EP0098909A2 - Régulateur de ralenti notamment pour les véhicules - Google Patents

Régulateur de ralenti notamment pour les véhicules Download PDF

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Publication number
EP0098909A2
EP0098909A2 EP83100686A EP83100686A EP0098909A2 EP 0098909 A2 EP0098909 A2 EP 0098909A2 EP 83100686 A EP83100686 A EP 83100686A EP 83100686 A EP83100686 A EP 83100686A EP 0098909 A2 EP0098909 A2 EP 0098909A2
Authority
EP
European Patent Office
Prior art keywords
limiter
amplifier
output
control amplifier
differential amplifier
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP83100686A
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German (de)
English (en)
Other versions
EP0098909A3 (en
EP0098909B1 (fr
Inventor
Harald Collonia
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mannesmann VDO AG
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Mannesmann VDO AG
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Filing date
Publication date
Application filed by Mannesmann VDO AG filed Critical Mannesmann VDO AG
Publication of EP0098909A2 publication Critical patent/EP0098909A2/fr
Publication of EP0098909A3 publication Critical patent/EP0098909A3/de
Application granted granted Critical
Publication of EP0098909B1 publication Critical patent/EP0098909B1/fr
Expired legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
    • F02D31/001—Electric control of rotation speed
    • F02D31/002—Electric control of rotation speed controlling air supply
    • F02D31/003—Electric control of rotation speed controlling air supply for idle speed control
    • F02D31/004—Electric control of rotation speed controlling air supply for idle speed control by controlling a throttle stop

