JP2017201656A - Device and method for controlling linear solenoid - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device and a method for controlling a linear solenoid, capable of improving convergence properties and responsiveness when the linear solenoid is controlled.SOLUTION: A device for controlling a linear solenoid according to an aspect of an embodiment includes: a drive part; a determination part; an update part; and a switching part. The drive part drives a linear solenoid with a driving current according to a target current. The determination part determines an initial target current according to the target lift volume of the linear solenoid. The update part updates the target current based on an actual lift volume and the target lift volume of the linear solenoid detected by a lift sensor. In the switching part, the target current is switched to the target current updated by the update part from the initial target current determined by the determination part in accordance with a predetermined switching condition.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a linear solenoid control device and a linear solenoid control method.

  Conventionally, for example, a solenoid valve using a linear solenoid is known as an EGR valve of an internal combustion engine mounted on a vehicle. In such a solenoid valve, control is performed such that the lift amount of the linear solenoid is set to a target lift amount by performing current feedback control on the linear solenoid (see, for example, Patent Document 1).

JP 09-72452 A

  However, in the conventional linear solenoid control, since current feedback control is performed, there is a trade-off relationship between responsiveness and convergence. That is, if the lift amount of the linear solenoid is made to reach the target lift amount faster, hunting occurs and the convergence is lowered. On the other hand, if an attempt is made to suppress hunting, it takes time to reach the target lift amount and the responsiveness decreases.

  The present invention has been made in view of the above, and it is an object of the present invention to provide a linear solenoid control device and a linear solenoid control method capable of improving convergence and response when controlling a linear solenoid. And

  In order to solve the above-described problems and achieve the object, a linear solenoid control device of the present invention includes a drive unit, a determination unit, an update unit, and a switching unit. The drive unit drives the linear solenoid with a drive current corresponding to the target current. The determining unit determines an initial target current according to a target lift amount of the linear solenoid. The update unit updates the target current based on the actual lift amount of the linear solenoid and the target lift amount detected by a lift sensor. The switching unit switches the target current from the initial target current determined by the determining unit to the target current updated by the updating unit according to a predetermined switching condition.

  According to the present invention, it is possible to provide a linear solenoid control device and a linear solenoid control method capable of improving convergence and response when controlling a linear solenoid.

FIG. 1 is an explanatory diagram illustrating a linear solenoid control method according to the embodiment. FIG. 2 is a diagram illustrating the linear solenoid device according to the embodiment. FIG. 3 is a graph showing the relationship between the target lift amount and the initial target current according to the embodiment. FIG. 4 is a graph showing temporal changes in the drive current and the actual lift amount according to the embodiment. FIG. 5 is a flowchart illustrating a procedure of control processing executed by the linear solenoid device according to the embodiment. FIG. 6 is a diagram illustrating a configuration of a linear solenoid device according to a modification of the embodiment. FIG. 7 is a graph showing a change over time of the actual lift amount according to the modification of the embodiment.

  Hereinafter, embodiments of a linear solenoid control device and a linear solenoid control method disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below.

<Control method of linear solenoid>
A linear solenoid control method according to an embodiment of the present invention will be described with reference to FIG. In the present embodiment, a case where a linear solenoid is used as an actuator of an EGR valve mounted on, for example, an internal combustion engine of an automobile will be described.

  FIG. 1 is an explanatory diagram illustrating a method for controlling a linear solenoid according to the present embodiment. The control method according to the present embodiment is executed by a linear solenoid control device.

  The control device drives the linear solenoid by energizing the linear solenoid with a drive current corresponding to the target current. In the control method according to the present embodiment, the target current is switched based on a predetermined switching condition.

  Specifically, when the target lift amount of the linear solenoid is determined, the control device first determines an initial target current according to the target lift amount (S1). The initial target current is determined based on the relationship between the lift amount of the linear solenoid and the drive current, for example. Based on the target lift amount, the control device determines the initial target current so that the lift amount of the linear solenoid approaches the target lift amount.

  As shown in FIG. 1, the control device energizes the linear solenoid with a drive current corresponding to the initial target current. Thereby, the actual lift amount of the linear solenoid follows the drive current and approaches the target lift amount. Thus, the control device first controls the linear solenoid by feedforward control.

