JP3181862B2 - Step motor drive throttle control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a throttle control device driven by a step motor.

[0002]

2. Description of the Related Art When a normal DC motor or a brushless DC motor is used as a motor for driving a throttle valve,
Since there are many slots in the armature core, there is a problem that it is difficult to precisely control the angle of the slot valve due to a change in torque or a stable stationary point scattered in accordance with a change in rotation angle.

Therefore, Japanese Patent Laid-Open Publication No. Hei 3-57833 discloses that
It has been proposed to employ a step motor capable of high-precision positioning in a motor-driven throttle control device used for automobiles and the like. Further, it is provided that the initial excitation phase of the step motor is fixed, and that the stator (stator) is positioned and adjusted in the direction of rotation of the rotor. It has been proposed to improve the positioning accuracy by always starting from a fixed stop position (throttle fully open position) starting from the initial excitation phase.

A throttle control device used for a certain kind of internal combustion engine such as a gasoline engine uses a spring for setting a valve body to a predetermined opening position when power is cut off. In a throttle control device used for a certain kind of internal combustion engine, a spring for biasing a valve body in a fully open direction is used in order to prevent the influence of backlash of a reduction gear mechanism for multiplying motor torque. Things are known.

[0005]

However, in the step motor drive throttle control device, although the opening degree control itself can be performed accurately, high speed rotation is not easy as compared with other motors, so that the response is inferior. was there. In particular,
When the above-described spring is provided, the torque of the motor must further exceed the urging force, so that the motor needs to be increased in size, and the inertial mass of the rotor increases by that much and the response is increased. In addition, there was a dilemma of reduction.

In this sense, the above-described weakening of the spring is effective for reducing the physique of the motor and improving the responsiveness. However, if the spring is weak, the stop position of the valve body after the power supply is stopped due to external vibration of the engine or the like. Because it varies by all means,
Even when the initial excitation phase is fixed as proposed by the above-mentioned publication, the position of the valve body itself at the start of energization varies, causing a problem that accurate opening control becomes difficult.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has as its object to provide a step motor drive valve device capable of preventing an opening deviation without deteriorating responsiveness. .

[0008]

According to the first aspect of the present invention, the valve of the intake throttle valve is controlled to rotate by the step motor, and when the power to the step motor is cut off. It is mechanically urged in a predetermined direction by an urging means (return spring).

In this configuration, when a predetermined reference position of the valve body is detected by the reference position switch , the reference position switch is activated.
The excitation phase detected at the time of the reference position detection by the
Based on a predetermined reference excitation phase close to the output excitation phase to determine the relationship between the position of the subsequent excitation phase and the valve body. In this way, since the subsequent excitation phase is determined based on the excitation phase detected at the time when the reference position is detected, the return spring and the like are weak, and the return to the initial position is reliably performed at the time when the power supply is stopped. The reference position is detected even if the rotor position is displaced during power cutoff due to external vibration or impact, or if the rotor position shifts due to the backlash of the reduction gear mechanism. The actual relationship between the reference position of the rotor and the excitation phase at that time can be determined every time,
Since subsequent control can be performed based on this, it is possible to reliably and easily realize the deviation between the rotor position and the excitation phase.

Further, in this configuration, since it is not necessary to use a stopper or the like for determining the rotor position, particularly the reference position, there is an advantage that it is not necessary to consider the mechanical impact at the time of abutting the stopper. There is also. Further, in this configuration, the return spring is strengthened to a level that overcomes the vibration, impact, friction, detent torque, and the like, and it is not necessary to return the rotor to a predetermined initial position after power is cut off. The spring can be weakened, for example, to the extent that backlash of the reduction gear mechanism can be suppressed, whereby the generated torque of the motor can be reduced by that much, and the response by reducing the inertial mass of the rotor by that much. It is also possible to improve the performance.

According to a second aspect of the present invention, in the step motor drive throttle control apparatus according to the first aspect, the rotor of the step motor is forcibly rotated in a direction toward a predetermined reference position at the time of startup. . In this way, the deviation between the rotor position and the excitation phase can be corrected immediately after the start of the operation of the step motor.

According to a third aspect of the present invention, in the step motor drive valve device according to the first or second aspect, further, a detection excitation phase which is an excitation phase at the time of detecting the reference position and a reference which is close to the detection excitation phase. Electricity is supplied in the direction to eliminate the step difference by the step difference from the excitation phase to correct the deviation of the reference position, and thereafter, the opening degree control is performed by supplying the necessary number of steps based on the reference excitation phase.

