JP2867347B2 - Constant speed traveling control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial application field) The present invention compares a traveling speed of a vehicle with a target speed, and opens a throttle valve to make the traveling speed equal to the target speed. The present invention relates to a constant-speed traveling control device that performs a / close drive.

(Conventional technology) The constant speed traveling control device opens the throttle valve when the former is lower than the traveling speed and the target speed, and closes the throttle valve when the former is higher.

The throttle valve is opened and closed by, for example, a negative pressure actuator that expands and contracts a diaphragm by using a negative pressure of an intake manifold. By communicating the space inside the diaphragm with the intake manifold, the diaphragm contracts and the throttle valve is driven to open, and by communicating with the atmosphere, the diaphragm expands and the throttle valve is driven to close (for example, Japanese Patent Application Laid-Open No. Sho 62-68138). Gazette). The throttle valve opening is determined by a time ratio (beauty) for alternately switching the space in the diaphragm between the intake manifold and the atmosphere and communicating the intake manifold with the atmosphere. Alternatively, the throttle valve is driven to open and close by an electric motor via an electromagnetic clutch.

(A) In one aspect, these throttle valve drivers determine the energizing current value by current value control by energizing duty control, and drive the throttle valve at a position or speed corresponding to the energizing current value.

The energizing current value is determined by an energizing time T [duty is (T / predetermined cycle × 100%)] within a predetermined cycle, and based on the deviation of the traveling vehicle speed from the target vehicle speed and the integrated value of the deviation, the deviation is set to 0. The energization time T is calculated by the following equation (1), for example, and the energization time T is calculated by the following equation (1). Done.

T = G · [a · (Ov−ADv) + b · (Ov−ADv) / dt + c · ∫ (Ov−ADv) · dt] + T ₀ (1) G: vehicle speed / duty time conversion constant, a, d, c: weighting factor (constant) for the proportional, differential, and integral terms, ADv: current running speed, Ov: target speed, T ₀ : reference value, eg, running on standard road surface (asphalt horizontal road surface) at target speed Ov Energization time T (standard value predetermined for each vehicle).

(B) In another embodiment, the throttle drive is provided with a drive opening sensor or an opening change amount detecting means, and the driving opening or the change amount corresponding to the throttle valve opening is obtained by this sensor or means. Throttle valve opening target value APRt or throttle valve correction amount (APRt-APR ₀ )
Is calculated by the following equation (2), and the throttle valve driver is set so that the detection opening or the detection change amount of the drive opening sensor or the opening change amount detection means becomes APRt or (APRt-APR ₀ ). Is energized.

APRt = G · [a · (Ov−ADv) + b · (Ov−ADv) / dt + c · ∫ (Ov−ADv · dt) + APR ₀ (2) G: Conversion constant of vehicle speed deviation / slot opening correction amount, a, d, c: weighting factors (constants) for the proportional, differential, and integral terms, ADv: current running speed, Ov: target speed, APR ₀ : reference value, for example, target speed on standard road surface (asphalt horizontal road surface) Desired throttle valve opening (standard value) when traveling at Ov, or throttle valve opening when constant speed traveling is instructed.

(C) In another aspect, when the current vehicle speed is lower than the target vehicle speed, the duty time T is updated to be higher or the throttle opening is driven to a higher opening side at a predetermined speed so that the current vehicle speed is lower than the target vehicle speed. If the throttle opening is too high, there is a proposal to update the duty time T to a low value at a predetermined speed or to drive the throttle opening to the low opening side.

(Problems to be Solved by the Invention) In a mode in which a throttle valve is driven by a throttle valve driver including an electromagnetic clutch, an electric motor, and a speed reduction mechanism, the electromagnetic clutch is disconnected in response to a constant-speed running release instruction to disconnect the electric motor. The mechanical coupling mechanism between the throttle valves is disconnected to allow the output shaft of the driver (the output shaft of the reduction mechanism) to return to the position corresponding to the idling opening of the throttle valve, but the energization of the electromagnetic clutch is interrupted ( Even if the clutch is disconnected), if there is an abnormality in which the mechanical coupling mechanism does not separate between the electric motor and the throttle valve, the throttle valve cannot return to the low side, so the output shaft must be Is detected, and if it does not return, the electric motor is energized to return to the output shaft idling opening position or a position corresponding to the opening position that is less than the opening position. When the drive is returned to the maximum drive amount, it is preferable to stop the drive and wait until the power switch is turned off because there is some mechanism abnormality in the drive.

An object of the present invention is to improve the above-mentioned conventional problems.

[Configuration of the invention]

