JP2008202484A - Electronic control device and feed back control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an electronic control device and a feed back control method capable of quickly and accurately controlling a drive mechanism of a control object having hysteresis friction toward a demand target value from a present value (actual opening). <P>SOLUTION: The electronic control device performing feed back control by integration operation to set the control object to the target value from deviation of actual measured value of the control object from the target value based on an established predetermined transfer function with inputting target values of the control object in order, is provided with a drive signal control means operating and outputting operation quantity for driving a drive device relating to the control object based on the deviation of the actual measured value from the target value of the control object, and a drive circuit driving the drive device based on the drive signal. The drive signal control means operates and outputs the drive signal by adding predetermined hysteresis compensation quantity to the operated operation quantity and integrating the hysteresis compensation values. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an electronic control device and a feedback control method for inputting a deviation between an actual measurement value of a control target and a target value, and calculating and outputting an operation amount to the control target so that the control target takes a target value.

  As one of the control technique methods for controlling the physical quantity to be controlled to the required target value, there is feedback control in which the output value from the control device is fed back to the input side. Furthermore, there is PID control as one form of this feedback control. In PID control, the physical quantity to be controlled is controlled by an appropriate combination of three control elements (control terms), ie, the deviation between the current input value and the target value, its integration, and differentiation. It is the main control method for the device.

  Here, the P (proportional) control term in the PID control controls the input value as a linear function of the deviation between the output value and the target value. The I (integral) control term in PID control controls the input value in proportion to the integral value (accumulated amount) of the deviation between the output value and the target value, and the D (differential) control term is the input value. Is controlled in proportion to the differential value (change rate) of the deviation between the output value and the target value, and the PID control is intended to be controlled as a combination of these control terms.

  As an example in which such feedback control or PID control is applied to control of a throttle valve (throttle valve device) of an internal combustion engine (engine), JP-A-5-240070 (Patent Document 1) and JP-A-7-121200. Publication (patent document 2) is mentioned.

  In the throttle actuator of the internal combustion engine described in Patent Document 1, hysteresis friction is generated in the forward direction and the reverse direction of a DC machine (DC motor) that drives the throttle valve, making it difficult to control the position of the throttle valve. In addition, in view of the technical problems of the prior art, such as the armature is applied with a pressing force and does not generate a force to overcome this, the direct current motor does not start rotating and the reaction characteristics at the start are bad. A brushless motor is used as the actuator drive device, the stator winding of the brushless motor, the rotor rotating by the change in magnetic flux of the stator winding, the intake passage for supplying intake air to the internal combustion engine, In the throttle actuator of an internal combustion engine having a throttle valve arranged in the intake passage to increase or decrease intake air, the rotor By reducing the rotational discloses an actuator arranged to lift equip a reduction means for transmitting to said throttle valve.

In Patent Document 2, the driving torque of the brushless motor that drives the actuator is proportional to the phase current Is (= PWM duty), and the position feedback control of the throttle valve that uses the motor determines the current throttle opening. When shifting to the next throttle opening, control is performed to increase / decrease the motor drive torque by increasing / decreasing the phase current Is from the current value, but the throttle valve operates even if the phase current Is is changed in the hysteresis torque region. Therefore, the response is hindered, so the brushless motor is based on the opening deviation between the actual throttle valve opening obtained from the throttle opening sensor and the target value given from the vehicle side of the set throttle valve opening. The phase current value that is energized in the stator winding is calculated and corresponds to the calculated phase current value. Motor control means for outputting WM duty, motor drive means for supplying current to the brushless motor based on a command from the motor control means, and PWM duty correction corresponding to hysteresis torque generated when the throttle valve is driven An intake air amount control device including a correcting unit is disclosed.
JP-A-5-240070 JP-A-8-121200

  However, in the throttle valve actuator device described in Patent Document 1, even if a brushless motor is used as the driving device, a bearing that supports the throttle valve rotating shaft, a seal that prevents foreign matter from entering from the outside, a speed reducer and a gear Because of the presence of frictional resistance in sliding parts other than the brush commutator, such as a return spring for closing the throttle valve in the event of an abnormality, or even inside a brushless motor, the hysteresis torque for the rotational direction is not eliminated, and the intended throttle valve It is difficult to obtain a rotation operation amount.