  Next, the control device switches the target current from the initial target current to the updated target current according to the switching condition (S2). For example, in FIG. 1, the control device switches the target current on the condition that the predetermined period T1 has elapsed since the initial target current was determined. The switching condition is not limited to this, and may be a condition according to the actual lift amount of the linear solenoid detected by the lift sensor, for example.

  The update target current is a target current that is updated based on the target lift amount and the actual lift amount. In the period T2 after the predetermined period T1 has elapsed, the control device drives the linear solenoid while updating the update target current based on the target lift amount and the actual lift amount (S3). In this manner, the control device performs feedback control based on the actual lift amount after switching the target current to the update target current. As a result, the actual lift amount of the linear solenoid converges to the target lift amount.

  As described above, in the control method according to this embodiment, the control device first controls the linear solenoid with the initial target current, whereby the actual lift amount can be brought close to the target lift amount at high speed. Further, the control device switches the initial target current to the update target current to control the linear solenoid, so that the actual lift amount can be converged to the target lift amount while suppressing the occurrence of hunting. In this way, the control device can improve convergence and responsiveness. Hereinafter, the linear solenoid device including the control device that executes the linear solenoid control method will be further described.

<Linear solenoid device 1>
FIG. 2 is a diagram showing the linear solenoid device 1 according to the embodiment of the present invention. The linear solenoid device 1 includes a control device 10, a linear solenoid 20, and a lift sensor 30.

  The linear solenoid 20 is an actuator that drives an EGR valve (not shown). Here, the EGR valve is, for example, a valve provided in an EGR mechanism performed in an internal combustion engine. The EGR mechanism is a mechanism incorporated in an internal combustion engine of an automobile, and is for reducing nitrogen oxide (hereinafter referred to as “NOx”) in exhaust gas discharged by combustion in the internal combustion engine. Exhaust gas recirculation mechanism. Specifically, the EGR mechanism is a technique for causing the exhaust gas to be sucked again by sending a part of the exhaust gas of the internal combustion engine to the intake side. The EGR mechanism is provided with a solenoid valve as a valve for adjusting the amount of exhaust gas sent to the intake side.

  The linear solenoid 20 opens or closes the EGR valve by driving according to the drive current. The degree of opening of the EGR valve varies depending on the actual lift amount of the linear solenoid 20.

  The lift sensor 30 is provided in the linear solenoid 20 and detects an actual lift amount (actual lift amount) of the linear solenoid 20. Here, the lift sensor 30 is provided separately from the linear solenoid 20, but the linear solenoid 20 may include the lift sensor 30.

  The control device 10 controls the EGR valve by controlling the linear solenoid 20. The control device 10 includes a solenoid control unit 100, a target lift amount determination unit 200, and a storage unit 300.

  The solenoid control unit 100 is a microcomputer including a CPU, a RAM, and a ROM. The solenoid control unit 100 controls the entire linear solenoid device 1. The solenoid control unit 100 includes a drive unit 110, a determination unit 120, an update unit 130, and a switching unit 140.

  The drive unit 110 drives the linear solenoid 20 with a drive current corresponding to the target current. The drive unit 110 determines the duty ratio of the drive current according to the target current. The drive unit 110 energizes the linear solenoid 20 with a drive current having the determined duty ratio.

  The determination unit 120 determines an initial target current according to the target lift amount of the linear solenoid 20. The determination unit 120 determines an initial target current using, for example, a map shown in FIG. It is assumed that the map is stored in the storage unit 300, for example. FIG. 3 is a graph showing the relationship between the target lift amount and the initial target current.

  The map shown in FIG. 3 is determined based on the relationship between the lift amount of the linear solenoid 20 and the drive current, for example. Generally, it is known that there is a correlation between the lift amount of the linear solenoid 20 and the drive current. Therefore, the determination unit 120 can determine the initial target current based on this relationship, so that the actual lift amount of the linear solenoid 20 can be brought closer to the target lift amount more quickly.

  Here, it is desirable that the determination unit 120 determines the initial target current so that the lift amount when the linear solenoid 20 is driven in accordance with the initial target current is smaller than the target lift amount. This is because an overshoot may occur when the actual lift amount of the linear solenoid 20 becomes larger than the target lift amount. When overshoot occurs, more exhaust gas is sent to the intake side, and the internal combustion engine may misfire.

