JP2001159332A - Control device for solenoid driven valve - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve accuracy in controlling a solenoid driven valve. SOLUTION: In the solenoid driven valve wherein a valve element (an intake/ exhaust valve) non-magnetically maintained in a semi-open position by a spring is controlled to open/close by applying a current to an electromagnet for opening/closing the valve, a position (the moving quantity) and speed after the separation of a movable piece from the electromagnet are detected (S21, S22). On the basis of time required for the movement of the movable piece until reaching a specified position, a spring coefficient k of the spring is computed, and an energy expression is set up to compute a spring viscosity coefficient c (S23-S25). When the spring viscosity coefficient c is larger than the specified value, control is performed to hold a current applied to the electromagnet, to the maximum for the specified time. In the other case, a control gain is set on the basis of the spring coefficient k and spring viscosity coefficient c, and an observer for movable estimating speed is designed to perform the current control of the electromagnet (S26-S30).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control apparatus for an electromagnetically driven valve, and more particularly to a technique for estimating parameters involved in control and improving control accuracy based on the estimation result.

[0002]

2. Description of the Related Art In a driving system of an intake / exhaust valve of a vehicle engine, an electromagnetically driven valve in which a valve body is driven by an electromagnetic force has been proposed instead of a conventional cam drive system in which a valve body is driven by a cam. According to this electromagnetically driven valve, in addition to eliminating the need for a cam mechanism for driving the valve body, the opening / closing timing of the intake / exhaust valve can be easily optimized according to the operating state of the engine, and the output of the engine can be improved. Improvement and fuel economy can be achieved.

As a prior art of such an electromagnetically driven valve, there is disclosed a "method of controlling an electromagnetic valve driving portion of a gas exchange valve" (hereinafter referred to as a first prior art) described in Japanese Patent Application Laid-Open No. 10-205314. JP-A-220622 discloses an "electromagnetic actuator having a narrow structure" (hereinafter, referred to as a second prior art).

[0004]

In the control of this type of electromagnetically driven valve, it is necessary to determine the amount of control of energization of the electromagnet in accordance with the spring coefficient and spring viscosity of the spring that biases the valve element. The spring coefficient and the spring viscosity coefficient may be different from the initially set values due to manufacturing variations, aging, and the like, thereby affecting control accuracy.

The present invention has been made in view of such conventional problems, and has as its object to estimate a spring coefficient and a spring viscosity coefficient based on the driving state of an electromagnetically driven valve. It is another object of the present invention to improve control accuracy using the estimated spring coefficient and spring viscosity coefficient.

[0006]

According to the first aspect of the present invention, as shown in FIG. 1A, a valve body urged by a spring is linked to a movable element driven by an electromagnet. A control device for controlling the electromagnetically driven valve to move to a predetermined position, the spring coefficient estimating means for estimating the spring coefficient of the spring based on the amount of movement of the mover and the time required for the movement. It is characterized by including.

According to the first aspect of the present invention, the driving force applied to the mover from the spring is determined by the spring coefficient of the spring that biases the valve element, whereby the amount of movement of the mover and the time required for the movement are reduced. Is determined.

Thus, the spring coefficient of the spring can be estimated based on the relationship between the amount of movement of the mover and the time required for the movement. The invention according to claim 2 controls the valve element biased by the spring to move to a predetermined position in cooperation with the movable element driven by the electromagnet, as shown in FIG. 1 (B). A control device for an electromagnetically driven valve, comprising: an energy equation calculating unit that calculates an energy equation at a plurality of positions of the mover; and estimating a spring viscosity coefficient of the spring based on the energy equation at the plurality of positions. Spring viscosity coefficient estimating means,
It is characterized by including.

According to the second aspect of the present invention, the energy at any position of the mover is determined by the kinetic energy determined by the speed of the mover and the elastic energy (potential energy) determined by the amount of expansion and contraction of the spring that biases the mover. And the energy consumed by the viscous resistance of the spring during the movement of the mover is summed to determine the approximate value.

Of these, the energy consumed by the viscous resistance is proportional to the spring viscosity coefficient. Therefore, an energy expression at a plurality of positions can be calculated, and for example, the spring viscosity coefficient can be calculated as a solution of the simultaneous equations using the energy storage side.

