EP1682751B1 - Procede pour regler l'angle de rotation et dispositif de dephasage pour mettre en oeuvre ce procede - Google Patents

Procede pour regler l'angle de rotation et dispositif de dephasage pour mettre en oeuvre ce procede Download PDF

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Publication number
EP1682751B1
EP1682751B1 EP04802686.8A EP04802686A EP1682751B1 EP 1682751 B1 EP1682751 B1 EP 1682751B1 EP 04802686 A EP04802686 A EP 04802686A EP 1682751 B1 EP1682751 B1 EP 1682751B1
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EP
European Patent Office
Prior art keywords
angle
rotation
adjustment speed
current
calculating
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EP04802686.8A
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German (de)
English (en)
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EP1682751A2 (fr
Inventor
Uwe Finis
Kave Kianer
Marco Rohe
Markus Wilke
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Schaeffler Engineering GmbH
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AFT Atlas Fahrzeugtechnik GmbH
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01L—CYCLICALLY OPERATING VALVES FOR MACHINES OR ENGINES
    • F01L9/00—Valve-gear or valve arrangements actuated non-mechanically
    • F01L9/20—Valve-gear or valve arrangements actuated non-mechanically by electric means

Definitions

  • the invention relates to a method for controlling a relative angle of rotation between a camshaft and a crankshaft in an internal combustion engine by means of an electromechanical Phasenverstellvorraum.
  • the invention further relates to a Phasenverstellvortechnische for performing such a method.
  • Electromechanical Phasenverstellvoriquesen of the generic type are from the DE 100 38 354 A1 or the DE 102 22 475 A1 known. Such Phasenverstellvoriquesen serve to adjust the relative angle of rotation between a camshaft and the crankshaft of an internal combustion engine. By adjusting this angle of rotation, the opening times of the intake or exhaust valves can be selectively influenced, which has proven to be advantageous in the operation of internal combustion engines in terms of fuel consumption and pollutant emissions.
  • twist angle cascade control for such electromechanical Phasenverstellvorraumen known which uses the control element speed as a controlled variable in a subordinate control loop.
  • a disadvantage of such a twist angle cascade control is that the actuator speed deviates from the time changes of the rotation angle and thus the twist angle cascade control has a poor control behavior.
  • the invention has the object, a method for fast and accurate control of the relative angle of rotation between a camshaft and a crankshaft in an internal combustion engine by means of an electromechanical Phasenverstellvorraum indicate.
  • the essence of the invention consists in calculating the temporal change of the angle of rotation, hereinafter referred to as the adjustment speed, from at least one measurable variable, which is usually easily measurable, and this variable is used as the controlled variable.
  • the actual adjustment speed calculated from at least one measured variable is compared with a setpoint adjustment speed and the resulting adjustment speed control deviation is fed to an adjustment speed controller, which is subordinated to a torsion angle controller which predefines the desired adjustment speed. Due to the fact that the adjustment speed is calculated from at least one, usually easily measurable, measured variable, a complicated and expensive direct measurement is not required.
  • a calculation of the overlay speed according to claim 2 is easy to carry out, since the overlap speed results as half the speed of the crankshaft.
  • a calculation in an observer model according to claim 3 allows a very precise determination of the actual adjustment speed, since inaccuracies in the calculation of the actual adjustment speed are corrected in the observer model.
  • a desired current according to claim 4 allows the Unterlagerung a current regulator.
  • a power controller which is subordinate to the adjustment speed regulator according to claim 6 permits a delay-free and exact compensation of disturbances on the current of the actuator and thus on the drive torque of the actuator. Disturbances may arise, for example, due to the temperature dependence of resistors of the actuator.