(Means for Solving the Problems) A constant-speed traveling control device according to the present invention includes an output shaft (12), an electric motor (1) for driving the output shaft (12) to rotate forward and reverse, and an electric motor (1). 1) a reduction mechanism (3, 4, 8, 11) interposed between the rotation shaft (2) and the output shaft (12); and a rotation shaft (2) and an output shaft of the electric motor (1). Throttle driving means (1 to 12) including electromagnetic clutches (4 to 9) interposed between (12); a throttle for applying a rotational force in a closing direction to a rotating shaft (68) of a throttle valve (69) of a vehicle. The return means (67) rotates in the opening direction of the throttle valve in conjunction with the forward rotation of the output shaft (12) of the throttle driving means (1 to 12) to rotate the rotation shaft (68) of the throttle valve (69) in the opening direction. And one-way engagement means (40, 50) that do not apply a driving force to the throttle valve (69) when the output shaft (12) rotates in the reverse direction, and A one-way connecting means (40 to 67) including a return / return means (55) for applying a force to rotate the one-way engaging means (40, 50) in the throttle valve closing direction; Instruction means (Ss, Sc, S
b, Sg); vehicle speed detecting means (24 to 26) for generating an electric signal corresponding to the speed of the vehicle; whether or not the throttle valve driving opening of the throttle driving means (1 to 12) is a driving base point; A drive base point detecting means for detecting (18); a vehicle speed (ADv) detected by the vehicle speed detecting means (24-26) by contacting the electromagnetic clutches (4-9) when constant speed traveling is set; Target vehicle speed (O
The opening degree of the throttle valve (69) is adjusted via the throttle driving means (1 to 12) in the direction in which the deviation (ADv-Ov) between the two decreases in accordance with v), and there is no setting for constant speed traveling. A speed control means (20) for disengaging the electromagnetic clutches (4 to 9); when the speed control means (20) disconnects the electromagnetic clutch, the drive base point detection means (18) is not at the drive base point Is detected, the throttle driving means (1 to 12)
Until the drive base point detecting means (18) detects the drive base point, the return control means (2
0); and the return control means (20) causes the throttle driving means (1 to 12) to move in the direction of lowering the throttle opening for a predetermined time (AT
m) When the drive base point detecting means (18) does not detect the drive base point when the actuator is energized, the throttle drive means (1 to
12) Stop the drive to the throttle drive means (1 to 12)
Suspending means (20) for continuing the drive stop until the power supply to the power supply is stopped.

In addition, in order to facilitate understanding, in the parentheses, elements or items corresponding to the embodiment shown in the drawings and described below are additionally provided for reference.

(Function) Speed control means when constant speed running is set (20)
However, when the electromagnetic clutches (4 to 9) are engaged, the throttle drive means (1 to 1) are driven in a direction in which the vehicle speed (ADv) detected by the vehicle speed detection means (24 to 26) matches the target vehicle speed (Ov) stored in the storage means. Since the opening of the throttle valve (69) is adjusted via 12), constant speed running is realized. When there is no setting for constant-speed running, the speed control means (20) uses the electromagnetic clutch (4 to
9) is denied. As a result, the mechanical connection between the output shaft (12) and the electric motor (1) is released, and the output shaft (12) is released.
The one-way engaging means (40,5)
The drive base point is returned to the drive base point via (0), and the drive base point detection means (18) detects that the throttle valve drive opening is the drive base point.

Even if the speed control means cuts off (disconnects electricity) the speed control means due to the malfunction of the electromagnetic clutches (4 to 9), the mechanical coupling between the output shaft (12) and the electric motor (1) is not actually released. Then, the output shaft (12) does not return to the driving reference point. That is, the drive base point detecting means (18) does not detect that the throttle valve drive opening is the drive base point. In this case, the throttle valve opening cannot be returned to a lower opening than the opening determined during the constant speed running. At this time, the return control means (20) drives the electric motor (1) of the throttle drive means (1 to 12) in the direction of lowering the throttle opening. As a result, when the output shaft (12) returns to the drive base point, the throttle valve (69) can return to the base point opening (idling opening), so that the opening corresponds to the depression position of the accelerator pedal. As described above, when the electromagnetic clutches (4 to 9) fail, the output shaft (12) is automatically returned to the drive base point, so that there is no obstacle to acceleration and deceleration by the accelerator pedal.

Even if the return control means (20) drives the electric motor (1) in the direction of lowering the throttle opening for a predetermined time (ATm), the output shaft (12)
If does not return to the drive base point, or if the drive base point detection of the drive base point detection means (18) is an error, that is, if the drive mechanism or detection is abnormal, the pause means (20)
The drive of the throttle drive means (1 to 12) is stopped, and the drive stop is continued until the power supply to the throttle drive means (1 to 12) is cut off (4-26 to 31-22 in FIG. 4a). ~
24 / 68-74 in Fig. 4c-22-24 in Fig. 4a). This allows
In the case of an abnormality, the constant speed traveling is not started.

Other objects and features of the present invention will become apparent from the following description of embodiments with reference to the drawings.

Embodiment FIG. 1, FIG. 2a, FIG. 2b and FIG. 3 show an embodiment common to each invention of the present application. In this embodiment, a throttle valve driver uses an electromagnetic clutch and an electric motor. FIG. 1 is an electric circuit diagram showing a configuration of an electric system.
FIG. 2a is a cross-sectional view of the throttle valve driver, and FIG.
FIG. 2a is a sectional view taken along line IIB-IIB of FIG. 2a, and FIG. 3 is a perspective view showing a coupling mechanism from the output shaft 12 of the throttle valve driver to the throttle valve 69.

Referring first to FIGS. 2a and 2b, a sector gear 11 is fixed to an output shaft 12 of a throttle valve driver, and a clutch driven gear rotatably supported by a fixed shaft 4 on the sector gear 11. Eight teeth 10 are engaged. The clutch driven gear 8 is made of a magnetic material, and has an engagement protrusion 9
Having. A non-magnetic disc 6 is opposed to the disc portion via a leaf spring 7. The disk 6 has a hole for receiving the projection 9 and is fixed to the clutch driving gear 3 of a magnetic material which is rotatably instructed by the fixed shaft 4. An electric coil 5 is housed inside the clutch drive gear 3.

When the electric coil 5 is energized, a magnetic flux interlinking with the electric coil 5 is generated, the clutch driven gear 8 is pulled by the clutch driving gear 3, and the engaging projection 9 of the clutch driven gear 8 is Fits in the hole (clutch connection). The disk 6
If the hole does not face the projection 9, it fits at the time when it faces the projection 9. When the electric coil 5 is de-energized, the clutch driven gear 8 is pushed leftward (FIG. 2b) by the repulsive force of the leaf spring 7, and the projection 9 of the clutch driven gear 8 comes out of the hole of the disk 6 (clutch). No).

