JP2006127481A

JP2006127481A - Control device

Info

Publication number: JP2006127481A
Application number: JP2005256044A
Authority: JP
Inventors: Kenichi Suzuki; 謙一鈴木; Atsuo Inoue; 敦雄井上
Original assignee: Sanden Corp
Current assignee: Sanden Corp
Priority date: 2004-09-28
Filing date: 2005-09-05
Publication date: 2006-05-18
Anticipated expiration: 2025-09-05
Also published as: JP4482503B2

Abstract

<P>PROBLEM TO BE SOLVED: To construct a control system which performs feedback of a plurality of control object outputs, has control object output target response calculation means mutually different by each output (control amount), controls the plurality of control object outputs and by which optimal responses of each is obtained though it is simple as the control system. <P>SOLUTION: This control device is characterized in that a second control amount target value is set by a second control amount target value setting means by referring to the sum of feedback and feed forward first control inputs, feedback second control input is calculated by referring to the second control amount target value and a second control amount to be estimated or detected by a second control amount estimation means, control input is calculated by a control input calculation means by referring to the sum of feedback and feed forward second control inputs and the first and second control amounts of the control object are controlled by a control object control means. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

本発明は、制御装置に関し、さらに詳しくは、目標値に応じて、制御入力値を演算、及び出力し、一つの制御対象に対して、その制御量（出力）が複数あるカスケードのフィードバック（PID演算等）制御する制御装置に関し、とくに、外部制御信号により容量を可変可能な圧縮機を有する冷凍サイクルにおいて、圧縮機容量を制御して蒸発器温度（および／または蒸発器出口空気温度）、圧縮機トルクを制御する装置に好適な制御装置に関する。 The present invention relates to a control device, and more specifically, calculates and outputs a control input value according to a target value, and provides feedback (PID) of a cascade having a plurality of control amounts (outputs) for one control target. In particular, in a refrigeration cycle having a compressor whose capacity can be changed by an external control signal, the compressor capacity is controlled and the evaporator temperature (and / or evaporator outlet air temperature) is compressed. The present invention relates to a control device suitable for a device for controlling machine torque.

本出願人により、特許文献１にて、制御装置、とくに車両用空調装置におけるオートエアコンシステムに適用できる制御装置が提案されており、その特徴として、制御対象出力がその目標値に到達するための過渡状態における目標応答を算出し指定する制御対象出力目標応答算出手段と、制御対象出力目標応答値となるようなフィードフォワード制御入力予測手段を有し、制御対象出力目標応答と制御対象出力との偏差を演算する制御対象出力フィードバック手段を備えた制御装置であって、フィードフォワード制御入力と、フィードバック制御入力との和を、制御対象への制御入力とし、制御対象を制御するようにした制御装置が提案されている。
特開２００３−１９１７４１号公報 The present applicant has proposed a control device that can be applied to a control device, in particular, an auto air conditioner system in a vehicle air conditioner, in Japanese Patent Application Laid-Open No. H10-228707. Control target output target response calculation means for calculating and specifying a target response in a transient state, and feedforward control input prediction means for achieving a control target output target response value, and the control target output target response and the control target output A control device provided with a control target output feedback means for calculating a deviation, wherein the control target is controlled by using the sum of the feedforward control input and the feedback control input as a control input to the control target. Has been proposed.
JP 2003-191741 A

ところが、一つの制御対象に対して制御目的が複数あるとき、応答性の異なる制御対象出力（制御量）のどちらか一方のみフィードバックして、特許文献１のように制御する場合においては、複数の制御目的を満足するような制御系は構築することはできない。また、制御対象の複数の出力応答をそれぞれの制御量において、それぞれ異なるものとしたい場合には、特許文献１の制御装置では対応できないことが考えられる。 However, when there are a plurality of control purposes for a single control target, only one of the control target outputs (control amounts) having different responsiveness is fed back, and control is performed as in Patent Document 1. A control system that satisfies the control objective cannot be constructed. Further, when it is desired to make a plurality of output responses to be controlled different in each control amount, the control device of Patent Document 1 may not be able to cope with it.

そこで本発明の課題は、特許文献１と同様に目標値への応答性を考慮した制御を取り入れつつ、より最適な制御を達成することにあり、制御系としては簡素でありながら、複数の制御対象出力をフィードバックし、それぞれの出力（制御量）によりそれぞれ異なる制御対象出力目標応答算出手段を持ち、複数の制御対象出力を制御し、それぞれの最適な応答を得られる制御系を構築することを課題とする。さらに、推定値を用いることで、新たな検知手段を必要としないため、低コストでの制御系構築を可能とすることも課題とする。 Accordingly, an object of the present invention is to achieve more optimal control while incorporating control in consideration of responsiveness to a target value as in Patent Document 1, and a plurality of controls while being simple as a control system. The target output is fed back, and the control target output target response calculation means that is different for each output (control amount) is controlled to control a plurality of control target outputs and to construct a control system that can obtain each optimum response. Let it be an issue. Furthermore, since a new detection means is not required by using the estimated value, it is also an object to enable construction of a control system at a low cost.

上記課題を解決するために、本発明に係る制御装置は、制御対象を制御入力に基づき操作し、制御量を制御する制御対象制御手段と、制御対象の第１制御量を検知する制御対象第１制御量検知手段と、制御対象の第２制御量を推定または検知する制御対象第２制御量推定手段と、制御対象の第１制御量目標値を設定する制御対象第１制御量目標値設定手段と、制御対象の第２制御量目標値を演算し設定する制御対象第２制御量目標値設定手段と、制御対象への制御入力を演算する制御入力演算手段と、制御対象の第１制御量が第１制御量目標値に到達するための過渡状態における目標応答を算出し指定する制御対象第１制御量目標応答算出手段と、制御対象第１制御量目標応答値と制御対象第１制御量との偏差を参照し、フィードバック第１制御入力を演算する制御対象第１制御量フィードバック制御入力演算手段と、制御対象第２制御量目標値と制御対象第２制御量との偏差を参照し、フィードバック第２制御入力を演算する制御対象第２制御量フィードバック制御入力演算手段と、前記制御対象第１制御量目標応答算出手段により演算される目標応答における過渡特性を実現するに必要なフィードフォワード第１制御入力を演算する制御対象第１フィードフォワード制御入力演算手段と、前記制御対象第２制御量目標値設定手段により演算される第２制御量目標値を実現するに必要なフィードフォワード第２制御入力を演算する制御対象第２フィードフォワード制御入力演算手段とを備えた制御装置であって、前記制御対象第１制御量目標値設定手段により制御対象の第１制御量目標値が設定され、前記制御対象第１制御量目標応答算出手段により第１制御量目標応答値が算出され、前記制御対象第１制御量フィードバック制御入力演算手段により、第１制御量目標応答値と、前記制御対象第１制御量検知手段により検知される第１制御量を参照してフィードバック第１制御入力が演算され、前記制御対象第１フィードフォワード制御入力演算手段によりフィードフォワード第１制御入力が演算され、該フィードバックおよびフィードフォワード第１制御入力の和を参照し、前記制御対象第２制御量目標値設定手段により制御対象第２制御量目標値が設定され、前記制御対象第２制御量フィードバック制御入力演算手段により、第２制御量目標値と、前記制御対象第２制御量推定手段により推定または検知される第２制御量を参照してフィードバック第２制御入力が演算され、前記制御対象第２フィードフォワード制御入力演算手段によりフィードフォワード第２制御入力が演算され、該フィードバックおよびフィードフォワード第２制御入力の和を参照し、前記制御入力演算手段により制御入力が演算され、前記制御対象制御手段により、制御対象の第１および第２制御量が制御されることを特徴とするものからなる。 In order to solve the above-described problems, a control device according to the present invention operates a control target based on a control input and controls a control target control unit that controls a control amount, and a control target control unit that detects a first control amount of the control target. 1 control amount detection means, control target second control amount estimation means for estimating or detecting the second control amount of the control object, and control target first control amount target value setting for setting the first control amount target value of the control object Means, control target second control amount target value setting means for calculating and setting the second control amount target value of the control target, control input calculation means for calculating the control input to the control target, and first control of the control target Control target first control amount target response calculating means for calculating and specifying a target response in a transient state for the amount to reach the first control amount target value, control target first control amount target response value, and control target first control Refer to the deviation from the amount, and the first feedback Control target first control amount feedback control input calculation means for calculating the control input, and control target for calculating the feedback second control input with reference to the deviation between the control target second control amount target value and the control target second control amount Control target first for calculating a feedforward first control input necessary to realize a transient characteristic in the target response calculated by the second control amount feedback control input calculating means and the control target first control amount target response calculating means. Control target second feedforward for calculating a feedforward second control input necessary for realizing the second control amount target value calculated by the feedforward control input calculation means and the control target second control amount target value setting means. And a control input calculating means, wherein the control target first control amount target value setting means controls the control target first control. A target value is set, a first control amount target response value is calculated by the control target first control amount target response calculating means, and a first control amount target response value is calculated by the control target first control amount feedback control input calculating means. And a feedback first control input is calculated with reference to a first control amount detected by the control target first control amount detection means, and a feedforward first control input is calculated by the control target first feedforward control input calculation means. The control target second control amount target value is set by the control target second control amount target value setting means with reference to the sum of the feedback and the feedforward first control input, and the control target second control amount is set. The second control amount target value and the second control amount estimated or detected by the control target second control amount estimation unit by the feedback control input calculation unit. A feedback second control input is calculated with reference to the control amount, a feedforward second control input is calculated by the control target second feedforward control input calculating means, and the sum of the feedback and the feedforward second control input is referred to Then, the control input is calculated by the control input calculating means, and the first and second control amounts to be controlled are controlled by the control target control means.

