EP0464041B1 - Process for determining at least one end position of an adjusting device in a motor vehicle - Google Patents

Process for determining at least one end position of an adjusting device in a motor vehicle Download PDF

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Publication number
EP0464041B1
EP0464041B1 EP90904243A EP90904243A EP0464041B1 EP 0464041 B1 EP0464041 B1 EP 0464041B1 EP 90904243 A EP90904243 A EP 90904243A EP 90904243 A EP90904243 A EP 90904243A EP 0464041 B1 EP0464041 B1 EP 0464041B1
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EP
European Patent Office
Prior art keywords
adjusting device
end position
value
stored
predetermined
Prior art date
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Expired - Lifetime
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EP90904243A
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German (de)
French (fr)
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EP0464041A1 (en
Inventor
Gerhard Kolberg
Karl-Heinrich Preis
Joerg Holzberg
Stefan Koch
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Robert Bosch GmbH
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Robert Bosch GmbH
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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
    • F02D41/2406—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using essentially read only memories
    • F02D41/2409—Addressing techniques specially adapted therefor
    • F02D41/2412—One-parameter addressing technique
    • 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
    • F02D41/28—Interface circuits
    • 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
    • F02D11/106—Detection of demand or actuation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2250/00—Engine control related to specific problems or objectives
    • F02D2250/16—End position calibration, i.e. calculation or measurement of actuator end positions, e.g. for throttle or its driving actuator

