EP0179219A2 - Method and apparatus for producing a time-varying position control voltage - Google Patents

Method and apparatus for producing a time-varying position control voltage Download PDF

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Publication number
EP0179219A2
EP0179219A2 EP85110402A EP85110402A EP0179219A2 EP 0179219 A2 EP0179219 A2 EP 0179219A2 EP 85110402 A EP85110402 A EP 85110402A EP 85110402 A EP85110402 A EP 85110402A EP 0179219 A2 EP0179219 A2 EP 0179219A2
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EP
European Patent Office
Prior art keywords
frequency
actuator
pulse
clocked
control voltage
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EP85110402A
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German (de)
French (fr)
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EP0179219A3 (en
Inventor
Andreas Sausner
Gerhard Ruschek
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Mannesmann VDO AG
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Mannesmann VDO AG
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Publication of EP0179219A2 publication Critical patent/EP0179219A2/en
Publication of EP0179219A3 publication Critical patent/EP0179219A3/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
    • F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
    • F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/20—Output circuits, e.g. for controlling currents in command coils
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
    • F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
    • F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
    • F02D2011/101—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the means for actuating the throttles
    • F02D2011/102—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the means for actuating the throttles at least one throttle being moved only by an electric actuator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/20—Output circuits, e.g. for controlling currents in command coils
    • F02D2041/202—Output circuits, e.g. for controlling currents in command coils characterised by the control of the circuit
    • F02D2041/2024—Output circuits, e.g. for controlling currents in command coils characterised by the control of the circuit the control switching a load after time-on and time-off pulses
    • F02D2041/2027—Control of the current by pulse width modulation or duty cycle control

