EP0331674B1 - Verfahren zur ansteuerung eines rechnergesteuerten stellgliedes sowie mit einem stellglied gekoppelter rechner - Google Patents

Verfahren zur ansteuerung eines rechnergesteuerten stellgliedes sowie mit einem stellglied gekoppelter rechner Download PDF

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Publication number
EP0331674B1
EP0331674B1 EP87907300A EP87907300A EP0331674B1 EP 0331674 B1 EP0331674 B1 EP 0331674B1 EP 87907300 A EP87907300 A EP 87907300A EP 87907300 A EP87907300 A EP 87907300A EP 0331674 B1 EP0331674 B1 EP 0331674B1
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EP
European Patent Office
Prior art keywords
test
self
computer
control element
final control
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.)
Expired - Lifetime
Application number
EP87907300A
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German (de)
English (en)
French (fr)
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EP0331674A1 (de
Inventor
Jürgen BRÄUNINGER
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Robert Bosch GmbH
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Robert Bosch GmbH
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Expired - Lifetime legal-status Critical Current

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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
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
    • F02D41/26—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using computer, e.g. microprocessor
    • F02D41/266—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using computer, e.g. microprocessor the computer being backed-up or assisted by another circuit, e.g. analogue

Definitions

  • the invention relates to a method for controlling a computer-controlled actuator according to the preamble of claim 1.
  • Computer-controlled actuators are used in many areas of technology where the manipulated variable depends on numerous other boundary conditions, including setpoints and controlled variables.
  • the computers require a high computing speed and the ability to reliably process large data sets. This requires a large amount of memory on the computer side.
  • circuit-technical error has to be expected. While circuitry errors were usually immediately recognizable in analog circuits that used to be common, this is often different with errors in digital computer systems. There an error e.g. remain undetected for a long time in a memory location for a rarely called program routine and then appear completely surprised. This can result in control commands that cause considerable consequential damage.
  • One area of application for computer-controlled actuators is e.g. B. an electronic diesel injection for diesel engines.
  • the computer-controlled actuator is arranged in a control unit that actuates the control rod for an injection device.
  • the required position of the control rod can depend on the engine temperature, the fuel temperature, the air temperature, the torque and the speed.
  • the computer's self-test is expediently carried out at the start of each start-up process.
  • the long start-up process can unsettle impatient drivers and lead to the assumption that there is a fault.
  • Drivers who are already familiar with starting behavior will be less willing to switch off the engine due to environmental pollution in order to avoid the delay time during traffic jams, traffic light stops or stops before level crossings. Frequent short-distance journeys also place a high load on the starter and the battery. If extreme cold or a weak starter battery is added, the long self-test time can lead to the energy provided by the battery for starting the engine being exhausted prematurely.
  • the invention has for its object to improve a method for controlling a computer-controlled actuator so that the adverse effects of a time-consuming self-test for the control of an actuator are avoided without the safety gained by the self-test is limited.
  • the invention makes use of the knowledge that the self-test of a computer-controlled actuator is passed as a rule, so that the time required for the self-test can subsequently be regarded as wasted.
  • the actuator is controlled with a preliminary control signal.
  • This can e.g. B. be chosen so that the actuator ensures a temporary function of the unit operated by him. Because of the short time at which the provisional control signal is present, it can be accepted that this value deviates more or less from an optimal value.
  • the components of the computer that are responsible for carrying out the test themselves are subjected to the self-test in a first period. Only after this first section of the self-test has been completed is the actuator actuated with the provisional control signal.
  • This measure also ensures that the subsequent second section of the self-test can be carried out in a controlled manner and that in the event of an error message, the provisional control signal cannot be switched off.
  • a considerable reduction in the delay time for actuation of the actuator can be achieved, since the time required to test the memory space required for the self-test and the time to test the associated modules is considerably less than the time for testing of the entire remaining program memory.
  • the method according to the invention to achieve a reduction in the delay time until the actuator is actuated for the first time by 1/10 to 1/30 of the time required for the entire self-test.
  • the invention further relates to a computer coupled to an actuator according to the preamble of claim 12.
  • the invention solves this problem in a computer coupled to an actuator according to the preamble of claim 12 with the features specified in the characterizing part.
  • the actuator can be controlled with a preliminary control signal before the self-test is completed.
  • the time until the actuator is released for control signals from the computer can be bridged.
  • the control signal can be freely selected. It is expediently chosen so that it temporarily ensures the operability of the unit actuated by the actuator. A loss of safety is not associated with this measure, since after actuation of the actuator with the provisional control signal, the self-test can be continued and, in the event of a fault, the actuator can be switched over again so that it assumes the defined reference position.
  • the flowchart in Fig. 1 begins at an initial state 10 of the computer, in which the computer z. B. was offset by a reset command after applying an operating voltage.
  • the actuator is brought into a defined reference position and held there.
  • This position corresponds to a zero quantity of diesel fuel.
  • the starter turns the engine without it being able to start.
  • a self-test routine of a first part of the program memory is run through. The memory locations of the computer-side memory are checked for function in which the program part of the self-test program is stored.
  • Such a memory test can e.g. B. be carried out so that the entire program memory is added up and compared with a comparison sum, or the comparison sum is included in a program memory cell and selected so that there is zero when totaling the entire program memory content.
  • a comparison for errors is then carried out in a method step denoted by 16. If an error is found, the computer is returned to its initial state, which is denoted by 10. If no error is found, the method step designated 18 is carried out. It is a function test of other components of the computer, e.g. B. a read-write memory, a timer, or an analog-to-digital converter. After this test has been completed, an error check is carried out again at 16. In the event of an error, a reset command is issued which resets the computer to its initial state 10; if no error is found, the next process step follows.