Definitions

  • the invention relates to an idle controller according to the preamble of claim 1.
  • a known idle controller of this type has a converter which converts the magnitude of the engine speed into a voltage.
  • a controller with PID time behavior is connected to the output of the converter.
  • the PID controller comprises a first differential amplifier with a resistance capacitor combination at an input and a second resistance capacitor combination between the output and the input of the differential amplifier, as a result of which a differential time behavior is generated.
  • the first differential amplifier is coupled via a resistor to a second differential amplifier, which is fed back to an input via a further resistor capacitor combination.
  • the second input is on a voltage divider.
  • the PI behavior is generated with the second differential amplifier. Both differential amplifiers thus represent a controller with PID behavior.
  • a line leads to an inverting input of a third differential amplifier, whose non-inverting Input is connected to the output of the converter as well as to a bias voltage divider.
  • the output of the third differential amplifier is led as a limiter to the non-inverting input of the second differential amplifier of the PID controller.
  • This idle controller is intended to meet the conflicting requirements that a sudden drop in speed, especially when the accelerator pedal is released or when an additional unit is switched on, is quickly absorbed, so that the speed when idling does not fall below the specified target value if possible.
  • This requires a rapid reaction by the organ, which determines the mixture supply to the internal combustion engine.
  • the regulation should be as insensitive as possible to minor excitations caused by disturbances, in order not to move the organ controlling the mixture supply, in particular a throttle valve, unnecessarily, and to avoid a so-called sawing regulation or a rocking oscillation, so-called bonanza effect. to create.
  • the former case can occur, for example, in the case of a so-called lambda probe control for a correct mixture preparation, the latter by undesired actuation of the accelerator pedal by the driver when the motor vehicle is jerky.
  • the PID time portions of the idle controller must be carefully and individually adapted to the characteristics of the internal combustion engine to be controlled.
  • the limiter which the known idle controller comprises, has the task of guiding the manipulated variable emitted by the second differential amplifier for any possible speed in a range which lies between the overdrive limits of the second differential amplifier.
  • the limiter does not change the dynamic behavior of the idle controller.
  • the object of the present invention is to develop an idle controller of the type mentioned at the outset in such a way that it quickly interceptes or regulates relatively large speed drops with the least possible component outlay and uncritical adjustment or adaptation to the characteristics of the internal combustion engine to be regulated, but on the other hand with smaller ones Suggestions in the area of the idle target speed are not unnecessarily stimulated by smaller disturbance variables.
  • the limiter is used in a novel way to change the timing behavior of the entire idle controller structure as a function of the input variable, the idle speed: With smaller disturbance variables and corresponding speed fluctuations, only that is actual idle controller with the control amplifier and its timing elements for the formation of the manipulated variable.
  • the timing elements can therefore be dimensioned so that the controller is insensitive to minor excitations caused by interference.
  • a time behavior has an effect, which is arranged by at least one further timing element in the branch between an input of the actual speed value and the output of the limiter.
  • This timer can be designed in particular to generate a differential time component, so that the overall structure of the idle controller generates a manipulated variable that quickly counteracts a sudden drop in speed.
  • This connection of an additional or different time behavior to the time behavior of the actual control amplifier with its timing elements takes place in such a way that when the control amplifier is overdriven, the limiter becomes effective, which feeds an amplified limiting setpoint into one input of the control amplifier and thus carries it with the actual speed value, that the controller remains at the overload limit. This is done in particular in such a way that when the speed drops, the increased limiting setpoint is increased, which also increases the manipulated variable, which cannot fall below the value of the lower modulation limit.
  • the manipulated variable therefore follows the modulation limit in this operating state of the idle controller, namely the lower modulation limit, which regulates the actual speed fluctuations sensitively in accordance with the time behavior of the limiter branch with a differential time component Fluctuations desired relatively sluggish timing behavior can be set uncritically on the timing element, which is directly connected to the control amplifier, which thus shows in particular integral timing behavior.
  • the time behavior is also set uncritically by the timing element in the limiter branch with a differential time component. This means that production, comparison and warehousing can be rationalized.
  • the total component expenditure for generating an idle controller is reduced, since in particular a differential amplifier with the associated coupling elements can be omitted.
  • control amplifier is designed exclusively with an integral time component.
  • a particularly useful embodiment of the idle controller is specified in claim 3, which is characterized by a low manufacturing cost.
  • the coupling of the limiter amplifier with the inverting input of the regulator amplifier in conjunction with the diode ensures that only the lower modulation limit is shifted dynamically, so that this affects the manipulated variable in the event of sudden speed reductions.
  • an input is denoted by 1, into which a variable corresponding to the actual speed value x i is fed.
  • the input is connected to a control amplifier 3 via a comparator 2, in which the actual speed value is compared with a reference variable w.
  • the control amplifier only has an integral time response as an I controller. It outputs a manipulated variable y i to an output 4, to which, for example, a throttle valve drive can be connected.
  • a branch 5 with a limiter 6 is also branched off from the input 1.
  • the limiter consists essentially of a limiter amplifier 7 and comparison points 8, 9, which are connected upstream of an input of the amplifier 7.
  • the comparison point 8 the difference between the actual speed value or a variable derived therefrom and a reference variable Yw is formed and a limiting setpoint is thus generated.
