FR2712097A1 - Method and device for regulation and control assisted by regulation including adjustment sections of motor vehicles. - Google Patents

Abstract

a) Method for the adjustment and assisted control by regulation in particular of adjustment sections in motor vehicles b) Method characterized in that: - from the set value of the adjustment variable, according to a predefined relationship, a expected setpoint value (ST-ERW) valid for calibration conditions, is determined; - a positioning value deviation (ST-A) and formed as the difference between the expected positioning value and the set positioning value.

Description

"Method and apparatus for adjusting and controlling as-

  The present invention relates to a method for adjusting a given quantity to a value of

  respective model in several different adjustment sections.

  each other, which are subject to the same disturbing quantities, namely a control section

  and at least one assisted control section of a regulator

  tion, in which process: - a regulation magnitude reference value for the setting section is given; - the actual value of the control variable is measured; the difference of the control variable, as the difference between the set value of the control variable and the actual value of the control variable, is calculated; and - from the adjustment magnitude difference, a set position value is determined according to an algorithm

  chosen arbitrarily and a posi-

  This value is controlled by the value in the adjustment section to bring the actual value of the

  adjustment to the set value of the

Focus,

  Under the denomination of adjustment section we de-

  sign in general means a device in which, using a measuring instrument, the actual value of an adjustment quantity, referred to in this case as a control variable, is measured; this value is comparable

  differentiation with a value of

  sign for adjustment size to adjust, depending

  the difference in the magnitude of the adjustment obtained during this

  the difference; a positioning value is

  calculated according to an arbitrary chosen

  and with this positioning value a positioning member is controlled on the device to bring the actual value of the adjustment variable into coincidence

  with the setpoint of the control variable.

  A control section is, on the other hand, a

  in the case where a device positioning member is controlled with a positioning value

  predefined, in which case it is expected, that when

  With this positioning value, an adjustment amount is adjusted to a desired value. The fact that this desired value is actually reached is not verified by feedback as in the case of a setting section. In improved control sections it is not always issued, to obtain a determined value

  of an adjustment quantity, the same position value

  but the positioning value is adjusted according to

  the value of an interceptor disturbance.

  If for example an ambient temperature of 20 C must be

  adjusted with a heating control, it is frequently done

  in such a way that not only is a predefined

  that the temperature of the water of the heating body whose adjustment is expected to be able to adjust the internal temperature mentioned, but the temperature of the water of the heating body is predefined

  depending on the external temperature.

  In addition, control sections are known to

  supported by a regulation. These sections are always

  at least two days. These are devices that are subject to the same or known disturbing quantities. One of these devices is operated between two

  adjustment sections, and the positioning value

  for this adjustment section is also used

  for the other device. In the case of identifiable devices

  which are subject to disturbing quantities identi-

  the positioning value determined on the adjustment section is also accepted in the same way for

  the other sections. If the unsettled devices are

  tinguent in known manner of the set device, the value of

  determined positioning from the regulation is mod-

  dified in a manner known for its use on others

  devices to take into account known differences.

  Feedback for the devices is dispensed with, except for the set device, so that these devices are strictly control sections. However, the positioning value used is intended, by means of feedback, to a set device. As a result, the other devices are assisted control sections

regulation.

  In what follows, only the roles

  controls and the control sections of a control unit. These are globally referred to as

  the denomination of adjustment sections. Such sec-

  Adjustments are, for example, mounted devices

  on motor vehicles with position

  which are implemented by currents, for example

  valves or valves in anti-tamper systems

  blocking, steering systems, control systems

  injection systems. The adjustment sections can be differentiated according to their construction and / or the way in which parasitic variables act on them, in which case it is however essential for the invention that on all the adjustment sections act sizes

  identical disrupters, that is to say, exercising

essentially identical.

State of the art

  By the publication of the patent application DE-A-

  A process for adjusting the temperature of two oxygen sensors in the gas stream is known.

  exhaust from a motor vehicle engine

  bile. Two cases are then distinguished: One of the cases is o respectively an oxygen sensor is placed in the path of respectively one of the two banks of a V engine. These are identical probes that are subject to identical disturbing quantities. In this case, the temperature of one of the probes is set and the set value then determined is used identically for the heating of the other lambda probe. It is not necessary that the values of a

  any disturbing magnitude are known.