  Further, the intake air amount control device described in the cited document 2 has a strong nonlinear characteristic due to the hysteresis friction of the drive mechanism in the relationship between the operation amount and the movement amount in the case of a DC motor that drives a throttle valve, as compared with a brushless motor. Therefore, if the correction value for PWM duty increases and the actual opening of the throttle valve becomes the required opening after the operating amount is increased or decreased, the operating amount becomes zero as if the operating amount was zero. Thus, the opening degree of the throttle valve that is the object of control may not be stable in a steady state. For example, when the required opening is larger than the actual opening, the actual opening does not always increase monotonously until the manipulated variable reaches the target value, and the control-side characteristics are appropriately There were problems such as not being reflected.

  The present invention provides an electronic control device and a feedback control method capable of quickly and accurately controlling a drive mechanism to be controlled having hysteresis friction from a current value (actual opening) to a required target value. The purpose is to do.

  Therefore, according to the present invention, the target value of the control target is sequentially input, and the control target becomes the target value from the deviation between the actual measurement value of the control target and the target value based on a predetermined transfer function that has been set. In the electronic control device that performs feedback control by integral operation as described above, drive signal control means that calculates and outputs an operation amount for driving the drive device related to the control target based on a deviation between the target value of the control target and the actual measurement value; A drive circuit that drives the drive device based on the drive signal, and the drive signal control means adds a predetermined hysteresis compensation amount to the calculated operation amount and integrates and adds the hysteresis compensation value. The electronic control device is characterized in that the drive signal is calculated and output.

  Here, the hysteresis compensation value takes a predetermined different value according to a change in the operation amount with respect to the target value. Specifically, the hysteresis compensation value takes a predetermined negative value when (i) the operation amount is decreased from the increase, and (ii) a predetermined value when the operation amount is increased from the decrease. A positive value is taken, and (iii) when the operation amount is continuously increased or decreased, zero is taken.

  The hysteresis compensation value takes the predetermined positive value when (iv) the operation amount is increased after maintaining a constant value for a predetermined time or more, and (v) the operation amount is a predetermined time or more. In the case of decreasing after maintaining a constant value, the predetermined negative value is taken.

  Further, the hysteresis compensation value takes (vi) the predetermined positive value when maintaining the operation amount after decreasing the operation amount, and (vii) the operation amount after increasing the operation amount. When maintaining the above, the predetermined negative value is taken.

  The object to be controlled is an opening of a throttle valve for supplying a necessary amount of air to the internal combustion engine, and the drive device is a drive motor for adjusting the opening of the throttle valve.

  The present invention is further a feedback control method for performing integral operation control so that the control target becomes the target value from a deviation between an actual measurement value of the control target and a target value based on a set predetermined transfer function, (A) sequentially inputting a target value of the control object; (b) obtaining a deviation between the target value of the control object and an actual measurement value; and (c) driving the control object based on the deviation. A step of calculating an operation amount for driving the device; (d) adding a predetermined hysteresis compensation amount to the calculated operation amount; and (e) calculating and outputting the drive signal by integrating and adding the hysteresis compensation value. And an electronic device control method characterized by comprising the steps of:

  As a result, the electronic control device and the control method according to the present invention provide the required target from the current value (actual opening) even if the control target has strong nonlinear characteristics due to hysteresis friction of the drive mechanism in the relationship between the operation amount and the movement amount. This makes it possible to control the control object accurately with high responsiveness and without overshooting or vibrating the control target.

  In the following, the electronic control device and the feedback control method according to the present invention are adapted to the operating state of the internal combustion engine (hereinafter referred to as “engine”) to supply the required appropriate amount of air. This will be described in detail as an embodiment applied to the apparatus.

  FIG. 1 shows a connection between a throttle valve 12 connected to an intake pipe (not shown) connected to a combustion chamber (not shown) of an engine and an electronic control device 11 of the present invention for controlling the opening degree of the intake passage. Show the relationship. FIG. 1 shows a configuration example in the case where the electronic control device 11 is an element constituting an engine control unit (ECU). A throttle valve controller that exclusively controls a throttle valve separately from such an ECU. It is also possible to configure as an electronic control device.