  • method steps 12, 14, 16, 18 and again 16 in the form of predetermined self-test routines corresponds to a first section of the self-test.
  • the actuator is now controlled with a provisional control signal.
  • this corresponds to a starting quantity of diesel that is sufficient to start the engine safely.
  • a second section of the self-test is carried out while the engine is already running. This is much more time-consuming than the previous self-test carried out in the first section.
  • a program routine is run through in which the remaining program memories are checked for function. This is represented by method step 22. After the completion of this process step, an error check is carried out as symbolized by 16.
  • the computer In the event of an error, the computer is reset to its initial state; in the other case, the actuator for control signals of the computer is released by the computer going into the main program. This is symbolized by 24.
  • the second section of the self-test ends when the test to be carried out at 16 is successful.
  • the second section of the self-test can also take place after completion of the test 16 following the step 14 and the step 18 can be assigned to the second section of the self-test.
  • method step 20, by which the actuator is controlled with a preliminary control signal, would have to be shifted upwards.
  • the computer can display error messages that only appear after several Self-test routines that have run without errors occur, are set to a different state than the initial state.
  • a state is expediently chosen which corresponds to the last error-free self-test section.
  • this fact is saved as a switching state when the computer is reset due to newly applied operating voltage.
  • This storage takes place e.g. B. in step 12.
  • a comparison 26 is carried out in this case, in which the switching state is evaluated as a switching criterion.
  • the memory is then deleted in a method step 28. The memory is also erased if an error has already occurred before comparison 26 is reached.
  • method step 20 is then carried out. In the other case, method step 20 is not carried out.
  • Resetting the computer to the initial state due to an error message therefore means that the actuator is held in the defined reference position during the subsequent self-test routines. In relation to the application example, this means that the engine receives zero quantity until the entire self-test is completed.
  • This measure prevents recurring error messages in the second section of the self-test from running through a loop in which the actuator is repeatedly controlled with the provisional control signal.
  • this would lead to the engine being cyclically injected with the starting quantity of diesel. Since the starting quantity is dimensioned much higher than the idling quantity, this would lead to the engine running up and over revving, which can lead to considerable damage.
  • the safety aspect has priority over a reduction in the time for the control of the actuator with control signals.
  • a monitoring circuit In order to be able to monitor the safety of a computer-controlled actuator even during operation, a monitoring circuit (watchdog) is often provided. This checks z. B. arithmetic routines or sync pulses and triggers a reset command in the absence of such signals. This prevents the computer from an external disturbance, e.g. B. is brought into a state by a voltage drop, voltage peaks or by electromagnetic interference, which he can no longer leave by himself.
  • an external disturbance e.g. B. is brought into a state by a voltage drop, voltage peaks or by electromagnetic interference, which he can no longer leave by himself.
  • z. B. can be proceeded according to a flow chart according to FIG. 2.
  • the computer is programmed in such a way that it omits a computation routine or a synchronous signal, so that the monitoring circuit initiates a reset command.
  • a comparison 34 is carried out between method steps 12 and 14 by checking whether a reset command has taken place by the monitoring circuit. If this is the case, the computer goes into the main program 24, i.e. the actuator is released for control commands from the computer. However, this comparison is only carried out when all other self-test sections have been carried out successfully.
  • the method steps are carried out in the same order as has been described in FIG. 1. If the self-test of the first and second sections was error-free, the actuator is first temporarily brought back into the defined reference position and held there in a method step 30. This corresponds to the delivery of zero quantity of diesel. In a subsequent method step 32, the wait for the arrival of a reset command which must be triggered by the monitoring circuit.
  • It includes an actuator 34 for actuating a control rod of an electronic diesel injection and a computer 36.
  • a switch 40 is inserted into a control line 38 of the actuator 34, which switch 36 is switched by the computer 36 via a control line 50 and can assume three states.
  • switch 40 As long as there is no switching signal at switch 40, it is in the position shown. In this position, it is at reference potential 42, which corresponds to a definition of a defined reference position. If the test routines of a first section are passed and if the initial state from which the computer started the self-test was due to the first application of the operating voltage, the switch 40 is switched to second position flipped. In this position, the actuator 34 is connected via a line 44 to a generator 46 which generates a preliminary control signal. In the application example, this corresponds to a starting quantity of diesel. Only when the computer has successfully completed all sections of the self-test does the switch 40 reach the third position, in which the actuator 34 is released for control signals from the computer 36, which it receives via a control line 48.
  • the method according to the invention and the computer coupled to an actuator thus enable a considerable shortening of the actuation of the actuator 34 triggered by the self-test.
  • the remaining time in which no injection of diesel takes place in the application example, corresponds approximately to the time required by the starter accelerate the engine to the starting speed.
  • the further self-test can then be carried out without potential faults due to voltage dips caused by the starter.
  • any errors that occur lead to an immediate shutdown of the provisional control signal, i.e. the starting quantity of diesel. As a result, security is not compromised.
  • the measures achieved with the invention in the application example of the diesel engine thus contribute to the fact that the immediate starting behavior of the engine encourages the driver to switch off the engine during short stays and thus to reduce the environmental impact. Furthermore, the lifespan of the starter is increased, the battery is relieved, especially on short journeys, and the engine can be started even with a low battery.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • General Engineering & Computer Science (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
EP87907300A 1987-01-22 1987-11-11 Verfahren zur ansteuerung eines rechnergesteuerten stellgliedes sowie mit einem stellglied gekoppelter rechner Expired - Lifetime EP0331674B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19873701699 DE3701699A1 (de) 1987-01-22 1987-01-22 Verfahren zur ansteuerung eines rechnergesteuerten stellgliedes sowie mit einem stellglied gekoppelter rechner
DE3701699 1987-01-22