Further, the invention according to claim 3 is the same as that shown in FIG.
A control device for an electromagnetically driven valve for controlling a valve body biased by a spring to move to a predetermined position in cooperation with a movable element driven by an electromagnet, as shown in FIG. A spring coefficient estimating means for estimating a spring coefficient of the spring based on an amount and a time required for movement; an energy expression calculating means for calculating an energy equation at a plurality of positions of the movable element; and the plurality of positions. And a spring viscosity coefficient estimating means for estimating a spring viscosity coefficient of the spring based on the energy equation in (1).

According to the third aspect of the present invention, as described in the first aspect of the present invention, the spring coefficient of the spring is estimated based on the relationship between the amount of movement of the mover and the time required for the movement. In addition, as described in the second aspect of the present invention, the spring viscosity coefficient of the spring is estimated based on the energy expressions at a plurality of positions.

According to a fourth aspect of the present invention, the spring coefficient estimating means detects a movement amount from a start of movement of the mover to a lapse of a set time, and based on the movement amount. A spring coefficient of the spring is estimated.

According to the fourth aspect of the present invention, as the spring coefficient is larger (smaller), the repulsive force of the spring is larger (smaller), and the moving amount of the mover in a predetermined time is larger (smaller). Thus, the spring coefficient of the spring can be estimated.

Further, in the invention according to claim 5, the spring coefficient estimating means detects an elapsed time from when the mover starts moving to when the movable element reaches a set position, and based on the elapsed time, It is characterized by estimating the spring coefficient of the spring.

According to the fifth aspect of the present invention, the larger (smaller) the spring coefficient is, the larger (small) the repulsive force of the spring is, and the elapsed time from when the mover starts to move to the set position. Becomes shorter (becomes longer), so that the spring coefficient of the spring can be estimated from the relationship.

Further, the invention according to claim 6 is characterized in that the spring viscosity coefficient estimating means estimates the spring viscosity coefficient using the spring coefficient estimated by the spring coefficient estimating means.

According to the sixth aspect of the present invention, the spring viscosity coefficient can be simply estimated by using a fixed value (initial value) as the spring coefficient in the plurality of energy equations. By using the spring coefficient estimated as described above, the spring viscosity coefficient can be estimated with high accuracy.

Further, the invention according to claim 7 is the same as that shown in FIG.
As shown in the figure, a control device of an electromagnetically driven valve that controls a valve body biased by a spring to move to a predetermined position in cooperation with a movable element driven by an electromagnet, Energy form calculating means for calculating the form of energy at the position, and a spring characteristic estimating means for estimating a spring coefficient and a spring viscosity coefficient of the spring based on the form of energy at the plurality of positions,
It is characterized by including.

According to the seventh aspect of the invention, among the energies of the mover, the elastic energy is proportional to the spring coefficient of the spring, and the energy consumed by viscous resistance is also proportional to the spring viscosity coefficient.

Therefore, an energy expression at a plurality of positions can be calculated and, for example, a spring coefficient and a spring viscosity coefficient can be simultaneously calculated and estimated as a solution of the simultaneous equations using the energy storage side.

In the invention according to claim 8, the energy equation calculating means calculates an energy equation at three or more positions during the movement of the mover, and the spring characteristic estimating means calculates the energy equation of the three or more energy. The method is characterized by estimating a spring coefficient and a spring viscosity coefficient of the spring by a least squares method based on an equation.

According to the eighth aspect of the present invention, the error is calculated by calculating the spring coefficient and the spring viscosity coefficient of the spring by the least squares method based on the energy formula at three or more positions during the movement of the mover. It can be estimated small and with high accuracy.

According to a ninth aspect of the present invention, at least one of the estimated spring coefficient and the spring viscosity coefficient is reflected in the control of the electromagnet.

According to the ninth aspect of the invention, at least one of the spring coefficient and the spring viscosity coefficient estimated as described above is reflected in the control of the electromagnet, so that the spring characteristics of the spring are not varied or changed with time. Even if there is, high-precision control can always be performed.

Further, the invention according to claim 10 is characterized in that the control gain of the electromagnet is increased as the estimated spring coefficient is increased.

According to the tenth aspect, since the spring force increases as the spring coefficient increases, the control gain of the electromagnet is increased so as to obtain a corresponding electromagnetic attraction force.

The invention according to claim 11 is characterized in that the control gain of the electromagnet increases as the estimated spring viscosity coefficient increases.

According to the eleventh aspect, as the spring viscosity coefficient c increases, the viscous resistance increases and the amount of attenuation increases. Therefore, the control gain of the electromagnet is increased so as to increase the electromagnetic attraction.