Definitions

  • the invention relates to a method for determining at least one end position of an adjusting device in a motor vehicle according to the preamble of patent claim 1.
  • Such a method for determining at least one end position of an adjusting device in a motor vehicle is known from DE OS 31 49 361.
  • an adjustment device for controlling the motor power with two end positions is described, the adjustment device being first driven in the direction of the first end position for determining and storing these two end positions of the adjustment device, and after a predetermined adjustment time the position of the adjustment device is stored as the end position.
  • the adjustment device is then driven in the direction of the second end position, the position of the adjustment device being stored as the second end position after a further predetermined period of time.
  • the actuating variable of the adjusting device can be increased and thus the adjusting device can be destroyed or damaged.
  • the invention is therefore based on the object of avoiding the abovementioned disadvantages in a method of the type mentioned at the outset. This object is achieved by the features characterized in claim 1.
  • an electronic accelerator pedal which, in order to determine the end positions of the throttle valve based on a minimum or maximum search setpoint by increasing or decreasing this setpoint, moves to the respective end position in a controlled manner and uses the manipulated variable to drive the throttle valve against recognizes the respective end position.
  • the setpoint then present is stored as a setpoint value representing the end position when the manipulated variable exceeds a predetermined value.
  • EP-A-210 419 EP-A-185 945, the end position of an actuator is determined, the position of the actuator in an end region or the reaching / exceeding of a limit value for a certain time being determined.
  • the adjusting device is pressed into its correct position, on the other hand, destruction or damage to the adjusting device by a control signal that has left its permissible limits is prevented. As a result, an exact determination of the end positions of the adjusting device is achieved and the service life of the adjusting device is increased.
  • the method according to the invention is not only limited to its use for determining end positions of the power actuator of an internal combustion engine, but can also be used wherever there are controllable adjusting devices, the end positions of which have to be determined for further information
  • FIG. 1 denotes a block diagram of an exemplary embodiment chosen for reasons of clarity, in which the method shown in FIGS. 2-4 can be used on the basis of flow diagrams.
  • adjusting device is also understood below to mean the electrically actuable injection pump mechanism, where the method according to the invention is of particular importance due to the flexible actuating motor stops.
  • FIG. 1 shows an internal combustion engine 10 with an intake pipe 12 and an electrically actuable adjusting device 14.
  • This adjusting device 14 comprises a throttle valve 16 located in the intake pipe 12, which has a symbolically illustrated lower end position 18 and a likewise symbolically illustrated upper end position 20.
  • the lower end position 18 corresponds to the idle position of the throttle valve, while the upper end position 20 corresponds to the full load position of the throttle valve.
  • the adjusting device 14 includes an electrically actuated servomotor 22 which is connected to the throttle valve 16 via a connecting piece 24 such that it changes the position of the throttle valve as a function of a control variable.
  • the adjusting device 14 consists of a position sensor 26, with the aid of which the position of the servomotor 22 and / or the throttle valve 16 can be detected.
  • the adjusting device 14 essentially has an input 28 and an output line 30.
  • the adjusting device 14 is supplied via its input 28 with the control variable formed by a control device 32 as a function of operating parameters.
  • the output line 30 feeds a signal formed by the position sensor 26 corresponding to the respective position of the adjustment device back to the control device 32.
  • the control unit 32 receives the control variable via its input 34, the position signal of the adjusting device 14 via the input 36, the position of an accelerator pedal 40 via the input 38, and further operating parameters, such as engine temperature, speed, driving speed and / or inserted, via the inputs 39 Gear, etc., depending on which the control variable, which is output by the control unit via its output 42 to the adjusting device 14, is formed and is supplied with a start signal via the input 44, which is connected to an ignition switch 46.
  • the control device 32 receives a start signal via its input 44 which initializes the circuit elements of the control device and starts the method according to the invention.
  • the control device 32 forms a control variable which is transmitted via the output 42 determines the direction of movement or the position of the adjusting device 14 and thus controls the power actuator, in the case of the exemplary embodiment the throttle valve.
  • control variable described above is the motor current, the direction of movement of the adjusting device 14 being determined by the current direction, or one of the control voltage or, if the servomotor is designed accordingly, from a pulse duty factor Provided control variable, whereby an average of this control variable can also be used as the returned control variable.
  • FIG. 2 shows a flowchart which shows the method in context.
  • the process is started.
  • function block 50 all the measures are summarized which serve for initialization or for loading the electronic switching elements of the control unit 32.
  • the lower stop of the power actuator is approached in function block 52 and the position is determined in accordance with the method according to the invention after the starting value of the actuator position has been stored.
  • the query block 54 After execution of the function block 52 and commencement of normal driving of the motor vehicle, it is determined in the query block 54 whether the power actuator is in the vicinity of its full load position. This query is repeated until, in driving operation, the power actuator approximately assumes its full load position in accordance with the driver's request. This full load position is then approached in function block 56 and, after the starting value has been stored, the position of the adjusting device according to the inventive method 14 determined.
  • the start-up value can also be saved and the position can be determined exclusively in accordance with the method according to the invention.
  • FIGS. 3 and 4 can also be used individually, regardless of the integration in FIG. 2.
  • the method according to the invention is presented in FIG. 3 using the example of the lower stop of an electrically actuable throttle valve.
  • the control variable is monitored and compared with a predetermined threshold value, which is derived from a permissible limit value of the control variable. If the motor current is used as the control variable, this limit value results from the minimum permissible current. Similar limit values can also be formed for the other possible control variables obtained from voltage or duty cycle.
  • function block 60 of FIG. 3 it is now checked whether the respective control variable has reached the predetermined threshold value and has held it for a predetermined period of time. If this is not the case, the survey is repeated. However, if the control variable has assumed the predetermined value and held it for a predetermined time, it is checked in function block 62 whether the adjusting device 14 is in the region of its lower end position.
  • Such a survey can be done on the one hand by comparing the measured position of the adjusting device with a threshold value, and on the other hand by comparing a stop switch (e.g. idle or full load switch of the throttle valve) with the position of the Adjustment device 14 can be realized.
  • a stop switch e.g. idle or full load switch of the throttle valve
  • the current position of the adjusting device 14 is stored as the lower end position in the step of the function block 66. However, if one of the query conditions is not met, the steps shown in FIG. 3 can be repeated. The method shown in FIG. 3 can take place after the previously running, known from the prior art travel to the lower end position and storage of the corresponding position value.
  • FIG. 4 shows a further embodiment of the method according to the invention using the example of the upper stop of the power actuator of an internal combustion engine, in particular a throttle valve or injection pump.
  • the upper fitting is approached during driving operation or immediately after determining the lower stop before the start of the operating cycle and can be determined in accordance with the method shown in FIG. 4.
  • the first drive on the upper stop is done with high torque to ensure that the upper stop is reached. If this upper fitting is made of flexible material, it is e.g. B. a rubber buffer, the position value adopted when starting for the first time is too large.
  • function block 70 of FIG. 3 when the throttle valve reaches the full load position, it is checked whether a run has already taken place during the operating cycle.
  • step 74 it is determined in function block 72 whether the upper fitting has already been approached for the first time. If not, this is done in step 74. If this has already happened, the control variable is set to a predetermined value in function block 76 Limited value that is derived from the permissible limit minus the tolerance values. As a result, the adjusting device 14 is brought into a defined position, in particular if the fitting consists of flexible material which resets the adjusting device. Flexible material can also be understood as the usual return spring.
  • query block 78 it is determined whether the position of the adjusting device 14 is in the vicinity of the upper stop, that is to say whether the position of the adjusting device 14 exceeds a certain limit value or that the position of the adjusting device 14 has reached a certain limit value when the full load switch has been confirmed. If this is not the case, the limitation of the control variable is withdrawn and the steps outlined above are repeated (function block 79). If the position of the adjusting device 14 is in the area of the end position, then function block 80 checks whether a predetermined time has expired.
  • the methods according to the invention can, if desired, also be carried out several times during an operating cycle, e.g. B. to compensate for a temperature drift.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

In a process for determining at least one end position of an adjusting device (14) in a motor vehicle, the adjusting device (14) can be controlled in the direction of its end positions, each end position of the adjusting device (14) is determined by bringing the adjusting device into the relevant end position and when this end position is reached, the position of the adjusting device is stored as an index of the end position. The position of the respective end position of the adjusting device is stored when the control parameter of the adjusting device reaches a corresponding predetermined value, and/or this value is maintained for a predetermined length of time. This process is used advantageously to determine the end positions of a power output stage of an internal combustion engine in a motor vehicle.

Description

Stand der TechnikState of the art

Die Erfindung betrifft ein Verfahren zur Bestimmung wenigstens einer Endstellung einer Verstelleinrichtung in einem Kraftfahrzeug gemäß dem Oberbegriff des Patentanspruchs 1.The invention relates to a method for determining at least one end position of an adjusting device in a motor vehicle according to the preamble of patent claim 1.