また、本発明に係る制御装置は、制御対象を制御入力に基づき操作し、制御量を制御する制御対象制御手段と、制御対象の第１制御量を検知する制御対象第１制御量検知手段と、制御対象の第２制御量を推定または検知する制御対象第２制御量推定手段と、制御対象の第１制御量目標値を設定する制御対象第１制御量目標値設定手段と、制御対象の第２制御量目標値を演算し設定する制御対象第２制御量目標値設定手段と、制御対象への制御入力を演算する制御入力演算手段と、制御対象の第１制御量が第１制御量目標値に到達するための過渡状態における目標応答を算出し指定する制御対象第１制御量目標応答算出手段と、制御対象の第２制御量が第２制御量目標値に到達するための過渡状態における目標応答を算出し指定する制御対象第２制御量目標応答算出手段と、制御対象第１制御量目標応答値と制御対象第１制御量との偏差を参照し、フィードバック第１制御入力を演算する制御対象第１制御量フィードバック制御入力演算手段と、制御対象第２制御量目標応答値と制御対象第２制御量との偏差を参照し、フィードバック第２制御入力を演算する制御対象第２制御量フィードバック制御入力演算手段と、前記制御対象第１制御量目標応答算出手段により演算される目標応答における過渡特性を実現するに必要なフィードフォワード第１制御入力を演算する制御対象第１フィードフォワード制御入力演算手段と、前記制御対象第２制御量目標応答算出手段により演算される目標応答における過渡特性を実現するに必要なフィードフォワード第２制御入力を演算する制御対象第２フィードフォワード制御入力演算手段とを備えた制御装置であって、前記制御対象第１制御量目標値設定手段により制御対象の第１制御量目標値が設定され、前記制御対象第１制御量目標応答算出手段により第１制御量目標応答値が算出され、前記制御対象第１制御量フィードバック制御入力演算手段により、第１制御量目標応答値と、前記制御対象第１制御量検知手段により検知される第１制御量を参照してフィードバック第１制御入力が演算され、前記制御対象第１フィードフォワード制御入力演算手段によりフィードフォワード第１制御入力が演算され、該フィードバックおよびフィードフォワード第１制御入力の和を参照し、前記制御対象第２制御量目標値設定手段により制御対象第２制御量目標値が設定され、前記制御対象第２制御量目標応答算出手段により第２制御量目標応答値が算出され、前記制御対象第２制御量フィードバック制御入力演算手段により、第２制御量目標応答値と、前記制御対象第２制御量推定手段により推定または検知される第２制御量を参照してフィードバック第２制御入力が演算され、前記制御対象第２フィードフォワード制御入力演算手段によりフィードフォワード第２制御入力が演算され、該フィードバックおよびフィードフォワード第２制御入力の和を参照し、前記制御入力演算手段により制御入力が演算され、前記制御対象制御手段により、制御対象の第１および第２制御量が制御されることを特徴とするものからなる。 In addition, the control device according to the present invention includes a control target control unit that controls a control amount by operating a control target based on a control input, and a control target first control amount detection unit that detects a first control amount of the control target. A control target second control amount estimating means for estimating or detecting a second control amount of the control target, a control target first control quantity target value setting means for setting the first control amount target value of the control target, and a control target Control target second control amount target value setting means for calculating and setting the second control amount target value, control input calculation means for calculating the control input to the control target, and the first control amount of the control target is the first control amount Control target first controlled variable target response calculating means for calculating and specifying a target response in a transient state for reaching the target value, and a transient state for the second controlled variable to be controlled to reach the second controlled variable target value Control target to calculate and specify the target response in Control target target response calculating means, control target first control quantity feedback control input calculating means for calculating a feedback first control input with reference to a deviation between the control target first control quantity target response value and the control target first control quantity A control target second control amount feedback control input calculating means for calculating a feedback second control input with reference to a deviation between the control target second control amount target response value and the control target second control amount; Control target first feedforward control input calculating means for calculating a feedforward first control input necessary for realizing a transient characteristic in the target response calculated by one control amount target response calculating means, and the control target second control amount Control target for calculating the feedforward second control input necessary for realizing the transient characteristic in the target response calculated by the target response calculating means A control target first control amount target value is set by the control target first control amount target value setting means, and the control target first control amount target is set. A first control amount target response value is calculated by the response calculation means, and detected by the control target first control amount feedback control input calculation means by the first control amount target response value and the control target first control amount detection means. A feedback first control input is calculated with reference to the first control amount, and a feedforward first control input is calculated by the control target first feedforward control input calculating means, and the feedback and feedforward first control input The control target second control amount target value is set by the control target second control amount target value setting means with reference to the sum, and the control target second A second controlled variable target response value is calculated by the controlled variable target response calculating means, and a second controlled variable target response value and the controlled object second controlled variable estimating means are calculated by the controlled object second controlled variable feedback control input calculating means. The feedback second control input is calculated with reference to the second control amount estimated or detected by the control object, and the feedforward second control input is calculated by the control target second feedforward control input calculating means, and the feedback and feedforward are calculated. The control input is calculated by referring to the sum of the second control inputs, and the control target control means controls the first and second control amounts of the control target. Become.

このような制御装置においては、上記制御対象第２制御量推定手段は、制御対象の第２制御量に相関のある物理量より、制御対象第２制御量を推定するものに構成することができる。 In such a control apparatus, the control target second control amount estimation means can be configured to estimate the control target second control amount from a physical quantity correlated with the control target second control amount.