The invention according to claim 12 is characterized in that an observer for estimating the speed of the mover is designed using at least one of the estimated spring coefficient and spring viscosity coefficient.

According to the twelfth aspect of the present invention, in order to perform feedback control of the mover to the target speed, it is necessary to detect the actual speed of the mover. When estimating the speed of the mover based on the electromagnetic attraction force and the like, the speed of the mover is always accurately estimated by using at least one of the estimated spring coefficient and spring viscosity coefficient in the design of the observer. be able to.

Further, according to a thirteenth aspect of the present invention, when the estimated spring viscosity coefficient is equal to or less than a predetermined value, the amount of current supplied to the electromagnet is controlled so that the mover is feedback-controlled to the target speed. When the value is larger than the above value, the feedback control is stopped, and the feedforward control for maintaining the current supply amount at the maximum for a predetermined time is performed.

According to the thirteenth aspect, when the spring viscosity coefficient is equal to or less than the predetermined value, the movable element is feedback-controlled to the target speed, thereby ensuring responsiveness while securing the movable element to the electromagnet. Speed can be reduced to reduce collision noise and wear.

On the other hand, when the spring viscosity coefficient is larger than the predetermined value, the energy consumption due to the viscous resistance is large. Therefore, the feedback control is stopped, and the feedforward control for maintaining the amount of current at the maximum for the predetermined time is performed.
The mover can be reliably attracted to the electromagnet.

[0035]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 2 is a diagram showing an overall configuration in which the electromagnetically driven valve control device according to the present invention is applied to a vehicle engine.

As shown in FIG.
The cylinder head 52 fixed to the upper part of the cylinder 1 is provided with a valve element 54 (only a single valve element is shown in FIG. 2) which serves as an intake valve or an exhaust valve. A spring retainer 55 is fixed to an upper portion of a valve shaft 54a extending above the valve body 54. The spring retainer 55 and the cylinder head 52
A coil spring 56 for urging the valve body 54 toward the valve closing side is provided between the coil spring 56 and the coil spring 56.

A housing 60 serving as a case of an electromagnetically driven valve is provided upright on the upper portion of the cylinder head 52.
Inside the housing 60, the valve-closing electromagnet 11 and the valve-opening electromagnet 12 are fixed at positions facing each other up and down at a predetermined interval. A mover (armature) 57 of a soft magnetic material is supported between the valve-closing electromagnet 11 and the valve-opening electromagnet 12 by a mover shaft member 57a so as to be slidable up and down.

A spring retainer 58 is fixed to the mover shaft member 57a at a position above the valve-closing electromagnet 11, and the inner surface of the top wall of the housing 60 and the spring retainer 5 are fixed.
8, a coil spring 59 for urging the mover 57 toward the valve opening side is provided.

On the top wall of the housing 60, there is provided a movable part position sensor 2 composed of a laser displacement meter or the like for detecting the position of the movable part and outputting a position signal. Output to the control device 1.

The control device 1 further includes an engine control ECU
8, a valve opening command / valve closing command is transmitted, and the control device 1 controls the valve closing-side electromagnet current control unit 9 and the valve opening-side electromagnet current control unit 1
The current target value is output for 0.

The valve-closing-side electromagnet current control section 9 and the valve-opening-side electromagnet current control section 10 perform PWM control in accordance with the input current target values, respectively.
The electromagnetic force can be controlled by supplying a current to the power supply 12.

Next, the outline of the operation of the electromagnetically driven valve and the control device for the electromagnetically driven valve will be described. The mover 57 is suspended by coil springs 56 and 59, and the valve-closing electromagnet 11
When the valve-opening electromagnet 12 is not energized, the dimensions of the coil springs 56 and 59 are set so as to be located approximately at the center of the valve-closing electromagnet 11 and the valve-opening electromagnet 12.
A spring coefficient, a spring viscosity coefficient, and the like are initially set.

Here, the coil springs 56 and 59
The natural frequency fo of the spring-mass system composed of the valve 54 and the movable portion including the movable element 57 is fo = 2π√ (K / m), where K is the combined spring coefficient and m is the total inertial mass. It is known that

Now, in the initial operation before starting the engine,
The valve-closing-side electromagnet 11 has a cycle corresponding to the natural frequency fo.
And the valve-opening side electromagnet 12 is energized alternately. Then, by resonating the movable part, the amplitude of the movable part is gradually increased. At the final stage of the initial operation, the movable element is attracted to, for example, the valve-closing-side electromagnet 11, and this attracted state is maintained.