  In the other case it is an applied process

  on two oxygen probes that are placed on the same

  exhaust jet, and in fact one in front and

  Be behind a catalyst. The temperature of the probe

  previous is set. In this case the position value

  then determined can not be used identically for the heating of the rear probe, because the exhaust gas behind the catalyst is, depending on the operating conditions of the engine, most of the

  colder than before the catalyst, but can

  while also being hotter. In this case, the

  their most essential disturbing quantities must be known. By way of example, the aforementioned publication mentions the speed of rotation, the load, the

  cooling temperature or the temperature of the lubricant

  and the time that has elapsed since

  defect of the internal combustion engine. With values of these disturbing quantities, a manipulator is controlled

  of magnitude of positioning which modifies the value of po-

  sitioning determined from the regulation,

  current values of disturbance quantities. The

  heating of the rear probe is operated with this va-

their positioning modified.

  The disadvantage of this known process is that either

  the different adjustment sections must be identi-

  and be subject to the same disturbing

  ticks, the disturbing quantities must be

  known, whether by measure or by calculation.

Presentation of the invention

  The object of the invention is to indicate a method and a device for the adjustment and control assisted by

  regulation in particular of adjustment section on a vehicle

  motor, which also determines the positioning values for the assisted sections of a control from the position value, for the sections set when the adjustment sections are not all identical and the current values of the values significant disrupters are known either by

the measure is by calculation.

  For this purpose, the invention relates to a method characterized in that:

  - from the set value of the control variable

  according to a predefined relation, a value of

  expected sign valid for calibration conditions, is determined; a positioning value deviation formed as a difference between the expected position value and the set position value; and

  - for each of the assisted control sections of a

  regulation, from the set value of the

  the control section belonging to this section and the setpoint value 6cart for the deviation section, the setpoint value for the adjustment section, the setpoint value for the

  respective control of a regulation is deter-

  mined, and with this value a positioning member is controlled in the respective control section as- sisted a regulation, to bring the actual value of the adjustment amount of this section to the value of

  setpoint of the adjustment variable.

  The invention also relates to a device characterized by:

  - an apparatus for the determination, from the

  their setpoint of the control variable, an expected positioning value valid for calibration conditions - an apparatus for forming a positioning value deviation as the difference between the expected positioning value and the value of controlled positioning, and - an apparatus for each control section, for the

  determination of the positioning value for the sec-

  respective control command, from the setpoint and the positioning value deviation for the control section, and for the

  command, with this positioning value, the

  position in the control sections res-

  assisted by a regulation, to bring the actual value of the control variable for these sections

  to the setpoint of the control variable.

  The device according to the invention consists of

  so that the method according to the invention is implemented.

  The method according to the invention is capable of being applied to adjustment sections which are all

  subject to the same disturbing

  however, they are not detected. However,

  the influence of the disturbing quantities is detected and this is because it is necessary to find out how much, in the case of the set section, the set position value differs

  of an expected positioning value which, in a way that

  naked, occurs when the adjustment section is set, under calibration conditions, to the current setpoint of the control variable. Any difference between the set position value and the expected position value

  may be due to the fact that the current values of the

  The positioning values differ from the values when the calibration conditions are present. This gap is thus

  a measure for the action of disturbing quantities.

  As is assumed that the disturbing quantities

  act identically on all adjustment sections

  It is possible, from the influence of

  turbulators detected on the tuning section, evaluate

  also the influence on the control sections

  of regulation. If for example there is a section

  assisted control of a regulation which is of a

  identical to that of the adjustment section, it is

  will read in the same way, for the assisted control section of a regulation, the positioning value which

  has been determined in the setting section. This corresponds

  to the case described above of respectively an oxygen sensor in each of the two exhaust outlets

  of a V-motor. In this case the same result is obtained.

  adjustment state only in the state of the art but with

another process.

  In the case of adjustment sections differing from one another the positioning value determined for the adjustment section is not used in such a way

  identical for the assisted control sections of a

  gulation, but it is modified according to a relationship

  previously known using the difference in value of

  found for the adjustment section. for example

  it may be known that disturbance magnitude values

  these (absolute values not being known) which provoke

  a 10% positioning difference on the adjustment section, only cause a difference of 5% on a control-assisted control section. So the positioning value for the assisted control section of a

  Regulation is determined so that at the value of

  expected addition is not added to the entire deviation of the position value as in the case of the control section, but only half of this

gap.