上記のような制御装置は、圧縮機トルクを制御する冷凍サイクル制御装置、とくに車両用空調装置における冷凍サイクル制御装置に展開して好適なものである。すなわち、本発明に係る冷凍サイクル制御装置は、外部制御信号により容量が可変される冷媒の可変容量圧縮機、高温高圧の冷媒を凝縮する凝縮器、冷却器として室内に吹き出す空気を冷却する冷媒の蒸発器を備えた冷凍サイクルと、蒸発器に空気を送風する送風機と、蒸発器の目標温度を設定する蒸発器目標温度設定手段と、蒸発器温度または蒸発器出口空気温度を検知する蒸発器温度検知手段と、蒸発器温度を制御する蒸発器温度制御手段と、蒸発器温度または蒸発器出口空気温度が蒸発器目標温度に到達するための過渡状態における目標応答を算出し指定する蒸発器温度目標応答算出手段と、蒸発器温度目標応答値と蒸発器温度または蒸発器出口空気温度との偏差を参照し、蒸発器温度フィードバック制御入力を演算する蒸発器温度フィードバック制御入力演算手段と、前記蒸発器温度目標応答算出手段により算出される目標応答における過渡特性を実現するに必要な蒸発器温度フィードフォワード制御入力を予測する蒸発器温度フィードフォワード制御入力予測手段と、圧縮機のトルク目標値を演算し設定するトルク目標値設定手段と、圧縮機のトルクを推定または検知するトルク認識手段と、圧縮機のトルク認識値と圧縮機のトルク目標値を参照し、圧縮機トルクフィードバック制御入力を演算するトルクフィードバック制御入力演算手段と、トルク目標値設定手段により算出されるトルク目標値を実現するに必要な圧縮機トルクフィードフォワード制御入力を予測するトルクフィードフォワード制御入力予測手段と、圧縮機の容量を制御する容量制御手段と、該容量制御手段への容量制御信号を演算する容量制御信号演算手段とを有する冷凍サイクル制御装置であって、前記蒸発器目標温度設定手段により蒸発器の目標温度が設定され、前記蒸発器温度目標応答算出手段により蒸発器温度目標応答値が算出され、前記蒸発器温度フィードバック制御入力演算手段により、蒸発器温度目標応答値と、前記蒸発器温度検知手段により検知される蒸発器温度または蒸発器出口空気温度との偏差を参照して蒸発器温度フィードバック制御入力が演算され、前記蒸発器温度フィードフォワード制御入力予測手段により蒸発器温度フィードフォワード制御入力が予測され、該蒸発器温度フィードバックおよびフィードフォワード制御入力の和を参照し、前記トルク目標値設定手段によりトルク目標値が演算、設定され、前記トルクフィードバック制御入力演算手段により、トルク目標値と、前記トルク認識手段により推定または検知される圧縮機のトルク認識値を参照してトルクフィードバック制御入力が演算され、前記トルクフィードフォワード制御入力演算手段によりトルクフィードフォワード制御入力が演算され、該トルクフィードバックおよびフィードフォワード制御入力の和を参照し、容量制御信号演算手段により、圧縮機容量制御のための制御入力値が演算されて前記容量制御手段に出力され、制御量である蒸発器温度または蒸発器出口空気温度と圧縮機のトルクが制御されることを特徴とするものからなる。 The control device as described above is suitable for use in a refrigeration cycle control device that controls compressor torque, particularly a refrigeration cycle control device in a vehicle air conditioner. That is, the refrigeration cycle control device according to the present invention includes a refrigerant variable capacity compressor whose capacity is varied by an external control signal, a condenser that condenses high-temperature and high-pressure refrigerant, and a refrigerant that cools air blown indoors as a cooler. A refrigeration cycle with an evaporator, a blower for blowing air to the evaporator, an evaporator target temperature setting means for setting the target temperature of the evaporator, and an evaporator temperature for detecting the evaporator temperature or the evaporator outlet air temperature Detector means, evaporator temperature control means for controlling the evaporator temperature, and an evaporator temperature target for calculating and specifying a target response in a transient state for the evaporator temperature or the evaporator outlet air temperature to reach the evaporator target temperature Refer to the difference between the response calculation means, the evaporator temperature target response value and the evaporator temperature or the evaporator outlet air temperature, and calculate the evaporator temperature feedback control input. Feedback control input calculation means, evaporator temperature feedforward control input prediction means for predicting an evaporator temperature feedforward control input required to realize a transient characteristic in the target response calculated by the evaporator temperature target response calculation means, and The torque target value setting means for calculating and setting the compressor torque target value, the torque recognition means for estimating or detecting the compressor torque, the compressor torque recognition value and the compressor torque target value, Torque feedback control input calculating means for calculating compressor torque feedback control input, and torque feedforward control input for predicting compressor torque feedforward control input necessary for realizing the torque target value calculated by the torque target value setting means Prediction means, capacity control means for controlling the capacity of the compressor, and capacity control A refrigeration cycle control device having a capacity control signal calculating means for calculating a capacity control signal to the means, wherein a target temperature of the evaporator is set by the evaporator target temperature setting means, and the evaporator temperature target response calculating means The evaporator temperature target response value is calculated by the evaporator temperature feedback control input calculation means, the evaporator temperature target response value, and the evaporator temperature or the evaporator outlet air temperature detected by the evaporator temperature detection means. The evaporator temperature feedback control input is calculated with reference to the deviation, and the evaporator temperature feedforward control input prediction means predicts the evaporator temperature feedforward control input, and the sum of the evaporator temperature feedback and the feedforward control input is calculated. , The torque target value is calculated and set by the torque target value setting means, A torque feedback control input calculation means calculates a torque feedback control input by referring to a torque target value and a torque recognition value of the compressor estimated or detected by the torque recognition means, and the torque feedforward control input calculation means Torque feedforward control input is calculated, referring to the sum of the torque feedback and feedforward control input, the control input value for compressor capacity control is calculated by the capacity control signal calculation means and output to the capacity control means The evaporator temperature or evaporator outlet air temperature, which is a controlled variable, and the compressor torque are controlled.

また、本発明に係る冷凍サイクル制御装置は、外部制御信号により容量が可変される冷媒の可変容量圧縮機、高温高圧の冷媒を凝縮する凝縮器、冷却器として室内に吹き出す空気を冷却する冷媒の蒸発器を備えた冷凍サイクルと、蒸発器に空気を送風する送風機と、蒸発器の目標温度を設定する蒸発器目標温度設定手段と、蒸発器温度または蒸発器出口空気温度を検知する蒸発器温度検知手段と、蒸発器温度を制御する蒸発器温度制御手段と、蒸発器温度または蒸発器出口空気温度が蒸発器目標温度に到達するための過渡状態における目標応答を算出し指定する蒸発器温度目標応答算出手段と、蒸発器温度目標応答値と蒸発器温度または蒸発器出口空気温度との偏差を参照し、蒸発器温度フィードバック制御入力を演算する蒸発器温度フィードバック制御入力演算手段と、前記蒸発器温度目標応答算出手段により算出される目標応答における過渡特性を実現するに必要な蒸発器温度フィードフォワード制御入力を予測する蒸発器温度フィードフォワード制御入力予測手段と、圧縮機のトルク目標値を演算し設定するトルク目標値設定手段と、圧縮機のトルクがトルク目標値に到達するための過渡状態における目標応答を算出し指定するトルク目標応答算出手段と、圧縮機のトルクを推定または検知するトルク認識手段と、圧縮機のトルク認識値と圧縮機のトルク目標応答値を参照し、圧縮機トルクフィードバック制御入力を演算するトルクフィードバック制御入力演算手段と、トルク目標応答算出手段により算出される目標応答における過渡特性を実現するに必要な圧縮機トルクフィードフォワード制御入力を予測するトルクフィードフォワード制御入力予測手段と、圧縮機の容量を制御する容量制御手段と、該容量制御手段への容量制御信号を演算する容量制御信号演算手段とを有する冷凍サイクル制御装置であって、前記蒸発器目標温度設定手段により蒸発器の目標温度が設定され、前記蒸発器温度目標応答算出手段により蒸発器温度目標応答値が算出され、前記蒸発器温度フィードバック制御入力演算手段により、蒸発器温度目標応答値と、前記蒸発器温度検知手段により検知される蒸発器温度または蒸発器出口空気温度との偏差を参照して蒸発器温度フィードバック制御入力が演算され、前記蒸発器温度フィードフォワード制御入力予測手段により蒸発器温度フィードフォワード制御入力が予測され、該蒸発器温度フィードバックおよびフィードフォワード制御入力の和を参照し、前記トルク目標値設定手段によりトルク目標値が演算、設定され、前記トルク目標応答算出手段によりトルク目標応答値が算出され、前記トルクフィードバック制御入力演算手段により、トルク目標応答値と、前記トルク認識手段により推定または検知される圧縮機のトルク認識値を参照してトルクフィードバック制御入力が演算され、前記トルクフィードフォワード制御入力演算手段によりトルクフィードフォワード制御入力が演算され、該トルクフィードバックおよびフィードフォワード制御入力の和を参照し、容量制御信号演算手段により、圧縮機容量制御のための制御入力値が演算されて前記容量制御手段に出力され、制御量である蒸発器温度または蒸発器出口空気温度と圧縮機のトルクが制御されることを特徴とするものからなる。 Further, the refrigeration cycle control device according to the present invention includes a refrigerant variable capacity compressor whose capacity is varied by an external control signal, a condenser that condenses high-temperature and high-pressure refrigerant, and a refrigerant that cools air blown indoors as a cooler. A refrigeration cycle with an evaporator, a blower for blowing air to the evaporator, an evaporator target temperature setting means for setting the target temperature of the evaporator, and an evaporator temperature for detecting the evaporator temperature or the evaporator outlet air temperature Detector means, evaporator temperature control means for controlling the evaporator temperature, and an evaporator temperature target for calculating and specifying a target response in a transient state for the evaporator temperature or the evaporator outlet air temperature to reach the evaporator target temperature Refer to the difference between the response calculation means and the evaporator temperature target response value and the evaporator temperature or the evaporator outlet air temperature to calculate the evaporator temperature feedback control input. A back control input calculating means; an evaporator temperature feedforward control input predicting means for predicting an evaporator temperature feedforward control input required to realize a transient characteristic in the target response calculated by the evaporator temperature target response calculating means; A torque target value setting means for calculating and setting a compressor torque target value; a torque target response calculating means for calculating and specifying a target response in a transient state for the compressor torque to reach the torque target value; A torque recognizing means for estimating or detecting the torque of the compressor, a torque feedback control input calculating means for calculating a compressor torque feedback control input by referring to a torque recognized value of the compressor and a torque target response value of the compressor, a torque target The compressor torque torque required to realize the transient characteristics in the target response calculated by the response calculation means Refrigeration cycle control having torque feedforward control input predicting means for predicting the feedforward control input, capacity control means for controlling the capacity of the compressor, and capacity control signal calculating means for calculating a capacity control signal to the capacity control means A target temperature of the evaporator is set by the evaporator target temperature setting means, an evaporator temperature target response value is calculated by the evaporator temperature target response calculating means, and the evaporator temperature feedback control input calculating means Thus, an evaporator temperature feedback control input is calculated with reference to the deviation between the evaporator temperature target response value and the evaporator temperature detected by the evaporator temperature detecting means or the evaporator outlet air temperature, and the evaporator temperature The feedforward control input predicting means predicts the evaporator temperature feedforward control input, and the evaporator temperature With reference to the sum of feedback and feedforward control inputs, a torque target value is calculated and set by the torque target value setting means, a torque target response value is calculated by the torque target response calculating means, and the torque feedback control input calculating means The torque feedback control input is calculated by referring to the torque target response value and the torque recognition value of the compressor estimated or detected by the torque recognition means, and the torque feedforward control input is calculated by the torque feedforward control input calculation means. Is calculated, the sum of the torque feedback and the feedforward control input is referred to, the control input value for compressor capacity control is calculated by the capacity control signal calculation means, and is output to the capacity control means. Some evaporator temperature or evaporator outlet air Consisting of those wherein the torque of the degree and the compressor is controlled.