Next, when the engine is started or in normal operation, for example, when the valve is opened, the current of the valve-closing electromagnet 11 is first turned off, and the movable portion starts moving downward by the spring force of the coil spring. Due to energy loss due to frictional force or the like, the mover 57 cannot be moved to the valve fully open position only by the spring force. Then, the mover 57 is sufficiently close to the valve-opening electromagnet 12, and the valve-opening electromagnet 12 is energized at a position where the electromagnetic force is effective, thereby assisting the movement of the mover 57.

At this time, the control device 1 includes the mover position sensor 2
The position of the mover 57 is input to the valve-opening side so that the speed of the movable portion estimated from the position of the mover 57 and the current supplied to the attraction-side electromagnet follows the speed target value as described later. A command value is issued to the electromagnet current control unit 10. As a result of controlling the current of the valve-opening electromagnet 12 according to the command value of the control device (result of controlling the electromagnetic force of the valve-opening electromagnet 12),
The mover 57 and the valve-opening-side electromagnet 12 abut at a predetermined speed or less (for example, 0.1 [m / s] or less), and the movable portion stops there. Alternatively, the speed of the movable portion is stopped at a position where the gap between the valve-opening electromagnet 12 and the mover 57 becomes, for example, several hundred microns.

When the valve is closed, the current of the valve-opening electromagnet 12 is cut off. The mover 57 and the valve element 54 move upward by the force of the coil spring 59 and the coil spring 56, but due to energy loss due to frictional force and the like, the mover 57 cannot be moved to the valve closing position only by the spring force. . Then, the mover 57 approaches the valve-closing-side electromagnet 11 sufficiently, and the valve-closing-side electromagnet 11 is energized at a position where the electromagnetic force is effective, thereby assisting the movement of the mover 57. First, the valve is in the closed position, and the valve element 54 and the mover 57 that have been moving together are separated. The mover 57 approaches the valve closing electromagnet 11 as it is assisted by the electromagnetic force. The control device moves the movable portion position sensor 2 so that the valve 54 and the valve seat 52a do not collide (collide at a high speed), and the mover 57 and the electromagnets 11 and 12 do not collide. The movement of the unit is detected, and the current of the valve-closing electromagnet 11 is adjusted by the valve-closing electromagnet current control unit 9.

At this time, the speed of the movable part is controlled so that the speed at which the valve and the valve seat 52a or the movable element 57 abuts on the valve-closing electromagnet 11 becomes, for example, 0.1 [m / s] or less. Alternatively, when the gap between the mover 57 and the valve-closing electromagnet 11 becomes several hundred microns or less, the target speed of the mover 57 becomes zero, and the mover 57
Is controlled so as to stop at a position of several hundred microns, collision does not occur, noise generation is prevented, and the life of the electromagnetically driven valve is increased.

In addition to the basic control, the control according to the present invention, which reflects the control while estimating the spring coefficient and the spring viscosity coefficient of the coil springs 56 and 59, is executed as follows.

FIG. 3 is a block diagram showing the structure of a first embodiment of an electromagnetically driven valve control device according to the present invention (common to a second embodiment described later), and FIG. 5 is a flowchart according to the embodiment.

Referring to FIG. 4 with reference to FIG. 3, in step 1, the position z of the mover is detected based on the signal output from the mover position sensor 2 (mover position detecting section 3).

In step 2, the actual speed (hereinafter referred to as the actual speed) is detected by estimation based on the detected position of the movable element and the control current (0 before the start of energization) to the attraction side electromagnet. (Motor speed detector 4).

In step 3, the elapsed time from when the mover leaves the valve-opening electromagnet or the valve-closing electromagnet is compared with a predetermined time set in advance. Then, when the elapsed time reaches a predetermined time, the process proceeds to step 4, and the predetermined time T
The position (movement distance) z where the mover has moved before fix (Fig. 5
), A spring coefficient k of the coil spring is retrieved from a map having characteristics as shown in FIG. 6 (spring coefficient calculation unit 5). Here, as the spring coefficient k increases, the repulsive force of the spring increases, and the moving amount of the mover in a predetermined time increases. Therefore, as shown in FIG. 6, the moving amount of the mover increases. Therefore, the characteristic is such that the spring coefficient k increases.