  On the other hand, if the lift amount corresponding to the initial target current is too small than the target lift amount, there is a possibility that the response time for converging the actual lift amount to the target lift amount in the subsequent feedback control may become long. As a result, the amount of exhaust gas sent to the intake side is reduced, and there is a possibility that knocking may occur and fuel consumption improvement may be suppressed.

  Therefore, the determination unit 120 determines the initial target current so that the lift amount is slightly smaller than the target lift amount by a predetermined value based on the correlation between the lift amount and the drive current. In addition, it is desirable that the determination unit 120 determines the initial target current in consideration of, for example, the influence of the surrounding environment, aging deterioration, machine difference variation, friction, hysteresis, and the like. The predetermined value is determined in consideration of the convergence and response required for the linear solenoid 20, the influence of the surrounding environment and aging, the control cycle of feedback control, and the like.

  In the control device 10, the initial target current considering the above-described influence and the like is obtained in advance for each target lift amount by, for example, an experiment, and stored in the storage unit 300 as a map.

  The updating unit 130 updates the target current based on the actual lift amount and the target lift amount of the linear solenoid 20, and generates an updated target current. When the actual lift amount is smaller than the target lift amount, the update unit 130 determines the update target current so as to increase the drive current. When the actual lift amount is larger than the target lift amount, the update unit 130 determines the update target current so as to decrease the drive current. In this way, the update unit 130 performs PID control of the drive current.

  The switching unit 140 switches the target current from the initial target current determined by the determination unit 120 to the update target current updated by the update unit 130 according to a predetermined switching condition. The switching condition includes, for example, a period (hereinafter, also referred to as a period condition) that has elapsed after the drive unit 110 has set the drive current so as to become the initial target current, and an actual lift amount change amount (hereinafter referred to as a change amount condition). The actual lift amount (hereinafter also referred to as lift amount condition). The switching unit 140 switches the target current when at least one of these switching conditions is satisfied.

  The switching unit 140 determines whether or not a predetermined period has elapsed since the initial target current was set as the period condition. The switching unit 140 switches the target current when a predetermined period has elapsed.

  In this way, by switching the target current according to the predetermined period, it is possible to reliably switch from the feedforward control to the feedback control, and it is possible to reliably converge the actual lift amount to the target lift amount.

  Further, the switching unit 140 determines whether or not the change amount of the actual lift amount when the linear solenoid 20 is driven with the initial target current is equal to or less than a predetermined value as the change amount condition. The switching unit 140 switches the target current when the change amount is equal to or less than a predetermined value.

  Thus, the control device 10 can switch to feedback control without waiting for the elapse of a predetermined period by switching the target current when the actual lift amount has converged by driving the linear solenoid 20 with the initial target current. it can. Thereby, the control apparatus 10 can converge the linear solenoid 20 faster.

  Further, the switching unit 140 determines whether or not the difference between the actual lift amount and the target lift amount when the linear solenoid 20 is driven with the initial target current is equal to or less than a predetermined value as the lift amount condition. The switching unit 140 switches the target current when the difference between the actual lift amount and the target lift amount becomes a predetermined value or less. Here, the difference between the actual lift amount and the target lift amount is a value obtained by subtracting the actual lift amount from the target lift amount, and the switching unit 140 determines whether the value is a positive value, for example. It shall be judged. That is, the switching unit 140 switches the target current when the actual lift amount exceeds the target lift amount.

  Thereby, the control apparatus 10 can suppress the overshoot in which the actual lift amount exceeds the target lift amount. Therefore, it becomes difficult for exhaust gas exceeding a predetermined amount to flow into the intake side, and for example, misfire of the internal combustion engine can be suppressed.

  An example of control of the linear solenoid 20 by the control device 10 will be described with reference to FIG. FIG. 4 is a graph showing temporal changes in drive current and actual lift amount. As indicated by the dotted line in FIG. 4, when the determination unit 120 determines the initial target current, the drive current increases sharply as indicated by the solid line in the period T1. Following the drive current, the actual lift amount indicated by a two-dot chain line also increases sharply and approaches the target lift amount.

  For example, when the change amount of the actual lift amount becomes equal to or less than a predetermined value at time t1, the control device 10 performs feedback control by switching the target current to the update target current. In the example of FIG. 4, since the actual lift amount is smaller than the target lift amount, the control device 10 increases the drive current. As described above, the control device 10 controls the drive current according to the actual lift amount, so that the actual lift amount converges to the target lift amount.