この冷凍サイクル制御装置においては、上記トルク認識手段は、圧縮機のトルクに相関のある物理量から、圧縮機のトルクを推定するものに構成することができる。 In this refrigeration cycle control device, the torque recognition means can be configured to estimate the compressor torque from a physical quantity correlated with the compressor torque.

また、上記トルク認識手段は、さらに、冷凍サイクル熱負荷と、圧縮機のトルクに相関のある物理量から、圧縮機のトルクを推定するものに構成することもできる。 The torque recognition means can be further configured to estimate the compressor torque from a physical quantity correlated to the refrigeration cycle heat load and the compressor torque.

また、上記トルク目標値設定手段は、前記蒸発器温度フィードフォワードおよびフィードバック制御入力の和を参照し、かつ、冷凍サイクル熱負荷を参照することにより、目標トルクを設定するものに構成することができる。 Further, the torque target value setting means can be configured to set a target torque by referring to the sum of the evaporator temperature feedforward and the feedback control input and referring to the refrigeration cycle heat load. .

また、上記トルク目標値設定手段は、車両からのトルク指令値を参照して、目標トルクを設定するものに構成することができる。とくに、車両からのトルク指令値を参照して、圧縮機のトルク目標値を設定するとき、前記トルク目標応答算出手段におけるトルク目標応答値の算出方法を通常時とは異なるものに変更し、トルクの目標とする過渡応答を通常時とは異なるものとすることができる。 The torque target value setting means can be configured to set a target torque with reference to a torque command value from the vehicle. In particular, when setting the torque target value of the compressor with reference to the torque command value from the vehicle, the calculation method of the torque target response value in the torque target response calculation means is changed to a method different from the normal time, The target transient response can be different from the normal time.

また、上記圧縮機のトルクに相関のある物理量は、圧縮機吐出圧力、凝縮器入口圧力、凝縮器出口圧力、蒸発器温度、および蒸発器出口空気温度の少なくともいずれかからなる構成とすることができる。 Further, the physical quantity correlated with the compressor torque may include at least one of compressor discharge pressure, condenser inlet pressure, condenser outlet pressure, evaporator temperature, and evaporator outlet air temperature. it can.

また、上記冷凍サイクル熱負荷は、外気温度に相関のある物理量、蒸発器への送風量に相関のある物理量、車両の速度に相関のある物理量、車両原動機の回転数に相関のある物理量、凝縮器への送風量に相関のある物理量のすべて、または少なくとも一つを検知することにより求めることができる。 The refrigeration cycle heat load includes a physical quantity correlated with the outside air temperature, a physical quantity correlated with the air flow to the evaporator, a physical quantity correlated with the vehicle speed, a physical quantity correlated with the rotational speed of the vehicle prime mover, It can be determined by detecting all or at least one of the physical quantities correlated with the air flow to the vessel.

さらに、上記可変容量圧縮機が、容量制御信号による容量可変圧縮機、または、回転数制御による容量可変圧縮機からなる構成とすることができる。 Further, the variable capacity compressor can be configured by a capacity variable compressor based on a capacity control signal or a capacity variable compressor based on a rotational speed control.

本発明に係る制御装置によれば、とくに本発明に係る冷凍サイクル制御装置によれば、制御対象の制御量、とくに蒸発器の温度および圧縮機のトルクを同時に制御することができ、かつ、それぞれ目標とする応答性を持つことで、オーバーシュートや応答遅れなどがなく、それぞれ所望の応答性をもって各目標値に精度良く制御することが可能となる。また、トルクを推定し、制御することができるので、トルクショックの低減や、トルクの安定性も向上し、さらに、蒸発器温度の安定性も従来どおり確保されるので、ドライバビリティーと快適性を両立させることが可能となる。つまり、最適な圧縮機トルク制御のための冷凍サイクルシステムを低コストで構築することが可能となる。 According to the control device according to the present invention, in particular, according to the refrigeration cycle control device according to the present invention, it is possible to simultaneously control the controlled variable, particularly the temperature of the evaporator and the torque of the compressor, and By having the target responsiveness, there is no overshoot or response delay, and each target value can be accurately controlled with a desired responsiveness. In addition, torque can be estimated and controlled, so torque shock is reduced, torque stability is improved, and evaporator temperature stability is maintained as before, resulting in drivability and comfort. It is possible to achieve both. That is, it is possible to construct a refrigeration cycle system for optimal compressor torque control at a low cost.

以下に、本発明の望ましい実施の形態を、図面を参照しながら説明する。
図１は、本発明の一実施態様に係る制御装置としての車両用空調装置の機器系統図、とくに冷凍サイクル制御装置を含む車両用空調装置の機器系統図を示している。図１において、１は、車両用空調装置の機械的な構成部分全体を示しており、通風ダクト２の入口側には、内気導入口３側からの空気吸入量と外気導入口４側からの空気吸入量との割合を制御する内外気切替ダンパ５が設けられている。吸入された空気は、モータ６により駆動される送風機７によってダクト２内を吸引、圧送される。 Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
FIG. 1 shows an equipment system diagram of a vehicle air conditioner as a control device according to an embodiment of the present invention, and particularly an equipment system diagram of a vehicle air conditioner including a refrigeration cycle control device. In FIG. 1, reference numeral 1 denotes an entire mechanical component of the vehicle air conditioner. On the inlet side of the ventilation duct 2, the air intake amount from the inside air inlet 3 side and the outside air inlet 4 side An inside / outside air switching damper 5 is provided for controlling the ratio with the air intake amount. The sucked air is sucked and pumped in the duct 2 by a blower 7 driven by a motor 6.

８は、冷媒が循環される冷凍サイクルを示しており、冷凍サイクル８は、制御対象としての、外部信号（容量制御信号）により容量が可変される可変容量圧縮機９と、圧縮機９により圧縮された高温高圧の冷媒を凝縮する凝縮器１０と、凝縮器１０で凝縮された冷媒を気液分離する受液器１１と、受液器１１からの冷媒を膨張させる膨張弁１２と、膨張弁１２からの冷媒を蒸発させ、冷却器として室内に吹出す空気を冷却する冷媒の蒸発器１３（冷却器）とを備えている。本実施態様では、圧縮機９と凝縮器１０との間の冷媒回路に、圧縮機９の吐出圧力または凝縮器１０の吸入圧力を検知する圧力センサ１４が設けられている。圧縮機９は、車両原動機としてのエンジン１５により駆動され、駆動力の伝達はクラッチコントローラ１６によって制御できるようになっている。 Reference numeral 8 denotes a refrigeration cycle in which refrigerant is circulated. The refrigeration cycle 8 is a variable capacity compressor 9 whose capacity is changed by an external signal (capacity control signal) as a control target, and compressed by the compressor 9. A condenser 10 that condenses the high-temperature and high-pressure refrigerant thus produced, a liquid receiver 11 that gas-liquid separates the refrigerant condensed in the condenser 10, an expansion valve 12 that expands the refrigerant from the liquid receiver 11, and an expansion valve The refrigerant | coolant evaporator 13 (cooler) which evaporates the refrigerant | coolant from 12 and cools the air which blows off indoors as a cooler is provided. In the present embodiment, a pressure sensor 14 that detects the discharge pressure of the compressor 9 or the suction pressure of the condenser 10 is provided in the refrigerant circuit between the compressor 9 and the condenser 10. The compressor 9 is driven by an engine 15 as a vehicle prime mover, and transmission of driving force can be controlled by a clutch controller 16.