In step 5, the control gain of the electromagnet is set as described later using the spring coefficient k obtained as described above, and an observer for estimating the speed of the mover (mover speed detector 4). To design. The design of the observer is updated each time the spring coefficient is estimated (for example, once every operation start) (the initial value of the spring coefficient k is used immediately after the manufacture. The same applies to the spring viscosity coefficient c described later). ).

After the setting and the design are performed, the process proceeds to step 6 and subsequent steps. In step 6, while estimating the speed of the mover using the observer designed as described above,
Using the control gain set as described above, the amount of current (control current) to the electromagnet for controlling the movement of the mover, that is, the opening and closing of the intake and exhaust valves, is calculated (control current calculation unit 6).

In step 7, energization of the electromagnet is controlled according to the energization amount calculated as described above. FIG. 7 shows a flowchart of the second embodiment in which the spring coefficient k is estimated based on the relationship between the moving amount of the mover and the moving time, as in the above embodiment.

Steps 11 and 12 are the same as Steps 1 and 2 in the first embodiment. In Step 13, the position after the mover is separated from one of the electromagnets is set to a predetermined position. Compare with

When the mover has reached the predetermined position, the process proceeds to step 14, and the elapsed time T from when the mover leaves the electromagnet until the mover reaches the predetermined position Zfix (FIG. 8).
), A spring coefficient k of the coil spring is searched from a characteristic map as shown in FIG. 9 (spring coefficient calculator 5). Here, FIG. 9 shows a characteristic similar to that of FIG. 6, in which the spring coefficient k decreases as the elapsed time T increases.

Steps 15 to 17 are performed in the first
This is the same as Steps 4 to 7 of the embodiment.
According to the first embodiment and the second embodiment, even if there is a manufacturing variation or a temporal change in the spring coefficient k of the coil spring, the relationship between the moving amount of the movable element and the moving time is not affected. Since the spring coefficient k can be estimated based on this and reflected in the control, high-precision control can always be performed.

Next, an embodiment will be described in which the spring viscosity k and the spring viscosity k of the coil spring are estimated and reflected in the control. FIG. 10 is a block diagram showing the configuration of the third embodiment (common to fourth and fifth embodiments described later), and FIG. 11 is a flowchart of the third embodiment.

Referring to FIG. 11, referring to FIG. 10, in Steps 21 to 24, as in Steps 11 to 14 of the second embodiment, a predetermined position (z = The spring coefficient k is estimated on the basis of the elapsed time until reaching z ₁ ).

Next, in step 25, the formula of the energy of the mover at the predetermined position is calculated, and based on the formula of the energy and the formula of the energy when the mover is stopped by being attracted to the electromagnet. , And the estimated spring coefficient k
Is used to calculate the spring viscosity coefficient c of the coil spring according to the energy conservation law (spring viscosity coefficient calculation unit 7).

That is, the energy E of the mover at an arbitrary position is expressed by the following equation. E = (1) m · v ² + (1) k · (z ₀ −z) ² + c∫v · dz (1) where m is the mass of the mover, and k is the coil spring. , C is the spring viscosity coefficient, z is the position of the mover (moving distance from the electromagnet), and z ₀ is 1 / the stroke amount that the mover moves between the valve-opening electromagnet and the valve-closing electromagnet. The quantity of 2, v, is the speed of the mover.

In particular, when the mover is attracted to the electromagnet and stopped, v = 0 and z = 0, so that the energy E _{0 of the} mover is only the elastic energy of the spring, and the following equation is obtained. To establish.

E ₀ = (1) k · z ₀ ² (2) The speed v of the mover when the mover reaches a predetermined position is represented by v ₁
Then, the energy E _{1 of the} mover is represented by the following equation.

[0066]

(Equation 1)

Since E ₀ = E _{1 according} to the law of conservation of energy,
The following equation holds.

[0068]

(Equation 2)

Therefore, the spring viscosity coefficient c is obtained as in the following equation.

[0070]

(Equation 3)

Returning to FIG. 11, in step 26, it is determined whether the spring viscosity coefficient c obtained as described above is larger than a predetermined value c0. When it is determined that the spring viscosity coefficient c is larger than the predetermined value c0, the amount of power supplied to the electromagnet is feedback-controlled so as to achieve a target speed corresponding to the position of the mover. Since the energy is too large, the decrease in the mover speed is large (FIG. 12).
), It is determined that there is a possibility that reliable adsorption to the electromagnet may not be performed, and the process proceeds to step 27. From that time, the amount of current supplied to the electromagnet on the adsorption side is maintained at the maximum for a predetermined time, and the movable element is moved to the electromagnet. Then, the amount of current is calculated so that the holding current is reduced and maintained (see FIG. 13).