Definitions

  • the invention relates to a method for generating a clocked actuating voltage, which is pulse-duration modulated with an electrical control variable, according to the preamble of claim 1.
  • the invention relates to a corresponding device for performing this method according to the preamble of claim 4.
  • Electrically activated actuators in regulating and control systems are often acted upon by a clocked actuating voltage, which is pulse-duration modulated in accordance with the actuating power.
  • the generation of the clocked pulse-duration-modulated actuating voltage has the advantage, for example, over the generation of a continuous DC voltage of adjustable height that the expenditure on equipment and the power loss of the generator can be kept relatively low.
  • the semiconductor elements that are used in the power stage of the generator of a clocked actuating voltage there are practically only short-term power losses during the pulse edges.
  • the clocking of the control voltage according to the status The technology is advantageously used to periodically excite the actuating device mechanically in order to reduce or eliminate the influences of the mechanical hysteresis which impair the accuracy.
  • a clock frequency of 130-160 Hz is customary, especially when using an electromotive actuator to actuate a throttle valve of an internal combustion engine.
  • the clock frequency must not be too high for this, since otherwise it can no longer have a sufficiently stimulating effect due to the mechanical damping of the actuator.
  • the electrical power loss in an actuator whose equivalent circuit diagram can be understood as consisting of an inductor and a resistor, the greater the lower the clock frequency of the clocked control voltage.
  • the power loss increases with the square of the actuating current and that the lower the clock frequency of the actuating voltage, the greater the fluctuations or the ripple of the actuating current, which is smoothed by the inductance of the actuator.
  • a high clock frequency is recommended in order not to exceed the limit value of the power loss.
  • the clock frequency with which a clocked actuating voltage is generated is based on a compromise between contradicting requirements.
  • the control voltage is pulse-duration modulated with the electrical control variable.
  • the pulse duty factor is influenced by the pulse duration modulation of the control voltage, so that a more or less large arithmetic mean value of the control voltage results, which is decisive for the torque generated by the actuator.
  • the present invention is therefore based on the object of further developing the method for generating a clocked actuating voltage of the type mentioned in such a way that the positioning accuracy is improved and the power loss is reduced when the actuator is operated with this actuating voltage.
  • a higher actuating power should be made possible.
  • the solution is based on the principle that the control voltage is no longer modulated with a single frequency (if the clocking of the control voltage is considered as modulation), but with two different, widely spaced frequencies: A relatively high clock frequency is selected with which the control voltage is clocked, but is overlaid with a low basic modulation frequency.
  • the resulting pulse duration modulation can therefore be considered a beat or a superposition of a relative high clock frequency with a low basic modulation frequency.
  • basic modulation frequency was chosen because this frequency influences the pulse duration modulation or the duty cycle of the pulse duration modulated control voltage, in addition to the normal pulse duration modulation of the control voltage by the electrical control variable.
  • the control voltage generated by the method according to the invention has the significant advantages that, due to the high clock frequency, it causes only a relatively low power loss in the actuator, because the control current is smoothed out due to the high frequency by the inductance of the actuator.
  • the maximum values of the instantaneous actuating current are therefore not significantly larger than the mean value of the actuating current, from which the low power loss is derived.
  • a particularly good mechanical excitation of the actuator is achieved by the low-frequency basic modulation frequency with which the control voltage is pulse-duration modulated, since the frequency of this basic modulation can be set lower than the clock frequency otherwise provided for this purpose.
  • the basic modulation frequency is therefore closer to the so-called corner frequency of the mechanical system of the actuator, above which the mechanical transmission behavior is damped. Since the periodic excitation of the mechanical system by the low-frequency basic modulation frequency is particularly effective, the degree of modulation can be kept low. This means that the low-frequency component of the control voltage and thus the control current can be set relatively small for a desired mechanical excitation, so that the power loss accordingly is due to this frequency component remains low.
  • the high clock frequency is preferably set to 10-20 kHz, while the low basic modulation frequency is 10-100 Hz. This frequency range has proven to be particularly advantageous for typical actuators for adjusting throttle valves of internal combustion engines. It is assumed that the mechanical basic frequency of the actuator, above which the transmission behavior is damped, is around 1 - 10 Hz.
  • the clock frequency and the basic modulation frequency according to claim 3 is particularly favorable. With the high clock frequency it is avoided that it has a nuisance effect in the human hearing range. On the other hand, the basic modulation frequency is so low that it is close to the basic frequency and is only weakly damped and can also be generated with little effort.
  • 1 denotes a pulse duration modulator, which is fed by a clock generator 2 with a relatively low-frequency clock frequency f O.
  • the pulse duration modulator generates a voltage u clocked with the clock frequency f O , see FIG. 2, in which the corresponding period is designated T 0 .
  • the pulse width modulator 1 is connected at its modulation input 3 with a fundamental modulation frequency generator 4 in connection, of a basic modulation frequency f m corresponding to the period T m feeds it into the pulse modulator.
  • the control voltage u is therefore pulse-width modulated with the frequency f m . This is also shown in the curve u in FIG. 2, in which the pulse duration-modulated trailing edge of the clocked actuating voltage is drawn with a solid line. The course of the trailing flank is indicated if the reason modulation frequency would not exist.
  • the pulse duration modulator is modulated in the usual way at the modulation input 3a with an electrical control variable, which can in particular be a control voltage.
  • the control voltage is generated with a controller 5, into whose input 6 a control deviation x and a feedback variable x of a control potentiometer 7 are fed.
  • the control voltage generated by the pulse modulator 1 in the specified manner is fed into the electromotive actuator 9 via a line 8.
  • the electromotive actuator actuates a throttle valve 11 via a transmission 10, the position of the transmission being reported back by the setting potentiometer 7.
  • the interrupted current curve shows the 'relatively low-frequency current component which goes back to the basic modulation frequency and shifts the peak values in the manner indicated.
  • the low-frequency component of the current is transmitted to the transmission elements to the throttle valve 11 by mechanical excitation via the mass / spring system with the gear 10 and a spring 12, which can thus be positioned precisely.
  • the so-called cutoff frequency ⁇ E of the mass / spring system is shown in a Bode diagram.
  • the mass / spring system represents a delay of the first order, which means that the transmission factor A drops with increasing excitation frequency above the base frequency. It can be seen from the bottom diagram that the transmission factor drops only slightly at the selected basic modulation frequency f m , so that a relatively low mechanical excitation is sufficient, which is transmitted to the throttle valve. Therefore, the low-frequency component of the control voltage u and thus the control current i is relatively low.
  • the clock frequency f 0 which is chosen to be high at 20 kHz, on the other hand is strongly damped, but is also not required according to the invention for mechanical excitation of the actuator. This allows the selection of a high clock frequency with the described advantageous effect.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
  • Feedback Control In General (AREA)
  • Control Of Direct Current Motors (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)

Abstract

Bei einem Verfahren zur Erzeugung einer getakteten Stellspannung (u) wird diese mit einer elektrischen Steuergröße pulsdauermoduliert. Die Stellspannung dient zur Beaufschlagung eines eine Induktivität aufweisenden Stellantriebs, insbesondere eines elektromotorischen Stellantriebs (9) einer Drosselklappe (11) eines Verbrennungsmotors. Um zugleich eine gute periodische Anregung des Stellantriebs sowie eine niedrige elektrische Verlustleistung in dem Stellantrieb zu erzielen, wird die mit einer hohen Taktfrequenz (f0) getaktete Stellspannung mit einer niedrigen Grundmodulationsfrequenz (fm) zusätzlich zu der Steuergröße pulsdauermoduliert.In a method for generating a clocked control voltage (u), this is pulse-duration modulated with an electrical control variable. The actuating voltage is used to act on an actuator having an inductance, in particular an electromotive actuator (9) of a throttle valve (11) of an internal combustion engine. In order to achieve a good periodic excitation of the actuator as well as a low electrical power loss in the actuator, the control voltage clocked with a high clock frequency (f0) is pulse-duration modulated with a low basic modulation frequency (fm) in addition to the control variable.