冷却器としての蒸発器１３は、通風ダクト２内の送風機７の下流側に配置されており、その下流側に、ヒータコアからなる加熱器１７が配置されている。加熱器１７を通過する空気とバイパスする空気の割合が、エアミックスダンパ１８によって調整され、エアミックスダンパ１８の開度は、エアミックスダンパアクチュエータ１９によって制御される。温度調節された空気は、各吹出口２０、２１、２２（たとえば、ＤＥＦ、ＶＥＮＴ、ＦＯＯＴ吹出口）を介して車室内に吹き出される。各吹出口２０、２１、２２には、それぞれ選択的に作動可能なダンパ２３、２４、２５が設けられている。 The evaporator 13 as a cooler is disposed on the downstream side of the blower 7 in the ventilation duct 2, and a heater 17 including a heater core is disposed on the downstream side thereof. The ratio of the air passing through the heater 17 and the bypassing air is adjusted by the air mix damper 18, and the opening degree of the air mix damper 18 is controlled by the air mix damper actuator 19. The temperature-adjusted air is blown out into the vehicle compartment via the air outlets 20, 21, and 22 (for example, DEF, VENT, and FOOT air outlets). The air outlets 20, 21, and 22 are provided with dampers 23, 24, and 25 that can be selectively operated, respectively.

上記圧縮機７の容量制御信号は、メインコントローラ２６から送られ、クラッチコントローラ１６は、メインコントローラ２６からのクラッチ信号に基づいて制御されるようになっている。また、メインコントローラ２６からは、上記エアミックスダンパアクチュエータ１９に作動信号が送られる。メインコントローラ２６には、圧力センサ１４からの圧力検知信号（圧力センサ信号）が送られる。また、メインコントローラ２６には、冷却器１３の出口に設けられた蒸発器出口空気温度センサ２７からの検知信号、車室内温度センサ２８からの検知信号、外気温度センサ２９からの検知信号、日射センサ３０からの検知信号が送られるとともに、エンジン回転数信号３１、車速信号３２が送られるようになっている。 The capacity control signal of the compressor 7 is sent from the main controller 26, and the clutch controller 16 is controlled based on the clutch signal from the main controller 26. Further, an operation signal is sent from the main controller 26 to the air mix damper actuator 19. A pressure detection signal (pressure sensor signal) from the pressure sensor 14 is sent to the main controller 26. The main controller 26 also includes a detection signal from an evaporator outlet air temperature sensor 27 provided at the outlet of the cooler 13, a detection signal from a vehicle interior temperature sensor 28, a detection signal from an outside air temperature sensor 29, and a solar radiation sensor. A detection signal from 30 is sent, and an engine speed signal 31 and a vehicle speed signal 32 are sent.

上記圧縮機９は、クラッチ有り無しに関わらず、冷凍サイクルを構成できる。また、その容量制御方式は形式を問わないものとする。但し、容量制御信号は、圧縮機９の容量に相関があるものとする。さらに、蒸発器１３の出口空気温度制御は、圧縮機９の容量制御信号にて行う。 The compressor 9 can constitute a refrigeration cycle regardless of the presence or absence of a clutch. The capacity control method is not limited to any form. However, it is assumed that the capacity control signal has a correlation with the capacity of the compressor 9. Further, the outlet air temperature of the evaporator 13 is controlled by a capacity control signal of the compressor 9.

このようなシステムを用いて、本発明に係る制御は、たとえば図２、図３に示すように行われる。この実施例では、下記のように蒸発器出口空気温度制御と圧縮機トルク制御を実施することができる。まず、主として図２を参照して説明する。 Using such a system, the control according to the present invention is performed as shown in FIGS. 2 and 3, for example. In this embodiment, the evaporator outlet air temperature control and the compressor torque control can be performed as follows. First, a description will be given mainly with reference to FIG.

（１）蒸発器出口空気温度目標応答算出手段
蒸発器出口空気温度目標応答値（Tef）は、蒸発器出口空気温度目標値（Toff）を参照して、下記演算式により、算出されるものとする。
Tef＝（TL1×Toff＋Tc1×Tef(前回値)）／（Tc1＋TL1）
ここで、
TL1：制御周期
Tc1：蒸発器出口空気温度応答性指定値
である。 (1) Evaporator outlet air temperature target response calculation means The evaporator outlet air temperature target response value (Tef) is calculated by the following arithmetic expression with reference to the evaporator outlet air temperature target value (Toff). To do.
Tef = (TL1 x Toff + Tc1 x Tef (previous value)) / (Tc1 + TL1)
here,
TL1: Control cycle
Tc1: Evaporator outlet air temperature response specified value.

（２）蒸発器出口空気温度フィードフォワード制御入力予測手段
蒸発器出口空気温度フィードフォワード目標値（Toffc）と、外気温度（Tamb）と、車速（VS）と、送風機電圧（BLV）と、エンジン回転数（Ne）とを参照して、下記演算式により、蒸発器出口空気温度フィードフォワード制御入力（Icffte）を予測する。
Icffte＝f(Toffc，Tamb，Ne，VS，BLV)
但し、蒸発器出口空気温度フィードフォワード目標値（Toffc）は、蒸発器出口空気温度目標値（Toff）を参照して下記演算式にて算出されるものとする。
Toffc＝(TL2×Toff＋Tcte×Toffc(前回値))／(Tff＋TL2)
ここで、
TL2：制御周期
Tcte：蒸発器出口空気温度フィードフォワード指定値
である。 (2) Evaporator outlet air temperature feedforward control input prediction means Evaporator outlet air temperature feedforward target value (Toffc), outside air temperature (Tamb), vehicle speed (VS), blower voltage (BLV), engine rotation With reference to the number (Ne), the evaporator outlet air temperature feedforward control input (Icffte) is predicted by the following arithmetic expression.
Icffte = f (Toffc, Tamb, Ne, VS, BLV)
However, the evaporator outlet air temperature feedforward target value (Toffc) is calculated by the following arithmetic expression with reference to the evaporator outlet air temperature target value (Toff).
Toffc = (TL2 × Toff + Tcte × Toffc (previous value)) / (Tff + TL2)
here,
TL2: Control cycle
Tcte: Evaporator outlet air temperature feed forward specified value.

（３）蒸発器出口空気温度フィードバック制御入力演算手段
蒸発器出口空気温度フィードバック制御入力値(Icfbte)は、蒸発器出口空気温度目標応答値(Tef)と、蒸発器出口空気温度(Teva)を参照して、下記のような比例、積分演算を行うものとする。
Icfbte＝Pte(比例演算値)＋Ite(積分演算値)
Pte＝Kpte×(Teva−Tef)
Ite＝Iten-1＋Kpte/Kite×(Teva−Tef)
ここで、
Kpte：比例ゲイン
Kite：積分時間
Iten-1：Iteの前回演算値
である。 (3) Evaporator outlet air temperature feedback control input calculation means For evaporator outlet air temperature feedback control input value (Icfbte), refer to evaporator outlet air temperature target response value (Tef) and evaporator outlet air temperature (Teva) Then, the following proportional and integral operations are performed.
Icfbte = Pte (proportional value) + Ite (integral value)
Pte = Kpte × (Teva−Tef)
Ite = Iten-1 + Kpte / Kite x (Teva-Tef)
here,
Kpte: Proportional gain
Kite: Integration time
Iten-1: The previous calculation value of Ite.