On the other hand, if the spring viscosity coefficient c is equal to or less than the predetermined value, it is determined that the feedback control can be normally performed, and the routine proceeds to step 28, where the spring coefficient k and the spring viscosity coefficient c obtained as described above are determined. The observer and the control gain are designed on the basis of the above, and in step 29, the energization amount to the electromagnet is calculated based on the designed observer and the control gain.

In step 30, the energization of the electromagnet is controlled according to the energization amount calculated as described above. FIG. 14 shows a flowchart of a fourth embodiment for estimating a spring coefficient k and a spring viscosity coefficient c in the same manner as the above embodiment.

In steps 31 to 33, as in the third embodiment, it is determined whether the mover has reached the first predetermined position (z = z ₁ ). calculates the velocity v ₁ of the movable element, it makes the expression of the first energy.

[0075]

(Equation 4)

Next, at step 35, the mover is
The predetermined position or to determine the reached _{(z = z 2> z 1} ), to calculate the velocity v ₂ of the mover proceeds to step 36 when it reaches, make an expression of the second energy.

[0077]

(Equation 5)

At step 37, the simultaneous equations of the above equations (5) and (6) are solved to calculate the spring coefficient k and the spring viscosity coefficient c as follows.

[0079]

(Equation 6)

In steps 38 to 42, as in the third embodiment, when the spring viscosity coefficient c is larger than a predetermined value, the amount of current to the electromagnet on the attraction side is maintained at a maximum for a predetermined time, and Is securely attracted to the electromagnet, and control is performed to reduce and maintain the holding current. When the spring viscosity coefficient c is equal to or less than a predetermined value, the spring coefficient k and the spring viscosity coefficient c obtained as described above are replaced by The observer and the control gain are designed based on this, and the electromagnet is energized according to the calculated energization amount.

FIG. 15 shows a flowchart of the fifth embodiment for estimating the spring coefficient k and the spring viscosity coefficient c in the same manner as in the above embodiment. In the present embodiment, an energy equation is established at three or more positions other than the attraction position to the electromagnet, and the spring coefficient k and the spring viscosity coefficient c are estimated using the least squares method.

[0082] In step 51 to 53, the position of the movable element, while detecting the rate, for each reaches a preset 3 or more predetermined positions _{z = z 1, z 2,} z 3 ... z n at step 54, An energy equation is established as follows.

[0083]

(Equation 7)

In step 55, the spring coefficient K and the spring viscosity coefficient c are calculated from the above equations using the least squares method. First, by transforming the above equation (9),

[0085]

(Equation 8)

Here, when the matrix on the left side of the left side is X and the matrix on the right side is Y,

[0087]

(Equation 9)

K and c are obtained by the least squares method. The (1
Multiply both sides of equation (1) by the transposed matrix of X from the left.

[0089]

(Equation 10)

As a result, a spring coefficient k and a spring viscosity coefficient c are obtained. For steps 56 and thereafter, the third and fourth
This is the same as the embodiment. According to the third to fifth embodiments, even if the spring coefficient k of the coil spring and the spring viscosity coefficient c vary or change with time, the relationship between the moving amount of the mover and the moving time is obtained. , The spring coefficient k and the spring viscosity coefficient c can be estimated and reflected in the control, so that highly accurate control can always be performed.

Although the operation of the fourth embodiment is more complicated than that of the third embodiment, strictly speaking, the spring coefficient k and the spring viscosity coefficient c depend on each other. (The other changes depending on the change of the value of the above), and by calculating both at the same time by the simultaneous equations, the calculation accuracy is improved.

Also, theoretically, as in the fourth embodiment, the spring coefficient k and the spring viscosity coefficient c can be accurately obtained as solutions of simultaneous equations of energy equations at two predetermined positions. Actually, there is an error. Therefore, in the fifth embodiment, the calculation is the most complicated,
The spring coefficient k and the spring viscosity coefficient c can be estimated with high accuracy with the smallest error.

Next, how the spring coefficient k and the spring viscosity coefficient c estimated as described above are reflected in specific control will be described. FIG. 16 shows a block diagram of the energization control of each electromagnet. In the figure, the speed v of the mover is dz / d against the position (distance from one electromagnet) z of the mover.
dt.