With this arrangement, the opening amount from the reference position of the rotor can be accurately matched with the number of energizing steps, and accurate opening control can be realized. According to a fourth aspect of the present invention, in the step motor drive valve device according to the first or second aspect, further, a detection excitation phase which is an excitation phase at the time of detecting the reference position, and the reference excitation phase which is close to the detection excitation phase. , The detected excitation phase is set as a new reference excitation phase, and then the current is supplied by the number of steps determined by adding or subtracting the above step difference from the commanded number of steps in the direction to eliminate the step difference, and the opening degree is obtained. Perform control.

With this arrangement, the opening amount from the reference position of the rotor can be accurately matched with the number of energizing steps, and accurate opening control can be realized. According to a fifth aspect of the present invention, in the step motor driving valve device according to the third or fourth aspect, the open-side excitation includes one or more predetermined excitation phases in one cycle in which the detected excitation phase is different from the reference excitation phase. When the phase is included in the phase group, it is determined that the detected excitation phase is located on the valve opening side within one cycle from the reference excitation phase. Further, when the detected excitation phase is included in a closed-side excitation phase group consisting of one or more predetermined excitation phase groups in one cycle different from the reference excitation phase and the excitation phase of the open-side excitation phase group, the detection excitation phase is It is determined that it is located on the valve closing side within one cycle from the reference excitation phase.

Further, of the open-side excitation phase group and the close-side excitation phase group, the excitation phase group that is located on the side where the reference excitation phase is likely to be shifted from the reference excitation phase is higher than the remaining excitation phase group. Also include many exciting phases. With this configuration, since a large number of excitation phases different from the reference excitation phase are provided on the side where the deviation is likely to occur, the correction range of the physical deviation can be set wide. In the range of the excitation phase group for one cycle composed of all the excitation phases different from each other and adjacent to each other, the physical correction can be corrected by employing the above-described configuration of claim 3 or 4. However, if it is out of the range of the above one cycle, the excitation phase which is closer to the detected excitation phase and is the same as the reference excitation phase, instead of the true reference excitation phase, is replaced with the reference excitation phase, that is, the excitation phase at the original reference position. It cannot be corrected because it is mistaken.

In this configuration, of the excitation phases included in the range of the excitation phase that can be corrected for one cycle, more excitation phases are arranged in advance on the side where the reference excitation phase is likely to be shifted, thereby recovering the shift recovery. It is an expansion of the physical range. According to a sixth aspect of the present invention, in the step motor drive valve device according to any one of the first to fifth aspects , the step motor further includes an intake passage member having an intake throttle valve, wherein the central axis of the step motor is provided. Stepmo as center
It is adjustably disposed mounting attitude in the rotational direction of the over data.

In this manner, when the current of the reference excitation phase is supplied to the stepper motor, the rotor of the stepper motor is rotated.
Since the above-mentioned posture adjustment can be performed so that the stable position of the rotor coincides with the reference position of the valve element, there is an advantage that the reference excitation phase does not need to be changed and the control is simplified. The same operation and effect as described above can be obtained even if the reference position switch is provided so as to be able to adjust the mounting posture in the rotation direction with respect to the valve body of the intake throttle valve.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The preferred embodiments of the present invention described above will be described in more detail with reference to the following examples. (Embodiment) A step motor drive throttle control device of this embodiment applied to an intake throttle device of a vehicle diesel engine will be described with reference to the drawings.

First, the throttle valve S will be described with reference to FIGS. Both ends of a throttle shaft 2 are rotatably supported by bearings 3 on a throttle body 1 provided in an engine intake passage (not shown), and a valve (valve element) 4 is fixed to the throttle shaft 2. A drive shaft of a step motor 5 is connected to one end of the throttle shaft 2 by a reduction gear mechanism 6. The rotation of the step motor 5 causes the valve 4 to rotate and open and close.

A lever 6 is fixed to the other end of the throttle shaft 2, and a limit switch (reference position switch in the present invention) 7 is attached to the throttle body 1 in proximity to the lever 6. The limit switch (fully open switch) 7 is turned on at a predetermined rotation angle position (reference position) near the valve fully open position. The throttle shaft 2 is urged in the opening direction by a return spring 9 to prevent backlash in the reduction gear mechanism 6. The trough of the return spring 9 is set to a range larger than the rotational friction torque of the throttle shaft 2 and smaller than the detent torque of the step motor 5, and as a result, when the step motor 5 is turned off, the stop position of the valve 4 is set to the entire valve position. Any position between closed and fully open.