The clutch drive gear 3 meshes with the worm 2.
Since the rotating shaft of the electric motor 1 is coupled to the worm 2, when the electric motor 1 is energized, the worm 2 rotates and the clutch driving gear 3 rotates.

A cam plate 13 is fixed to the output shaft 12. Actuators of limit switches 17, 18 are in contact with the side peripheral surface of the cam plate 13. The limit switch 17 is closed (ON: when the output shaft 12 rotates in the throttle valve opening direction and the rotation angle exceeds a predetermined angle (an opening slightly smaller than the maximum throttle opening).
The signal is switched from the signal level L) to open (off: the signal level is H), and the limit switch 18 rotates the output shaft 12 in the throttle valve closing direction to rotate the output shaft 12 at a predetermined angle (from the idling opening degree). When it becomes smaller than the opening (slightly small opening degree), it switches from closed (ON: signal level is L) to open (OFF: signal level is H).

A fan cam 40 is fixed to the output shaft 12. Fan cam
A wire guide groove 43 is formed on the side surface of the groove 40.
There is a wire 42 inside. The pin 41 is fixed to the wire 42 once. When the output shaft 12 rotates clockwise in FIG. 3, the fan cam 40 rotates in the same direction, and the wire 42
Drawn in the direction of

FIG. 3 shows a coupling 100 interposed between the throttle valve 69 of the on-vehicle engine and the output shaft 12. Wire 42
Is fixed to a pin 51 connected to the first fan-shaped cam 50 of the engagement tool 100. The fan-shaped cam 50 is instructed to rotate freely on a fixed shaft 54, and a counterclockwise rotating force is applied by a coil spring 55. The coil spring 55
Has one end engaged with the fan-shaped cam 50 and the other end engaged with a machine frame (not shown) of the fixture 100.

Next to the first fan cam 50 is a second fan cam 60,
Next to the second fan cam 60 is a third fan cam 70. The cams 60 and 70 are also rotatably supported by the fixed shaft 54. The third fan-shaped cam 70 is also given a counterclockwise rotational force by the coil spring 75. Note that one end of the coil spring 75 is engaged with the cam 70, and the other end is engaged with a machine frame (not shown) of the fixture 100.

The other end of the wire 64, one end of which is engaged with the throttle valve driving lever 66, is fixed to the second fan-shaped cam 60 with a pin 61. The third fan-shaped cam 70 has one end of an accelerator pedal 77. The other end of the wire 75 engaged with the leg 76 is fixed by a pin 71.

The first to third fan-shaped cams 50 to 70 are roughly the same as those described above.
40 has the same structure as that of the first fan-shaped cam 50 except that an end projection is provided.
53, the third sector cam 70 also has an end projection 73, and the second sector cam 60 has these projections 53,7.
3 differs from the fan-shaped cam 40 in that it has two end projections 62 and 63 with which it abuts.

FIG. 3 shows a state in which the output shaft 12 is connected to the throttle valve 69 when the accelerator pedal 77 is released (not depressed).
Upper limit position corresponding to the opening slightly smaller than the maximum opening (2a
FIG. A throttle valve drive lever 66 is connected to the second fan cam 60 via a wire 64.
Is applied counterclockwise because the pulling force of the tension coil spring 67 that drives the vibrator in the closing direction is applied.
By the clockwise rotation of the first fan-shaped cam 50 by the rotation drive of 12, the end protrusion 53 of the first fan-shaped cam 50 hits the end protrusion 62 of the second fan-shaped cam 60, thereby forming the second fan-shaped cam. Cam 60
However, against the pulling force of the coil spring 67, it rotates clockwise to an upper limit position corresponding to an opening slightly smaller than the maximum opening of the throttle valve.

When the output shaft rotates in the direction of the lower limit position in this state, the fan-shaped cam 40 rotates counterclockwise, and the wire 42 is sent out. That is, the tensile force applied to the wire 42 disappears. Accordingly, the first fan-shaped cam 50 is a coil spring.
With the repulsive force of 55, the cam 53 rotates counterclockwise, and the projection 53 of the cam 50 moves counterclockwise away from the projection 62 of the second fan-shaped cam 60. However, the second fan-shaped cam 60 67
The first and second fan-shaped cams 50 and 60 are brought into contact with the projection 53 by the projection 62 as the output shaft 12 is rotated in the direction of the lower limit position. , The throttle valve 69 rotates counterclockwise from the maximum opening (toward the idling opening).
That is, when the accelerator pedal 77 is released, the output shaft
The first and second fan-shaped cams 50 and 60 rotate clockwise due to the rotation of the throttle valve toward the upper limit position of twelve, thereby causing the throttle valve to rotate.
The opening of 69 increases. When the output shaft 12 rotates toward the lower limit position, the first and second fan-shaped cams 50 and 60 rotate counterclockwise, and the opening of the throttle valve 69 decreases.

As shown in FIG. 3, the output shaft 12 is connected to the throttle valve 69.
When the accelerator pedal 77 is depressed while the actuator is driven to an opening degree (upper limit position) slightly smaller than the maximum opening degree, the third fan-shaped cam 70 rotates clockwise via the wire 75. The projection 73 of the cam 70 only contacts the projection 63 of the second fan-shaped cam 60 at the time of the maximum depression of 77, and the projection 73 does not hit the projection 63 with the amount of depression up to that point. That is, the accelerator pedal 77 can be depressed and returned from the release (idling opening) position toward the maximum opening, and the third fan-shaped cam 70 rotates clockwise or counterclockwise accordingly. Up to the upper limit position, the depression amount of the accelerator pedal 77 is irrelevant to the opening degree of the throttle valve 69. That is, the rotation of the throttle valve 69 is restricted by the output shaft 12.