Description

Die Erfindung betrifft ein Verfahren zur Erzeugung einer getakteten Stellspannung, die mit einer elektrischen Steuergröße pulsdauermoduliert wird, nach dem Oberbegriff des Anspruchs 1.The invention relates to a method for generating a clocked actuating voltage, which is pulse-duration modulated with an electrical control variable, according to the preamble of claim 1.

Weiterhin betrifft die Erfindung eine entsprechende Einrichtung zur Durchführung dieses Verfahrens nach dem Oberbegriff des Anspruchs 4.Furthermore, the invention relates to a corresponding device for performing this method according to the preamble of claim 4.

Elektrisch aktivierte Stellantriebe in Regelungs- und Steuerungsanlagen werden häufig mit einer getakteten Stellspannung beaufschlagt, die entsprechend der Stelleistung pulsdauermoduliert ist. Die Erzeugung der getakteten pulsdauermodulierten Stellspannung hat beispielsweise gegenüber der Erzeugung einer kontinuierlichen Gleichspannung einstellbarer Höhe den Vorteil, daß der gerätetechnische Aufwand und die Verlustleistung des Erzeugers verhältnismäßig gering gehalten werden können. In den Halbleiterelementen, die in der Leistungsstufe des Erzeugers einer getakteten Stellspannung verwendet werden, treten praktisch nur kurzzeitige Verlustleistungen während der Pulsflanken auf. - Außerdem wird die Taktung der Stellspannung nach dem Stand der Technik vorteilhaft dazu herangezogen, die Stelleinrichtung mechanisch periodisch anzuregen, um die die Genauigkeit beeinträchtigenden Einflüsse der mechanischen Hysterese zu vermindern oder zu beseitigen.Electrically activated actuators in regulating and control systems are often acted upon by a clocked actuating voltage, which is pulse-duration modulated in accordance with the actuating power. The generation of the clocked pulse-duration-modulated actuating voltage has the advantage, for example, over the generation of a continuous DC voltage of adjustable height that the expenditure on equipment and the power loss of the generator can be kept relatively low. In the semiconductor elements that are used in the power stage of the generator of a clocked actuating voltage, there are practically only short-term power losses during the pulse edges. - In addition, the clocking of the control voltage according to the status The technology is advantageously used to periodically excite the actuating device mechanically in order to reduce or eliminate the influences of the mechanical hysteresis which impair the accuracy.

Zu dem letztgenannten Zweck ist insbesondere bei einer Verwendung eines elektromotorischen Stellantriebs zur Betätigung einer Drosselklappe eines Verbrennungsmotors eine Taktfrequenz von 130 - 160 Hz üblich. Die Taktfrequenz darf hierzu nicht zu hoch sein, da sie sonst sich aufgrund der mechanischen Dämpfung des Stellglieds nicht mehr genügend anregend.auswirken kann.For the latter purpose, a clock frequency of 130-160 Hz is customary, especially when using an electromotive actuator to actuate a throttle valve of an internal combustion engine. The clock frequency must not be too high for this, since otherwise it can no longer have a sufficiently stimulating effect due to the mechanical damping of the actuator.

Andererseits ist die elektrische Verlustleistung in einem Stellantrieb, desen Ersatzschaltbild als aus einer Induktivität und einem Widerstand bestehend aufgefaßt werden kann, um so größer,je niedriger die Taktfrequenz der,getakteten Stellspannung ist. Dies beruht darauf, daß die Verlustleistung mit dem Quadrat des Stellstroms ansteigt und daß die Schwankungen bzw. die Welligkeit des Stellstroms, der durch die Induktivität des Stellantriebs geglättet wird, um so größer ist,je niedriger die Taktfrequenz der Stellspannung ist. Mit anderen Worten, wenn mit einem Stellantrieb einer gegebenen Bauart und Baugröße eine möglichst große Nutzleistung erzielt werden soll, empfiehlt sich eine hohe Taktfrequenz, um den Grenzwert der Verlustleistung nicht zu überschreiten.On the other hand, the electrical power loss in an actuator, whose equivalent circuit diagram can be understood as consisting of an inductor and a resistor, the greater the lower the clock frequency of the clocked control voltage. This is due to the fact that the power loss increases with the square of the actuating current and that the lower the clock frequency of the actuating voltage, the greater the fluctuations or the ripple of the actuating current, which is smoothed by the inductance of the actuator. In other words, if the greatest possible useful power is to be achieved with an actuator of a given type and size, a high clock frequency is recommended in order not to exceed the limit value of the power loss.