  The control target of the electronic control device (throttle valve controller) 11 is the amount of air to be supplied to the combustion chamber of the engine, and the required air amount that is the target value of the control target corresponds to the required air amount or this. The target opening of the throttle valve is sequentially received as input data from an engine control unit (ECU) that comprehensively controls the engine. The required air amount transmitted from the ECU or the target opening corresponding thereto is comprehensively determined in the ECU in view of the amount of depression of the accelerator pedal of the vehicle on which the engine is mounted, the operating state of the internal combustion engine, the exhaust gas countermeasures, and the like. The In addition, the actual measurement value of the controlled object in the present invention is the actual opening of the throttle valve 12 and means data input from an opening sensor attached to the throttle valve 12.

  The throttle valve 12 adjusts the amount of intake air flowing through the intake pipe, which is an intake passage to the engine. Therefore, the throttle valve device includes the throttle valve 12, a DC motor 13 for adjusting the opening of the throttle valve 12, and an opening sensor 14 for detecting the opening. The DC motor 13 and the opening sensor 14 are connected to the electronic control device 11. The DC motor 13 receives the drive signal from the electronic control unit 11 and rotates the throttle valve 12 around the axis to change its opening. The opening sensor 14 detects the current actual opening of the throttle valve 12 and outputs this to the electronic control unit 11. Here, the throttle valve of the throttle valve 12 moves in the direction of opening or closing the throttle valve 12 by the rotational torque of the DC motor 13, and the throttle valve is always closed with a predetermined force by a return spring (not shown). It comes to be energized.

  The electronically controlled throttle valve 12 controlled by the electronic control unit 11 is directly connected to the accelerator pedal through mechanical means such as a wire, like a conventional mechanically operated throttle valve. Instead, the ECU determines the opening of the throttle valve based on the output value of the level sensor that detects the depression amount of the accelerator pedal and other various vehicle parameter signals, and the electronic control unit 11 is input from the opening sensor 11. An operation amount for the DC motor 13 is determined from the opening and an opening request value (target value) from the ECU, and a drive signal based on the determined operation amount is output from the electronic control device 11 to the DC motor 13. I am doing so. Here, the various vehicle parameters input to the ECU include various signals such as the amount of depression of the accelerator pedal, the engine coolant temperature, the engine speed, and the shift state of the automatic transmission.

FIG. 2 shows an example of the overall hardware configuration of the electronic control unit 11 of the present invention.
As shown in FIG. 2, the electronic control unit (drive signal control means) 11 includes a ROM 21 for storing programs and fixed data, a RAM 23 for storing variation data, and an input interface circuit 24 including an A / D conversion circuit. And an output interface 25 including a D / A conversion circuit and the like, and a CPU 22. A so-called one-chip microprocessor may be used as the electronic control means 11, or another custom-made processor chip such as an ASIC may be used. The microprocessor constituting the electronic control unit 11 stores a transfer function, a control constant, and the like in advance in the ROM 21 and RAM 23 from the outside, and an actual opening degree signal of the throttle valve 12 input from the opening degree sensor 14. Based on the requested opening degree signal of the throttle valve 12 input from the ECU side, a drive signal for operating the direct current motor 13 for adjusting the opening degree of the throttle valve 12 is calculated and calculated. An arithmetic processing unit that outputs a drive signal to the drive circuit 26 to be driven is configured.

  As will be described in detail later, in the electronic control unit 11, the predetermined hysteresis compensation amount added to the operation amount calculated in the arithmetic processing unit is variable data that can be updated with time even if stored in the ROM 21 as fixed data. May be stored in the RAM 23. In addition to storing such reference data, the RAM 23 is also used as a buffer for temporarily storing numerical values and data necessary for execution of arithmetic processing by the processor and reading them as needed.

FIG. 3 shows an example of the overall configuration of the electronic control device according to the present invention.
As described above, the feedback control of the electronic control device 11 is widely performed by expressing a control function expression including the above-described PID control by a transfer function. The transfer function is represented by the ratio of Laplace transform between the output and input of the control system when all initial values are set to zero. Generally, the Laplace transform of the output signal is Y (s), and the Laplace transform of the input signal. When the conversion is U (s), the transfer function G (s) is expressed as Y (s) / U (s). In the transfer function used in the present invention, a time domain function is converted to a discrete signal function by Laplace transform and further Z transform. Such a transfer function is convenient for analyzing the characteristics and stability of the control system, and is therefore widely used in the control of various current electronic devices.

