JP2003191741A - Controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a controller suitable for an inexpensive vehicular air-conditioner of which the control system is remarkably simplified while keeping performance equivalent to a conventional auto-air-conditioner. <P>SOLUTION: This controller suitable for the vehicular air-conditioner is provided with: a control object output target value setting means; a control object output detecting means; a control object control means for controlling an output value of a control object to be brought into a target value; a control object output target response calculating means for calculating a target response in a transition state through which a control object output reaches to the target value and for assigning it; and a control object output feed-back computing means for computing a deviation between a control object output target value in the target response and a control object output value detected by the control object output detecting means. The controller has a feed-forward control input predicting means for predicting a feed-forward control input required for realizing a transition characteristic in the target response by the control object output target response calculating means, and the control output value is controlled using, as a control input to the control object control means, a sum of the feed-forward control input and a feed-back control input calculated by the control object output feed-back computing means, in the controller suitable for the vehicular air-conditioner. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to a control device,
Especially suitable for an auto air conditioner system for a vehicle air conditioner, and while maintaining the same performance as a conventional auto air conditioner, it is possible to greatly simplify the components and control system, and apply it to a vehicle air conditioner that can be implemented at low cost. And the optimum control device.

[0002]

2. Description of the Related Art Generally, in an air conditioner for a vehicle equipped with an evaporator (cooler) and a heater (heater) in a ventilation duct, according to a set temperature, the evaporator and the heater are
By controlling the control amount of the air mix damper and taking various feedback signals into consideration, the target outlet temperature is controlled so that the target vehicle interior temperature is achieved. For example, in an automatic air conditioner, the target blow-out temperature is calculated by referring to the heat load detection values such as the vehicle interior temperature, the outside air temperature, the amount of solar radiation, and the evaporator outlet air temperature, and each control device (air mix damper, air mix damper, The blowout mode, the inside / outside air switching damper, etc.) are controlled.

[0003]

However, such a conventional auto air conditioner has many heat load detection sections and various temperature control device drive sections, and uses a complicated control system and arithmetic expressions. Therefore, it takes a lot of time and cost to configure the control system.

Therefore, an object of the present invention is to provide an optimal control device by applying it to an inexpensive vehicle air conditioner in which the control system is greatly simplified while maintaining the performance equivalent to that of a conventional auto air conditioner. is there.

[0005]

In order to solve the above-mentioned problems, a control device according to the present invention sets a control target output target value setting means for setting a target value of a control target output value and an output value of the control target. Control target output detection means for detecting, control target control means for controlling the output value of the control target to reach the target value, and target response in the transient state for the control target output to reach the target value are calculated and designated. Control including control target output target response calculation means and control target output feedback calculation means for calculating a deviation between the control target output target value in the target response and the control target output value detected by the control target output detection means A feedforward device for predicting a feedforward control input required to realize a transient characteristic in a target response by the controlled object output target response calculation means. A feed-forward control input, and a feedback control input calculated by the controlled object output feedback calculation means, and a controlled object output value as a control input to the controlled object control means. It is characterized by controlling.

An air conditioner for a vehicle according to the present invention controls a vehicle interior temperature setting means for setting a vehicle interior temperature, a vehicle interior temperature detecting means for detecting a vehicle interior temperature, and controls the vehicle interior temperature to be a set temperature. And a vehicle interior temperature target response calculation means for calculating and designating a target response in a transient state for the vehicle interior temperature to reach a set temperature, and a vehicle interior target temperature at the target response and the vehicle interior. A vehicle air conditioner comprising: a vehicle interior temperature feedback calculation means for calculating a deviation from a vehicle interior temperature detected by a temperature detection means, wherein a transient characteristic in a target response by the vehicle interior temperature target response calculation means is realized. A feedforward control input predicting means for predicting a feedforward control input required to
The vehicle interior temperature is controlled by using the sum of the feedback control input calculated by the vehicle interior temperature feedback calculation means as a control input to the vehicle interior temperature control means.