  • the limit setpoint is compared with the manipulated variable y i in the second comparison point 9.
  • the output of amplifier 7 is connected to an input 11 of Regelver via a non-linear element 10 intensifier 3 in connection, which determines the lower clipping limit.
  • a timing element 12 is also inserted, which in FIG. 1 lies in front of the comparison points 8 and 9 in the signal flow direction of the actual speed value, but can also be arranged in equivalent embodiments behind these comparison points and can be directly coupled to the amplifier 7.
  • the manipulated variable y is plotted on a time axis as the abscissa between the upper constant modulation limit Y 1 and the lower modulation limit Y 2 .
  • the actual speed x i is shown above this.
  • the limiter 6 acts in the following way:
  • the speed list signal, which the timer 12 passes through, is subtracted from a reference variable w (y) in the comparison point 8.
  • a reference value signal y i is subtracted from the difference formed therefrom as the limiting setpoint y w in the comparison point 9.
  • This difference enters the input of an amplifier 7 and, via a non-linear element 10, as an amplified limiting setpoint into the input 11 of the control amplifier 3.
  • the amplified limiting setpoint initially has no direct effects here. since the manipulated variable generated by him lies between the upper modulation limit Y 1 and the lower modulation limit Y 2 .
  • the above behavior of the limiter changes as soon as a sudden drop in speed of the actual speed value occurs at time t 1 , for example because the accelerator pedal is reset.
  • the rapidly falling speed is not only counteracted by the control amplifier 3, since, due to its slowly set integration process, it cannot briefly cause any significant change in the manipulated variable.
  • the manipulated variable at point in time t 1 increases almost suddenly, due to the action of the limiter: in the timing element 12, the speed change is differentiated, so that after the subtraction of the setpoint and the manipulated variable described above, the amplifier 7 of the limiter with a correspondingly large pulse.
  • This amplified pulse reaches the input 11 of the control amplifier 3 via the non-linear element 10, which is switched in the sense of influencing the lower modulation limit.
  • the amplified limit setpoint at the input 11 calls the control amplifier 3 for a sudden rise in the lower modulation limit the differentiated temporal course of the actual speed. Since the manipulated variable cannot be smaller than the lower modulation limit, it is raised to a value which in FIG. 3 conforms to the course of the lower modulation limit. This means that the manipulated variable increases in leaps and bounds according to the time behavior of the timing element 12 by the speed drop x . balance. If the decreasing speed change disappears, the lower modulation limit also decreases, analogous to the timing of the timing element 12.
  • the course of the manipulated variable separates again from the course of the lower modulation limit for the corresponding smaller output variables of the amplifier 7.
  • the manipulated variable is formed from the control deviation in accordance with the slowly integrating time behavior of the control amplifier 3, both short-term fluctuations in the actual speed or the control deviation not having an effect on the manipulated variable, since the integrating control amplifier has a smoothing function.
  • the timing element with differentiating time behavior 12 the small, short-term fluctuations in the actual speed value also have a strong effect on the output variable of amplifier 7, which supplies the amplified limiting setpoint.
  • the associated fluctuations in the amplified limiting setpoint have no influence on the manipulated variable, since while the actual speed value remains almost the same, the manipulated variable again runs at a distance from the lower modulation limit and is therefore not influenced by it.
  • a first differential amplifier 13 is provided as a control amplifier and a second differential amplifier 14 as a limiter amplifier. These differential amplifiers are used at the same time in addition to amplification for comparison and to form the time behavior.
  • an inverting input 15 of the first differential amplifier 13 is connected via a resistor 16 connected to the output of a converter 17, which converts the actual speed into a corresponding voltage.
  • the non-inverting input 18 of the first differential amplifier is connected to a voltage divider 19 at which a setpoint value of the idling speed can be set.
  • the output of the amplifier 13 is fed back via a capacitor 20 to the inverting input j5 of the first differential amplifier.
  • the capacitor 20 forms the integrating time behavior of the first differential amplifier.
  • the second differential amplifier 14, the limiter amplifier, is connected with its inverting input 21 to a voltage divider 22 and to the output of the converter 17.
  • the voltage divider is used to specify the setpoint for the limitation.
  • the non-inverting input 23 of the second differential amplifier is also connected to the output of the converter 17, specifically via a capacitor 24 which, in conjunction with a resistor 25, produces a differentiating time behavior.
  • the resistor 25 connects the output of the amplifier 13 to the non-inverting input 23 of the amplifier 14.
  • the embodiment of the idle controller according to FIG. 2 acts like the structure according to FIG. 1 described above.
  • the difference between the control deviation and the formation of the integral time component at the first differential amplifier 13 / and the formation of the differential time component as well as the formation of the differences for generating the increased limiting setpoint take place through the second differential amplifier 14.
  • a diode 26 connects the output of the second differential amplifier 14 to the inverting input 15 of the first differential amplifier 13 in such a way that the lower modulation limit is raised when the speed and thus the voltage at the output of the converter 17 drop.
  • the manipulated variable at output 4 of the first control amplifier is again forced to follow the lower modulation limit, while with only small and / or slow speed fluctuations, the manipulated variable is formed uniformly independently of the lower modulation limit, which is the speed fluctuation differentiated and reinforced.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
  • Feedback Control In General (AREA)
EP83100686A 1982-07-14 1983-01-26 Régulateur de ralenti notamment pour les véhicules Expired EP0098909B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3226283 1982-07-14
DE19823226283 DE3226283A1 (de) 1982-07-14 1982-07-14 Leerlaufregler, insbesondere fuer kraftfahrzeuge