（４）トルク目標値設定手段
トルク目標値（Trqr）は、蒸発器出口空気温度フィードフォワード制御入力値（Icffte）と、蒸発器出口空気温度フィードバック制御入力値（Icfbte）との和（Icte）と、外気温度（Tamb）と、エンジン回転数（Ne）、車速（VS）、送風機電圧（BLV）を参照して、演算するものとする。
Trqr=f（Icte、Tamb、Ne、VS、BLV）
Icte＝Icffte＋Icfbte
または、車両側からの指令値をトルク目標値としてもよい。 (4) Torque target value setting means The torque target value (Trqr) is the sum (Icte) of the evaporator outlet air temperature feedforward control input value (Icffte) and the evaporator outlet air temperature feedback control input value (Icfbte). The calculation is performed with reference to the outside air temperature (Tamb), engine speed (Ne), vehicle speed (VS), and blower voltage (BLV).
Trqr = f (Icte, Tamb, Ne, VS, BLV)
Icte = Icffte + Icfbte
Or it is good also considering the command value from the vehicle side as a torque target value.

（５）トルク目標応答算出手段
トルク目標応答値（Trqf）は、トルク目標値（Trqr）を参照して、下記演算式により、算出されるものとする。
Trqf＝（TL3×Trqr＋Tc2×Trqf( 前回値)）／（Tc2＋TL3）
ここで、
TL3：制御周期
Tc2：トルク応答性指定値
である。 (5) Torque target response calculation means The torque target response value (Trqf) is calculated by the following arithmetic expression with reference to the torque target value (Trqr).
Trqf = (TL3 x Trqr + Tc2 x Trqf (previous value)) / (Tc2 + TL3)
here,
TL3: Control cycle
Tc2: Torque response specified value.

（６）トルクフィードフォワード制御入力予測手段
トルクフィードフォワード目標値（Trqffc）と、外気温度（Tamb）と、エンジン回転数（Ne）と、車速（VS）と、送風機電圧（BLV）を参照して、下記演算式により、トルクフィードフォワード制御入力（Icfftrq）を予測する。
Icfftrq ＝f(Trqffc，Tamb，Ne，VS，BLV)
但し、トルクフィードフォワード目標値（Trqffc）は、トルク目標値（Trqr）を参照して下記演算式にて算出されるものとする。
Trqffc＝(TL4×Trqr＋Tctrq×Trqffc(前回値))／(Tctrq＋TL4)
ここで、
TL4 ：制御周期
Tctrq：トルクフィードフォワード指定値
である。 (6) Torque feedforward control input prediction means Refer to torque feedforward target value (Trqffc), outside air temperature (Tamb), engine speed (Ne), vehicle speed (VS), and blower voltage (BLV). The torque feedforward control input (Icfftrq) is predicted by the following arithmetic expression.
Icfftrq = f (Trqffc, Tamb, Ne, VS, BLV)
However, it is assumed that the torque feedforward target value (Trqffc) is calculated by the following arithmetic expression with reference to the torque target value (Trqr).
Trqffc = (TL4 x Trqr + Tctrq x Trqffc (previous value)) / (Tctrq + TL4)
here,
TL4: Control cycle
Tctrq: Torque feed forward specified value.

（７）トルク推定手段
高圧圧力（Pd）と、外気温度（Tamb）と、エンジン回転数（Ne）と、車速（VS）と、送風機電圧（BLV）とを参照して、現在の圧縮機トルク推定値（Trqc）を演算する。
Trqc＝f（Pd、Tamb、Ne、VS、BLV）
但し、この他のトルク推定方法に関しても、採用することは可能である。 (7) Torque estimation means Refer to the high pressure (Pd), outside air temperature (Tamb), engine speed (Ne), vehicle speed (VS), and blower voltage (BLV) to determine the current compressor torque. Calculate the estimated value (Trqc).
Trqc = f (Pd, Tamb, Ne, VS, BLV)
However, other torque estimation methods can also be adopted.

（８）トルクフィードバック制御入力演算手段
トルクフィードバック制御入力値(Icfbtrq)は、トルク目標応答値(Trqf)と、トルク推定値(Trqc)を参照して、下記のような比例、積分演算を行うものとする。
Icfbtrq＝Ptr(比例演算値)＋Itr(積分演算値)
但し、Ptr、Itrは下記演算を行う。
Ptr＝Kptr×(Trqf−Trqc)
Itr＝Itrn-1＋Kptr/Kitr×(Trqf−Trqc)
ここで、
Kptr：比例ゲイン
Kitr：積分時間
Itrn-1：Itrの前回演算値
である。 (8) Torque feedback control input calculation means The torque feedback control input value (Icfbtrq) refers to the torque target response value (Trqf) and the estimated torque value (Trqc), and performs the following proportional and integral calculations. And
Icfbtrq = Ptr (proportional value) + Itr (integral value)
However, Ptr and Itr perform the following calculation.
Ptr = Kptr × (Trqf−Trqc)
Itr = Itrn-1 + Kptr / Kitr × (Trqf−Trqc)
here,
Kptr: Proportional gain
Kitr: Integration time
Itrn-1: Itr's previous operation value.

（９）圧縮機容量制御手段
圧縮機容量制御信号(ECV sig)は、下記演算式により、トルクフィードフォワード制御入力値(Icfftrq)と、トルクフィードバック制御入力値(Icfbtrq)とを合算したものとする。
ECV sig ＝Icfftrq＋Icfbtrq
但し、クラッチを含む場合については、圧縮機容量制御信号(ECV sig)を参照して、クラッチをコントロールする。 (9) Compressor capacity control means Compressor capacity control signal (ECV sig) is obtained by adding the torque feedforward control input value (Icfftrq) and the torque feedback control input value (Icfbtrq) by the following arithmetic expression.
ECV sig = Icfftrq + Icfbtrq
However, when the clutch is included, the compressor capacity control signal (ECV Refer to sig) to control the clutch.

以下に、冷凍サイクルの圧縮機容量（蒸発器温度及び圧縮機トルク）制御方法について、上述した制御演算値をもとに行う方法の例を、図３に示した制御フローを参照しながら説明する。 Hereinafter, an example of a method for performing the compressor capacity (evaporator temperature and compressor torque) control method of the refrigeration cycle based on the above-described control calculation values will be described with reference to the control flow shown in FIG. .

ステップＳ１で、蒸発器出口空気温度目標値（Toff）を設定し、ステップＳ２で、前述の如く、外気温度（Tamb）と、車速（VS）と、エンジン回転数（Ne）と、送風機電圧（BLV）と、蒸発器出口空気温度（Teva) のデータを読み込む。 In step S1, an evaporator outlet air temperature target value (Toff) is set, and in step S2, as described above, the outside air temperature (Tamb), the vehicle speed (VS), the engine speed (Ne), and the blower voltage ( BLV) and evaporator outlet air temperature (Teva) data.

ステップＳ３で、蒸発器出口空気温度目標応答算出手段により蒸発器出口空気温度目標応答値(Tef)を算出し、蒸発器出口空気温度フィードフォワード制御入力予測手段により、蒸発器出口空気温度フィードフォワード目標値（Toffc）も加えて参照し、蒸発器出口空気温度フィードフォワード制御入力（Icffte）を予測する。 In step S3, the evaporator outlet air temperature target response calculation means calculates the evaporator outlet air temperature target response value (Tef), and the evaporator outlet air temperature feedforward control input prediction means calculates the evaporator outlet air temperature feedforward target. The evaporator outlet air temperature feedforward control input (Icffte) is predicted with reference to the value (Toffc).

ステップＳ４で、蒸発器出口空気温度フィードバック制御入力演算手段により、蒸発器出口空気温度フィードバック制御入力値(Icfbte)を演算する。 In step S4, the evaporator outlet air temperature feedback control input calculation means calculates the evaporator outlet air temperature feedback control input value (Icfbte).

外部トルク制御指令値(Trqs)とする場合には、その指令値のデータを読み込み（ステップＳ５）、ステップＳ６で外部トルク制御指令値の有無の判定を行った後、外部指令値なしの場合には、トルク目標設定手段によりトルク目標値（Trqr）を算出し（ステップＳ７）、外部指令値ありの場合には、トルク目標設定手段によりトルク目標値（Trqr）を外部指令値とする（ステップＳ８）。 When the external torque control command value (Trqs) is used, the command value data is read (step S5), and after the presence / absence of the external torque control command value is determined in step S6, there is no external command value. The torque target value (Trqr) is calculated by the torque target setting means (step S7), and if there is an external command value, the torque target value (Trqr) is set to the external command value by the torque target setting means (step S8). ).

ステップＳ９で、トルク目標応答算出手段によりトルク目標応答値（Trqf）を算出し、トルクフィードフォワード制御入力予測手段によりトルクフィードフォワード制御入力（Icfftrq）を算出する。 In step S9, a torque target response value (Trqf) is calculated by the torque target response calculation means, and a torque feedforward control input (Icfftrq) is calculated by the torque feedforward control input prediction means.