In this vehicle air conditioner, the feedforward control input by the feedforward control input predicting means is the vehicle interior temperature target response value calculated by the vehicle interior temperature target response calculating means, and the feedforward control input. Can be represented by a calculation including the deviation from the previous value of.

The vehicle interior temperature target response value calculated by the vehicle interior temperature target response calculating means is a calculation including a deviation between the temperature set by the vehicle interior temperature setting means and the previous value of the vehicle interior temperature target response value. Can be represented.

More specifically, the vehicle air conditioner according to the present invention more specifically has a cooler for cooling the air blown into the passenger compartment and a cooling amount adjusting means for adjusting the cooling capacity of the cooler. The control amount to the vehicle interior temperature control means may be a target blowout temperature, and the cooling capacity of the cooler may be adjusted by the cooling amount adjustment means with reference to this. As the cooling amount adjusting means, for example, a means for controlling the compressor of the refrigerant circuit including a cooler, for example, a means having a clutch control means can be configured.

Further, the vehicle air conditioner according to the present invention has a heater for heating the air blown into the passenger compartment, and a heating amount adjusting means for adjusting the heating capacity of the heater. It is possible to adopt a configuration in which the control amount to the target blowout temperature is set, and the heating capacity of the heater is adjusted by the heating amount adjusting means with reference to this. As the heating amount adjusting means, for example, one having an air mix damper for controlling the amount of air passing through the heater can be configured.

The cooling device and the cooling amount adjusting device may be combined with the heating device and the heating amount adjusting device.

In such a control device according to the present invention, particularly in a vehicle air conditioner, a response model to a target value, that is, a target response is automatically calculated and designated according to a set temperature, and the model is achieved. The feedforward control amount necessary for the operation is predicted, the feedback control amount is added to the predicted value, and the predicted value is corrected to a more appropriate control amount. This corrected control amount is adopted as a control amount for the vehicle interior temperature control means that actually controls the vehicle interior temperature, and the vehicle interior temperature is controlled based on this. That is,
A target response having a suitable transient characteristic for reaching the set temperature is appropriately selected, and basically the feedforward control is performed based on the target response, but the feedforward signal is basically a detection signal by the vehicle interior temperature detecting means. Only the feed-back signal is fed back, the feedforward signal is corrected to an appropriate control amount including the feedback signal, and the vehicle interior temperature is controlled based on the control amount.

Therefore, unlike the conventional control, it is not necessary to feed back many detection signals to perform calculation or control, and the vehicle interior temperature is controlled by a simple control system based on an appropriate control amount signal. Therefore, while maintaining the performance equivalent to that of the conventional auto air conditioner, the control system can be greatly simplified and the cost can be significantly reduced.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION Preferred embodiments of the present invention will be described below with reference to the drawings. FIG. 1 shows an equipment system diagram of a vehicle air conditioner as a control device according to a first embodiment of the present invention. In FIG. 1, reference numeral 1 denotes the entire mechanical components of the vehicle air conditioner. At the inlet side of the ventilation duct 2, the air intake amount from the inside air introduction port 3 side and the outside air introduction port 4 side are provided. An inside / outside air switching damper 5 is provided to control the ratio with the air intake amount. The sucked air is sucked and pressure-fed in the duct 2 by the blower 7 driven by the motor 6.

The refrigerant circulated in the refrigerant circuit 11 is supplied to the evaporator 8 provided as a cooler. The refrigerant is
After being compressed by a fixed capacity compressor (compressor) 12 whose capacity can be variably controlled by clutch control and condensed by a condenser 13, the evaporator 8 is passed through a liquid receiver 14 and an expansion valve 15.
And is sucked into the compressor 12 from the evaporator 8. In the present embodiment, the operation of the compressor 12 is controlled via the control of the clutch controller 16.

The cooled air is supplied to each of the air outlets 19, 20,
21 (eg DEF, VENT, FOOT outlet)
Is blown into the passenger compartment through. Each outlet 19, 20,
The dampers 21, 23, and 24 are provided at 21, respectively.