  • a limitation of the target current according to claim 6 allows effective protection of the actuator against overload.
  • Another object of the invention is to provide a phase adjuster for performing a method for quickly and accurately controlling a relative angle of rotation between a camshaft and a crankshaft in an internal combustion engine.
  • phase adjustment device correspond to those which have been described above in connection with the method according to the invention for controlling a relative angle of rotation between a camshaft and a crankshaft.
  • a DC motor according to claim 8 allows easy design and adjustment of the controller.
  • Fig. 1 shows an internal combustion engine 1, which is constructed in a known manner.
  • the internal combustion engine 1 comprises a plurality of cylinders 2 arranged in series, in each of which a piston 3 is guided.
  • Each piston 3 is connected by means of a connecting rod 4 with a crankshaft 5, wherein the crankshaft 5 is rotatably mounted about a crankshaft rotation axis 6.
  • a crankshaft sensor 7 is arranged, which serves to measure a rotational angle ⁇ K and a rotational speed ⁇ K of the crankshaft 5.
  • a crankshaft 8 is arranged, which drives a camshaft 10 via a toothed belt 9.
  • Camshaft gear 10 is coupled to an electromechanical phaser 11 and a camshaft 12.
  • the phase adjuster 11 comprises a swash plate mechanism 13 and an actuator 14 in the form of a DC motor, wherein the swash plate mechanism 13 with the DC motor 14, the camshaft 10 and the camshaft 12 is connected such that a rotational angle ⁇ N of the camshaft 12 is adjustable.
  • the swash plate mechanism 13 is on the DE 100 38 354 A1 and the DE 102 22 475 A1 directed.
  • a camshaft sensor 17 is arranged, for measuring the rotational angle ⁇ N and the rotational speed ⁇ N of the camshaft 12 is used.
  • the phase adjuster 11 further comprises a control and control unit 18, which is connected to transmit measured data to the crankshaft sensor 7, the camshaft sensor 17, a first actuator sensor 19 and a second actuator sensor 20.
  • the first actuator sensor 19 is used to measure the angle of rotation ⁇ S and the speed ⁇ S of the DC motor 14 and the second actuator sensor 20 is used to measure the armature current I S of the DC motor 14.
  • the control unit 18 is not one shown power electronic circuit connected by means of which the DC motor 14 is actuated.
  • the camshaft 12 is rotated about a camshaft rotation axis 21 via the swash plate mechanism 13.
  • the adjustment speed ⁇ is defined as the temporal change of the relative displacement angle ⁇ with the dimension ° / sec.
  • the adjustment speed ⁇ is related to the crankshaft 5 and thus has the unit ° crankshaft / sec.
  • a rotational angle control deviation ⁇ between a desired rotational angle ⁇ SOLL to be set and a determined actual rotational angle ⁇ IST are calculated.
  • the angle of rotation control deviation ⁇ is then fed to a torsion angle controller 23, in which a desired adjustment speed ⁇ SOLL which is dependent on the torsion angle control deviation ⁇ is calculated.
  • the desired torsion angle ⁇ SOLL is predetermined by a higher-level engine control, not shown.
  • the actual angle of rotation ⁇ IST can be determined either by direct measurement, as from the DE 102 36 507 A1 is known, or from existing variables, such as the rotation angle ⁇ K of the crankshaft 5, the rotation angle ⁇ N of the camshaft 12 and the rotation angle ⁇ S of the DC motor 14 are calculated. Is the measurement or calculation of the actual angle of rotation ⁇ IS ideal, this corresponds to the relative angle of rotation ⁇ .
  • an adjustment speed control deviation ⁇ between the desired adjustment speed ⁇ SOLL and a calculated actual adjustment speed ⁇ IST is also calculated.
  • the adjustment speed control deviation ⁇ is fed to an adjustment speed controller 26, which is subordinate to the torsion angle controller 23 and in which an output quantity dependent on the adjustment speed control deviation ⁇ is calculated and output.
  • the output of the Verstell quitesregler 26 is a setpoint for the current driving voltage of the DC motor 14, which is set by an unillustrated power electronic circuit on the DC motor 14.
  • the direct current motor 14 adjusts the angle of rotation ⁇ via the swash plate transmission 13 until the setpoint rotation angle ⁇ SOLL to be set is reached and the torsion angle control deviation ⁇ becomes zero.