The step motor 5 is driven by bolts 10
Fixed to throttle body 1. The bolt insertion hole 11 provided in the step motor 5 is formed in a long hole shape so that the rotation of the motor 5 about the center axis 12 thereof can be adjusted. Similarly, the end case 60 in which the full-open switch 7 is fixed and installed has an elongated hole 13 so that the end case 60 can be adjusted in the rotational direction about the throttle shaft 2.
Since the switch 3 is fixed to the throttle body 1 with bolts 14, the full-open switch 7 can also be adjusted in the rotational direction about the throttle shaft 2.

The step motor 5 is of a four-phase PM type, and is provided with first, second, third and fourth phase stator coils. The control circuit 15 determines the opening degree of the valve 4 so as to optimize the ratio A / F between the air flow rate and the fuel injection amount based on the input of signals such as the engine speed and the fuel injection amount, and based on this, It has a function of controlling the drive of the step motor 5.

Hereinafter, the case where the step motor 5 is controlled by the bipolar two-phase excitation drive will be described in more detail.
Of course, it is of course possible to employ a unipolar drive system in which the stator coils of each phase of the step motor 5 are energized in only one direction, or an excitation system other than two-phase excitation. FIG. 5 shows a step coil driving circuit of a step motor 5 using four complementary bipolar transistor inverter circuits. The first stator coils c1 and c2 have the first
Four energized phases (currents) of the phase to the fourth phase are energized.

FIG. 6 shows four types of excitation phases (1 + 2) and (2+
The change order of 3), (3 + 4) and (4 + 1) and the valve opening / closing direction based on the change order are shown. Hereinafter, a method of adjusting and controlling the step motor 5 will be described. Valve opening control
The control is performed by controlling the number of steps from the valve fully open position (reference position) defined by the operation position of the fully open switch 7. At the time of product shipment, the step motor 5
At the operating position of the fully open switch 7, the reference excitation phase is
The rotation of the motor 5 is adjusted about its center axis 12, and the learning excitation phase detected and stored at the time when the fully open switch 7 is operated coincides with the reference excitation phase.

However, if the operating point of the fully open switch 7 is deviated by a certain opening amount due to the deterioration of the switch 7 with time and the wear of the gear 6 and the bearing 3, the step mode is shifted by a predetermined number of steps based on the fully open position (reference position). Even if the heater 5 is driven, it will be shifted from the desired opening position corresponding to the number of steps by the above-mentioned opening amount. In a throttle control device, particularly a throttle control device for a diesel engine, it is possible to accurately control an idle opening for controlling an engine idling state and a fully closed opening for preventing vibration when the engine is stopped. Of particular importance (see FIG. 4).

Therefore, in this embodiment, the excitation phase detected at the fully open position (reference position in the present invention) (the excitation phase at which the rotor becomes a stable point at the reference position), that is, the detected excitation phase is close to the excitation phase. The rotor is returned to the reference position by performing the correct energization for the required number of steps to return to the reference excitation phase, and the necessary opening is obtained by energizing for the number of steps corresponding to the command opening input from this state. Get.

In this manner, even if the excitation phase at a predetermined reference position, that is, the reference excitation phase is shifted, it is possible to accurately control the required opening degree. Further, the reference excitation phase control only requires a simple sensor or switch that operates at a predetermined angular position, and thus has an advantage that the configuration is simple. Hereinafter, a more detailed description will be given with reference to the flowchart shown in FIG.

First, the control is started by turning on the ignition key.
Is forcibly rotated in the direction toward the reference position (s10
0), when the full-open switch 7 is operated (s102), it is checked whether or not the excitation phase at that time (detection excitation phase) is the reference excitation phase (s103). If it is the reference excitation phase, the process jumps to s105; otherwise, the correction energization process is performed in s104.

The correction energizing process (s104) will be described in detail. The difference in the number of steps between the detected excitation phase and the reference excitation phase closest to the detected excitation phase is determined, and energization is performed in the direction to eliminate the difference by the difference in the number of steps. The rotor is set to the reference position where no deviation has occurred. Thereafter, a normal step mode in which energization processing is performed for the number of steps corresponding to the opening degree command.
Control is performed (s105), and thereafter, it is checked whether the full-open switch 7 is operated when the full-opening degree command is issued (s1).
06) When activated, it is checked whether or not the detected excitation phase matches the reference excitation phase as in s103 (s107). If they match, it is determined that no deviation has occurred, and the process jumps to s105. Then, the same correction processing as in s104 is executed.