  The relationship between a large setpoint value

  setting value, a positioning value deviation and a positioning value for a control-assisted section of a control, can be determined from

  an algorithm or extracted from a characteristic field.

  than. This last way of proceeding can then, as a rule, be preferred because it is only accompanied by a very low calculation expenditure and that it can also be

  account of complex dependencies determined empirically-

is lying.

  Drawings. The present invention will be described hereinafter in more detail with the aid of an embodiment shown in the accompanying drawings in which: - Figure 1 is a block diagram of a device according to the invention; for adjusting a quantity to a respective setpoint in n

adjustment sections.

  FIG. 2 is a flowchart of a method

  using the device according to FIG.

  Description of exemplary embodiments.

  The adjustment device represented under the

  Fig. 1 is applied to n adjustment sections E1 to En, the adjustment section E1 being a setting section and the adjusting sections E2 to

  being power control sections of a regulation.

  This device comprises a regulation apparatus 10 with a regulating quantity subtraction member 11,

  a characteristic value waiting field 12 with an or-

  gane 13 of subtraction of positioning value therein

  connecting and n-1 characteristic fields of values of po-

sitioning 14.2 to 14.n.

  The operation of this adjustment device will be described below with reference to the flowchart of the

figure 2.

  After starting the process, a numerical value

  m which can be counted up to the value n, is

  set one in a step sl. This indicates that

  now steps are provided for adjusting the preset adjustment amount for the adjustment section E1. For this purpose, it is first called, in a step s2, the set value reference value RGSW for the adjustment section El. Then (step s3) the section

  El is adjusted because a positioning value is

  STR is provided by the control apparatus 10 to

  a positioning member in the adjustment section 1.

  The regulation is effected by the fact that, in the setting variable subtraction element 11, the real value RG_IW of the control variable, coming from a detector

  not shown in section El, is subtracted from the

  their setpoint RGSW of the control variable, to

  sea a difference of magnitude of adjustment RG_A. From this difference in the control variable the control device

  determines according to a known arbitrary chosen algorithm-

  eg a PID algorithm, the position value-

set St_R.

  With these steps s1 to s3 the regulation for the adjustment section 1 is completed. For the preparation of the adjustment of the respective adjustment quantities in the adjustment sections E2 to En in the steps s5 to s7, an expected positioning value ST_ERW is determined in a step s4 from the setpoint value RG_SW of the adjustment quantity, and in the subtraction member

  of positioning value 13 is formed the difference between

  this expected positioning value and the set position value STR, whereby a value difference

ST_A positioning is obtained.

  In the exemplary embodiment, the determination of the expected positioning value ST_ERW is carried out

  in the characteristic field block 12 of discounted value

  ted. This characteristic field is established as follows. The adjustment section El is used for calibration conditions. Then a control variable set value is given, for example a current of 5 A through the magnetic coil of a valve. Suppose that for

  the adjustment of this current, under the conditions of

  during the width modulation command of the im-

  pulses, a pulse rate of 50% is required. Then this 50% pulse rate is stored in the expected value characteristic field 12 as the expected value of the positioning variable which is part of the set value of 5 A of the control variable. Corresponding pulse values are determined for other setpoints and entered in the characteristic field. In step s4 this characteristic field is then addressed by the current value value

  setting and the expected value of position

  stored under the corresponding address is ex-

  treaty. At the next step s5 the count variable M

  is incremented by one. According to the procedure described

  that here it is then "2". This indicates that now the adjustment amount for the adjustment section 2 must be determined. For this purpose, in step s6 the value of

  RGSW_2 setpoint for section M = 2 is called. We use

he

  read here, as in the relationship with the adjustment section

  El, the expression "adjustment variable", although the adjustment section E2 (this also being valid for

  the following adjustment sections) is only one

  Assisted control of a regulation. The characteristic field

  14.2 is addressed with the setpoint

  current RG_SW_2 of control variable and the actual value

  the difference in the STA positioning value, for

  extract from this characteristic field the value of

  SW_2 for the second adjustment section E2 and give it to it (step s7). For example it can result

  of characteristic field 14.2 only in the adjustment section

  E2, to obtain the same setpoint value of the control variable as in the adjustment section El, it is only necessary to use a positioning value 10% lower than that of the adjustment section El, but that however the positioning value deviation ST_A

  must be increased by 40% for the adjustment section 2.