From the setting of the opening (upper limit position) shown in FIG.
When the accelerator pedal 77 is released, the opening of the throttle valve 69 becomes slightly smaller than the idling opening (lower limit position) when the accelerator pedal 77 is released. If the intermediate shaft opening position is depressed, the output shaft 12 rotates to the lower limit position, but the projection 63 of the second fan-shaped cam 60 hits the projection 73 of the third fan-shaped cam 70, and thereupon, the counterclockwise rotation is performed. Since the rotation in the direction is prevented, the throttle valve 69 has an intermediate opening.

In summary, when the accelerator pedal 77 is released, the throttle opening corresponds to the rotational position of the output shaft 12. When the accelerator pedal 77 is depressed beyond the throttle opening determined by the rotational position of the output shaft 12, the throttle opening is determined by the amount of depression of the accelerator pedal 77. When the output shaft 12 is rotated to the lower limit position, the throttle opening is determined by the accelerator pedal depression amount. When the output shaft 12 rotates beyond the throttle opening corresponding to the accelerator pedal depression amount, the throttle opening is determined by the rotational position of the output shaft 12. Therefore, when the output shaft 12 is returned to the lower limit position along with the release of the constant-speed traveling control, the opening degree of the throttle valve 69 corresponds to the depression amount of the accelerator pedal 77, and the vehicle is operated by normal speed control by pedal depression. can do.

A rotary shaft 68 of the throttle valve 69 is connected to a potentiometer 16 for detecting a throttle opening and a cam 14 for detecting an idling opening. The cam 14 opens and closes a switch 15 for detecting the idling opening. The mounting angle of the cam 14 with respect to the rotary shaft 68 is adjusted such that the switch 15 is switched from open to closed when the opening of the throttle valve 69 reaches the idle ring opening from the high opening. Therefore, the switch 15 switches between open at a high opening and closing when the opening reaches a correct idling opening from the high opening. The voltage of the potentiometer 16 at this switching point indicates the idling opening.

Referring to FIG. 1, an electric motor 1 is a motor driver.
Connected to 21. The motor driver 21 has limit switches 17, 18 interposed therebetween. The electric motor 1 is a pulse motor, and the motor driver 21 performs pulse energization for rotating the electric motor 1 one step at a time. When the upper limit switch 17 is open, the forward rotation energizing pulse is cut off and the electric motor 1 is turned off. 1 does not rotate forward. Only the reverse rotation by the reverse rotation energizing pulse is possible.
When the lower limit switch 18 is open, the reverse rotation energizing pulse is cut off, and the electric motor 1 does not rotate in the reverse direction. Only the forward rotation by the forward rotation energizing pulse is possible.

When one pulse is output to the output port of the microprocessor 20 and Aim, the motor driver 21 outputs one pulse to the electric motor 1.
A pulse current for performing step forward rotation is provided (when the upper limit switch 17 is closed). Output port Ad
When one pulse is output to m, the motor driver 21 applies a pulse current to the electric motor to perform step reverse rotation (however, when the lower limit switch 18 is closed).

The electric coil 5 of the electromagnetic clutch is a solenoid driver
Connected to 22. The solenoid driver 22 energizes (clutches) the electric coil 5 when receiving a high level H signal from the microprocessor 20, and does not energize the electric coil 5 when receiving a low level L signal (clutch disconnection). ).

A main power line MPL connected to a battery VBA which is a main power source on the vehicle via an engine key switch EKS is connected to a constant speed traveling control device via a power switch 30 of a constant speed traveling control device and a diode 28 for preventing backflow. A constant voltage power supply circuit 28, which is a power supply circuit of the device, is connected. This power supply circuit 28
Supplies required constant voltages Vc and Vcc to each of the electric circuits of the constant-speed traveling control device.

A relay 29 is provided between the battery VBA and the constant voltage power supply circuit 28.
Is inserted. This relay 29 is connected to a relay driver 27. When the microprocessor 20 gives the high level H, the relay driver 27 energizes the relay coil of the relay 29 to turn on (turn on) the contact piece. When the microprocessor 20 gives a low level L, the relay coil is de-energized (disconnected: off). To detect the opening and closing of the power switch 30 (and the engine key switch EKS), resistors R1 and R2 are connected to the switch 30. When both the switches 30 and EKS are open (on), the high level H When one of the signals is open (off), a low-level L signal is supplied to the microprocessor 20.

The microprocessor 20 has a "set" switch Ss for instructing constant-speed traveling, a "cancel" switch Sc for instructing release of constant-speed traveling, and instructing to resume the constant-speed traveling once released at the same target speed again. The "Resume" switch Sr is closed when the brake pedal is depressed, and this is the "Brake" switch Sb that instructs the release of constant speed traveling.
Further, a "clutch" switch Sg which is closed when the vehicle clutch which is disengaged at the time of shifting is disengaged and which instructs release of the constant speed traveling is connected.

The rotation of the permanent magnet rotor 26 coupled to the vehicle speed meter cable (not shown) causes one rotation per predetermined angle of rotation.
The F / V converter 24
The F / V converter 24 is connected to the switch 2
A voltage (analog voltage indicating the vehicle speed) inversely proportional to the open / close cycle of 5 is generated and applied to the motor driver 21 and the analog voltage input terminal ADv of the CPU 20.