Ein solches Verfahren zur Bestimmung wenigstens einer Endstellung einer Verstelleinrichtung in einem Kraftfahrzeug ist durch die DE OS 31 49 361 bekannt. Dort wird eine Verstelleinrichtung zur Steuerung der Motorleistung mit zwei Endstellungen beschrieben, wobei zur Bestimmung und Speicherung dieser beiden Endstellungen der Verstelleinrichtung die Verstelleinrichtung zuerst in Richtung der ersten Endstellung angetrieben wird und nach belauf einer vorbestimmten Verstellzeit die Position der Verstelleinrichtung als Endstellung abgespeichert wird. Danach wird die Verstelleinrichtung in Richtung der zweiten Endstellung angetrieben, wobei nach belauf einer weiteren vorbestimmten Zeitspanne die Position der Verstelleinrichtung als zweite Endstellung abgespeichert wird. Bei dieser Vorgehensweise ist es jedoch möglich, daß es zum einen z. B. bedingt durch die Flexibilität des Anschlages zum Erfassen einer falschen Endstellungsposition, zum anderen infolge von mechanischen bzw. elektrischen Toleranzen oder durch die oben erwähnte Flexibilität des Anschlages zu einer Erhöhung der Ansteuergröße der Verstelleinrichtung und somit zur Zerstörung bzw. Beschädigung der Verstelleinrichtung kommen kann.Such a method for determining at least one end position of an adjusting device in a motor vehicle is known from DE OS 31 49 361. There, an adjustment device for controlling the motor power with two end positions is described, the adjustment device being first driven in the direction of the first end position for determining and storing these two end positions of the adjustment device, and after a predetermined adjustment time the position of the adjustment device is stored as the end position. The adjustment device is then driven in the direction of the second end position, the position of the adjustment device being stored as the second end position after a further predetermined period of time. With this procedure, however, it is possible that, for one, z. B. due to the flexibility of the stop to detect a wrong one End position, on the other hand, due to mechanical or electrical tolerances or due to the abovementioned flexibility of the stop, the actuating variable of the adjusting device can be increased and thus the adjusting device can be destroyed or damaged.

Der Erfindung liegt demnach die Aufgabe zugrunde, bei einem Verfahren der eingangsgenannten Art die obengenannten Nachteile zu vermeiden. Diese Aufgabe wird durch die im Patentanspruch 1 gekennzeichneten Merkmale gelöst.The invention is therefore based on the object of avoiding the abovementioned disadvantages in a method of the type mentioned at the outset. This object is achieved by the features characterized in claim 1.

Aus der DE-OS 35 10 116 ist ein elektronisches Fahrpedal bekannt, welches zur Ermittlung der Endstellungen der Drosselklappe ausgehend von einem Minimal- bzw. Maximalsuchsollwert durch Erhöhung bzw. Verringerung dieses Sollwertes die jeweilige Endstellung geregelt anfährt und anhand der Stellgröße einen Antrieb der Drosselklappe gegen die jeweilige Endstellung erkennt. Der dann vorliegende Sollwert, wird als ein die Endstellung repräsentierender Sollwert-Vorgabewert gespeichert, wenn die Stellgröße einen vorbestimmten Wert überschreitet.From DE-OS 35 10 116, an electronic accelerator pedal is known which, in order to determine the end positions of the throttle valve based on a minimum or maximum search setpoint by increasing or decreasing this setpoint, moves to the respective end position in a controlled manner and uses the manipulated variable to drive the throttle valve against recognizes the respective end position. The setpoint then present is stored as a setpoint value representing the end position when the manipulated variable exceeds a predetermined value.

Diese Vorgehensweise berücksichtigt jedoch nicht, daß ein Ansteigen der Stellgröße auch beispielsweise durch eine mechanische Verklemmung der Drosselklappe oder durch Reibung entstehen kann. Ferner erfolgt das Anfahren der Endstellung geregelt und somit entsprechend langsam, da der Sollwert nur so schnell verändert werden kann, daß die Drosselklappe der Änderung synchron folgt.However, this procedure does not take into account that an increase in the manipulated variable can also occur, for example, due to a mechanical jamming of the throttle valve or due to friction. In addition, the approach to the end position takes place in a controlled manner and accordingly slowly, since the setpoint can only be changed so quickly that the throttle valve follows the change synchronously.

Nach der EP-A-210 419, EP-A-185 945 wird die Endstellung eines Stellgliedes festgestellt, dabei wird die Position des Stellgliedes in einem Endbereich bzw das Erreichen/Überschreiten eines Grenzwertes für eine bestimmt Zeit festgestellt.According to EP-A-210 419, EP-A-185 945, the end position of an actuator is determined, the position of the actuator in an end region or the reaching / exceeding of a limit value for a certain time being determined.