The target speed Vt of the mover and the actual speed Vr (= d
z / dt) and the feedback correction current formed by multiplying the deviation (Vt−Vr) by the control gain G to the actual current i. Output. The actual current i supplied to the electromagnet is determined by the control voltage e and the effect of the back electromotive force generated in the electromagnet due to the movement of the mover. Then, the electromagnetic attraction f of the electromagnet determined by the position of the mover and the actual current i acts on the mover, and is linked to the mover by the electromagnetic attraction f and the urging force of the coil spring. The valve body is driven. Further, the observer can accurately estimate the actual speed Vr of the mover based on the position z of the mover and the control current i (electromagnetic attraction force f), thereby eliminating the need for a speed sensor. Become.

Then, the control gain G is obtained from the characteristics shown in FIG. 17 based on the estimated spring coefficient k and spring viscosity coefficient c. Specifically, the control gain is increased because the spring force increases as the spring coefficient k increases, and the control gain increases because the viscous resistance increases as the spring viscosity coefficient c increases.

As a result, the spring coefficient k and the spring viscosity coefficient c
The movable element can be controlled to the target speed with a high degree of accuracy even if there is a variation or a change with time, and the opening / closing control accuracy of the variable valve can be improved.

Next, the reflection of the spring coefficient k and the spring viscosity coefficient c on the design of the observer for estimating the speed of the mover will be described. The mass of the movable part is m, the electromagnetic force is f, and the estimated position of the mover is Z (distance from the neutral position). Position z from the electromagnet is determined as z = z ₀ -Z. ), The following equation is obtained when an equation of motion is established.

[0098]

[Equation 11]

Assuming that the position of the movable element detected by the movable part position sensor 2 is y, from the relation y = Z,

[0100]

(Equation 12)

Based on the above conditions, the observer is designed as follows (see FIG. 18).

[0102]

(Equation 13)

However,

[0104]

[Equation 14]

By using the values sequentially estimated as described above as the spring coefficient k and the spring viscosity coefficient c in the design of the observer, even if the spring coefficient k and the spring viscosity coefficient fluctuate or change with time, In addition, the position of the movable part can always be estimated with high accuracy, and the control of the mover and the opening and closing control of the electromagnetically driven valve can be performed with high accuracy.

Although only the embodiment in which the spring coefficient k and the spring viscosity coefficient c are both estimated and reflected in the control has been described, for simplicity, only one of them is estimated, and the other uses the initial value. It may be configured.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the configuration and functions of the present invention.

FIG. 2 is a conceptual diagram showing a configuration of an electromagnetically driven valve to which the present invention is applied.

FIG. 3 is a block diagram showing a configuration of a first embodiment and a second embodiment of a control device for an electromagnetically driven valve according to the present invention.

FIG. 4 is a flowchart of control according to the first embodiment.

FIG. 5 is a diagram showing a relationship between a position (movement amount) of the mover and a set elapsed time after the mover leaves the electromagnet in the first embodiment.

FIG. 6 is a diagram showing the relationship between the position of the mover and the spring coefficient.

FIG. 7 is a flowchart of control according to the second embodiment.

FIG. 8 is a diagram showing the relationship between the time required for the mover to leave the electromagnet and reach the set position in the second embodiment.

FIG. 9 is a diagram showing a relationship between a required time and a spring coefficient.

FIG. 10 shows third to third embodiments of the electromagnetically driven valve control device according to the present invention.
FIG. 16 is a block diagram showing a configuration common to the fifth embodiment.

FIG. 11 is a flowchart of control according to the third embodiment.

FIG. 12 is a diagram illustrating a relationship between a moving speed and a moving position of a mover using a spring viscosity coefficient as a parameter.

FIG. 13 is a diagram showing feedforward control when the spring viscosity coefficient is large in the third to fifth embodiments.

FIG. 14 is a flowchart of control according to the fourth embodiment.

FIG. 15 is a control flowchart according to the fifth embodiment.

FIG. 16 is a block diagram showing energization control of electromagnets in the third to fifth embodiments.

FIG. 17 is a diagram showing a control gain G set based on a spring coefficient k and a spring viscosity coefficient in the third to fifth embodiments.