The voltage of the potentiometer 16 for detecting the throttle opening (voltage indicating the rotation angle of the output shaft 12) is supplied to an analog voltage input terminal ADp of the CPU 20.

The switch 15 for detecting the idling opening is connected to the input port
Connected to _I0 .

The potentiometer 16 and the switch 15 are also connected to the electronic fuel injection control device EFI, and the installation EFI is
For the fuel injection control, the potentiometer 16 and the switch 15 refer to the throttle opening and whether or not it is the idling opening.

A light emitting diode 32, which is an alarm light of the constant speed traveling control device, is connected to a lamp driver 31. When the CPU 20 gives a high level H, the lamp driver 31 energizes the light emitting diode 32, and the light emitting diode 32 emits light. When the CPU 30 gives a low level L, the lamp driver 31
De-energize 32.

The current that the solenoid driver 22 passes through the electric coil 5 is relatively large, and the current that the motor driver 21 passes through the electric motor 1 is relatively large.
The motor voltage is supplied to the motor driver 21 via the switches EKS and 30 or the relay 29 together with the relatively low-capacity constant voltage of the constant-voltage power supply circuit 28.

4a to 4c show the control operation of the CPU 20. The control operation will be described next with reference to the step numbers shown in these drawings.

(A) Operation when power is turned on: When the engine key switch EKS is closed and the power switch 30 is closed, the battery voltage is applied to the solenoid driver 22 and the motor driver 21. The constant voltage power supply circuit 28 supplies a required voltage to the CPU 20 and other electric circuits of the constant speed traveling control device. This allows CPU 20
Is reset (Step 1: FIG. 4a, the word “step” is omitted in the parentheses below), and the input / output port is set to the standby signal level (electromagnetic clutch disconnected, motor stopped, diode 32 turned off, relay 29 turned off). Off) and clear the internal registers, timers, counters, etc. (2).

(B) Operation of until a constant speed running command input: CPU 20, the switch 15 checks whether the closed (idling opening) reading a signal input port I ₀ (3),
If it is not closed, the input port Is is read to check whether there is a constant speed traveling set instruction (Is = L) (32). If there is no set instruction, the input port Ir is read and there is a resume instruction (Ir =
L) (33), and if there is no resume instruction,
Return to the beginning of the above operation, and
If none of 15 closed, Is = L, Ir = L hold, the above operation is repeated at a predetermined sampling cycle (3-32-33-34-
3 -...).

(C) Calculation of deviation ATd = P ₀ −Pd ₀ of lower limit position (drive base point) of throttle valve driver with respect to idling opening of throttle valve 69 (switch 15 closed): In above (B), switch 15 closed ( Idling opening)
Is detected (3), the CPU 20 checks whether the lower limit switch 18 of the throttle driver is closed (the drive opening is at the lower limit position) (4). If not closed, the electric coil of the electromagnetic clutch is energized to bring the electromagnetic clutch into contact (26), and the electric motor 1 is urged in the reverse direction until it is closed (26-31). During this reverse biasing, the reduction amount (ATc) of the drive opening that would be caused by the reverse biasing is counted (27, 2).
9), when it reaches the maximum amount ATm (the maximum drive amount of the driver = the drive amount from when the upper limit switch 17 switches from open to closed until the lower limit switch 18 switches to open) (31), Since there is some mechanism abnormality in the throttle driver, stop energizing the electric coil 5 of the electromagnetic clutch (2
2) Turn on the light emitting diode 32 for alarm (23), wait for the power switch 30 to be turned off (24), and turn off the relay 29 (cancel power self-holding) when the power switch 30 is turned off. In addition,
At this stage, since the relay 29 has not been turned on yet, the output processing for turning off the relay 29 is unnecessary, but the relay 29 is turned on for the above-described abnormality processing (22 to 25). It may automatically enter the relay 29
Is turned off.

By the way, if the switch 18 is open from the beginning (the drive opening is at the lower limit position), or if there is no abnormality as described above and the switch 18 is opened, the CPU 20 energizes the electric coil 5 of the electromagnetic clutch ( 5) First, the electric motor 1 is energized in the forward rotation until the switch 18 is changed from open to closed, and the drive amount (ATc) during this time is measured (6 to 10-7 to 10-7 to ...).
Even in this case, the drive amount (AT
When c) is the allowable value ATA ₁ or more, as there is abnormal operation of the mechanism abnormal or switch, the process proceeds from step 10 to step 22 following the abnormality processing. If the lower limit switch 18 is changed from open to closed before the drive amount ATc becomes ATA ₁ , the drive amount (ATc) is cleared there and the idling opening (the point at which the switch 15 switches from closed to open) is reached. (11 to 15-12 to 15-12 to 15-12 ...). Even in this case, the drive amount is required until the switch 15 switches from closed to open.
When ATc is tolerance ATA ₂ or more, as there is abnormal operation of the mechanism abnormal or switch, the process proceeds from step 15 to step 22 following the abnormality processing. If the switch 15 is switched from the closed state to the open state until the drive amount ATc becomes ATA ₂ , the throttle valve 69 is driven to open by the throttle driver, and the switching point of the idling opening detection switch 15 is reached, drive amount ATc at this time represents the deviation ATd = P ₀ -Pd ₀ idling opening degree of the throttle valve 69 the lower limit position of the throttle valve actuator for (switch 15 closed) (drive base). P ₀ is the opening detection value of the potentiometer 16 at the switching point of the idling opening detection switch 15, and Pd ₀ is the valve 69 even when the lower limit switch 18 switches from open to closed (9-10). The opening detection value of the potentiometer 16 when it is assumed that the output shaft 12 is mechanically connected to the output shaft 12 of the driver. The CPU 20 writes the deviation measurement value ATc at this time to the deviation register ATd (16), converts the detection voltage (detection value) of the potentiometer 16 into a digital value (ADp) (17), and checks whether the value is within a normal range. to (18) write be the case in the idling opening degree register P _0, cut off the energization of the electric coil 5 of the electromagnetic clutch (clutch disconnection) to (19),
Register data "1" indicating that deviation detection has been completed.
Write to ICF (20). If the idling opening data ADp of the potentiometer 16 is out of the normal range, the process proceeds from step 18 to abnormal processing of step 22 and subsequent steps.