  The electronic control unit 11 performs integral operation control based on a predetermined transfer function that is set so that the control target becomes the target value from the deviation between the actual measurement value of the control target and the target value. As shown in FIG. 3, the electronic control unit 11 includes a control unit 31 that inputs a target value to be controlled and an actual measurement value, obtains a deviation thereof, and outputs an operation amount, and a predetermined hysteresis compensation value for the operation amount. Compensation means 32 for adding For this reason, the compensation means 32 has storage means for storing a hysteresis compensation value that takes a predetermined different value (a plurality of values having a plus or minus sign) in accordance with a change in the manipulated variable with respect to the target value. is there.

  The electronic control unit 11 further includes a previous compensation value storage means 33 for storing the previous hysteresis compensation value used in the previous control cycle, and the previous compensation value is described in detail in FIG. Then, the control means 31 is re-inputted, and the control means 31 calculates and outputs the final manipulated variable output to the drive signal generating means side by integrating and adding the hysteresis compensation value. Then, in the drive signal generation means 34, the integrated and added operation amount is converted into a drive signal of, for example, a PWM (Pulse Width Modulation) signal, and the drive device (DC motor 13 for adjusting the opening of the throttle valve). To drive.

  FIG. 4 shows the configuration of the control means 31 constituting the electronic control apparatus 11 shown in FIG. As shown in FIG. 4, in addition to the above-described I (integration) control, the control means 31 combines calculation values from the control means 35 other than integration such as P (proportional) control or D (differential) control. With the control configured as described above, it is possible to control the control target device (for example, the throttle valve device 12).

  In FIG. 4, the control means 31 constituting the electronic control device 11 inputs a target value to be controlled and an actual measurement value, obtains a deviation thereof, multiplies the deviation by a predetermined integration coefficient, and inputs the deviation to the integrator 36. . The integrator 36 is also supplied with the previous hysteresis compensation value used in the previous control cycle input from the previous compensation value storage means 33 described with reference to FIG. 3, and further from the output terminal of the integrator 36. Are fed back via the feedback path 37, and these input values are integrated. Then, a control calculation value other than the above-described integration is added to the integral calculation value to determine the operation amount to the drive device (DC motor 13 that adjusts the opening of the throttle valve).

  FIG. 5 shows the configuration of the compensation means 32 constituting the electronic control apparatus 11 shown in FIG. This compensation means 32 is an operation amount for driving the drive device (DC motor 13 that adjusts the opening of the throttle valve) related to the control object based on the deviation between the target value of the control object of the electronic control device 11 and the actual measurement value. Is obtained to obtain a compensation value obtained by adding a predetermined hysteresis compensation value to the computed manipulated variable. For this reason, as shown in FIG. 5, the compensation unit 32 includes a compensation value setting unit 38 and a previous operation amount storage unit 39.

  As a feature of the present invention, the hysteresis compensation value output from the compensation value setting means 38 (hereinafter referred to as “compensation value” as appropriate) has a predetermined different value according to the “change” of the operation amount with respect to the target value to be controlled. Therefore, the previous operation amount storage means 39 for storing the operation amount in the previous control cycle is provided, and the value (compensation value including the sign) is changed by comparing the current operation amount with the previous operation amount. I am doing so.

  6 shows a functional block diagram for explaining the function of the compensation means shown in FIG. 5, FIG. 6 (a) shows an example of a basic functional block diagram of the present invention, and FIG. 6 (b) shows the present functional block diagram. 2 shows an example of a complementary functional block diagram of the invention.

  FIG. 7 shows a result table of the functional blocks shown in FIG. 6 (that is, a compensation value logically calculated by the compensation value setting means 38), and FIG. 7 (a) is shown in FIG. 6 (a). FIG. 7B shows a logical operation result by the basic functional block, and FIG. 7B shows a logical operation result by the complementary functional block shown in FIG. 6B.

