the mechanism of above-mentioned car indoor temperature.
2. air conditioner for vehicles according to claim 1, above-mentioned FEEDFORWARD CONTROL input is represented with the computing of the deviation of the value of the last time that comprises the input of above-mentioned design temperature and above-mentioned FEEDFORWARD CONTROL.
3. air conditioner for vehicles according to claim 1 and 2, above-mentioned target response value is represented with the computing of the deviation of the value of the last time that comprises above-mentioned design temperature and target response.
4. air conditioner for vehicles according to claim 1 and 2 has being blown out to the cooler that the indoor air of car cools off; With the amount of cooling water governor motion that the cooling capacity of above-mentioned cooler is regulated, above-mentioned amount of cooling water governor motion blows out temperature with the temperature to the indoor air that blows out of above-mentioned car as target, blows out temperature with reference to this target the cooling capacity of above-mentioned cooler is regulated.
5. air conditioner for vehicles according to claim 4 is equipped with the refrigerating circuit with compressor, and above-mentioned cooler is the evaporimeter that is connected with above-mentioned refrigerating circuit, and above-mentioned amount of cooling water governor motion is controlled the action of above-mentioned compressor.
6. air conditioner for vehicles according to claim 1 and 2, have being blown out to the heater that the indoor air of car heats, with the heating efficiency of above-mentioned heater is regulated add the heat governor motion, the above-mentioned heat governor motion that adds blows out temperature with the temperature that is blown out to above-mentioned car room air as target, blows out the heating efficiency that temperature is regulated heater with reference to this target.
7. air conditioner for vehicles according to claim 6, the above-mentioned heat governor motion that adds has the air mix damper of controlling by near the air quantity the above-mentioned heater.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP397484/2001 | 2001-12-27 | ||
| JP397484/01 | 2001-12-27 | ||
| JP2001397484A JP2003191741A (en) | 2001-12-27 | 2001-12-27 | Controller |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1428569A CN1428569A (en) | 2003-07-09 |
| CN1289878C true CN1289878C (en) | 2006-12-13 |
Family
ID=19189203
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 02160518 Expired - Fee Related CN1289878C (en) | 2001-12-27 | 2002-12-27 | Control device and air conditioner for vehicle |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP2003191741A (en) |
| CN (1) | CN1289878C (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1640195A3 (en) * | 2004-09-27 | 2007-02-07 | Sanden Corporation | Control device |
| JP2006190145A (en) * | 2005-01-07 | 2006-07-20 | Omron Corp | Store management system, store controller, store control method, management server, management method and program |
| JP5475501B2 (en) | 2010-02-24 | 2014-04-16 | サンデン株式会社 | Air conditioner for vehicles |
| CN102922970A (en) * | 2012-11-29 | 2013-02-13 | 上海威乐汽车空调器有限公司 | Automobile air-conditioner control method |
| CN103963604B (en) * | 2014-05-05 | 2016-12-07 | 惠州华阳通用电子有限公司 | A kind of vehicle interior temperature calibration steps of auto Air Conditioner |
-
2001
- 2001-12-27 JP JP2001397484A patent/JP2003191741A/en active Pending
-
2002
- 2002-12-27 CN CN 02160518 patent/CN1289878C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JP2003191741A (en) | 2003-07-09 |
| CN1428569A (en) | 2003-07-09 |
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Granted publication date: 20061213 Termination date: 20100127 |