  Steps s5 to s6 are also implemented for the adjustment sections E3 (not shown) to En, which results in a step s8 asking whether the count value ma has already reached the value n . As long as this is not the case, it is a return to

  step s5, in which the count value m is

  crowned with a. In the other case, a return to

  the step if in which the count value m is again

  calf set, to determine the positioning value

  set immediately following STR for the adjustment section

El.

  The process of Figure 2 concerns a

  adjustment system operating digitally, in the-

  which of the characteristic fields are used to

  determine output values from values of

  Tree. These characteristic fields may, however, be

  replaced totally or partially by the fact that an algo-

  Input-based rithm is implemented for the calculation of output values. The device can also be made to operate analogically

  instead of working digitally.

  In many cases of application it is not

  necessary for each of the control sections to

  of a regulation, a characteristic field 14.m cor-

  respondent is used or that a corresponding calculation algorithm is processed. If, in fact, more than one control-assisting section of a control unit is identically constituted respectively, and if in these sections, respectively, the same adjustment-value reference value has to be adjusted, all these control sections must be used. assisted by a regulation, the same positioning value as it is extracted from a single characteristic field for these sections or else

  as it is obtained by a single treatment of a

  or as the output value of an analog circuit

unique situation.

  In the case of the adjustment sections, it may for example be four multi-way valves in an anti-lock system on a motor vehicle, in which case one of the valves is respectively associated with one of the

  wheels. Each valve must have three positions,

  see setting pressure, holding and breaking the pressure, to which should correspond the currents OA, 2.5 A and 5 A. The two values of 2.5 A is 5 A should then be adjusted by adjusting the pulse rate pulse width modulation. This regulation is necessary because, in a motor vehicle, also

  well the battery voltage that also the temperature

  Viriently can fluctuate strongly so that for

  to obtain a current respectively identical, rates of

  strongly different drive may be needed.

  Suppose the valve for the right front is

  the one that corresponds to the adjustment section 1 on the

  Figure 1, whose current is set. Because of the influence

  any of these (eg temperature, battery voltage, brake fluid viscosity, tolerances) assume that, to adjust the suppressed state of pressure, a higher pulse rate of% than expected is precisely necessary. Suppose that the valve for the right rear must be precisely controlled for the holding state. Then the expected pulse rate for this state of maintenance will also be increased by 10%,

  because in this case all the valves are identical.

  ticks, all valves are arranged in good contact

  each other, all

  are traversed by the same brake fluid and all

* the valves are at the same battery voltage.

  Suppose that this case of application presents a particular problem. When indeed the valve set

  for the right front must be switched to the state of

  This is because there is no current flow (this corresponds to the state in which

  which the brake pedal device is directly re-

  linked to the wheel brake cylinder to allow braking

  in the case of activation of the anti-lock device).

  As in this case, the adjustment amount is not adjusted.

  there is also no set position value that can indicate the deviation from a value of

  expected positioning. For such cases in which

  a regulation therefore takes place temporarily in the sec-

  it is advantageous to store the last positioning value difference and to use it in periods of time in which no new value

for this discrepancy is issued.

  Another example of application for the device

  FIG. 1 is a direction of the wheels

  Rière. In this case there are for example three different valves.

  rents, namely one for adjusting the steering angle

  one for the mechanical locking of the last adjustment

  direction (in the event of a failure of the

  tion) and one to connect the steering equipment to a

  pressure accumulator or to separate it from this

  pressure accumulator. These valves are arranged close to

  mitted from each other and are therefore subject to the same disturbing But as they have different constitutions the disturbing quantities act on them in different ways, however with previously known differences. The expected current

  for the valve for adjusting the steering angle

  This is set by pulse width modulation. In a current state of operation we have a pulse rate

  which must be 10% higher than the one

  stretched under the conditions of calibration. There is therefore a difference determined from the calibration conditions. We

  will also know that the pulse rate for the current

  The flow rate of the blocking valve should only be increased by% when disturbing conditions occur which require an increase in the current pulse rate of 10% across the direction adjustment valve. The

  positioning value is modified accordingly.

  as it has been determined under the conditions of

  calibration, to obtain the actual actual setting value-

  required for the blocking valve.