Die im folgenden dargestellte Vorgehensweise beseitigt die oben genannten Nachteile des Standes der Technik dadurch, daß beim befahren der jeweiligen Endstellung die Ansteuergröße der Verstelleinrichtung abgefragt wird und die Position der Verstelleinrichtung dann als die jeweilige Endstellung gespeichert wird, wenn diese Ansteuergröße der Verstelleinrichtung einen jeweils vorbestimmten Wert zumindest eingenommen hat. Dieses Verfahren kann insbesondere bei der Bestimmung der Endstellungen eines elektrisch steuerbaren Leistungsstellgliedes, insbesondere der Drosselklappe einer Brennkraftmaschine oder der Einspritzpumpe eines.Dieselmotors eines Kraftfahrzeuges vorteilhaft angewendet werden. Durch die im kennzeichnenden Teil des Patentanspruchs 1 beschriebenen Merkmale ist es möglich, daß einerseits bei flexiblen Anschlägen, wie es z. B. die Gummipuffer am Vollastanschlag einer Einspritzpumpenmechanik darstellen, die Verstelleinrichtung in ihre korrekte Lage gedrückt wird, andererseits eine Zerstörung bzw. Beschädigung der Verstelleinrichtung durch ein Ansteuersignal, das seine zulässigen Grenzen verlassen hat, verhindert wird. Dadurch wird eine genaue Bestimmung der Endstellungen der Verstelleinrichtung erreicht und die Lebensdauer der Verstelleinrichtung erhöht.The procedure outlined below eliminates the above-mentioned disadvantages of the prior art by querying the actuating variable of the adjusting device when the respective end position is traveled and then storing the position of the adjusting device as the respective end position when this actuating variable of the adjusting device has a respectively predetermined value has at least taken. This method can be used particularly advantageously when determining the end positions of an electrically controllable power actuator, in particular the throttle valve of an internal combustion engine or the injection pump of a diesel engine of a motor vehicle. Due to the features described in the characterizing part of patent claim 1, it is possible that, on the one hand, with flexible stops, as z. B. represent the rubber buffers at the full load stop of an injection pump mechanism, the adjusting device is pressed into its correct position, on the other hand, destruction or damage to the adjusting device by a control signal that has left its permissible limits is prevented. As a result, an exact determination of the end positions of the adjusting device is achieved and the service life of the adjusting device is increased.

Das erfindungsgemäße Verfahren ist nicht nur auf seine Verwendung zur Bestimmung von Endstellungen des Leistungsstellgliedes einer Brennkraftmaschine beschränkt, sondern kann überall dort eingesetzt werden, wo steuerbare Verstelleinrichtungen vorhanden sind, deren Endstellungen zur weiteren Information bestimmt werden müssenThe method according to the invention is not only limited to its use for determining end positions of the power actuator of an internal combustion engine, but can also be used wherever there are controllable adjusting devices, the end positions of which have to be determined for further information

Weitere Vorteile ergeben sich aus den Unteransprüchen in Verbindung mit der nachfolgenden Beschreibung eines Ausführungsbeispiels.Further advantages result from the subclaims in connection with the following description of an exemplary embodiment.

Zeichnungdrawing

Die Erfindung wird nachstehend anhand den in der Zeichnung dargestellten Ausführungsformen erläutert. Dabei bezeichnet Figur 1 eine aus Übersichtlichkeitsgründen gewählte Blockdarstellung eines Ausführungsbeispiels, bei dem das in den Figuren 2 - 4 anhand von Flußdiagrammen dargestellten Verfahren eingesetzt werden kann.The invention is explained below with reference to the embodiments shown in the drawing. In this case, FIG. 1 denotes a block diagram of an exemplary embodiment chosen for reasons of clarity, in which the method shown in FIGS. 2-4 can be used on the basis of flow diagrams.

Beschreibung des AusführungsbeispielsDescription of the embodiment

Obwohl das folgende Ausführungsbeispiel lediglich die Anwendung des erfindungsgemäßen Verfahrens auf Verstelleinrichtungen mit einer Drosselklappe beschreibt, wird im folgenden unter Verstelleinrichtung auch die elektrisch betätigbare Einspritzpumpenmechanik verstanden, wobei dort infolge der flexiblen Stellmotoranschläge dem erfindungsgemäßen Verfahren besondere Bedeutung zukommt.Although the following exemplary embodiment only describes the application of the method according to the invention to adjusting devices with a throttle valve, adjusting device is also understood below to mean the electrically actuable injection pump mechanism, where the method according to the invention is of particular importance due to the flexible actuating motor stops.

Figur 1 zeigt eine Brennkraftmaschine 10 mit einem Ansaugrohr 12 und einer elektrisch betätigbaren Verstelleinrichtung 14. Diese Verstelleinrichtung 14 umfaßt eine sich im Ansaugrohr 12 befindliche Drosselklappe 16, die eine symbolisch dargestellte, untere Endstellung 18 sowie eine ebenfalls symbolisch dargestellte, obere Endstellung 20 besitzt. Dabei entspricht die untere Endstellung 18 der Leerlaufposition der Drosselklappe, während die obere Endstellung 20 der Vollaststellung der Drosselklappe entspricht. Ferner umfafft die Verstelleinrichtung 14 einen elektrisch betätigbaren Stellmotor 22, der über ein Verbindungsstück 24 mit der Drosselklappe 16 derart verbunden ist, daß er in Abhängigkeit einer Steuergröße die Stellung der Drosselklappe verändert. Des weiteren besteht die Verstelleinrichtung 14 aus einem Positionssensor 26, mit dessen Hilfe die Position des Stellmotors 22 und/oder der Drosselklappe 16 erfaßt werden kann.FIG. 1 shows an internal combustion engine 10 with an intake pipe 12 and an electrically actuable adjusting device 14. This adjusting device 14 comprises a throttle valve 16 located in the intake pipe 12, which has a symbolically illustrated lower end position 18 and a likewise symbolically illustrated upper end position 20. The lower end position 18 corresponds to the idle position of the throttle valve, while the upper end position 20 corresponds to the full load position of the throttle valve. Furthermore, the adjusting device 14 includes an electrically actuated servomotor 22 which is connected to the throttle valve 16 via a connecting piece 24 such that it changes the position of the throttle valve as a function of a control variable. Furthermore, the adjusting device 14 consists of a position sensor 26, with the aid of which the position of the servomotor 22 and / or the throttle valve 16 can be detected.