Publications (3)

Publication Number Publication Date
EP0098909A2 true EP0098909A2 (fr) 1984-01-25
EP0098909A3 EP0098909A3 (en) 1984-07-25
EP0098909B1 EP0098909B1 (fr) 1987-05-27

Family

ID=6168388

Family Applications (1)

Application Number Title Priority Date Filing Date
EP83100686A Expired EP0098909B1 (fr) 1982-07-14 1983-01-26 Régulateur de ralenti notamment pour les véhicules

Country Status (3)

Country Link
US (1) US4471735A (fr)
EP (1) EP0098909B1 (fr)
DE (2) DE3226283A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0151805A2 (fr) * 1984-02-03 1985-08-21 VDO Adolf Schindling AG Dispositif de régulation électrique de la vitesse de ralenti d'un moteur à combustion
WO1989005905A1 (fr) * 1987-12-24 1989-06-29 Robert Bosch Gmbh Procede et agencement de regulation du dosage d'air dans des moteurs a combustion interne, notamment au ralenti et en deceleration

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3226283A1 (de) * 1982-07-14 1984-01-19 Vdo Adolf Schindling Ag, 6000 Frankfurt Leerlaufregler, insbesondere fuer kraftfahrzeuge
DE3235186A1 (de) * 1982-09-23 1984-03-29 Robert Bosch Gmbh, 7000 Stuttgart Vorrichtung zur regelung der leerlauf-drehzahl von brennkraftmaschinen
DE3337260A1 (de) * 1983-10-13 1985-04-25 Atlas Fahrzeugtechnik GmbH, 5980 Werdohl Leerlaufregelung fuer einen ottomotor
DE3343854A1 (de) * 1983-12-03 1985-06-13 Robert Bosch Gmbh, 7000 Stuttgart Einrichtung zur beeinflussung eines stellregelkreises bei einer brennkraftmaschine mit selbstzuendung
JPS60153440A (ja) * 1984-01-20 1985-08-12 Honda Motor Co Ltd 内燃エンジンのアイドル回転数フイ−ドバツク制御方法
DE3408002A1 (de) * 1984-03-03 1985-09-12 Vdo Adolf Schindling Ag, 6000 Frankfurt Einrichtung zur herabsetzung von fahrzeuglaengsdynamik-instabilitaeten
US4629980A (en) * 1985-05-28 1986-12-16 International Business Machines Corporation Testing limits of speed variations in motors
KR910001692B1 (ko) * 1987-01-20 1991-03-18 미쓰비시 뎅끼 가부시끼가이샤 내연기관의 회전수 제어장치
US4875448A (en) * 1988-09-23 1989-10-24 Briggs & Stratton Corporation Cyclic responding electronic speed governor
JPH0739818B2 (ja) * 1989-08-31 1995-05-01 富士通テン株式会社 内燃機関のアイドル回転速度制御装置
US5105331A (en) * 1990-01-18 1992-04-14 Briggs & Stratton Corporation Idling system for devices having speed controllers
DE4215959C2 (de) * 1991-05-15 1997-01-16 Toyoda Automatic Loom Works Verstärkungsfaktor-Einstelleinrichtung für PID-Regler
US5353762A (en) * 1993-05-10 1994-10-11 Briggs & Stratton Corporation Modular automatic speed changing system
JP2002295291A (ja) * 2001-03-29 2002-10-09 Denso Corp 内燃機関のアイドル回転速度制御方法
US6870345B1 (en) * 2003-09-26 2005-03-22 Texas Instruments Incorporated Servo loop PID compensator with embedded rate limit

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4031483A (en) * 1976-01-15 1977-06-21 Sperry Rand Corporation Limiter circuit for servosystems
GB2007878A (en) * 1977-11-04 1979-05-23 Bosch Gmbh Robert Control of air supply to i.c. engines
GB2064173A (en) * 1979-11-13 1981-06-10 Snecma A Method and Apparatus for Controlling the State of a Device
DE3149097A1 (de) * 1981-12-11 1983-06-16 Robert Bosch Gmbh, 7000 Stuttgart Einrichtung zum regeln der leerlaufdrehzahl bei einer brennkraftmaschine