Aus den voranstehend geschilderten Gründen beruht also die Taktfrequenz, mit der eine getaktete Stellspannung erzeugt wird, auf einem Kompromiß zwischen widersprüchlichen Forderungen.For the reasons described above, the clock frequency with which a clocked actuating voltage is generated is based on a compromise between contradicting requirements.

Damit der Stellantrieb in der geregelten bzw. gesteuerten Anlage seine Funktion erfüllen kann, einer Steuergröße oder einer Regelgröße zu folgen, wird die Stellspannung mit der elektrischen Steuergröße pulsdauermoduliert.So that the actuator in the regulated or controlled system can fulfill its function of following a control variable or a controlled variable, the control voltage is pulse-duration modulated with the electrical control variable.

Durch die Pulsdauermodulation der Stellspannung wird das Tastverhältnis beeinflußt, so daß sich ein mehr oder weniger großer arithmetischer Mittelwert der Stellspannung ergibt, der für das von dem Stellantrieb erzeugte Moment maßgeblich ist.The pulse duty factor is influenced by the pulse duration modulation of the control voltage, so that a more or less large arithmetic mean value of the control voltage results, which is decisive for the torque generated by the actuator.

Der vorliegenden Erfindung liegt daher die Aufgabe zugrunde, das Verfahren zur Erzeugung einer getakteten Stellspannung der eingangs genannten Gattung so weiterzuentwickeln, daß beim Betrieb des Stellantriebs mit dieser Stellspannung die Positioniergenauigkeit verbessert und die Verlustleistung herabgesetzt wird. Somit soll bei gegebenen Daten des Stellantriebs eine höhere Stelleistung ermöglicht werden.The present invention is therefore based on the object of further developing the method for generating a clocked actuating voltage of the type mentioned in such a way that the positioning accuracy is improved and the power loss is reduced when the actuator is operated with this actuating voltage. Thus, given the actuator data, a higher actuating power should be made possible.

Diese Aufgabe wird durch die in dem kennzeichnenden Teil des Anspruchs 1 angegebene Erfindung gelöst.This object is achieved by the invention specified in the characterizing part of claim 1.

Die Lösung beruht auf dem Prinzip, daß die Stellspannung nicht mehr mit einer einzigen Frequenz moduliert ist (wenn die Taktung der Stellspannung als Modulation betrachtet wird), sondern mit zwei verschiedenen, weit auseinander liegenden Frequenzen: Es wird eine relativ hohe Taktfrequenz gewählt, mit der die Stellspannung getaktet wird, die jedoch mit einer niedrigen Grundmodulationsfrequenz überlagert ist. Die daraus resultierende Pulsdauermodulation kann daher als Schwebung oder Überlagerung einer relativ hohen Taktfrequenz mit einer niedrigen Grundmodulationsfrequenz angesehen werden. Der Ausdruck "Grundmodulationsfrequenz" wurde gewählt, da diese Frequenz die Pulsdauermodulation bzw. das Tastverhältnis der pulsdauermodulierten Stellspannung beeinflußt, zusätzlich zu der normalen Pulsdauermodulation der Stellspannung durch die elektrische Steuergröße.The solution is based on the principle that the control voltage is no longer modulated with a single frequency (if the clocking of the control voltage is considered as modulation), but with two different, widely spaced frequencies: A relatively high clock frequency is selected with which the control voltage is clocked, but is overlaid with a low basic modulation frequency. The resulting pulse duration modulation can therefore be considered a beat or a superposition of a relative high clock frequency with a low basic modulation frequency. The expression "basic modulation frequency" was chosen because this frequency influences the pulse duration modulation or the duty cycle of the pulse duration modulated control voltage, in addition to the normal pulse duration modulation of the control voltage by the electrical control variable.