Die Verstelleinrichtung 14 besitzt im wesentlichen einen Eingang 28 sowie eine Ausgangsleitung 30. Dabei wird der Verstelleinrichtung 14 über ihren Eingang 28 die von einem Steuergerät 32 in Abhängigkeit von Betriebskenngrößen gebildete Steuergröße zugeführt. Die Ausgangsleitung 30 führt ein der jeweiligen Position der Verstelleinrichtung entsprechendes vom Positionssensor 26 gebildetes Signal an das Steuergerät 32 zurück. Dem Steuergerät 32 werden über seinen Eingang 34 die Steuergröße, über den Eingang 36 das Positionssignal der Verstelleinrichtung 14, über den Eingang 38 die Stellung eines Fahrpedals 40, über die Eingänge 39 weitere Betriebskenngrößen, wie Temperatur des Motors, Drehzahl, Fahrgeschwindigkeit und/oder eingelegter Gang, etc., in deren Abhängigkeit die Steuergröße, die vom Steuergerät über seinen Ausgang 42 an die Verstelleinrichtung 14 abgegeben wird, gebildet wird und über den Eingang 44, der mit einem Zündschalter 46 in Verbindung steht, ein Startsignal zugeführt.The adjusting device 14 essentially has an input 28 and an output line 30. The adjusting device 14 is supplied via its input 28 with the control variable formed by a control device 32 as a function of operating parameters. The output line 30 feeds a signal formed by the position sensor 26 corresponding to the respective position of the adjustment device back to the control device 32. The control unit 32 receives the control variable via its input 34, the position signal of the adjusting device 14 via the input 36, the position of an accelerator pedal 40 via the input 38, and further operating parameters, such as engine temperature, speed, driving speed and / or inserted, via the inputs 39 Gear, etc., depending on which the control variable, which is output by the control unit via its output 42 to the adjusting device 14, is formed and is supplied with a start signal via the input 44, which is connected to an ignition switch 46.

Zur Funktionsweise der in Figur 1 dargestellten Einrichtung sei gesagt, daß das Steuergerät 32 bei Schließen des Zündschalters 46 über seinen Eingang 44 ein Startsignal erhält, das die Schaltungselemente des Steuergeräts initialisiert und das erfindungsgemäße Verfahren startet. Das Steuergerät 32 bildet in Abhängigkeit von über seine Eingänge 39 zugeführte Betriebskenngrößen, sowie in Abhängigkeit der Fahrpedalstellung, die über den Eingang 38 vom Fahrpedal 40 eingegeben wird, eine Steuergröße, die über den Ausgang 42 die Bewegungsrichtung bzw. die Position der Verstelleinrichtung 14 bestimmt und somit das Leistungsstellglied, im Falle des Ausführungsbeispiels die Drosselklappe, steuert.Regarding the functioning of the device shown in FIG. 1, it should be said that when the ignition switch 46 is closed, the control device 32 receives a start signal via its input 44 which initializes the circuit elements of the control device and starts the method according to the invention. Depending on the operating parameters supplied via its inputs 39 and the accelerator pedal position, which is input from the accelerator pedal 40 via the input 38, the control device 32 forms a control variable which is transmitted via the output 42 determines the direction of movement or the position of the adjusting device 14 and thus controls the power actuator, in the case of the exemplary embodiment the throttle valve.

Je nach Ausführung der Verstelleinrichtung 14 bzw. des Stellmotors 22 handelt es sich bei der oben beschriebenen Steuergröße um den Motorstrom, wobei die Bewegungsrichtung der Verstelleinrichtung 14 durch die Stromrichtung bestimmt wird, oder um eine aus der Ansteuerspannung oder bei entsprechender Ausgestaltung des Stellmotors aus einem Tastverhältnis bereitgestellte Steuergröße, wobei als rückgeführte Steuergröße auch ein Mittelwert dieser Steuergröße verwendet werden kann.Depending on the design of the adjusting device 14 or the servomotor 22, the control variable described above is the motor current, the direction of movement of the adjusting device 14 being determined by the current direction, or one of the control voltage or, if the servomotor is designed accordingly, from a pulse duty factor Provided control variable, whereby an average of this control variable can also be used as the returned control variable.

Entsprechende Ausführungen gelten für die Einspritzpumpenmechanik (Regelstange) eines Dieselmotors.Corresponding statements apply to the injection pump mechanism (control rod) of a diesel engine.