Publications (2)

Publication Number Publication Date
EP0331674A1 EP0331674A1 (de) 1989-09-13
EP0331674B1 true EP0331674B1 (de) 1990-09-05

Family

ID=6319247

Family Applications (1)

Application Number Title Priority Date Filing Date
EP87907300A Expired - Lifetime EP0331674B1 (de) 1987-01-22 1987-11-11 Verfahren zur ansteuerung eines rechnergesteuerten stellgliedes sowie mit einem stellglied gekoppelter rechner

Country Status (5)

Country Link
US (1) US5031177A (ja)
EP (1) EP0331674B1 (ja)
JP (1) JP2609266B2 (ja)
DE (2) DE3701699A1 (ja)
WO (1) WO1988005496A1 (ja)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01137853A (ja) * 1987-11-25 1989-05-30 Toshiba Corp 通信制御システム
US6338148B1 (en) * 1993-11-10 2002-01-08 Compaq Computer Corporation Real-time test controller
DE19801187B4 (de) * 1998-01-15 2007-07-12 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben einer Brennkraftmaschine
GB2519752A (en) * 2013-10-29 2015-05-06 Ibm Method for performing built-in self-tests and electronic circuit
CN113448318B (zh) * 2021-07-07 2022-08-16 江铃汽车股份有限公司 一种车辆下线故障诊断控制方法

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS54108133A (en) * 1978-02-13 1979-08-24 Hitachi Ltd Electronic engine control system
JPS55146501A (en) * 1979-05-04 1980-11-14 Nissan Motor Co Ltd Digital control device for internal combustion engine
JPS57155601A (en) * 1981-03-20 1982-09-25 Nippon Denso Co Ltd Car safety device
US4409635A (en) * 1981-06-18 1983-10-11 Westinghouse Electric Corp. Electrical power system with fault tolerant control unit
DE3229411A1 (de) * 1981-08-06 1983-03-03 Nissan Motor Co., Ltd., Yokohama, Kanagawa Elektronische vorrichtung mit selbstueberwachung fuer ein kraftfahrzeug
US4456831A (en) * 1982-01-13 1984-06-26 Nissan Motor Company, Limited Failsafe for an engine control
JPS618440A (ja) * 1984-06-21 1986-01-16 Diesel Kiki Co Ltd デイ−ゼル機関用制御装置
US4649537A (en) * 1984-10-22 1987-03-10 Westinghouse Electric Corp. Random pattern lock and key fault detection scheme for microprocessor systems
IT1208538B (it) * 1985-05-14 1989-07-10 Alfa Romeo Spa Dispositivo e procedimento di autodiagnosi di un sistema di controllo a microcalcolatore per un motore a c.i. di un autoveicolo.
US4726024A (en) * 1986-03-31 1988-02-16 Mieczyslaw Mirowski Fail safe architecture for a computer system

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Patent Abstracts of Japan , volume 10, No. 153 (M-484) (2209), 3 June 1986 *

Also Published As

Publication number Publication date
DE3764807D1 (de) 1990-10-11
US5031177A (en) 1991-07-09
DE3701699A1 (de) 1988-08-04
JP2609266B2 (ja) 1997-05-14
WO1988005496A1 (en) 1988-07-28
EP0331674A1 (de) 1989-09-13
JPH02501938A (ja) 1990-06-28

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