  On the other hand, the broken line in FIG. 4 is a graph showing the change over time of the actual lift amount of the linear solenoid 20 when only feedback control is performed. When only the feedback control is performed, the actual lift amount overshoots exceeding the target lift amount. Thereafter, undershoot occurs where the actual lift amount falls below the target lift amount. Thus, the actual lift amount when only the feedback control is performed repeats overshoot and undershoot and converges to the target lift amount.

  As described above, the control device 10 according to the present embodiment can shorten the time until convergence as well as suppress overshoot and undershoot as compared with the case where only feedback control is performed. Thus, the control apparatus 10 can improve responsiveness and convergence.

  Returning to FIG. The target lift amount determination unit 200 determines the target lift amount of the linear solenoid 20 according to, for example, the control state of the EGR mechanism. Specifically, for example, when the target lift amount determination unit 200 receives a target valve opening from an EGR control unit (not shown), the target lift amount determination unit 200 refers to the storage unit 300 and determines a target lift amount corresponding to the target valve opening. The target lift amount determination unit 200 notifies the solenoid control unit 100 of the determined target lift amount.

  The storage unit 300 stores information necessary for processing performed by each unit of the control device 10 and a result of processing performed by each unit, such as a map used by the determination unit 120 to determine the initial target current. The storage unit 300 is a semiconductor memory device such as a RAM (Random Access Memory) or a flash memory, or a storage device such as a hard disk or an optical disk.

<Control processing of linear solenoid 20>
Next, a processing procedure executed by the linear solenoid device 1 according to the present embodiment will be described with reference to FIG. FIG. 5 is a flowchart showing a procedure of control processing executed by the linear solenoid device 1.

  The linear solenoid device 1 according to the present embodiment executes the control process, for example, immediately after IG-ON, when the internal combustion engine is idle, when the water temperature is low, when the fail cut is performed, that is, when EGR is executed. When the linear solenoid device 1 receives a notification to change the valve opening degree of the EGR valve from, for example, an EGR control unit (not shown), the linear solenoid device 1 executes the control process shown in FIG.

  As shown in FIG. 5, the linear solenoid device 1 determines a target lift amount corresponding to the valve opening degree of the EGR valve (step S101). The linear solenoid device 1 sets an initial target current corresponding to the target lift amount (step S102). The linear solenoid device 1 drives the linear solenoid 20 according to the initial target current, and then determines whether or not a predetermined switching condition is satisfied (step S103). When the switching condition is not satisfied (step S103; No), the process returns to step S103.

  On the other hand, when the switching condition is satisfied (step S103; Yes), the linear solenoid device 1 switches the target current to the update target current, updates the drive current based on the actual lift amount (step S104), and ends the process. .

  Note that the update of the drive current in step S104 may be repeatedly executed at a predetermined period until the target lift amount is changed, for example.

  As described above, the control device 10 of the linear solenoid 20 according to the present embodiment can first bring the actual lift amount closer to the target lift amount by controlling the linear solenoid 20 with the initial target current. Moreover, the control apparatus 10 can converge the actual lift amount to the target lift amount while switching the initial target current to the update target current and controlling the linear solenoid 20 while suppressing the occurrence of hunting. Thus, the control apparatus 10 can improve convergence and responsiveness.

<Modification>
A modification of the linear solenoid device 1 according to this embodiment will be described with reference to FIGS. 6 and 7. FIG. 6 is a diagram illustrating a configuration of a linear solenoid device 1A according to a modification. A linear solenoid device 1A according to the modification is different from the linear solenoid device 1 shown in FIG. 2 in that it further includes a comparison unit 150 and a determination unit 160. Other configurations and operations are the same as those of the linear solenoid device 1 shown in FIG.

  The linear solenoid device 1A according to this modification determines the second initial target current when the actual lift amount when the linear solenoid 20 is driven according to the initial target current is equal to or less than the first threshold Th1. Thus, the actual lift amount is made closer to the target lift amount. Further, the linear solenoid device 1A determines that an abnormality has occurred in the linear solenoid 20 when the actual lift amount when the linear solenoid 20 is driven with the second initial target current is equal to or less than the second threshold Th2.

  The comparison unit 150 illustrated in FIG. 6 compares the actual lift amount of the linear solenoid 20 that is driven according to the initial target current (hereinafter also referred to as the initial lift amount) with the first threshold Th1. The comparison unit 150 notifies the determination unit 120 of the comparison result.