Figur 2 zeigt ein Flußdiagramm, welches das Verfahren im Zusammenhang darstellt. Bei Schließen des Zündschalters, also zu Beginn eines Betriebszyklus wird das Verfahren gestartet. In Funktionsblock 50 sind alle die Maßnahmen zusammengefaßt, die zur Initialisierung bzw. zum Laden der elektronischen Schaltelemente des Steuergeräts 32 dienen. Ist dieser Vorgang abgeschlossen, so wird in Funktionsblock 52 der untere Anschlag des Leistungsstellgliedes angefahren und nach Speicherung des Anfahrwerts der Stellgliedposition die Position entsprechend dem erfindungsgemäßen Verfahren bestimmt. Nach Abarbeitung des Funktionsblocks 52 und Aufnahme des normalen Fahrbetriebs des Kraftfahrzeugs wird im Abfrageblock 54 festgestellt, ob sich das Leistungsstellglied in der Nähe seiner Vollaststellung befindet. Diese Abfrage wird solange wiederholt bis im Fahrbetrieb entsprechend des Fahrerwunsches das Leistungstellglied seine Vollaststellung ungefähr einnimmt. Dann wird in Funktionsblock 56 diese Vollaststellung angefahren und nach Speicherung des Anfahrwerts entsprechend dem erfindungsgemäßen Verfahren die Position der Verstelleinrichtung 14 bestimmt. Dabei kann die Speicherung des Anfahrwerts auch unterbleiben und die Position ausschließlich entsprechend dem erfindungsgemäßen Verfahren bestimmt werden.FIG. 2 shows a flowchart which shows the method in context. When the ignition switch is closed, i.e. at the beginning of an operating cycle, the process is started. In function block 50 all the measures are summarized which serve for initialization or for loading the electronic switching elements of the control unit 32. When this process is complete, the lower stop of the power actuator is approached in function block 52 and the position is determined in accordance with the method according to the invention after the starting value of the actuator position has been stored. After execution of the function block 52 and commencement of normal driving of the motor vehicle, it is determined in the query block 54 whether the power actuator is in the vicinity of its full load position. This query is repeated until, in driving operation, the power actuator approximately assumes its full load position in accordance with the driver's request. This full load position is then approached in function block 56 and, after the starting value has been stored, the position of the adjusting device according to the inventive method 14 determined. The start-up value can also be saved and the position can be determined exclusively in accordance with the method according to the invention.

Die in den Figuren 3 und 4 im folgenden vorgestellten Ausführungsformen des erfindungsgemäßen Verfahrens sind auch jede für sich, unabhängig von der Einbindung in Figur 2, anwendbar.The embodiments of the method according to the invention presented below in FIGS. 3 and 4 can also be used individually, regardless of the integration in FIG. 2.

In Figur 3 ist das erfindungsgemäße Verfahren am Beispiel des unteren Anschlag einer elektrisch betätigbaren Drosselklappe vorgestellt. Nach der Initialisierung des Steuergeräts und dem befahren des Anschlags wird die Steuergröße überwacht und mit einem vorgegebenen Schwellwert verglichen, der aus einem zulässigen Grenzwert der Steuergröße abgeleitet ist. Wird als Steuergröße der Motorstrom verwendet, so ergibt sich dieser Grenzwert aus dem minimal zulässigen Strom. Ähnliche Grenzwerte lassen sich auch für die weiteren, möglichen aus Spannung gewonnenen oder Tastverhältnis Steuergrößen bilden. In Funktionsblock 60 der Figur 3 wird nun überprüft ob die jeweilige Steuergröße den vorbestimmten Schwellwert erreicht und diesen eine vorbestimmte Zeitdauer lang gehalten hat. Ist dies nicht der Fall, wird die befrage wiederholt. Hat die Steuergröße jedoch den vorbestimmten Wert angenommen, und diesen eine vorbestimmte Zeit gehalten, so wird im Funktionsblock 62 überprüft, ob sich die Verstelleinrichtung 14 im Bereich ihrer unteren Endstellung befindet.The method according to the invention is presented in FIG. 3 using the example of the lower stop of an electrically actuable throttle valve. After the initialization of the control device and the movement of the stop, the control variable is monitored and compared with a predetermined threshold value, which is derived from a permissible limit value of the control variable. If the motor current is used as the control variable, this limit value results from the minimum permissible current. Similar limit values can also be formed for the other possible control variables obtained from voltage or duty cycle. In function block 60 of FIG. 3, it is now checked whether the respective control variable has reached the predetermined threshold value and has held it for a predetermined period of time. If this is not the case, the survey is repeated. However, if the control variable has assumed the predetermined value and held it for a predetermined time, it is checked in function block 62 whether the adjusting device 14 is in the region of its lower end position.