  The method according to the invention and the device se-

  the invention are particularly likely to be

  in motor vehicles, because in this ap-

  the disturbing quantities have a considerable dispersion, and yet, for reasons of precision,

  adjusted adjustment values are often required.

  in which case the regulation must be carried out as economically as possible. As disturbing quantity, the battery voltage, which can be

  oscillate between 8 and 16 V, and the temperature at

  determined in the engine compartment, which, without further modification, may range from -40 ° C to

+125C

  However, the method and the device correspond to

  are very suitable for all other applications

  tions in which the conditions previously

  mentioned are fulfilled in whole or in part.

Claims (5)

R E V E N D I C A T IO NS   1- Method for adjusting a given size   on a respective setpoint in several sec-   different adjustment conditions which are subject to the same disturbing   adjustment section and at least one control section as-   equipped with a regulation, in which process: - a control variable reference value (RG_SW) for the adjustment section is given; - the actual value of the control variable (RGIW) is measured;   - the adjustment variable difference (RG_AW), as different   difference between the set value of the   setting and the actual value of the setting variable is calculated; and - from the adjustment magnitude difference, a value of   set position (ST_R) is determined according to an algo-   arbitrarily chosen setting and an organ of   positioning is controlled by this value in the sec-   setting to bring the actual value of the   setting value of the set value of the setting variable, characterized in that:   - from the set value of the control variable   according to a predefined relation, a value of   expected sign (ST_ERW) valid for calibration conditions, is determined; a positioning value difference (ST_A) formed in   difference between the positioning value   stretched and set position value; and   - for each of the assisted control sections of a   regulation, from the set value of the   regulator belonging to this section and the positioning value deviation for the section of   setting, the positioning value (ST_m) for the sec-   the respective control command assisted by a regulation is   determined, and with this value a positioning   This is controlled in the respective control section of a control, to bring the actual value of the control variable of this section to the value of   setpoint of the adjustment variable.   2- Device for adjusting a given magnitude to a respective setpoint in several different adjustment sections from each other and   which are subject to the same disturbing   see an adjustment section (El) and at least one control-assisted control section (E2 ... En), with   a control apparatus (10) for the section of control   equipment which is designed so that: - it calculates an adjustment variable difference (RG_A) as the difference between a control variable setpoint value (RG_SW) and an actual control variable value (RGIW) and   - from the deviation of the control variable, it deter-   mine according to an arbitrary chosen   a set positioning value (ST_R) and controls with this value a positioning member in the adjustment section to restore the value   actual value of the adjustment variable to the value of   setting variable, device characterized by - an apparatus (12) for determining, from the set value of the control variable, an expected positioning value (ST_ERW) valid for calibration conditions   an apparatus (13) for forming a deviation of   their positioning (ST_A) as a difference between   the expected positioning value and the set positioning value, and   - an apparatus (14.2 ... 14.n) for each section of   (E2 ... En), for the determination of the value of   positioning (ST_n) for the control section   with control from the setpoint (RG_SW_2 ... RGSWn) and the setpoint deviation for the adjustment section, and for the   command, with this positioning value, the   position in the control sections res-   assisted by a regulation, to bring the actual value of the control variable for these sections   to the setpoint of the control variable.   3- Device according to claim 2 characterized in that a single apparatus (14.2 ... 14.n) is used   in common for the determination of the positional value   (ST_2 ... STn) for a control section respec-   tive of a regulation among several of these sections, sections for which the same   setpoint of the control variable and the same   influence of parasitic quantities acting in the same way   on all adjustment sections.   4- Device according to claim 2 or the re-   claim 3 characterized in that each apparatus   (14.2 ... 14.n) for the determination of the posi-   (ST_2 ... STn) for a control section   with the help of a regulation, is a characteristic field   in which position values are deposited.   may be ordered through the   number of values of the set value of the quantity   setting, and deviation from the positioning value.   5- Device according to one of claims 2 to 4   characterized in that it is used for adjusting the   currents, one of which circulates respectively through the   positioning in one of several sections   adjustment on a motor vehicle.