Die nach dem erfindungsgemäßen Verfahren erzeugte Stellspannung hat die wesentlichen Vorteile, daß sie aufgrund der hohen Taktfrequenz nur eine verhältnismäßig geringe Verlustleistung in dem Stellantrieb hervorruft, denn der Stellstrom wird infolge der hohen Frequenz durch die Induktivität des Stellantriebs gut geglättet. Die Maximalwerte des momentanten Stellstroms sind also nicht wesentlich größer als der Mittelwert des Stellstroms, woraus sich die geringe Verlustleistung herleitet. , Andererseits wird durch die niederfrequente Grundmodulations frequenz, mit der die Stellspannung pulsdauermoduliert wird, eine besonders gute mechanische Anregung des Stellantriebs erzielt, da die Frequenz dieser Grundmodulation niedriger gelegt werden kann als die sonst hierzu vorgesehene Taktfrequenz. Die Grundmodulationsfrequenz befindet sich also näher an der sogenannten Eckfrequenz des mechanischen Systems des Stellglieds, über der eine Dämpfung des mechanischen Übertragungsverhaltens eintritt. Da die periodische Anregung des mechanischen Systems durch die niederfrequente Grundmodulationsfrequenz besonders wirksam ist, kann der Modulationsgrad niedrig gehalten werden. Dies bedeutet, daß der niederfrequente Anteil der Stellspannung und damit des Stellstroms für eine gewünschte mechanische Anregung verhältnismäßig klein eingestellt werden kann, so daß demgemäß auch die Verlustleistung, die auf diesen Frequenzanteil zurückzuführen ist, gering bleibt.The control voltage generated by the method according to the invention has the significant advantages that, due to the high clock frequency, it causes only a relatively low power loss in the actuator, because the control current is smoothed out due to the high frequency by the inductance of the actuator. The maximum values of the instantaneous actuating current are therefore not significantly larger than the mean value of the actuating current, from which the low power loss is derived. On the other hand, a particularly good mechanical excitation of the actuator is achieved by the low-frequency basic modulation frequency with which the control voltage is pulse-duration modulated, since the frequency of this basic modulation can be set lower than the clock frequency otherwise provided for this purpose. The basic modulation frequency is therefore closer to the so-called corner frequency of the mechanical system of the actuator, above which the mechanical transmission behavior is damped. Since the periodic excitation of the mechanical system by the low-frequency basic modulation frequency is particularly effective, the degree of modulation can be kept low. This means that the low-frequency component of the control voltage and thus the control current can be set relatively small for a desired mechanical excitation, so that the power loss accordingly is due to this frequency component remains low.

In der erfindungsgemäß erzeugten Stellspannung sind also zwei Frequenzen - abgesehen von der elektrischen Steuergröße - so miteinander kombiniert, daß die gegenläufigen Forderungen einer guten mechanischen Anregung und einer niedrigen elektrischen Verlustleistung in dem Stellantrieb erfüllt werden.In the actuating voltage generated according to the invention, two frequencies - apart from the electrical control variable - are combined with one another in such a way that the opposite requirements of good mechanical excitation and low electrical power loss in the actuator are met.

Bevorzugt ist die hohe Taktfrequenz auf 10 - 20 kHz eingestellt, während die niedrige Grundmodulationsfrequenz 10 - 100 Hz beträgt. Dieser Frequenzbereich hat sich insbesondere für typische Stellantriebe zur Verstellung von Drosselklappen von Verbrennungsmotoren als vorteilhaft herausgestellt. Dabei wird davon ausgegangen, daß die mechanische Eckfrequenz des Stellantriebs, über der eine Dämpfung des Übertragungsverhaltens eintritt, bei etwa 1 - 10 Hz liegt.The high clock frequency is preferably set to 10-20 kHz, while the low basic modulation frequency is 10-100 Hz. This frequency range has proven to be particularly advantageous for typical actuators for adjusting throttle valves of internal combustion engines. It is assumed that the mechanical basic frequency of the actuator, above which the transmission behavior is damped, is around 1 - 10 Hz.

Besonders günstig ist eine Dimensionierung der Taktfrequenz und der Grundmodulationsfrequenz nach Anspruch 3. - Mit der hohen Taktfrequenz wird vermieden, daß diese im menschlichen Höhrbereich belästigend wirkt. Andererseits ist die Grundmodulationsfrequenz so tief, daß sie dicht bei der Eckfrequenz liegt und nur schwach gedämpft wird und außerdem mit geringem Aufwand erzeugt werden kann.Dimensioning the clock frequency and the basic modulation frequency according to claim 3 is particularly favorable. With the high clock frequency it is avoided that it has a nuisance effect in the human hearing range. On the other hand, the basic modulation frequency is so low that it is close to the basic frequency and is only weakly damped and can also be generated with little effort.