Clutch controller 1 of the compressor 12
6 is controlled based on a signal from the main controller 25. A set temperature signal from a vehicle interior temperature setting device 26 and a detection signal from a vehicle interior temperature sensor 27 are input to the main controller 25. Further, in this embodiment, a cooler outlet air temperature sensor 28 is provided on the outlet side of the cooler 8 and a detection signal thereof is input to the main controller 25.

Using such a system, the control according to the present invention is basically performed as shown in FIG. A target value response model from a preset initial value (for example, 25 ° C. at room temperature) to reach the set temperature target value is calculated according to the set temperature 31 in the passenger compartment temperature setter 26. It is calculated as F (S) by the means 32. Based on this calculation result, the controlled object model of the target outlet temperature is calculated by the feedforward control input prediction means 33 as the feedforward control input of 1 / P '(S).

A vehicle interior temperature detection signal 3 from the vehicle interior temperature sensor 27 is added to the feed forward control input prediction signal.
Feedback from 4 is added. That is, the deviation between the target value response model F (S) as the predictive control amount and the fed back vehicle interior temperature detection signal 34 is the PID.
Is calculated. Then, the feedforward signal 1 /
P '(S) is added to the PID-calculated correction signal (feedback signal), and this is output as the control signal for the target outlet temperature, that is, the basic signal for the cooler outlet air temperature control in this embodiment. It The basic signal for the cooler outlet air temperature control is calculated by the cooler outlet air temperature target value calculation means 35 as a clutch signal 36 to the clutch controller 16 and output. With this clutch signal 36, the clutch controller 16 is actually controlled, the cooler outlet air temperature is controlled to reach the target value, and the vehicle interior temperature is controlled to reach the target value.

That is, according to the present invention, as shown in FIG. 3, the set temperature is appropriately calculated and designated from the target response including the transient characteristic from the start of control, and the feedforward control amount is predicted therefrom. The difference between the actual detected temperature in the vehicle interior and the target response value is fed back to the feedforward control amount, and the sum of the feedforward control input and the feedback is used as the basic signal of the actual control amount. In other words, basically, the control system is a feedforward control system that can be easily configured, and the only signal based on the detected temperature inside the vehicle is fed back to correct the feedforward control input to a more appropriate signal amount for actual control. Is done.

A more specific control block diagram is shown in FIG. The control of FIG. 4 is based on the basic control shown in FIG. That is, the target value Tf of the vehicle interior temperature response model is set according to the vehicle interior temperature target value set as Tset.
However, Tf = (TL × Tset + Tc × Tf (previous value)) /
(Tc + TL) is calculated as a difference equation of first-order lag approximation. Here, TL: control cycle Tc: vehicle interior temperature responsiveness designating parameter.

In the calculation of the target outlet temperature Toc, the feedforward predicted calculation value Toc1 of the target outlet temperature is calculated with respect to the vehicle interior temperature response target value Tf. This operation term has a dynamic characteristic model considering the response change of the vehicle interior temperature of the controlled object, and the dynamic characteristic model is calculated by using the static characteristic equation Tff1 and the difference equation Tff2 approximating the first-order delay.
Is approximated by. Originally, when the vehicle interior temperature response model output Tf is input to the controlled vehicle interior temperature dynamic characteristic model, the output becomes Toc1, but in reality, the vehicle interior temperature response model and the controlled object dynamic characteristic model are combined. Since this is equivalent to the above, the combined value is adopted, and in the end, the input value is Tset.

Then, the feedback calculation value Toc2 of the target outlet temperature is calculated from the vehicle interior temperature response target value Tf and the actually detected vehicle interior temperature TR.

The target blowout temperature Toc is calculated as Toc = Toc1 + Toc2 by the sum of the feedforward predicted calculation value Toc1 of the target blowout temperature and the feedback calculation value Toc2.

By referring to the target outlet temperature Toc, the cooler outlet air temperature target calculation value TV is calculated, a clutch signal is issued while the detected cooler outlet air temperature Te is taken into consideration, and cooling is performed by the clutch controller 16. The outlet air temperature is controlled and the passenger compartment temperature is controlled.