FIG. 18 is a block diagram illustrating a configuration of an observer according to the third to fifth embodiments.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Control apparatus 2 Movable part position sensor 3 Mover position detecting part 4 Mover speed detecting part 5 Spring coefficient calculating part 6 Control current calculating part 9 Valve closing electromagnet current controlling part 10 Valve opening electromagnet current controlling part 11 Valve closing side Electromagnet 12 Valve opening side electromagnet

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification code FI Theme coat ゛ (Reference) F16K 31/06 305 F16K 31/06 305A F term (Reference) 3G084 BA23 DA07 DA21 DA22 EA04 EB13 EC04 EC08 FA00 FA20 3G092 AA11 DA01 DA02 DA07 DF05 DG02 DG09 EA01 EC02 EC06 EC07 FA06 FA36 FA48 HA13X HA13Z 3H106 DA07 DA25 DB02 DB12 DB26 DB32 DC02 DC17 DD05 EE48 FB43 GC29 KK17

Claims (13)

[Claims] 1. An electromagnetically driven valve control device for controlling a valve body biased by a spring to move to a predetermined position in cooperation with a movable element driven by an electromagnet, comprising: Based on the amount and the time taken to move,
A control device for an electromagnetically driven valve, comprising a spring coefficient estimating means for estimating a spring coefficient of the spring. 2. A control device for an electromagnetically driven valve for controlling a valve element biased by a spring to move to a predetermined position in cooperation with a movable element driven by an electromagnet, comprising: An energy equation calculating means for calculating an energy equation at the position, and a spring viscosity coefficient estimating means for estimating a spring viscosity coefficient of the spring based on the energy equations at the plurality of positions. Control device for electromagnetically driven valve. 3. A control device for an electromagnetically driven valve for controlling a valve body urged by a spring to move to a predetermined position in cooperation with a movable element driven by an electromagnet, comprising: Based on the amount and the time taken to move,
A spring coefficient estimating means for estimating a spring coefficient of the spring; an energy equation calculating means for calculating an energy equation at a plurality of positions of the mover; a spring of the spring based on an energy equation at the plurality of positions. A control device for an electromagnetically driven valve, comprising: a spring viscosity coefficient estimating means for estimating a viscosity coefficient. 4. The spring coefficient estimating means detects an amount of movement from when the mover starts moving until a set time elapses, and estimates a spring coefficient of the spring based on the amount of movement. The control device for an electromagnetically driven valve according to any one of claims 1 to 3, characterized in that: 5. The spring coefficient estimating means detects an elapsed time from when the mover starts moving until it reaches a set position, and estimates a spring coefficient of the spring based on the elapsed time. The control device for an electromagnetically driven valve according to any one of claims 1 to 3, characterized in that: 6. The spring viscosity coefficient estimating means for estimating a spring viscosity coefficient using a spring coefficient estimated by the spring coefficient estimating means. 3. The control device for an electromagnetically driven valve according to claim 1. 7. A control device for an electromagnetically driven valve for controlling a valve body biased by a spring to move to a predetermined position in cooperation with a movable element driven by an electromagnet, comprising: Energy formula calculating means for calculating an energy equation at the position of; and spring characteristic estimating means for estimating a spring coefficient and a spring viscosity coefficient of the spring based on the energy equations at the plurality of positions. Control device for an electromagnetically driven valve. 8. An energy equation calculation means calculates an energy equation at three or more positions during movement of the mover,
The control device for an electromagnetically driven valve according to claim 7, wherein the spring characteristic estimating means estimates a spring coefficient and a spring viscosity coefficient of the spring by a least square method based on the three or more energy equations. 9. The electromagnetically driven valve according to claim 1, wherein at least one of the estimated spring coefficient and the spring viscosity coefficient is reflected in control of the electromagnet. Control device. 10. The electromagnetically driven valve control device according to claim 9, wherein the control gain of the electromagnet is increased as the estimated spring coefficient increases. 11. The electromagnetically driven valve control device according to claim 9, wherein the control gain of the electromagnet is increased as the estimated spring viscosity coefficient increases. 12. An observer for estimating a speed of a mover by using at least one of the estimated spring coefficient and spring viscosity coefficient. 3. The control device for an electromagnetically driven valve according to claim 1. 13. When the estimated spring viscosity coefficient is equal to or less than a predetermined value, the amount of current supplied to the electromagnet is controlled so as to perform feedback control of the mover to the target speed. 13. The control apparatus for an electromagnetically driven valve according to claim 2, wherein feedforward control is performed to stop the power supply and maintain the amount of current at a maximum for a predetermined time.