  Based on the comparison result of the comparison unit 150, the determination unit 120 determines that the initial lift amount when the change amount of the initial lift amount is equal to or smaller than a predetermined value or the initial lift amount after the lapse of a predetermined period is equal to or smaller than the first threshold Th1. In this case, a second initial target current larger than the initial target current is determined. The second initial target current is, for example, a current obtained by adding a current amount necessary for driving the linear solenoid 20 from the initial lift amount to the target lift amount to the initial target current.

  When the determination unit 120 determines the second initial target current, the switching unit 140 switches the target current from the initial target current to the second initial target current. The drive unit 110 drives the linear solenoid 20 with a drive current corresponding to the second initial target current.

  The comparison unit 150 compares the actual lift amount of the linear solenoid 20 driven in accordance with the second initial target current (hereinafter referred to as the second initial lift amount) with the second threshold Th2. The comparison unit 150 notifies the determination unit 160 of the comparison result.

  The determination unit 160 determines abnormality of the linear solenoid 20 based on the second initial lift amount. Based on the comparison result by the comparison unit 150, the determination unit 160 determines that an abnormality has occurred in the linear solenoid 20 when the second initial lift amount is equal to or less than the second threshold Th2. When determining that an abnormality has occurred in the linear solenoid 20, the determining unit 160 notifies the upper layer such as an EGR control unit (not shown) that an abnormality has occurred.

  FIG. 7 is a graph showing the change over time of the actual lift amount. Even if the control device 10A drives the linear solenoid 20 according to the initial target current and the initial lift amount is equal to or less than the first threshold Th1 even after the period T11 has elapsed, the control device 10A determines the first lift at time t11. 2 Switch to the initial target current. Thereafter, when the actual lift amount increases in accordance with the second initial target current in the period T12 and the predetermined switching condition is satisfied, the control device 10A performs feedback control by switching to the update target current at time t12. . As a result, the actual lift amount converges to the target lift amount.

  As described above, even when the actual lift amount does not approach the target lift amount with the initial target current, the control device 10A determines the second initial target current, so that the actual lift amount can be made faster than the target lift amount. You can get closer.

  Moreover, 10 A of control apparatuses can determine whether abnormality generate | occur | produced in the linear solenoid 20 based on the 2nd initial lift amount, and can discover abnormality early.

  Here, the control device 10 </ b> A determines whether or not the linear solenoid 20 is abnormal based on the second initial lift amount, but is not limited thereto. The comparison unit 150 may compare the initial lift amount with a predetermined threshold value, and the determination unit 160 may determine abnormality according to the comparison result.

  Thereby, 10 A of control apparatuses can determine abnormality of the linear solenoid 20 earlier. In this case, the control device 10A can omit the determination of the second initial target current.

  In the above-described embodiment and modification, the case where the linear solenoid 20 is used as an actuator of an EGR valve has been described, but the present invention is not limited to this. Examples of the valve using the linear solenoid 20 as an actuator include a solenoid valve used for hydraulic control of an internal combustion engine.

  As described above, the control devices 10 and 10A of the linear solenoid 20 according to the present embodiment and the modification include the drive unit 110, the determination unit 120, the update unit 130, and the switching unit 140. The drive unit 110 drives the linear solenoid 20 with a drive current corresponding to the target current. The determination unit 120 determines an initial target current according to the target lift amount of the linear solenoid 20. The update unit 130 updates the target current based on the actual lift amount and the target lift amount of the linear solenoid 20 detected by the lift sensor 30. The switching unit 140 switches the target current from the initial target current determined by the determining unit 120 to the target current updated by the updating unit 130 according to a predetermined switching condition.

  Thus, the actual lift amount can be brought close to the target lift amount at high speed by controlling the linear solenoid 20 with the initial target current. In addition, by controlling the linear solenoid 20 by switching from the initial target current to the update target current, the actual lift amount can be converged to the target lift amount while suppressing the occurrence of hunting. Thus, the control devices 10 and 10A can improve the convergence and the responsiveness.

  Further, the switching unit 140 of the control device 10 or 10A of the linear solenoid 20 according to the present embodiment and the modification is updated by the updating unit 130 when a predetermined period has elapsed after the linear solenoid 20 is driven with the initial target current. Switch to the target current.