Family Cites Families (12)

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Publication number Priority date Publication date Assignee Title
DE2654455A1 (de) * 1976-12-01 1978-06-08 Vdo Schindling Einrichtung zum regeln der fahrgeschwindigkeit eines kraftfahrzeugs
DE2732905C3 (de) * 1977-07-21 1994-02-24 Vdo Schindling Einrichtung zum Regeln der Fahrgeschwindigkeit eines Kraftfahrzeugs
US4134373A (en) * 1977-10-03 1979-01-16 General Motors Corporation Engine speed limiting control circuit
DE2755338C2 (de) * 1977-12-12 1985-05-23 Vdo Adolf Schindling Ag, 6000 Frankfurt Elektrische Stellvorrichtung für Geschwindigkeitsregeleinrichtungen
DE2839382A1 (de) * 1978-09-11 1980-03-20 Vdo Schindling Einrichtung zum regeln der fahrgeschwindigkeit eines kraftfahrzeugs
DE2918135C3 (de) * 1979-05-05 1981-08-06 Volkswagenwerk Ag, 3180 Wolfsburg Verfahren zum Betrieb einer fremdgezündeten Brennkraftmaschine und Anordnung zur Durchführung des Verfahrens
DE2925580C2 (de) * 1979-06-25 1984-09-13 Vdo Adolf Schindling Ag, 6000 Frankfurt Einrichtung zum Regeln der Fahrgeschwindigkeit eines Kraftfahrzeuges
DE2949884C2 (de) * 1979-12-12 1985-05-30 Vdo Adolf Schindling Ag, 6000 Frankfurt Ventilanordnung zur Regelung der Leelaufdrehzahl von Otto-Motoren
EP0033616B1 (fr) * 1980-01-30 1985-07-03 LUCAS INDUSTRIES public limited company Contrôle à boucle fermée de la vitesse à vide d'un moteur à combustion interne
DE3031682A1 (de) * 1980-08-22 1982-04-01 Vdo Adolf Schindling Ag, 6000 Frankfurt Schaltung fuer eine ventilanordnung mit elektromechanischem stellglied zur regelung der leerlaufdrehzahl
DE3039435C2 (de) * 1980-10-18 1984-03-22 Robert Bosch Gmbh, 7000 Stuttgart Vorrichtung zur Regelung der Leerlauf-Drehzahl von Brennkraftmaschinen
DE3226283A1 (de) * 1982-07-14 1984-01-19 Vdo Adolf Schindling Ag, 6000 Frankfurt Leerlaufregler, insbesondere fuer kraftfahrzeuge

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4031483A (en) * 1976-01-15 1977-06-21 Sperry Rand Corporation Limiter circuit for servosystems
GB2007878A (en) * 1977-11-04 1979-05-23 Bosch Gmbh Robert Control of air supply to i.c. engines
GB2064173A (en) * 1979-11-13 1981-06-10 Snecma A Method and Apparatus for Controlling the State of a Device
DE3149097A1 (de) * 1981-12-11 1983-06-16 Robert Bosch Gmbh, 7000 Stuttgart Einrichtung zum regeln der leerlaufdrehzahl bei einer brennkraftmaschine

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0151805A2 (fr) * 1984-02-03 1985-08-21 VDO Adolf Schindling AG Dispositif de régulation électrique de la vitesse de ralenti d'un moteur à combustion
EP0151805A3 (en) * 1984-02-03 1987-06-16 Vdo Adolf Schindling Ag Apparatus for electrically regulating the idle speed of a combustion engine
WO1989005905A1 (fr) * 1987-12-24 1989-06-29 Robert Bosch Gmbh Procede et agencement de regulation du dosage d'air dans des moteurs a combustion interne, notamment au ralenti et en deceleration

Also Published As

Publication number Publication date
US4471735A (en) 1984-09-18
EP0098909A3 (en) 1984-07-25
DE3371824D1 (en) 1987-07-02
DE3226283A1 (de) 1984-01-19
EP0098909B1 (fr) 1987-05-27

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