Entsprechende Einrichtungen zur Durchführung der erfindungsgemäßen Verfahren sind in den Ansprüchen 5 - 6 angegeben. Diese Einrichtungen dienen zur Erzeugung der Stellspannung nach den voranstehend beschriebenen Verfahren und ermöglichen die oben aufgeführten vorteilhaften Wirkungen des Stellstroms, der in den Stellantrieb mit einer Induktivität eingespeist wird.Corresponding devices for carrying out the method according to the invention are specified in claims 5-6. These devices are used to generate the control voltage according to the methods described above and enable the advantageous effects listed above of the actuating current that is fed into the actuator with an inductance.

Die Erfindung wird im folgenden anhand einer Zeichnung mit drei Figuren erläutert. Es zeigen:

  • Fig. 1 ein Blockschaltbild der Einrichtung zur Erzeugung der Stellspannung in Verbindung mit einem Regler zur Verstellung einer Drosselklappe eines Verbrennungsmotors;
  • Fig. 2 typische Zeitverläufe der Stellspannung sowie des Stellstroms und
  • Fig. 3 die zur Bildung der Stellspannung vorgesehenen Frequenzen bezogen auf eine Eckfrequenz des Stellglieds als Bode-Diagramm.
The invention is explained below with reference to a drawing with three figures. Show it:
  • Figure 1 is a block diagram of the device for generating the control voltage in connection with a controller for adjusting a throttle valve of an internal combustion engine.
  • Fig. 2 typical time curves of the control voltage and the control current and
  • Fig. 3 shows the frequencies provided for forming the control voltage based on a corner frequency of the actuator as a Bode diagram.

In Figur 1 ist mit 1 ein Pulsdauermodulator bezeichnet, der durch einen Taktgeber 2 mit einer verhältnismäßig niederfrequenten Taktfrequenz fO gespeist wird. Der Pulsdauermodulator erzeugt eine mit der Taktfrequenz fO getaktete Spannung u, siehe Figur 2, in der die entsprechende Periode mit T0 bezeichnet ist.In FIG. 1, 1 denotes a pulse duration modulator, which is fed by a clock generator 2 with a relatively low-frequency clock frequency f O. The pulse duration modulator generates a voltage u clocked with the clock frequency f O , see FIG. 2, in which the corresponding period is designated T 0 .

Der Pulsdauermodulator 1 steht an seinem Modulationseingang 3 mit einem Grundmodulationsfrequenzgeber 4 in Verbindung, der eine Grundmodulationsfrequenz fm entsprechend der Periode Tm in den Pulsmodulator einspeist. Die Stellspannung u wird also mit der Frequenz fm pulsdauermoduliert. Dies ist ebenfalls in dem Kurvenzug u in Figur 2 dargestellt, in der die pulsdauermodulierte Hinterflanke der getakteten Stellspannung mit einer durchgezogenen Linie gezeichnet ist. Mit der unterbrochen gezeichneten Hinterflanke ist deren Verlauf angedeutet, wenn die Grundmodulationsfrequenz nicht vorhanden wäre.The pulse width modulator 1 is connected at its modulation input 3 with a fundamental modulation frequency generator 4 in connection, of a basic modulation frequency f m corresponding to the period T m feeds it into the pulse modulator. The control voltage u is therefore pulse-width modulated with the frequency f m . This is also shown in the curve u in FIG. 2, in which the pulse duration-modulated trailing edge of the clocked actuating voltage is drawn with a solid line. The course of the trailing flank is indicated if the reason modulation frequency would not exist.

Außerdem wird der Pulsdauermodulator in üblicher Weise an dem Modulationseingang 3amit einer elektrischen Steuergröße moduliert, die insbesondere eine Steuerspannung sein kann. Die Steuerspannung wird in dem vorliegenden Anwendungsfall mit einem Regler 5 erzeugt, in dessen Eingang 6 eine Regelabweichung x und eine Rückführgröße x eines Stellpotentiometers 7 eingespeist werden.In addition, the pulse duration modulator is modulated in the usual way at the modulation input 3a with an electrical control variable, which can in particular be a control voltage. In the present application, the control voltage is generated with a controller 5, into whose input 6 a control deviation x and a feedback variable x of a control potentiometer 7 are fed.

Die von dem Pulsmodulator 1 in der angegebenen Weise erzeugte Stellspannung wird über eine Leitung 8 in den elektromotorischen Stellantrieb 9 eingespeist.The control voltage generated by the pulse modulator 1 in the specified manner is fed into the electromotive actuator 9 via a line 8.