After terminating the deviation detection and disconnecting the electromagnetic clutch as described above, the CPU 20 sets the output shaft 12
It is checked whether or not has returned to the lower limit position (21). If it has returned (the switch 18 is open), the process returns to (B) described above.
Without checking the opening / closing of the switch 15 (3), it waits for a set instruction or a resume instruction (32-33-34).
-32 -...). If the output shaft 12 does not return to the lower limit position, there is an abnormality in the electromagnetic clutch or the engagement device 100, so that the process proceeds from step 21 to abnormality processing in step 22 and subsequent steps.

(C) Constant-speed cruise control in response to a set instruction: When the set instruction switch Ss is closed while waiting for a set instruction or a resume instruction to arrive (32-33-34-32 -...). The CPU 20 reads this in step 32, and first outputs the output voltage of the F / V converter 24 (corresponding to the vehicle speed).
Is converted to digital (ADv) and read (35), and this is written to the target vehicle speed register 0v (36). Next, the voltage of the potentiometer 16 (corresponding to the throttle opening) is converted to digital (AD
p) and read (37), and write this in the reference opening register ATt (38). Next, the CPU 20 energizes the self-holding relay 29 to turn on the power supply 28 to self-hold (39), energizes the electric coil 5 of the electromagnetic clutch (42), and sets the drive opening to the data of the reference opening register ATt. The electric motor 1 is urged to rotate forward until the opening degree reaches the indicated degree (43 to 52).

In this case, since the drive opening of the throttle driver is based on the point at which the lower limit switch 18 switches from open to closed, it is first checked whether or not the switch 18 is open (43). If not, the above-described return rotation process (26 to 31) is executed and the electric motor 1 is urged to rotate in the reverse direction until it is opened.

If the switch 18 is open, the drive opening register APR is cleared when it is closed (49). In addition,
Open drive amount ATc is measured before switching to close (44-46),
When it comes to the allowable value ATA ₁ or more, the process proceeds from step 48 to step 22 following the abnormality processing.

Switch 18 clears the driving opening register APR in switched to the closed and (49), measures the open drive amount APR (51), open drive to start the throttle opening (idling opening P ₀ according to the drive the amount) APR-ATd (ATd the above deviation: the written value) in the register ATD at step 16, the reference opening ATt-P ₀ for starting the idling opening degree (ATt the reference opening register ATt in step 38 The value P ₀ is compared with the idling opening written in the register P ₀ in step 19) (52), and the two become equal (the opening drive position of the throttle valve by the throttle driver is set and switch Ss is the throttle valve opening when pushed), writes the driving opening APR at that time in the register APR ₀ (59). By the way, the drive opening APR will not exceed the maximum
If it has reached the maximum value ATm after checking whether it has exceeded Tm, the upper limit switch 17 is opened up to that point, and the throttle driver can not further open the throttle valve, and there is a mechanism abnormality, or Since the vehicle is out of the constant speed traveling control range, the process proceeds to a constant speed traveling canceling process of step 68 and below, which will be described later. Also, it is checked whether or not the signal levels of the input ports Ip, Ic, Ib, and Ig have reached the L level that instructs the release of the constant speed traveling. Proceed to running cancellation processing.

Well written driving opening APR at that time in the register APR ₀ and both equal as described above and (59), the throttle opening by the action of this time the throttle actuator is, when the set switch Ss is pressed APR ₀ is equal to the throttle opening determined by depressing the accelerator pedal.
Is the drive opening at this time.

Next, the CPU 20 converts the speed detection voltage of the F / V converter 24 into digital data (ADv) and reads it (60).
The target drive opening APRt for matching the current speed ADv to the target speed Ov is calculated by an ID (proportional, integral, derivative) operation formula (61), and the electric drive APR is set to match the drive opening APR to APRt. The motor is biased forward or reverse (62). Note that PID
In the arithmetic expression, a · (ADv−Ov) is a proportional term, and (A
Dv-Ov) is the vehicle speed deviation. b · (ADv−Ov) / dv is a differential term, and (ADv−Ov) / dv is a change amount of the vehicle speed deviation during the time dv. c · ∫ΔVs · dt is the integral term written in the integral value register, which is the integral value of the opening correction amount after setting the initial drive opening APR ₀ in step 59. The sum of these PID terms is the drive opening correction amount calculated this time. When this drive opening correction is made (63), CPU2
If it is 0, it is checked whether any one of Ip, Ic, Ib, and Ig is L instructing the release of the constant-speed running (63). If both are H (no release instruction), it is checked whether the vehicle speed ADv is higher than the target vehicle speed Ov (64), and if so, the potentiometer
Digitally convert (ADp) the 16 opening detection voltages and read them (6
5) Throttle valve opening ADp based on idling opening
-P ₀ is, to check the driving opening APR-ATD is greater than the idling opening base (66). That is, it is checked whether or not there is speed increase due to depression of the accelerator pedal 77 (6
6). If so, the process returns to reading the vehicle speed signal (60) and does not update the integrated value (67). Otherwise, that is, when there is no acceleration due to depression of the accelerator pedal 77,
An increment d · (ADv−Ov) proportional to the current vehicle speed deviation is added to the content c.∫ΔVs · dt of the integrated value register, and the added value is updated and written to the integrated value register (67). That is, the value of the integral term is updated. Then, the process returns to reading the vehicle speed signal (60). While all of Ip, Ic, Ib, and Ig are H, the writing of the vehicle speed signal (60) is repeated in the dt cycle, and every time the vehicle speed signal is written, the PID calculation (61) and the drive opening correction (62) When the acceleration due to the depression of the accelerator pedal is not detected, the integral value is updated (67). The integrated value is not updated while the acceleration due to the depression of the pedal is detected.