Dadurch soll verhindert werden, daß eine Speicherung der Position der Verstelleinrichtung 14 als Endstellung des Leistungstellgliedes vorgenommen wird, wenn die Steuergröße den vorbestimmten Schwellwert infolge einer Verklemmung des Leistungsstellgliedes erreicht. Eine derartige befrage kann zum einen durch einen Vergleich der gemessenen Position der Verstelleinrichtung mit einem Schwellwert, zum anderen durch einen Vergleich eines Anschlagschalters (z. B. Leerlauf- oder Vollastschalter der Drosselklappe) mit der Position der Verstelleinrichtung 14 realisiert werden. In Funktionsblock 64 wird überprüft, ob die Verstelleinrichtung 14 in diesem Moment gegen die untere Endstellung gesteuert wird. Wird als Steuergröße der Motorstrom bezeichnet, so kann diese befrage über die Stromrichtung geschehen. Sind alle die Abfragebedingungen der Funktionsblöcke 60 bis 64 erfüllt, so wird im Schritt des Funktionsblocks 66 die aktuelle Position der Verstelleinrichtung 14 als untere Endstellung abgespeichert. Ist jedoch eine der Abfragebedingungen nicht erfüllt, so können die in Figur 3 dargestellten Schritte wiederholt werden. Das in Figur 3 dargestellte Verfahren kann im Anschluß an das zuvor ablaufende, aus dem Stand der Technik bekannte befahren der unteren Endstellung und Speichern des entsprechenden Positionswertes stattfinden.This is to prevent the position of the adjusting device 14 from being stored as the end position of the power actuator when the control variable reaches the predetermined threshold value as a result of jamming of the power actuator. Such a survey can be done on the one hand by comparing the measured position of the adjusting device with a threshold value, and on the other hand by comparing a stop switch (e.g. idle or full load switch of the throttle valve) with the position of the Adjustment device 14 can be realized. In function block 64 it is checked whether the adjusting device 14 is being controlled against the lower end position at this moment. If the motor current is referred to as the control variable, this can be done via the current direction. If all of the query conditions of the function blocks 60 to 64 are met, the current position of the adjusting device 14 is stored as the lower end position in the step of the function block 66. However, if one of the query conditions is not met, the steps shown in FIG. 3 can be repeated. The method shown in FIG. 3 can take place after the previously running, known from the prior art travel to the lower end position and storage of the corresponding position value.

In Figur 4 wird eine weitere Ausgestaltung des erfindungsgemäßen Verfahrens am Beispiel des oberen Anschlags des Leistungsstellglieds einer Brennkraftmaschine, insbesondere einer Drosselklappe oder Einspritzpumpe, dargestellt. Nachdem die Bestimmung des unteren Anschlages abgeschlossen ist, wird während des Fahrbetriebs oder auch unmittelbar nach Bestimmung des unteren Anschlages vor Beginn des Betriebszyklus der obere beschlag angefahren und kann entsprechend dem in Figur 4 dargestellten Verfahren bestimmt werden. Das erste befahren des oberen Anschlages geschieht dabei mit hohem Drehmoment, um sicherzugehen, daß der obere Anschlag erreicht wird. Besteht dieser obere beschlag aus flexiblem Material, handelt es sich z. B. um einen Gummipuffer, so ist der bei erstmaligem Anfahren übernommene Positionswert zu groß. Im Funktionsblock 70 von Figur 3 wird bei Erreichen der Vollastposition der Drosselklappe überprüft, ob während des Betriebszyklus bereits ein Durchlauf stattgefunden hat. Ist dies nicht der Fall, wird im Funktionsblock 72 festgestellt, ob der obere beschlag bereits erstmalig angefahren wurde. Falls nicht, wird dies im Schritt 74 durchgeführt. Ist dies bereits geschehen, wird im Funktionsblock 76 die Steuergröße auf einen vorbestimmten Wert begrenzt, der aus dem zulässigen Grenzwert abzüglich der Toleranzwerte abgeleitet ist. Dadurch wird die Verstelleinrichtung 14 in eine definierte Stellung gebracht, insbesondere wenn der beschlag aus flexiblem Material besteht, welches die Verstelleinrichtung zurückstellt. Unter flexiblem Material kann auch die übliche Rückstellfeder verstanden werden. Im Abfrageblock 78 wird festgestellt, ob die Position der Verstelleinrichtung 14 in der Nähe des oberen Anschlages sich befindet, das heißt, ob die Position der Verstelleinrichtung 14 einen bestimmten Grenzwert überschreitet oder daß bei bestätigtem Vollastschalter die Position der Verstelleinrichtung 14 einen bestimmten Grenzwert erreicht hat. Ist dies nicht der Fall, wird die Begrenzung der Steuergröße zurückgenommen und die oben dargestellten Schritte wiederholt (Funktionsblock 79). Befindet sich die Position der Verstelleinrichtung 14 im Bereich der Endstellung, so wird in Funktionsblock 80 überprüft, ob eine vorgegebene Zeit abgelaufen ist.FIG. 4 shows a further embodiment of the method according to the invention using the example of the upper stop of the power actuator of an internal combustion engine, in particular a throttle valve or injection pump. After the determination of the lower stop has been completed, the upper fitting is approached during driving operation or immediately after determining the lower stop before the start of the operating cycle and can be determined in accordance with the method shown in FIG. 4. The first drive on the upper stop is done with high torque to ensure that the upper stop is reached. If this upper fitting is made of flexible material, it is e.g. B. a rubber buffer, the position value adopted when starting for the first time is too large. In function block 70 of FIG. 3, when the throttle valve reaches the full load position, it is checked whether a run has already taken place during the operating cycle. If this is not the case, it is determined in function block 72 whether the upper fitting has already been approached for the first time. If not, this is done in step 74. If this has already happened, the control variable is set to a predetermined value in function block 76 Limited value that is derived from the permissible limit minus the tolerance values. As a result, the adjusting device 14 is brought into a defined position, in particular if the fitting consists of flexible material which resets the adjusting device. Flexible material can also be understood as the usual return spring. In query block 78 it is determined whether the position of the adjusting device 14 is in the vicinity of the upper stop, that is to say whether the position of the adjusting device 14 exceeds a certain limit value or that the position of the adjusting device 14 has reached a certain limit value when the full load switch has been confirmed. If this is not the case, the limitation of the control variable is withdrawn and the steps outlined above are repeated (function block 79). If the position of the adjusting device 14 is in the area of the end position, then function block 80 checks whether a predetermined time has expired.