  In this way, by switching the target current according to the predetermined period, it is possible to reliably switch from the feedforward control to the feedback control, and it is possible to reliably converge the actual lift amount to the target lift amount.

  Further, the switching unit 140 of the control device 10 and 10A of the linear solenoid 20 according to the present embodiment and the modified example has the change amount of the actual lift amount when the linear solenoid 20 is driven with the initial target current becomes a predetermined value or less. In this case, the update unit 130 switches to the target current to be updated.

  Thus, the control devices 10 and 10A drive the linear solenoid 20 with the initial target current to switch to feedback control without waiting for the elapse of a predetermined period by switching the target current when the actual lift amount has converged. be able to. Thereby, the control apparatuses 10 and 10A can converge the linear solenoid 20 faster.

  In addition, the switching unit 140 of the control device 10 for the linear solenoid 20 according to the present embodiment and the modified example is such that the difference between the actual lift amount and the target lift amount when the linear solenoid 20 is driven with the initial target current is a predetermined value or less. In such a case, the update unit 130 switches to the target current to be updated.

  Thus, the control devices 10 and 10A can suppress overshoot in which the actual lift amount exceeds the target lift amount. Therefore, it becomes difficult for exhaust gas exceeding a predetermined amount to flow into the intake side, and for example, misfire of the internal combustion engine can be suppressed.

  Further, the control device 10A for the linear solenoid 20 according to the modified example determines whether or not an abnormality has occurred in the linear solenoid 20 based on the actual lift amount when the linear solenoid 20 is driven with the initial target current. Is further provided.

  Thereby, 10 A of control apparatuses can determine whether abnormality generate | occur | produced in the linear solenoid 20 based on the 2nd initial lift amount, and can discover abnormality early.

  In addition, the determination unit 120 of the control device 10A of the linear solenoid 20 according to the modification has a case where the difference between the actual lift amount and the target lift amount when the linear solenoid 20 is driven with the initial target current is equal to or less than the threshold Th1. The second initial target current is determined.

  As described above, even when the actual lift amount does not approach the target lift amount with the initial target current, the control device 10A determines the second initial target current, so that the actual lift amount can be made faster than the target lift amount. You can get closer.

  Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications can be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.

1, 1A linear solenoid device 10, 10A control device 20 linear solenoid 30 lift sensor 100 solenoid control unit 110 drive unit 120 determination unit 130 update unit 140 switching unit 150 comparison unit 160 determination unit

Claims (7)

A drive unit that drives the linear solenoid with a drive current corresponding to the target current;
A determining unit that determines an initial target current according to a target lift amount of the linear solenoid;
An update unit that updates the target current based on an actual lift amount of the linear solenoid and a target lift amount detected by a lift sensor;
A switching unit for switching the target current from the initial target current determined by the determining unit to the target current updated by the updating unit according to a predetermined switching condition;
A linear solenoid control device comprising: The switching unit is
2. The linear solenoid control device according to claim 1, wherein, when a predetermined period has elapsed after driving the linear solenoid with the initial target current, the linear current is switched to the target current updated by the update unit. The switching unit is
The switch to the target current to be updated by the updating unit when the change amount of the actual lift amount when the linear solenoid is driven by the initial target current becomes a predetermined value or less. 3. The linear solenoid control device according to 2. The switching unit is
When the difference between the actual lift amount and the target lift amount when the linear solenoid is driven with the initial target current becomes a predetermined value or less, the update unit switches to the target current to be updated. The linear solenoid control device according to claim 1, 2, or 3. The determination part which determines whether abnormality has generate | occur | produced in the said linear solenoid based on the actual lift amount at the time of driving the said linear solenoid with the said initial target electric current, The any one of Claims 1-4 characterized by the above-mentioned. The linear solenoid control device according to claim 1. The determination unit
The second initial target current is determined when a difference between the actual lift amount when the linear solenoid is driven with the initial target current and the target lift amount is equal to or less than a threshold value. The control apparatus of the linear solenoid of any one of -5. A driving process for driving the linear solenoid with a driving current corresponding to the target current;
A determination step of determining an initial target current according to a target lift amount of the linear solenoid;
An update step of updating the target current based on the actual lift amount of the linear solenoid and the target lift amount detected by a lift sensor;
A switching step of switching the target current from the initial target current determined in the determination step to the target current updated in the update step according to a predetermined switching condition;
A control method for a linear solenoid, comprising:

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