ステップＳ１０で、トルク推定に必要なデータを読み込み、ステップＳ１１で、トルク推定手段によりトルク推定値（Trqc）を算出する。 In step S10, data necessary for torque estimation is read, and in step S11, a torque estimation value (Trqc) is calculated by the torque estimation means.

ステップＳ１２で、トルクフィードバック制御入力演算手段によりトルクフィードバック制御入力（Icfbtrq）を算出する。 In step S12, a torque feedback control input (Icfbtrq) is calculated by the torque feedback control input computing means.

ステップＳ１３で、圧縮機容量制御手段により、トルクフィードフォワード制御入力(Icfftrq)と、トルクフィードバック制御入力(Icfbtrq)との和を参照して、圧縮機容量制御信号(ECV sig)を算出し、容量制御コントローラへの入力とする。但し、クラッチを含む場合については、圧縮機容量制御信号(ECV sig)を参照して、クラッチをコントロールする。 In step S13, the compressor capacity control means refers to the sum of the torque feedforward control input (Icfftrq) and the torque feedback control input (Icfbtrq), and the compressor capacity control signal (ECV sig) is calculated and input to the capacity controller. However, when the clutch is included, the compressor capacity control signal (ECV Refer to sig) to control the clutch.

さらに、外部からのトルク指令値が入力された場合には、ステップＳ８において、外部指令値を参照し、その後のステップによりトルクのみを制御することも可能とする。さらに、ステップＳ９において、トルク目標応答値の演算は、外部トルク指令値の入力により、応答性に関するパラメータであるトルク応答性指定値を変更することで、通常制御とは異なる応答性とすることもある。 Further, when an external torque command value is input, it is possible to refer to the external command value in step S8 and control only the torque in the subsequent steps. Furthermore, in step S9, the torque target response value is calculated by changing the torque response specification value, which is a parameter related to response, by inputting an external torque command value, thereby making the response different from normal control. is there.

このように、上記実施例によれば、蒸発器温度および圧縮機トルクを同時に制御することができ、かつ、それぞれ目標とする応答性を持たせることができるので、オーバーシュートや応答遅れなどがなく、それぞれ所望の応答性で各目標値への制御を行うことが可能となる。また、トルクを推定して制御することができるので、トルクショックの低減やトルクの安定性向上にも寄与でき、しかも、蒸発器温度の安定性も良好に確保されるので、車両のドライバビリティー、空調制御における快適性の両立につながる。 As described above, according to the above embodiment, the evaporator temperature and the compressor torque can be controlled at the same time, and the respective responsiveness can be provided, so there is no overshoot or response delay. Thus, it is possible to control each target value with a desired response. In addition, since torque can be estimated and controlled, it can contribute to reduction of torque shock and torque stability, and the stability of the evaporator temperature is also ensured. This leads to a balance of comfort in air conditioning control.

本発明に係る制御装置は、制御対象を制御するに際し、複数の制御量を有する場合、それらをすべて目標とする応答性をもって制御することが望まれるあらゆる制御装置に適用でき、とくに、車両用空調装置の冷凍サイクルにおける蒸発器の温度制御と圧縮機のトルク制御に適用して好適なものである。 The control device according to the present invention can be applied to any control device in which it is desired to control all of them with a target responsiveness when there are a plurality of control amounts when controlling a controlled object. It is suitable for application to temperature control of the evaporator and torque control of the compressor in the refrigeration cycle of the apparatus.

本発明の一実施態様に係る制御装置としての、冷凍サイクル制御装置を含む車両用空調装置の機器系統図である。It is an equipment distribution diagram of a vehicle air conditioner including a refrigerating cycle control device as a control device concerning one embodiment of the present invention. 図１の装置の制御ブロック図である。It is a control block diagram of the apparatus of FIG. 図２の制御を行うための制御フローチャートである。It is a control flowchart for performing control of FIG.

Explanation of symbols

１車両用空調装置
２通風ダクト
３内気導入口
４外気導入口
５内外気切替ダンパ
６モータ
７送風機
８冷凍サイクル
９可変容量圧縮機
１０凝縮器
１１受液器
１２膨張弁
１３蒸発器
１４圧力センサ
１５エンジン
１６クラッチコントローラ
１７加熱器
１８エアミックスダンパ
１９エアミックスダンパアクチュエータ
２０、２１、２２吹出口
２３、２４、２５ダンパ
２６メインコントローラ
２７蒸発器出口空気温度センサ
２８車室内温度センサ
２９外気温度センサ
３０日射センサ
３１エンジン回転数信号
３２車速信号 DESCRIPTION OF SYMBOLS 1 Vehicle air conditioner 2 Ventilation duct 3 Inside air introduction port 4 Outside air introduction port 5 Inside / outside air switching damper 6 Motor 7 Blower 8 Refrigeration cycle 9 Variable capacity compressor 10 Condenser 11 Receiver 12 Expansion valve 13 Evaporator 14 Pressure sensor 15 Engine 16 Clutch controller 17 Heater 18 Air mix damper 19 Air mix damper actuator 20, 21, 22 Air outlet 23, 24, 25 Damper 26 Main controller 27 Evaporator outlet air temperature sensor 28 Car interior temperature sensor 29 Outside air temperature sensor 30 Solar radiation Sensor 31 Engine speed signal 32 Vehicle speed signal

Claims

A control target control means for operating a control target based on a control input to control a control amount, a control target first control amount detection means for detecting a control target first control amount, and a control target second control amount are estimated. Alternatively, the control target second control amount estimation means to be detected, the control target first control amount target value setting means for setting the control target first control amount target value, and the control target second control amount target value are calculated and set. Control target second control amount target value setting means, control input calculation means for calculating a control input to the control target, and in a transient state for the first control variable of the control target to reach the first control amount target value The control target first control amount target response calculation means for calculating and specifying the target response, and the deviation between the control target first control amount target response value and the control target first control amount are calculated to calculate the feedback first control input. Control target first controlled variable feedback A control target second control amount feedback control input calculation means for calculating a feedback second control input with reference to a control input calculation means, a deviation between the control target second control amount target value and the control target second control amount; Control target first feedforward control input calculating means for calculating a feedforward first control input necessary for realizing a transient characteristic in the target response calculated by the control target first control amount target response calculating means; And a control target second feedforward control input calculating means for calculating a feedforward second control input necessary for realizing the second control amount target value calculated by the two controlled variable target value setting means. Then, the control target first control amount target value setting means sets a control target first control amount target value, and the control target first control amount target response is set. A first control amount target response value is calculated by the output unit, and detected by the control target first control amount feedback control input calculation unit by the first control amount target response value and the control target first control amount detection unit. A feedback first control input is calculated with reference to the first control amount, a feedforward first control input is calculated by the control target first feedforward control input calculating means, and the sum of the feedback and the feedforward first control input is calculated. , A control target second control amount target value is set by the control target second control amount target value setting means, and a second control amount target value is set by the control target second control amount feedback control input calculation means, A feedback second control input is calculated with reference to the second control amount estimated or detected by the control target second control amount estimation means. A feedforward second control input is calculated by the control target second feedforward control input calculation means, a control input is calculated by the control input calculation means with reference to a sum of the feedback and the feedforward second control input, The control device, wherein the control target control means controls the first and second control amounts of the control target.

A control target control means for operating a control target based on a control input to control a control amount, a control target first control amount detection means for detecting a control target first control amount, and a control target second control amount are estimated. Alternatively, the control target second control amount estimation means to be detected, the control target first control amount target value setting means for setting the control target first control amount target value, and the control target second control amount target value are calculated and set. Control target second control amount target value setting means, control input calculation means for calculating a control input to the control target, and in a transient state for the first control variable of the control target to reach the first control amount target value Control target first control amount target response calculation means for calculating and specifying the target response, and control target for calculating and specifying the target response in the transient state for the second control amount of the control target to reach the second control amount target value A second controlled variable target response calculating means; A control target first control amount feedback control input calculating means for calculating a feedback first control input with reference to a deviation between the target first control amount target response value and the control target first control amount, and a control target second control amount target Calculated by a control target second control amount feedback control input calculating means for calculating a feedback second control input with reference to a deviation between the response value and the control target second control amount, and the control target first control amount target response calculating means Control target first feedforward control input calculation means for calculating a feedforward first control input necessary to realize a transient characteristic in the target response to be calculated, and a target calculated by the control target second control amount target response calculation means Control target second feedforward control input for calculating a feedforward second control input necessary to realize a transient characteristic in response A control device including a calculation unit, wherein a first control amount target value to be controlled is set by the control target first control amount target value setting unit, and a first control amount target response calculation unit by the control target first 1 control amount target response value is calculated, the control target first control amount feedback control input computing means detects the first control amount target response value and the first control amount detected by the control target first control amount detection means. A feedback first control input is calculated, a feedforward first control input is calculated by the control target first feedforward control input calculating means, and a sum of the feedback and the feedforward first control input is referred to. A control target second control amount target value is set by the control target second control amount target value setting means, and the control target second control amount target response calculation means sets a first value. A second controlled variable target response value is calculated, and is estimated or detected by the controlled target second controlled variable feedback control input calculating means by the second controlled variable target response value and the controlled target second controlled variable estimating means. A feedback second control input is calculated with reference to the control amount, a feedforward second control input is calculated by the control target second feedforward control input calculating means, and the sum of the feedback and the feedforward second control input is referred to The control input is calculated by the control input calculation means, and the control target control means controls the first and second control amounts of the control target.