Der elektromotorische Stellantrieb betätigt in dem vorliegenden Anwendungsfall über ein Getriebe 10 eine Drosselklappe 11, wobei die Stellung des Getriebes durch das Stellpotentiometer 7 rückgemeldet wird.In the present application, the electromotive actuator actuates a throttle valve 11 via a transmission 10, the position of the transmission being reported back by the setting potentiometer 7.

Der Verlauf des Stellstroms ergibt sich aus dem Kurvenzug i in Figur 2: Es ist ersichtlich, daß der Stellstrom nur eine geringe Weilligkeit infolge der Glättung durch die Induktivität des elektromotorischen Stellantriebs aufweist. Dies bedeutet eine geringe thermische Verlustleistung in dem elektromotorischen Stellantrieb 9, der somit bei gegebener Bauart mit einer relativ hohen Spannung u gespeist werden kann und ein entsprechend großes Moment abgibt.The course of the actuating current results from the curve i in FIG. 2: It can be seen that the actuating current has only a small amount due to the smoothing by the inductance of the electromotive actuator. This means a low thermal power loss in the electromotive actuator 9, which can thus be supplied with a relatively high voltage u for a given design and emits a correspondingly large torque.

Mit der unterbrochen gezeichneten Stromkurve ist der 'verhältnismäßig niederfrequente Stromanteil dargestellt, der auf die Grundmodulationsfrequenz zurückgeht und die Spitzenwerte in der angedeuteten Weise verschiebt. Durch den niederfrequenten Anteil des Stroms wird eine mechanische Anregung über das Masse/Federsystem mit dem Getriebe 10 und einer Feder 12 auf die Übertragungsorgane zu der Drosselklappe 11 übertragen, die somit genau positioniert werden kann.The interrupted current curve shows the 'relatively low-frequency current component which goes back to the basic modulation frequency and shifts the peak values in the manner indicated. By The low-frequency component of the current is transmitted to the transmission elements to the throttle valve 11 by mechanical excitation via the mass / spring system with the gear 10 and a spring 12, which can thus be positioned precisely.

In Figur 3 ist die sogenannte Eckfrequenz ωE des Masse/ Federsystems in einem Bode-Diagramm dargestellt. Das Masse/Federsystem stellt eine Verzögerung erster Ordnung dar, was bedeutet, daß oberhalb der Eckfrequenz der Übertragungsfaktor A mit steigender Anregungsfrequenz abfällt. Es ist aus dem Bodediagramm ersichtlich, daß bei der gewählten Modulationsgrundfrequenz fm der Übertragungsfaktor erst wenig abfällt, so daß eine verhältnismäßig geringe mechanische Anregung genügt, welche auf die Drosselklappe übertragen wird. Deswegen ist der niederfrequente Anteil der Stellspannung u und damit des Stellstroms i relativ gering. Die Taktfrequenz f0, die mit 20 kHz hoch gewählt ist, wird hingegen stark gedämpft, wird aber auch zur mechanischen Anregung des Stellglieds erfindungsgemäß nicht benötigt. Dies gestattet die Wahl einer hohen Taktfrequenz mit der geschilderten vorteilhaften Wirkung.In Figure 3, the so-called cutoff frequency ω E of the mass / spring system is shown in a Bode diagram. The mass / spring system represents a delay of the first order, which means that the transmission factor A drops with increasing excitation frequency above the base frequency. It can be seen from the bottom diagram that the transmission factor drops only slightly at the selected basic modulation frequency f m , so that a relatively low mechanical excitation is sufficient, which is transmitted to the throttle valve. Therefore, the low-frequency component of the control voltage u and thus the control current i is relatively low. The clock frequency f 0 , which is chosen to be high at 20 kHz, on the other hand is strongly damped, but is also not required according to the invention for mechanical excitation of the actuator. This allows the selection of a high clock frequency with the described advantageous effect.

Claims (5)