The correction process will be further described with reference to FIG. In this embodiment, it is assumed that the return spring 9 constantly biases the system in the valve opening direction. Therefore, as shown in FIG. 6, when the excitation phase (reference excitation phase) at which the full-open switch 7 operates is set to, for example, (3 + 4) phase,
If the detected excitation phase is shifted to the (2 + 3) phase or (1 + 2) phase, it is assumed that the detected excitation phase is shifted to the valve opening side by one or two steps, and the valve is rotated by one or two steps in the valve closing direction. To return to the reference excitation phase (3 + 4). On the other hand, when the detected excitation phase is shifted to the (4 + 1) phase, it is assumed that the detected excitation phase is shifted by one step toward the valve closing side, and the reference excitation phase (3 + 4) is rotated by one step in the valve opening direction. Return to

With this configuration, the correction range in the valve opening direction, which tends to shift, is set to be wider by one phase than the correction range in the valve closing direction, which does not easily shift, so that the correction range can be set wider. By doing so, the return spring 9
Even if the torque of the valve is weak and the valve body position at the start of energization varies, accurate opening control can be realized.

Further, the fact that accurate opening control can be performed even if the return spring 9 is weakened means that the rotor inertia of the rotor is reduced by downsizing the step motor 5 in response to the weakening of the return spring 9. Mass reduction is possible,
That means that the responsiveness can be improved. Further, the weight reduction of the rotor which is fixed to the intake system of the engine and used in an extremely high vibration environment means that the radial thrust applied to the motor shaft supporting the rotor by the engine vibration is reduced. The rigidity and strength of the motor shaft can be reduced, so that the rotational inertia mass can be further reduced and the responsiveness can be further improved. Also, the rigidity and strength of the bearing and the like can be reduced by the reduced mass of the rotor and the motor shaft, so that the motor can be further reduced in size and weight.

Furthermore, in this embodiment, there is no need to perform "butting drive" for forcibly stopping the rotor by abutting against a stopper (a starting point stopper) for learning the reference excitation phase, so that durability is improved. , And the burden of increasing rigidity can be reduced. In this embodiment, as shown in FIG. 6, the operating point (rising edge) of the first fully open switch 7 is set to a certain extent near the excitation phase (4 + 1) of the reference excitation phase (3 + 4), which is hardly shifted. Is done.

This is advantageous because the physical margin in the direction in which it is easy to shift is increased. In the above description, an initial operation is described in which the actuator is first driven in the direction toward the reference position. May be driven in the direction toward the reference position. (Embodiment 2) Another embodiment will be described with reference to FIG.

In this embodiment, step s104 in the flowchart of FIG. 7 is modified. That is, in this embodiment, the difference between the detected excitation phase and the reference excitation phase (the reference excitation phase is arranged with respect to the detection excitation phase as shown in FIG. 6), that is, the difference in the number of steps is obtained. . Next, the detected excitation phase is regarded as a new reference excitation phase, and the difference in the number of steps is subtracted from the number of steps to be energized from the new reference excitation phase in a direction to eliminate the deviation. Energize by the number.

In this way, the same effect as in the first embodiment can be obtained. (Embodiment 3) Another embodiment will be described with reference to FIG. This embodiment is intended to cope with a continuous shift due to wear of the reduction gear mechanism, etc., and a new judgment step s201 is provided between steps s103 and s104 of the flowchart of FIG. It is checked whether or not the detected excitation phase detected this time in s201 matches the previously detected detection excitation phase to be stored. If the detected excitation phase matches, the process proceeds to step s104 shown in FIG.
2 is performed.

The correction processing in step S202 will be described below. In this step, it is assumed that the shift from the previously detected detection excitation phase pd 'to the currently detected detection excitation phase pd is the same as the direction of the shift of the previously detected detection excitation phase pd'. In other words, it is determined that the detection excitation phase pd is located on the opposite side of the reference excitation phase pf across the detection excitation phase pd ′ and is closest to the detection excitation phase pd ′.

Then, the position of the recognized excitation phase and
Electricity is supplied in the direction of eliminating the positional difference by the number of steps between the reference exciting phase pf and the position of the reference exciting phase pf, thereby eliminating the above-described deviation.
In this manner, unless the difference between the current detected excitation phase pd and the previous detected excitation phase pd 'becomes one cycle or more, it is possible to cumulatively compensate for the shift exceeding one cycle.