FIG. 5 shows an equipment system diagram of a vehicle air conditioner according to a second embodiment of the present invention. In this embodiment, as compared with the first embodiment described above, a warm water heater 9 as a heater is provided on the downstream side of the evaporator 8 provided as a cooler.
Is provided. The engine cooling water 10 from the engine is circulated in the hot water heater 9 and is heated thereby.

An air mix damper 17 is provided immediately downstream of the hot water heater 9, and the amount of air passing through the heater 9 is adjusted by adjusting the opening degree of the air mix damper 17 operated by the air mix damper actuator 18. And the amount of air bypassed can be controlled. The air mix damper actuator 18 and the clutch controller 16 of the compressor 12 are controlled based on a signal from the main controller 25. The temperature-controlled air is supplied to each of the air outlets 19, 20, 21.
(For example, DEF, VENT, FOOT outlet) is blown into the vehicle interior. Other mechanical configurations are in accordance with the first embodiment described above.

Using such a system, the control according to the present invention is basically performed as shown in FIG. A target value response model from a preset initial value (for example, 25 ° C. at room temperature) to reach the set temperature target value is calculated according to the set temperature 31 in the passenger compartment temperature setter 26. It is calculated as F (S) by the means 32. Based on this calculation result, the controlled object model of the target outlet temperature is calculated by the feedforward control input prediction means 33 as the feedforward control input of 1 / P '(S).

A vehicle interior temperature detection signal 3 from the vehicle interior temperature sensor 27 is added to the feedforward control input prediction signal.
Feedback from 4 is added. That is, the deviation between the target value response model F (S) and the fed back vehicle interior temperature detection signal 34 is calculated by PID. Then, the feedforward signal 1 / P ′ (S) and the PID-calculated correction signal (feedback signal) are added, and this is a control signal for the target outlet temperature, that is,
It is output as the basic signal of the air mix damper control amount. The basic signal of the air mix damper control amount is output in the form of an actual control amount signal P (S) through an output interface as an operating end and an opening calculation of the air mix damper as a control target. Computing means 41
Is output as the air mix damper signal 42.

In the present embodiment, further, the cooler outlet air temperature calculation / determination means 43 calculates the cooler outlet air temperature target value TVI calculated from the target blowout temperature, and the cooler outlet air temperature is calculated from the set temperature. Target temperature TV
II is calculated. Then, TVI and TVII are compared, the smaller one (minimum value) is determined, the cooler outlet air temperature target value TV is determined, and the clutch signal 44 of the compressor is output based on that. In this calculation / judgment, the temperature of the cooler itself or the temperature of the refrigerant at the cooler inlet / outlet may be used instead of the cooler outlet air temperature.

A more specific control block diagram is shown in FIG. The control of FIG. 7 is based on the basic control shown in FIG. That is, the target value Tf of the vehicle interior temperature response model is set according to the vehicle interior temperature target value set as Tset.
However, Tf = (TL × Tset + Tc × Tf (previous value)) /
(Tc + TL) is calculated as a difference equation of first-order lag approximation. Here, TL: control cycle Tc: vehicle interior temperature responsiveness designating parameter.

When the target outlet temperature Toc is calculated, the feedforward predicted calculation value Toc1 of the target outlet temperature is calculated with respect to the vehicle interior temperature response target value Tf. This operation term has a dynamic characteristic model considering the response change of the vehicle interior temperature of the controlled object, and the dynamic characteristic model is calculated by using the static characteristic equation Tff1 and the difference equation Tff2 approximating the first-order delay.
Is approximated by. Originally, when the vehicle interior temperature response model output Tf is input to the controlled vehicle interior temperature dynamic characteristic model, the output becomes Toc1, but in reality, the vehicle interior temperature response model and the controlled object dynamic characteristic model are combined. Since this is equivalent to the above, the combined value is adopted, and in the end, the input value is Tset.

Then, the feedback calculation value Toc2 of the target blowout temperature is calculated from the vehicle interior temperature response target value Tf and the actually detected vehicle interior temperature TR.

The target blowout temperature Toc is calculated as Toc = Toc1 + Toc2 by the sum of the feedforward predicted calculation value Toc1 and the feedback calculation value Toc2 of the target blowout temperature.