3. The control device according to claim 1, wherein the control target second control amount estimation unit estimates the control target second control amount from a physical quantity correlated with the second control amount of the control target.

A refrigerant variable capacity compressor whose capacity is changed by an external control signal, a condenser that condenses high-temperature and high-pressure refrigerant, a refrigerant cycle that cools air blown into the room as a cooler, and an evaporator A blower for blowing air, an evaporator target temperature setting means for setting a target temperature of the evaporator, an evaporator temperature detecting means for detecting an evaporator temperature or an evaporator outlet air temperature, and an evaporator for controlling the evaporator temperature A temperature control means; an evaporator temperature target response calculating means for calculating and specifying a target response in a transient state for the evaporator temperature or the evaporator outlet air temperature to reach the evaporator target temperature; an evaporator temperature target response value; An evaporator temperature feedback control input calculating means for calculating an evaporator temperature feedback control input with reference to a deviation from the evaporator temperature or the evaporator outlet air temperature, and the evaporator temperature Evaporator temperature feedforward control input predicting means for predicting the evaporator temperature feedforward control input necessary to realize the transient characteristics in the target response calculated by the target response calculating means, and calculating and setting the torque target value of the compressor Torque target value setting means for performing the estimation, detecting torque for estimating or detecting the compressor torque, torque feedback for calculating the compressor torque feedback control input with reference to the torque recognition value of the compressor and the torque target value of the compressor Control input calculating means, torque feedforward control input predicting means for predicting compressor torque feedforward control input necessary for realizing the torque target value calculated by the torque target value setting means, and controlling the capacity of the compressor A capacity control means and a capacity control signal function for calculating a capacity control signal to the capacity control means; A target temperature of the evaporator is set by the evaporator target temperature setting means, an evaporator temperature target response value is calculated by the evaporator temperature target response calculating means, and the evaporation The evaporator temperature feedback control input calculation means refers to the deviation between the evaporator temperature target response value and the evaporator temperature detected by the evaporator temperature detection means or the evaporator outlet air temperature, and the evaporator temperature feedback control input is The evaporator temperature feedforward control input prediction means calculates the evaporator temperature feedforward control input, refers to the sum of the evaporator temperature feedback and feedforward control input, and the torque target value setting means sets the torque target. The value is calculated and set, and the torque feedback control input calculating means The torque feedback control input is calculated by referring to the torque target value and the torque recognition value of the compressor estimated or detected by the torque recognition means, and the torque feedforward control input is calculated by the torque feedforward control input calculation means. , Referring to the sum of the torque feedback and the feedforward control input, the control input value for the compressor capacity control is calculated by the capacity control signal calculation means and output to the capacity control means, and the evaporator as the control amount A refrigeration cycle control device, wherein the temperature or the evaporator outlet air temperature and the compressor torque are controlled.

A refrigerant variable capacity compressor whose capacity is changed by an external control signal, a condenser that condenses high-temperature and high-pressure refrigerant, a refrigerant cycle that cools air blown into the room as a cooler, and an evaporator A blower for blowing air, an evaporator target temperature setting means for setting a target temperature of the evaporator, an evaporator temperature detecting means for detecting an evaporator temperature or an evaporator outlet air temperature, and an evaporator for controlling the evaporator temperature A temperature control means; an evaporator temperature target response calculating means for calculating and specifying a target response in a transient state for the evaporator temperature or the evaporator outlet air temperature to reach the evaporator target temperature; an evaporator temperature target response value; An evaporator temperature feedback control input calculating means for calculating an evaporator temperature feedback control input with reference to a deviation from the evaporator temperature or the evaporator outlet air temperature, and the evaporator temperature Evaporator temperature feedforward control input predicting means for predicting the evaporator temperature feedforward control input necessary to realize the transient characteristics in the target response calculated by the target response calculating means, and calculating and setting the torque target value of the compressor Torque target value setting means, torque target response calculation means for calculating and specifying a target response in a transient state for the compressor torque to reach the torque target value, and torque recognition means for estimating or detecting the compressor torque And a torque feedback control input calculating means for calculating a compressor torque feedback control input with reference to the compressor torque recognition value and the compressor torque target response value, and a transient in the target response calculated by the torque target response calculating means. Torque flow that predicts the compressor torque feedforward control input required to realize the characteristics A refrigeration cycle control apparatus comprising: a forward-forward control input prediction means; a capacity control means for controlling the capacity of the compressor; and a capacity control signal calculation means for calculating a capacity control signal to the capacity control means. A target temperature of the evaporator is set by the target temperature setting means, an evaporator temperature target response value is calculated by the evaporator temperature target response calculating means, and an evaporator temperature target response value is calculated by the evaporator temperature feedback control input calculating means. The evaporator temperature feedback control input is calculated with reference to the deviation between the evaporator temperature or the evaporator outlet air temperature detected by the evaporator temperature detecting means, and the evaporator temperature feedforward control input predicting means evaporates. Evaporator temperature feedforward control input is predicted, evaporator temperature feedback and feedforward control Referring to the sum of inputs, a torque target value is calculated and set by the torque target value setting means, a torque target response value is calculated by the torque target response calculating means, and a torque target response is calculated by the torque feedback control input calculating means. A torque feedback control input is calculated with reference to the value and a torque recognition value of the compressor estimated or detected by the torque recognition means, and a torque feedforward control input is calculated by the torque feedforward control input calculation means, Referring to the sum of torque feedback and feedforward control input, the control input value for compressor capacity control is calculated and output to the capacity control means by the capacity control signal calculation means, and the evaporator temperature or Evaporator outlet air temperature and compressor torque are controlled Refrigeration cycle control device for.

The refrigeration cycle control device according to claim 4 or 5, wherein the torque recognition means estimates the torque of the compressor from a physical quantity correlated with the torque of the compressor.

7. The refrigeration cycle control device according to claim 6, wherein the torque recognition means further estimates the compressor torque from a physical quantity correlated with the refrigeration cycle heat load and the compressor torque.

5. The torque target value setting means sets a target torque by referring to a sum of the evaporator temperature feedforward and feedback control input and referring to a refrigeration cycle heat load. The refrigeration cycle control apparatus in any one of -7.

The refrigeration cycle control device according to any one of claims 4 to 8, wherein the torque target value setting means sets a target torque with reference to a torque command value from a vehicle.

When setting the torque target value of the compressor with reference to the torque command value from the vehicle, the calculation method of the torque target response value in the torque target response calculation means is changed to a method different from the normal time, and the torque target value The refrigeration cycle control device according to claim 9, wherein the transient response is different from that in normal times.

The physical quantity correlated with the torque of the compressor is composed of at least one of compressor discharge pressure, condenser inlet pressure, condenser outlet pressure, evaporator temperature, and evaporator outlet air temperature. The refrigerating cycle control apparatus in any one.

The refrigeration cycle heat load includes a physical quantity correlated with the outside air temperature, a physical quantity correlated with the air flow to the evaporator, a physical quantity correlated with the vehicle speed, a physical quantity correlated with the rotational speed of the vehicle prime mover, and the condenser The refrigeration cycle control apparatus according to any one of claims 7 to 11, wherein the refrigeration cycle control apparatus is obtained by detecting all or at least one of physical quantities having a correlation with the blast volume.

The refrigeration cycle control device according to any one of claims 4 to 12, wherein the variable capacity compressor is a capacity variable compressor based on a capacity control signal or a capacity variable compressor based on rotation speed control.