[Brief description of the drawings]

FIG. 1 is an axial sectional view of a throttle control device according to a first embodiment.

FIG. 2 is a radial cross-sectional view of the vicinity of a full-open switch 7 of the throttle control device of FIG.

FIG. 3 is a radial sectional view near the step motor of the throttle control device of FIG. 1;

FIG. 4 is a cross-sectional view of a main part of the stepping motor shown in FIG.

FIG. 5 is a basic circuit diagram of an energization driver circuit of the control device of FIG. 1;

FIG. 6 is a timing chart showing a relationship between an energizing pattern (exciting phase) to a step motor by an energizing driver circuit of FIG.

FIG. 7 is a flowchart showing a control operation of the control device of FIG. 1;
It is.

FIG. 8 is a flowchart showing a control operation of the control device according to the second embodiment.

FIG. 9 is a flowchart showing a control operation of the control device according to the third embodiment.

[Explanation of symbols]

s is an intake throttle valve, 5 is a step motor, 7 is a fully open switch (reference position switch), 9 is a return spring (biasing means), and 15 is a control circuit (control device).

──────────────────────────────────────────────────続 き Continuation of the front page (51) Int.Cl. ⁷ Identification code FI F16K 31/04 F16K 31/04 A (56) References JP-A-6-221111 (JP, A) JP-A-5-79356 ( JP, A) JP-A-3-57833 (JP, A) JP-A-6-42375 (JP, A) JP-A-2-301630 (JP, A) JP-A-4-269337 (JP, A) JP Sho 61-252839 (JP, A) Japanese Utility Model 7-10445 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) F02D 9/00-11/10 F02D 41/20

Claims (6)

(57) [Claims] An intake throttle valve; an urging means for mechanically urging a valve element of the intake throttle valve in a predetermined direction; a step motor for rotating the valve element; A reference position switch for detecting a reference position of the step motor, and a control device for controlling the rotation of the valve body by supplying a current of a predetermined number of exciting phases to the stator coil of the step motor in a predetermined order. The control device is configured to approach a detection excitation phase which is an excitation phase detected at a time when the reference position switch detects the reference position .
A step motor-driven throttle control device for determining a relationship between each subsequent position of the valve element and the excitation phase based on a predetermined reference excitation phase . 2. The step motor drive throttle control device according to claim 1, wherein the control device forcibly rotates the step motor in a direction toward the reference position at the time of startup. -Throttle control device. 3. The step motor drive valve device according to claim 1, wherein the control device includes: a detection excitation phase which is an excitation phase at the time of detecting the reference position; and the reference excitation phase which is close to the detection excitation phase. A step motor driving throttle control device for controlling the correction of the deviation of the reference position by supplying electricity in a direction for eliminating the step difference by the step difference. 4. The step motor drive valve device according to claim 1, wherein the control device includes: a detection excitation phase which is an excitation phase at the time of detecting the reference position; and the reference excitation phase which is close to the detection excitation phase. Is calculated, and the detected excitation phase is set as a new reference excitation phase, and thereafter, the energization is performed for the number of steps obtained by adding or subtracting the step difference from the commanded number of steps in the direction of eliminating the step difference. A throttle control device for driving a step motor. 5. The step motor drive valve device according to claim 3, wherein the control device is configured to control one of the detected excitation phases in one cycle different from the reference excitation phase.
When the detected excitation phase is included in an open-side excitation phase group including at least two predetermined excitation phases, it is determined that the detected excitation phase is located on the valve open side within one cycle from the reference excitation phase. When the excitation phase is included in one or more predetermined excitation phase groups within one cycle different from the excitation phases of the reference excitation phase and the open excitation phase group, the detected excitation phase is the reference excitation phase. Phase is determined to be located on the valve closing side within one cycle from the phase, and the excitation positioned on the side of the open excitation phase group and the closed excitation phase group on which the reference excitation phase is likely to shift when viewed from the reference excitation phase A step motor drive throttle control device, wherein the phase group includes more exciting phases than the other exciting phase groups. 6. The step motor drive valve device according to claim 1 , wherein the step motor is provided on an intake passage member having the intake throttle valve, with a center axis of the step motor as a center. Said
A step motor drive throttle control device, wherein a mounting posture in a rotation direction of the step motor is adjustable.