As shown in FIGS. 6 and 7, the hysteresis compensation value compares the operation amount in the previous control cycle with the operation amount in the current control cycle (operation amount comparison 41 in FIG. 6). Corresponding to “increase”, “decrease” or “no change” with respect to the operation amount, “+”, “−”, “0” is output at the sign setting 42, and the previous sign storage means Corresponding to the sign of the previous operation amount stored in (39), “+”, “−” or “0”, the following three different hysteresis compensation values are obtained.
(I) Predetermined negative value when the current manipulated variable is decreased from the increase in the previous manipulated variable (ii) Predetermined positive value (iii) Current operation when the current manipulated variable is increased from the decrease in the previous manipulated variable To increase or decrease the amount continuously from the previous operation amount, zero (iv) to increase the current operation amount after maintaining a constant value for a predetermined time or more, to increase the predetermined positive value (v) current operation amount Is reduced after the constant value is maintained for a predetermined time or more, the predetermined negative value (vi) is decreased when the current operation amount is decreased and is maintained after the predetermined positive value (vii) is operated this time. In the case of maintaining the amount after increasing the amount, the predetermined negative value As described above, the electronic control device and the control method according to the present invention are configured so that the measured value of the object to be controlled is based on the set predetermined transfer function. Integration so that the control target becomes the target value from the deviation from the target value The target value of the control target is sequentially input to obtain the deviation between the target value and the actual measurement value, and the operation amount for driving the drive device related to the control target is calculated based on the deviation. Then, a predetermined hysteresis compensation amount obtained based on the above-described logical operation is added to the calculated operation amount, and the drive signal is calculated and output by integrating and adding the hysteresis compensation value.

FIG. 8 shows an operation amount to which a hysteresis compensation value is added when the electronic control device and the control method according to the present invention are applied to a throttle valve device having a predetermined hysteresis torque characteristic (resistance).
In the graph shown in FIG. 8, the horizontal axis represents the operation amount output from the drive signal control means of the electronic control device 11 to the throttle valve drive device (DC motor 13 shown in FIG. 1), and the vertical axis represents the throttle valve. Each opening is shown.

  The electronic control device of the present invention outputs an operation amount to the throttle valve drive device so that the opening degree of the throttle valve becomes a required opening degree (target opening degree) given from the outside. Since the throttle valve device and its drive device have hysteresis torque resistance, in order to set the throttle valve opening to the required opening, for example, the operation from the state (a) shown in FIG. In the operation, since the hysteresis resistance varies depending on the direction of the operation amount even at the same opening, the operation amount output to the throttle valve driving device is different. Therefore, in the present invention, the current operation amount is “increase”, “decrease”, or “no change” with respect to the previous operation amount, and the sign of the previous operation amount is “+”. Depending on whether it is “−” or “0”, the three different hysteresis compensation values as described above are obtained, and the operation amount to be output to the throttle valve driving device is determined. The degree is controlled to be a required opening degree (target opening degree) given from the outside.

  Here, the solid line area shown in FIG. 8 shows the relationship when the opening degree of the throttle valve moves to the + side or the − side, but the hatched area shown in FIG. (For example, one to several control cycle time or more) This is a region when the opening of the throttle valve is to be changed from a stationary state. For this reason, in the present invention, only the state change of “increase”, “decrease”, or “no change” with respect to the previous operation amount is set as the determination target for determining the compensation value with respect to the previous operation amount. Whether the sign of the manipulated variable is “+”, “−” or “0” is also set as a determination target for determining the compensation value.

  Note that the limp home position in the throttle valve device shown in FIG. 8 means the opening position of the throttle valve when the throttle valve driving device is not operating. The throttle valve of the throttle valve 12 shown in FIG. 1 moves in the direction of opening the throttle valve 12 by the rotational torque of the DC motor 13, and is urged by a return spring (not shown) to always close the throttle valve with a predetermined force. However, due to the setting of the limp home position, even when the drive signal is not output to the throttle valve drive device (DC motor 13) during idling operation of the vehicle, the minimum amount to the internal combustion engine is set. It is possible to maintain the air supply. The present invention can also be applied to opening control below this limp home position.

  The present invention provides feedback based on a predetermined transfer function set by sequentially inputting a target value of a control target so that the control target becomes the target value from a deviation between the actual measurement value of the control target and the target value. The present invention relates to an electronic control device to be controlled and a control method, and has industrial applicability.

A connection relationship between a throttle valve 12 connected to an intake pipe (not shown) connected to a combustion chamber (not shown) of an engine and an electronic control unit 11 of the present invention for controlling the opening degree of the intake passage is shown. The example of the whole hardware structure of the electronic control apparatus 11 of this invention is shown. The example of the whole structure of the electronic controller which concerns on this invention is shown. The structure of the control means 31 which comprises this electronic control apparatus 11 shown in FIG. 3 is shown. The structure of the compensation means 32 which comprises this electronic control apparatus 11 shown in FIG. 3 is shown. FIG. 6 (a) shows an example of a basic functional block diagram of the present invention, and FIG. 6 (b) is a complementary diagram of the present invention. An example of a functional block diagram is shown. FIG. 7A shows a result table of the functional block shown in FIG. 6, FIG. 7A shows a logical operation result by the basic functional block shown in FIG. 6A, and FIG. The logical operation result by the complementary functional block shown in FIG. 3 shows an operation amount to which a hysteresis compensation value is added when the electronic control device and the control method according to the present invention are applied to a throttle valve device having a predetermined hysteresis torque characteristic (resistance).