  • the torsion angle controller 23 is part of a first control loop for controlling the angle of rotation ⁇ and the Verstell effets controller 26 is part of a second control loop for controlling the adjustment speed ⁇ , wherein the second control loop is cascaded under the first control loop.
  • changes in the superimposition speed ⁇ Ü ie changes in the operating point of the internal combustion engine, which act as a disturbance variable for the control (see arrow in the swash plate transmission 13 in FIG Fig. 2
  • changes in the superimposition speed ⁇ Ü can be used for a change in operating point occurring simultaneously with an adjustment of the relative angle of rotation ⁇ to regulate the relative angle of rotation ⁇ quickly. This is possible because the superposition speed ⁇ Ü is included in the calculation of the actual adjustment speed ⁇ IST .
  • linear regulator structures are also possible for the torsion angle controller 23 and the adjustment speed controller 26, so that the design and parameterization of the controllers 23, 26 is easily possible.
  • the computational effort in the control and control unit 18 is kept low.
  • linear controller structures known linear methods for parameterizing the controllers 23, 26 can be used.
  • the subordinate control of the adjustment speed ⁇ allows a rapid settling of the control of the angle of rotation ⁇ with low overshoot and very good stationary control accuracy.
  • the number of parameters to be set, the controller 23, 26 manageable, so that the parameterization of the controller 23, 26 for an applicator illustrative and thus easy to carry out.
  • Fig. 3 a realized in the control and control unit 18 method for controlling the angle of rotation ⁇ described according to a second embodiment.
  • the essential difference from the first embodiment is that the output variable of the adjustment speed controller 26 and the speed ⁇ S of the DC motor 14 are supplied to a disturbance compensation 27, in which a self-induction voltage of the DC motor 14 which is dependent on the speed ⁇ S of the DC motor 14 is compensated.
  • the output of the Störlongednkompensation 27 is a function of the self-induction voltage compensated setpoint for the current-driving voltage of the DC motor 14, which is supplied to a power electronic circuit and adjusted by this to the DC motor 14.
  • the actual adjustment speed ⁇ IS is calculated in an observer model.
  • the phase adjustment device 11 is at least partially modeled, the modeled state variables of the phase adjustment device 11, in particular the actual adjustment speed ⁇ actual , being constantly corrected by matching the observer model 28 by means of the actual rotation angle ⁇ actual .
  • the comparison of the observer model 28 prevents the calculated actual adjustment speed ⁇ actual from drifting off from the real adjustment speed ⁇ as a result of the integrating system behavior.
  • the actual adjustment speed ⁇ IST can be calculated very accurately in the observer model 28.
  • Fig. 5 a realized in the control and control unit 18 method for controlling the angle of rotation ⁇ described according to a fourth embodiment.
  • the essential difference with respect to the preceding embodiments is that the output variable of the adjustment speed controller 26 is interpreted as a desired current I SOLL of the DC motor 14 and in a third calculation module 29 first a current control deviation ⁇ I between the desired current I SOLL and a measured actual current I IST of the DC motor 14 is calculated. Subsequently, in a subordinate to the Verstell Anthonys controller 26 current controller 30 is dependent on the current control deviation .DELTA.I control variable for adjusting the angle of rotation ⁇ calculated. The actual current I IST of the DC motor 14 is measured by means of the second actuator sensor 20.
  • the first and second control loop is subordinated to a third control loop.
  • a current limiting is further provided which serves to limit the desired current I SOLL to a maximum current value I MAX , whereby the armature current I S is limited.
  • the current limit is used to protect the DC motor 14 against overload.
  • the disturbance compensation 27 and the observer model 28 can be combined with the method for controlling the angle of rotation ⁇ according to the fourth embodiment.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Valve Device For Special Equipments (AREA)
  • Output Control And Ontrol Of Special Type Engine (AREA)