The opening AMD of the air mix damper is calculated on the basis of the calculation result of the target outlet temperature Toc. AMD = f (Toc) However, in the present embodiment, the signals of the heater inlet hot water temperature TW (generally detected as the engine cooling water temperature) and the evaporator outlet air temperature Te are used for this calculation. = F (Toc, TW, Te).

Calculated air mix damper opening signal A
MD is output to the air mix damper actuator 18, and the opening degree of the air mix damper is actually controlled.

In such control, the target value response model corresponding to the set temperature is substantially calculated as a feedforward signal, and independently of that, feedback control using the detection signal from the vehicle interior temperature sensor 27 is performed. Since this is performed, the feedforward control signal is appropriately corrected by the feedback signal, and is made a sufficiently reliable signal as the control signal for the target outlet temperature. Moreover,
Substantially the only feedback is the signal of the vehicle interior temperature at that time, which is actually detected, so that comfortable air conditioning control can be realized with stability and responsiveness, even with an extremely simple control configuration. become.

Further, in the present embodiment, the target outlet temperature T
oc is used to calculate the cooler outlet air temperature TVI = f (Toc), and the cooler outlet air temperature TVII is calculated from the set temperature.
= F (Tset, RH) is calculated. RH is the target vehicle interior relative humidity and is given as a fixed set value. The lower one of TVI and TVII calculated in this way is set as the target value TV of the cold generator outlet air temperature, and the clutch control signal is output to the clutch controller 16 based on the TV. The clutch controller 16 controls the detected value Te of the cooler outlet air temperature to be the target value TV.

By controlling the clutch controller 16 on the basis of the TV and controlling the operation of the compressor 12 in this way, the required minimum operation can be achieved and the energy saving characteristics can be improved. Become. Moreover, since the evaporation temperature of the refrigerant can be optimized, it is possible to further improve comfort in air conditioning.

[0040]

As described above, according to the control device of the present invention, particularly the vehicular air-conditioning device, what needs to be detected is a very simple control system in which only the vehicle interior temperature is substantially used. It is possible to achieve desired comfortable air conditioning control, and it is possible to greatly simplify the automatic air conditioning control system and reduce the cost.

In particular, the target vehicle interior temperature response model can be expressed by a differential equation, which can be realized by an inexpensive control system, for example, a control system using an ECU, and a large cost reduction can be achieved.

Further, as shown in the embodiment, since the dynamic characteristic of the vehicle interior temperature is taken into consideration in the control amount calculation, excellent feedforward control performance can be exhibited.
Moreover, since this dynamic characteristic can be expressed by a difference equation or the like,
It can be implemented at low cost.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a vehicle air conditioner according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a basic configuration of control according to the first embodiment.

FIG. 3 is a characteristic diagram showing a concept of control according to the first embodiment.

FIG. 4 is a block diagram showing a specific example of control according to the first embodiment.

FIG. 5 is a schematic configuration diagram of a vehicle air conditioner according to a second embodiment of the present invention.

FIG. 6 is a block diagram showing a basic configuration of control according to a second embodiment.

FIG. 7 is a block diagram showing a specific example of control according to the second embodiment.

[Explanation of symbols]

1 Air conditioner 2 ventilation ducts 6 motor 7 blower 8 Evaporator as a cooler 9 Hot water heater as a heater 10 engine cooling water 11 Refrigerant circuit 12 Fixed capacity compressor 13 condenser 14 Receiver 15 Expansion valve 16 clutch controller 17 Air Mix Damper 18 Air mix damper actuator 19, 20, 21 Outlet 22, 23, 24 damper 25 Main controller 26 Vehicle interior temperature setting device 27 Vehicle interior temperature sensor 28 Cooler outlet air temperature sensor 32 vehicle interior temperature target response calculation means 33 Feedforward control input predicting means

─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] April 25, 2002 (2002.4.2)
5)

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] 0029

[Correction method] Change

[Correction content]

A vehicle interior temperature detection signal 3 from the vehicle interior temperature sensor 27 is added to the feedforward control input prediction signal.
Feedback from 4 is added. That is, the deviation between the target value response model F (S) and the fed back vehicle interior temperature detection signal 34 is calculated by PID. Then, the feedforward signal 1 / P ′ (S) and the PID-calculated correction signal (feedback signal) are added, and this is a control signal for the target outlet temperature, that is,
It is output as the basic signal of the air mix damper control amount. Basic signal of the air mixing damper control amount, the air mixing damper opening calculating means 4 as an actual control amount signal
1 to be output as an air mix damper signal 42.