In cruise control described above, in setting the initial driving opening APR ₀ when entering the cruise control (52 and 59), the play of the potentiometer 16 to the throttle valve 69, to correct the assembly error, the switch 15 point switches from the closed to the open from the (idling opening), the exact throttle opening at the time on the set switch Ss (ATt-P _0), play a throttle actuator (output shaft 12) to the throttle valve 69 The drive opening APR at the time when the shift opening corrected APR-ATd from the point at which the switch 15 is switched from the closed state to the open state (idling opening degree) is corrected. The opening APR is set as ₀ , and the opening is corrected for the vehicle speed deviation based on this starting point (61, 62).
Setting deviation of the PR ₀ without over substantially the vehicle speed ADv is no control error of constantly shifted to the high side or low side than the target vehicle speed Ov.

Further, in the determination of whether a speed-increasing due to the accelerator pedal depression (64 to 66), a detection angle by the potentiometer 16, is corrected to be accurate to base the idling opening degree (ADp-P _0), In addition, the drive opening of the throttle drive (of the output shaft 12) is determined by correcting (APR-ATd) an accurate one based on the idling opening similarly and comparing the two (66). The determination is accurate, and accordingly, the integration stop / execution corresponding to the presence or absence of the speed increase by the actual operation of the accelerator pedal is accurately performed, and the speed stability of the constant speed traveling control is high.

(D) Release of constant-speed running in response to a release instruction: When any of Ip, Ic, Ib, and Ig becomes L, the CPU 20
This is read in step 54 or 63. Then, first, the energization of the electric coil 5 of the electromagnetic clutch is cut off (clutch disengagement) (68), whereby the output shaft 12 waits for the return time of the coil spring 55 to return to the driving base point. Is open (returning to the driving reference point) (69). When open, the drive opening register
The APR is cleared (75), the drive amount register ATc is cleared (76), and the release instruction is due to the power switch 30 (or the engine key switch EKS) being turned off (power cut off) (Ip = L
?) Is checked (77), and if so, the self-holding relay 29 is turned off (78). When the relay 29 is turned off, the output of the constant voltage power supply 28 is turned off, so that the power of the CPU 20 is turned off. If the release instruction is not the above-described power cut-off, a set instruction or a resume instruction can be input thereafter, so that the relay 29 is not turned off, and waits for a set input and a resume input (3-32 to 34-3 -...). Or 3-4 to 21-32-
34-3-32 to 34-3 -...).

The electromagnetic clutch is disengaged (68), and after waiting for a lapse of time to return to the driving reference point, it is checked whether the lower limit switch 18 is open (returning to the driving reference point) (69). If the output shaft 12 has not been returned to the driving reference point), it is highly likely that the output shaft 12 remains mechanically coupled to the reduction gear mechanism of the driver and the electric motor due to the abnormality of the electromagnetic clutch. The register ATc is cleared (70), the amount of drive is counted by energizing the electric motor 1 in the reverse direction (71, 72), and it is checked whether the lower limit reset switch 18 has returned to the open state (73). When returning to the open state, the process proceeds to post-processing of step 75 and subsequent steps. If the driving amount reaches the maximum value ATm without returning to the open state, it is considered that the engagement device 100 or the switch 18 is abnormal. Therefore, the driving is stopped there, and the abnormality processing for the switch 22 and thereafter is performed.

As described above, when a throttle driver using an electromagnetic clutch and an electric motor is used, the lower limit switch (drive base point detection switch) of the throttle driver is used. Since the shaft 12 is returned to the driving reference point, the throttle opening is
The opening degree corresponds to the depression amount of the accelerator pedal 77. Acceleration and deceleration due to the operation of the accelerator pedal 77 do not interfere.

(E) Constant-speed cruise control in response to a resume instruction: While waiting for a set instruction or a resume instruction to arrive (32-33-34-32 -...), when the resume switch Sr is closed, the CPU 20 Reads this in step 32 and executes step 39 and subsequent steps. That is, the self-holding relay 29 is turned on (39), and the electric coil 5 of the electromagnetic clutch is energized (42). Thereafter, the same control as the above-mentioned constant speed traveling control (D) is performed. In the constant speed traveling control corresponding to this resume instruction, the target speed is set (35, 36).
And the reading of the throttle opening (37, 38) is not executed, so that the target speed Ov and the initial driving opening APR ₀ are the same as those set by the constant speed cruise control executed in response to the set input so far. Become.

In the above embodiment, the pulse motor 1 is used as the throttle driver, and the number of energizing steps is counted to determine the drive opening. However, an opening sensor is connected to the output shaft 12, and based on this, The drive opening may be obtained. In this case, the opening may be controlled based on the equation (1) by changing the pulse motor to a normal DC motor. Further, the throttle driver may be a negative pressure actuator.