Claims (8)

  1. Procédé pour régler un angle de rotation relatif (φ) entre un arbre à cames (12) et un vilebrequin (5) au moyen d'un dispositif de déphasage électromécanique (11), comprenant les étapes consistant à :
    - calculer un écart de réglage d'angle de rotation (Δφ) entre un angle de rotation théorique (φTHEORIQUE) et un angle de rotation réel (φREEL) déterminé dans un premier circuit de régulation,
    - calculer une vitesse de réglage théorique (ΩTHEORIQUE) dépendant de l'écart de réglage d'angle de rotation (Δφ) au moyen d'un régulateur d'angle de rotation (23),
    - calculer un écart de régulation de vitesse de réglage (ΔΩ) entre la vitesse de réglage théorique (ΩTHEORIQUE) et une vitesse de réglage réelle (ΩREEL) calculé à partir d'au moins une grandeur de mesure dans un deuxième circuit de régulation sous-jacent par rapport au premier circuit de régulation,
    - calculer une grandeur de sortie dépendant de l'écart de régulation de vitesse de réglage (ΔΩ) au moyen d'un régulateur de vitesse de réglage (26) sous-jacent par rapport au régulateur d'angle de rotation (23), et
    - régler l'angle de rotation (φ) en fonction des grandeurs calculées lors des étapes précédentes au moyen d'un organe de réglage (14) électromécanique, caractérisé en ce que la vitesse de réglage réelle (ΩREEL) est calculée au moins à partir d'une vitesse de rotation (ΩS) de l'organe de réglage (14) et d'une vitesse de rotation de superposition (ΔU) d'un arbre moteur ou d'un arbre couplé à celui-ci.
  2. Procédé selon la revendication 1, caractérisé en ce que la vitesse de rotation de superposition (ΩU) est calculée au moins à partir de la vitesse de rotation (ΩK) du vilebrequin (5).
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que la vitesse de réglage réelle (ΩREEL) est calculé dans un modèle d'observation (28).
  4. Procédé selon l'une quelconque des revendications 1 à 3, caractérisé en ce que la grandeur de sortie du régulateur de vitesse de réglage (26) est un courant théorique (ITHEORIQUE) de l'organe de réglage (14).
  5. Procédé selon la revendication 4, caractérisé par les étapes consistant à :
    - calculer un écart de régulation de courant (ΔI) entre le courant théorique (ITHEORIQUE) et un courant réel (IREEL) mesuré de l'organe de réglage (14) dans un troisième circuit de régulation sous-jacent par rapport au deuxième circuit de régulation, et
    - calculer une grandeur de réglage dépendant de l'écart de régulation de courant (ΔI) au moyen d'un régulateur de courant (30) sous-jacent par rapport au régulateur de vitesse de réglage (26) avant le réglage de l'angle de rotation (φ).
  6. Procédé selon la revendication 4 ou 5, caractérisé en ce que le courant théorique (ITHEORIQUE) est limité à une valeur de courant maximale (IMAX).
  7. Dispositif de déphasage (11) pour la régulation d'un angle de rotation relatif (φ) entre un arbre à cames (12) et un vilebrequin (5), comprenant
    - un premier module de calcul (22), destiné à calculer un écart de régulation d'angle de rotation (Δφ) entre un angle de rotation théorique (φTHEORIQUE) à régler et un angle de rotation réel (φREEL) déterminé dans un premier organe de régulation,
    - un régulateur d'angle de rotation (23), destiné à calculer une vitesse de réglage théorique (ΩTHEORIQUE) dépendant de l'écart de régulation d'angle de rotation (Δφ),
    - un deuxième module de calcul (24), destiné à calculer un écart de régulation de vitesse de réglage (ΔΩ) entre la vitesse de réglage théorique (ΩTHEORIQUE) et une vitesse de réglage réelle (ΩREEL) calculée à partir d'au moins une grandeur de mesure dans un deuxième circuit de régulation sous-jacent par rapport au premier circuit de régulation,
    - un régulateur de vitesse de réglage (26) sous-jacent par rapport au régulateur d'angle de rotation (23), destiné à calculer une grandeur de sortie dépendant de l'écart de régulation de vitesse de réglage (ΔΩ),
    - un organe de réglage électromécanique (14), destiné à régler l'angle de rotation (φ), et
    - un troisième module de calcul (29), destiné à calculer un écart de régulation de courant (ΔI) entre un courant théorique (ITHEORIQUE) et un courant réel (IREEL) mesuré de l'organe de réglage (14) dans un troisième circuit de régulation sous-jacent par rapport au deuxième circuit de régulation, et
    - un régulateur de courant (30) sous-jacent par rapport au régulateur de vitesse de réglage (26), destiné à calculer une grandeur de réglage dépendant de l'écart de régulation de courant (ΔI) avant le réglage de l'angle de rotation (φ).
  8. Dispositif de déphasage selon la revendication 7, caractérisé en ce que l'organe de réglage (14) est un moteur à courant continu.
EP04802686.8A 2003-11-10 2004-11-05 Procede pour regler l'angle de rotation et dispositif de dephasage pour mettre en oeuvre ce procede Active EP1682751B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10352851A DE10352851A1 (de) 2003-11-10 2003-11-10 Verdrehwinkelregelung
PCT/DE2004/002467 WO2005047657A2 (fr) 2003-11-10 2004-11-05 Procede pour regler l'angle de rotation et dispositif de dephasage pour mettre en oeuvre ce procede

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EP1682751A2 EP1682751A2 (fr) 2006-07-26
EP1682751B1 true EP1682751B1 (fr) 2017-05-17

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US (1) US7380529B2 (fr)
EP (1) EP1682751B1 (fr)
JP (1) JP2007530846A (fr)
DE (2) DE10352851A1 (fr)
WO (1) WO2005047657A2 (fr)

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Publication number Publication date
EP1682751A2 (fr) 2006-07-26
US7380529B2 (en) 2008-06-03
DE10352851A1 (de) 2005-06-23
WO2005047657A2 (fr) 2005-05-26
US20070125331A1 (en) 2007-06-07
WO2005047657A3 (fr) 2009-03-12
DE112004002672D2 (de) 2006-11-16
JP2007530846A (ja) 2007-11-01

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