Explanation of symbols

11: Electronic control device (drive signal control means)
12: Throttle valve 13: DC motor 14: Opening sensor 21: ROM
22: CPU
23: RAM
24: input interface 25: output interface 26: drive circuit 31: control means (components of drive signal control means 11)
32: Compensation means (component of drive signal control means 11)
33: Previous compensation value storage means (component of drive signal control means 11)
34: Drive signal generation means (component of drive signal control means 11)

Claims (12)

Feedback control by integration operation so that the target value of the control target is sequentially input and the control target becomes the target value from the deviation between the measured value of the control target and the target value based on a predetermined transfer function that has been set In an electronic control device that performs
Drive signal control means for calculating and outputting an operation amount for driving the drive device related to the control object based on a deviation between the target value of the control object and the actual measurement value;
A drive circuit for driving the drive device based on the drive signal,
The drive signal control means adds a predetermined hysteresis compensation amount to the calculated manipulated variable, integrates and adds the hysteresis compensation value, and calculates and outputs the drive signal.   The electronic control apparatus according to claim 1, wherein the hysteresis compensation value takes a predetermined different value according to a change in the operation amount with respect to the target value. The hysteresis compensation value is
(I) When decreasing the manipulated variable from increasing, take a predetermined negative value,
(Ii) When increasing the manipulated variable from decreasing, take a predetermined positive value,
(Iii) When continuously increasing or decreasing the manipulated variable, take zero.
The electronic control device according to claim 2. The hysteresis compensation value is
(Iv) When increasing the manipulated variable after maintaining a constant value for a predetermined time or longer, take the predetermined positive value;
(V) When decreasing the manipulated variable after maintaining a constant value for a predetermined time or longer, take the predetermined negative value;
The electronic control device according to claim 3. The hysteresis compensation value is
(Vi) When maintaining the operation amount after reducing the operation amount, take the predetermined positive value,
(Vii) When maintaining the operation amount after increasing the operation amount, take the predetermined negative value,
The electronic control device according to claim 3 or 4, wherein The control object is an opening of a throttle valve for supplying an air amount necessary for the internal combustion engine,
The electronic control device according to claim 1, wherein the drive device is a drive motor that adjusts an opening degree of the throttle valve. A feedback control method for performing integral operation control so that the control target becomes the target value from a deviation between an actual measurement value of the control target and a target value based on a predetermined transfer function set,
(A) sequentially inputting the target value of the control object;
(B) obtaining a deviation between the target value of the control object and the actual measurement value;
(C) calculating an operation amount for driving the drive device according to the control object based on the deviation;
(D) adding a predetermined hysteresis compensation amount to the calculated operation amount;
(E) calculating and outputting the drive signal by integrating and adding the hysteresis compensation value;
An electronic device control method comprising the steps of:   The feedback control method according to claim 7, wherein the hysteresis compensation value takes a predetermined different value according to a change in the operation amount with respect to the target value. The hysteresis compensation value is
(I) When decreasing the manipulated variable from increasing, take a predetermined negative value,
(Ii) When increasing the manipulated variable from decreasing, take a predetermined positive value,
(Iii) When continuously increasing or decreasing the manipulated variable, take zero.
The feedback control method according to claim 8. The hysteresis compensation value is
(Iv) When increasing the manipulated variable after maintaining a constant value for a predetermined time or longer, take the predetermined positive value;
(V) When decreasing the manipulated variable after maintaining a constant value for a predetermined time or longer, take the predetermined negative value;
The feedback control method according to claim 9. The hysteresis compensation value is
(Vi) When maintaining the operation amount after reducing the operation amount, take the predetermined positive value,
(Vii) When maintaining the operation amount after increasing the operation amount, take the predetermined negative value,
The feedback control method according to claim 9 or 10, characterized in that: The control object is an opening of a throttle valve for supplying an air amount necessary for the internal combustion engine,
The feedback control method according to claim 7, wherein the drive device is a drive motor that adjusts an opening degree of the throttle valve.

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