Dies dient dazu, stabile Zustände zu schaffen. Ist die Zeit abgelaufen, so wird die aktuelle Position der Verstelleinrichtung 14 als obere Endstellung der Verstelleinrichtung 14 in Funktionsblock 82 abgespeichert und die Begrenzung der Steuergröße aufgehoben. Ferner wird in Funktionsblock 84 eine Markierung gesetzt, daß die Endstellung in diesem Betriebszyklus bestimmt wurde. Sollte in den Abfrageblöcken 70, 72 und 80 die zweite, in der obigen Beschreibung nicht dargelegte Möglichkeit auftreten, so werden die Schritte wiederholt.This serves to create stable states. If the time has elapsed, the current position of the adjusting device 14 is stored as the upper end position of the adjusting device 14 in function block 82 and the limitation of the control variable is canceled. In addition, a mark is set in function block 84 that the end position has been determined in this operating cycle. If the second possibility, not shown in the above description, occurs in query blocks 70, 72 and 80, the steps are repeated.

Die obige Beschreibung der Ausführungsformen der erfindungsgemäßen Verfahren geht von nur einer Anwendung der Verfahren pro Betriebszyklus aus.The above description of the embodiments of the methods according to the invention is based on only one application of the methods per operating cycle.

Selbstverständlich können die erfindungsgemäßen Verfahren, wenn gewünscht, auch mehrere Male während eines Betriebszyklus durchgeführt werden, z. B. zur Kompensation eines Temperaturdrift.Of course, the methods according to the invention can, if desired, also be carried out several times during an operating cycle, e.g. B. to compensate for a temperature drift.

Claims (8)

  1. Method for determining at least one end position of an adjusting device (14) in a motor vehicle,
    - the position of which is adjusted under closed-loop control by a control unit, as a function of a setpoint value formed from at least one operating parameter, by means of the value of a drive signal output by the said unit,
    - which, in predetermined operating states, is adjusted in the direction of the respective end position under open-loop control, independently of the setpoint value, in order to determine the end position
    - and the position of which is stored as representing the respective end position if the actuating variable for the adjusting device has assumed or exceeded a predetermined value for a predetermined period of time and the adjusting device (14) is in the region of the respective end position.
  2. Method according to Claim 1, characterised in that the position of the adjusting device is stored if a determination of this end position has previously been carried out.
  3. Method according to either of Claims 1 - 2, characterised in that the position of the adjusting device is stored if the actuating variable exceeds a predetermined value.
  4. Method according to one of Claims 1 - 3, characterised in that the position of the adjusting device is stored if the actuating variable has reached a predetermined limiting value.
  5. Method according to one of Claims 1 - 4, characterised in that the adjusting device, in particular an electrically actuable power control element of an internal combustion engine of a motor vehicle, is designed with an electronic control unit and can be actuated between the end positions.
  6. Method according to one of Claims 1 - 5, characterised in that the drive current is used as the actuating variable, the adjusting device being guided into one end position if the alteration in the drive current is positive and being guided into the other end position if the alteration in the drive current is negative.
  7. Method according to one of Claims 1 - 6, characterised in that the actuating variable is provided by a drive voltage, a drive duty factor in the case of an adjusting device controlled in a pulsed manner, a frequency signal, or a mean value signal of the current, voltage, duty factor or frequency.
  8. Method according to Claim 1, characterised in that the region of the respective end position is ascertained by comparison of the position of the adjusting device to a predetermined threshold value alone or by actuation of a stop switch in conjunction with a comparison of the position of the adjusting device to a predetermined threshold value.
EP90904243A 1989-03-25 1990-03-07 Process for determining at least one end position of an adjusting device in a motor vehicle Expired - Lifetime EP0464041B1 (en)

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AT90904243T ATE82364T1 (en) 1989-03-25 1990-03-07 METHOD FOR DETERMINING AT LEAST ONE END POSITION OF AN ADJUSTMENT DEVICE IN A MOTOR VEHICLE.

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DE3909905 1989-03-25
DE3909905A DE3909905A1 (en) 1989-03-25 1989-03-25 METHOD FOR DETERMINING AT LEAST ONE END OF AN ADJUSTMENT IN A MOTOR VEHICLE

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EP (1) EP0464041B1 (en)
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EP0464041A1 (en) 1992-01-08
JPH04503846A (en) 1992-07-09
KR920701642A (en) 1992-08-12
DE3909905A1 (en) 1990-09-27
KR0148801B1 (en) 1998-10-01
JP2778827B2 (en) 1998-07-23
DE59000473D1 (en) 1992-12-17
US5213078A (en) 1993-05-25
WO1990011442A1 (en) 1990-10-04

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