[Procedure Amendment 2]

[Document name to be corrected] Drawing

[Name of item to be corrected] Figure 6

[Correction method] Change

[Correction content]

[Figure 6]

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B60H 1/32 624 B60H 1/32 624E (72) Inventor Kei Sugawara 20 No. 25, Suzumachi, Isesaki-shi, Gunma Sanden shares In-house F-term (reference) 3L011 AC01 AC02 AF02

Claims (8)

[Claims] 1. A control target output target value setting means for setting a target value of a control target output value, a control target output detecting means for detecting an output value of a control target, and an output value of a control target so as to be a target value. Control target control means for controlling, a control target output target response calculation means for calculating and designating a target response in a transient state for the control target output to reach a target value, a control target output target value in the target response, and A control device comprising a control target output feedback calculation means for calculating a deviation from a control target output value detected by the control target output detection means, wherein the transient characteristic in the target response by the control target output target response calculation means is And a feedforward control input predicting means for predicting a feedforward control input required to realize the feedforward control input. A control device for controlling a control target output value by using the sum of the feedback control input calculated by the control target output feedback calculation unit as a control input to the control target control unit. 2. A vehicle interior temperature setting means for setting a vehicle interior temperature, a vehicle interior temperature detection means for detecting a vehicle interior temperature, and a vehicle interior temperature control means for controlling the vehicle interior temperature to a set temperature. Vehicle interior temperature target response calculation means for calculating and designating a target response in a transient state for the vehicle interior temperature to reach a set temperature, vehicle interior target temperature in the target response, and vehicle detected by the vehicle interior temperature detection means. A vehicle air conditioner comprising a vehicle interior temperature feedback calculation means for calculating a deviation from an indoor temperature, wherein a feedforward control input required to realize a transient characteristic in a target response by the vehicle interior temperature target response calculation means. And a feedforward control input predicting means for predicting The vehicle air conditioner is characterized in that the vehicle interior temperature is controlled by using the sum of the feedback control input as the control input to the vehicle interior temperature control means. 3. The feedforward control input by the feedforward control input predicting means is a deviation between a vehicle interior temperature target response value calculated by the vehicle interior temperature target response calculating means and a previous value of the feedforward control input. The vehicle air conditioner according to claim 2, which is represented by a calculation including. 4. The vehicle interior temperature target response value calculated by the vehicle interior temperature target response calculating means is a calculation including a deviation between a temperature set by the vehicle interior temperature setting means and a previous value of the vehicle interior temperature target response value. The vehicle air conditioner according to claim 2 or 3, which is represented. 5. A cooler for cooling the air blown into the vehicle interior, and a cooling amount adjusting means for adjusting the cooling capacity of the cooler, wherein a control amount to the vehicle interior temperature control means is a target blowout temperature, With reference to this, the vehicle air conditioner according to any one of claims 2 to 4, wherein the cooling amount adjusting means adjusts the cooling capacity of the cooler. 6. The vehicle air conditioner according to claim 5, wherein the cooling amount adjusting means has a means for controlling a compressor of a refrigerant circuit including a cooler. 7. A heater for heating the air blown into the vehicle interior, and a heating amount adjusting means for adjusting the heating capacity of the heater, wherein the control amount to the vehicle interior temperature control means is a target outlet temperature, With reference to this, the vehicle air conditioner according to any one of claims 2 to 6, wherein the heating capacity of the heater is adjusted by the heating amount adjusting means. 8. The vehicle air conditioner according to claim 7, wherein the heating amount adjusting means has an air mix damper for controlling the amount of air passing through the heater.