1. Verfahren zur Erzeugung einer getakteten Stellspannung, die mit einer elektrischen Steuergröße pulsdauermoduliert wird, zur Beaufschlagung eines eine Induktivität aufweisenden Stellantriebs, insbesondere eines elektromotorischen Stellantriebs einer Drosselklappe eines Verbrennungsmotors,
dadurch gekennzeichnet,
daß die mit einer hohen Taktfrequenz (f0) getaktete Stellspannung mit einer niedrigen Grundmodualtionsfrequenz (fm) zusätzlich zu der Steuergröße pulsdauermoduliert wird.1. Method for generating a clocked actuating voltage, which is pulse-duration modulated with an electrical control variable, for acting on an actuator having an inductance, in particular an electromotive actuator of a throttle valve of an internal combustion engine,
characterized,
that the control voltage clocked with a high clock frequency (f0) is modulated with pulse duration with a low basic modulation frequency (f m ) in addition to the control variable. 2. Verfahren nach Anspruch 1,
dadurch gekennzeichnet,
daß die hohe Taktfrequenz 10 - 20 kHz ist und daß die niedrige Grundmodulationsfrequenz 10 - 100 Hz beträgt.2. The method according to claim 1,
characterized,
that the high clock frequency is 10-20 kHz and that the low basic modulation frequency is 10-100 Hz. 3. Verfahren nach Anspruch 1 und 2,
dadurch gekennzeichnet,
daß die hohe Taktfrequenz auf einen Wert größer 16 kHz eingestellt ist und daß die niedrige Grundmodulationsfrequenz 40 - 50.Hz beträgt.3. The method according to claim 1 and 2,
characterized,
that the high clock frequency is set to a value greater than 16 kHz and that the low basic modulation frequency is 40-50 Hz. 4. Einrichtung zur Erzeugung einer getakteten pulsdauermodulierten Stellspannung zur Beaufschlagung eines Stellantriebs, welches eine Induktivität aufweist, insbesondere eines elektromotorischen Stellantriebs einer Drosselklappe eines Verbrennungsmotors,
dadurch gekennzeichnet,
daß ein Pulsdauermodulator (1) vorgesehen ist, der zur Erzeugung der getakteten Stellspannung (u) von einem Taktgeber (2) einer hohen Taktfrequenz (f0) gespeist ist, der mindestens einen Modulationseingang (3) aufweist, der mit einer niedrigen, die Pulsdauermodulations überlagernden Grundmodulationsfrequenz (f ) gespeist ist und der mit der elektrischen Steuergröße (Eingang3a) beaufschlagt ist.4. Device for generating a clocked pulse-duration-modulated actuating voltage to act on an actuator which has an inductance, in particular an electromotive actuator of a throttle valve of an internal combustion engine,
characterized,
that a pulse duration modulator (1) is provided which is used to generate the clocked actuating voltage (u) Clock generator (2) is fed with a high clock frequency (f 0 ), which has at least one modulation input (3), which is fed with a low basic modulation frequency (f) which overlaps the pulse duration modulation and which has the electrical control variable (input 3a) applied to it. 5. Einrichtung nach Anspruch 4,
gekennzeichnet durch
eine Dimensionierung der hohen Taktfrequenz (f0) und der niedrigen Grundmodulationsfrequenz (fm) gemäß den Ansprüchen 3 oder 4.5. Device according to claim 4,
marked by
a dimensioning of the high clock frequency (f 0 ) and the low basic modulation frequency (f m ) according to claims 3 or 4.
EP85110402A 1984-09-21 1985-08-20 Method and apparatus for producing a time-varying position control voltage Withdrawn EP0179219A3 (en)

Applications Claiming Priority (2)

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DE19843434644 DE3434644A1 (en) 1984-09-21 1984-09-21 METHOD AND DEVICE FOR GENERATING A CLOCKED OPERATING VOLTAGE
DE3434644 1984-09-21

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EP0179219A2 true EP0179219A2 (en) 1986-04-30
EP0179219A3 EP0179219A3 (en) 1988-01-27

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EP (1) EP0179219A3 (en)
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FR2648190A1 (en) * 1989-06-13 1990-12-14 Lucas Ind Plc PUMPING DEVICE FOR FUEL INJECTION

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USRE35124E (en) * 1974-06-24 1995-12-19 General Electric Company Control system, electronically commutated motor system, draft inducer apparatus and method
JP2729296B2 (en) * 1987-10-07 1998-03-18 京セラ株式会社 Constant speed drive
GB8912537D0 (en) * 1989-06-01 1989-07-19 Lucas Ind Plc Throttle actuator and control system
DE3924353A1 (en) * 1989-07-22 1991-02-14 Prufrex Elektro App CONTROL SYSTEM FOR THE CARBURETOR OF AN INTERNAL COMBUSTION ENGINE
JPH03120873U (en) * 1990-03-26 1991-12-11
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JP3275898B2 (en) * 1999-03-18 2002-04-22 株式会社デンソー Motor drive
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FR2648190A1 (en) * 1989-06-13 1990-12-14 Lucas Ind Plc PUMPING DEVICE FOR FUEL INJECTION

Also Published As

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JPS6181194A (en) 1986-04-24
US4675589A (en) 1987-06-23
EP0179219A3 (en) 1988-01-27
DE3434644A1 (en) 1986-04-03

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