〔The invention's effect〕

Even if the speed control means breaks the electromagnetic clutch (cuts off the current) due to an abnormality of the electromagnetic clutches (4 to 9), unless the mechanical coupling between the output shaft (12) and the electric motor (1) is actually released, The output shaft (12) does not return to the drive origin. That is, the drive base point detecting means (18) does not detect that the throttle valve drive opening is the drive base point. In this case, the throttle valve opening cannot be returned to a lower opening than the opening determined during the constant speed running. At this time, the return control means (20) drives the electric motor (1) of the throttle drive means (1 to 12) in the direction of lowering the throttle opening. As a result, when the output shaft (12) returns to the drive base point, the throttle valve (69) can return to the base point opening (idling opening), so that the opening corresponds to the depression position of the accelerator pedal. As described above, when the electromagnetic clutches (4 to 9) fail, the output shaft (12) is automatically returned to the drive base point, so that there is no obstacle to acceleration and deceleration by the accelerator pedal.

Even if the return control means (20) drives the electric motor (1) in the direction of lowering the throttle opening for a predetermined time (ATm), the output shaft (12)
Is not returned to the driving reference point, or if the driving reference point detection of the driving reference point detection means (18) is an error, that is, if the driving mechanism or the detection is abnormal, the pause means (20) sets the throttle driving means (1 to 12) Stop driving, and until the power supply to the throttle driving means (1 to 12) is cut off,
The drive stop is continued (see FIG. 4A, 4-26 to 31-22 to 24 /
68-74 in Fig. 4c-22-42 in Fig. 4a). Thus, in the case of an abnormality, the constant speed traveling is not started.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an electric system of one embodiment common to each invention of the present application. FIG. 2a is a cross-sectional view of a throttle driver used in the embodiment. FIG. 2b is a sectional view taken along line IIB-IIB of FIG. 2a. FIG. 3 is a perspective view showing a mechanism for connecting the output shaft 12 of the throttle driver shown in FIG. 4a, 4b and 4c are flowcharts showing the control operation of the CPU 20 shown in FIG. 1: pulse motor (electric motor), 2: worm 3: clutch drive gear, 4: fixed shaft 5: electric coil, 6: disc 7: leaf spring, 8: clutch driven gear 9: engagement protrusion, 10: tooth 11: sector gear 12: output shaft (output shaft, 1-12: throttle drive means) 13: cam plate, 14: cam 15: switch (base point detection means) 16: potentiometer (throttle opening detection means) 17: limit switch 18: Limit switch (drive base point detection means) 19: Case lid 20: CPU (speed control means, return control means) 21: Motor driver, 22: Solenoid driver 24: F / V converter, 25: Reed switch 26: Permanent magnet Rotor (24 to 26: vehicle speed detecting means) 27: relay driver, 28: constant voltage power circuit 29: self-holding relay, 30: power switch 31: lamp driver, 32: light emitting diode 40, 50: fan-shaped cam (one-way engagement) 55: Coil spring (return and return means) 67: Tension coil sp Packaging (throttle return means) (40
~ 67: unidirectional connecting means) 68: rotary shaft (rotary shaft) 69: throttle valve (throttle valve) 77: accelerator pedal, 100: coupler EKS: engine key switch, VBA: battery on the vehicle Ss: set switch (start Instruction means) Sr: Resume switch Sc: Cancel switch, Sb: Brake switch Sg: Clutch switch (Sc, Sb, Sg: End instruction means)

Continuation of the front page (58) Field surveyed (Int. Cl. ⁶ , DB name) B60K 31/00-31/18 F02D 29/02 301 F02D 41/14 320

Claims (1)

(57) [Claims] An output shaft, an electric motor for driving the output shaft to rotate forward and backward, a reduction mechanism interposed between the rotation shaft of the electric motor and the output shaft, and a rotation shaft of the electric motor Throttle drive means including an electromagnetic clutch interposed between the throttle drive means and an output shaft; throttle return means for applying a rotational force in a closing direction to a rotation shaft of a throttle valve of a vehicle; The one-way engaging means which rotates in the opening direction of the throttle valve to drive the rotary shaft of the throttle valve in the opening direction and does not apply a driving force to the throttle valve in the reverse rotation of the output shaft, and the one-way engaging means. One-way connecting means (40 to 67) including return / return means for applying a force for rotating the throttle valve in the closing direction; instructing means for setting or canceling the constant speed traveling; generating an electric signal according to the vehicle speed. Drive speed detection means; drive base point detection means for detecting whether or not the throttle valve drive opening of the throttle drive means is a drive base point; when constant speed running is set, the electromagnetic clutch is brought into contact to detect the vehicle speed. When the opening of the throttle valve is adjusted via the throttle driving means in a direction in which the deviation between the two decreases in accordance with the vehicle speed detected by the means and the target vehicle speed stored in the storage means, and when there is no setting for constant speed traveling, Speed control means for disconnecting the electromagnetic clutch; when the speed control means disconnects the electromagnetic clutch,
Return control means for urging the throttle drive means in the throttle opening low direction until the drive base point detection means detects the drive base point, when the drive base point detection means detects that the drive base point is not at the drive base point; and When the drive base point detection means does not detect the drive base point when the throttle drive means is urged in the direction of lowering the throttle opening for a predetermined time by the return control means, the drive of the throttle drive means is stopped, and A constant speed traveling control device comprising: a stop means for continuing the drive stop until the power supply is cut off.