JP3344920B2 - Actuator control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an actuator control device suitably used for a valve timing control device for variably controlling the opening / closing timing of an intake valve and an exhaust valve of an internal combustion engine.

[0002]

2. Description of the Related Art In general, a valve timing control device for variably controlling the opening / closing timing of an intake valve or an exhaust valve in accordance with the operating state of an automobile engine or the like is known from, for example, Japanese Patent Application Laid-Open No. 6-2516. Have been.

[0003] This type of valve timing control device includes:
An actuator, such as a hydraulic cylinder, driven by hydraulic pressure supplied and discharged from a hydraulic pressure source, such as a hydraulic pump, is disposed between the actuator and the hydraulic pressure source. A control valve mechanism such as a spool valve that slides and displaces the valve body from the neutral position when the hydraulic pressure from the hydraulic pressure source is supplied to and discharged from the actuator while being held at the neutral position, and the control is performed to operate the actuator. An actuator control device including a valve control unit that slides and displaces a valve body of a valve mechanism in accordance with a control signal is provided.

The actuator control device operates the actuator by a control valve mechanism and drives the valve timing control device by the actuator to variably control the opening / closing timing of an intake valve and an exhaust valve of the engine. Here, the actuator control device performs feedback control by using a deviation between a target value for operating the actuator and a detection value according to the current operation state of the actuator.

[0005]

By the way, in the actuator control device according to the prior art, when the electromagnetic actuator such as the proportional solenoid for driving the valve element of the control valve is heated for a long time or the like, the electromagnetic actuator is controlled. Since thermal resistance occurs in the coil portion, the displacement of the valve body with respect to the input current may gradually decrease.

For this reason, in the prior art, when the valve element of the control valve mechanism is returned to the neutral position to shift the actuator from the operating state to the stopped state, if the return position (neutral position) of the valve element shifts, At the time of the next drive, the sliding displacement amount of the valve body in response to the control signal changes, and the flow rate of the liquid supplied to and discharged from the actuator also changes. This makes it difficult to accurately and stably drive the actuator to the target position, and causes a steady-state deviation between the detected value and the target value, which makes it impossible to appropriately control the actuator. .

Further, the return position of the valve body may be shifted, for example, in the range of a dead zone due to a manufacturing error of the valve body or the like, and the actuator control device is used for valve timing control of an engine or the like that requires accurate control. In such a case, there is a problem that it becomes difficult to drive the engine with optimal valve timing.

[0008] Therefore, in the actuator control device described in Japanese Patent Application Laid-Open No. 6-299813, there is disclosed a configuration for learning the deviation of the return position from the steady-state deviation generated in the actuator. However, in this case, the detection value fluctuates due to mechanical backlash or an error generated in the actuator, and it may be difficult to calculate the steady-state deviation. Therefore, there is a problem that a highly reliable learning value cannot be obtained.

Further, since high-speed and high-precision control is required in the valve timing control of the engine, dead zone compensation for slidingly displacing the valve body to a position slightly beyond the dead zone when switching the control valve mechanism is performed. ing.

However, the width of the dead zone of the control valve mechanism may vary depending on manufacturing errors of the valve body and the like. When the control valve mechanism is switched, the valve body does not exceed the dead zone (the dead zone compensation is weak), May exceed the dead zone too much (the dead zone compensation is strong). In addition, the sliding displacement of the valve body may change due to thermal resistance or the like generated in the coil portion of the electromagnetic actuator, which also makes it impossible to perform dead zone compensation stably.

If the dead zone compensation is not performed so that the valve body goes beyond the dead zone, the supply amount of the hydraulic pressure from the hydraulic pressure source is reduced, the operation amount of the actuator is reduced, and the actuator is set to the target. The time it takes to reach the desired position will be long. On the other hand, when the valve body slides beyond the dead zone due to the dead zone compensation,
An increase in the amount of hydraulic pressure supplied from the hydraulic pressure source and an increase in the amount of operation of the actuator cause the actuator to operate beyond the target position, so that the actuator becomes extra close to the target position. It takes a long time.

The present invention has been made in view of the above-described problems of the prior art, and the present invention can shorten the time required for an actuator to reach a target position and can quickly approach the target position. An object of the present invention is to provide an actuator control device capable of improving the reliability and stability of feedback control.

[0013]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides an actuator which is driven and controlled by a hydraulic pressure supplied and discharged from a hydraulic pressure source, and comprises an actuator provided between the actuator and the hydraulic pressure source. is disposed, normally holds the valve element in a neutral position with a dead zone of constant width, slide from a neutral position the valve body when the hydraulic pressure to supply and discharge the hydraulic pressure source or Raa effectuator <br/> eta The present invention is applied to an actuator control device including a control valve mechanism for displacing, and valve control means for slidably displacing a valve element of the control valve mechanism in accordance with a control signal to operate the actuator.

[0014]

[0015]

[0016]

[0017] The feature of the configuration invention of claim 1 is employed is driven by said actuator for variably controlling the valve timing of an internal combustion engine, position the rotational phase between the crankshaft and the camshaft of the internal combustion engine A rotation phase variable unit for generating a phase difference, wherein the valve control unit sets a target value for operating the actuator such that a valve timing of the internal combustion engine becomes a timing corresponding to an operation state of the internal combustion engine. Target value setting means, an operation detecting means for detecting an operation state of the actuator from a phase difference between the crankshaft and the camshaft, and a deviation between a target value by the target value setting means and a value detected by the operation detecting means. And a fluctuation cycle calculation for calculating a fluctuation cycle of the deviation by the deviation calculation means. A step, a proportional operation means for performing a proportional operation on the deviation from the deviation operation means, an integral operation means for performing an integral operation on the deviation from the deviation operation means, and the fluctuation for performing dead zone compensation of the control valve mechanism. Compensation operation means for compensating for the dead zone so as to set the operation value variably in accordance with the variation cycle of the deviation by the cycle calculation means; and the respective operation values by the proportional operation means, integral operation means and compensation operation means. Output signal setting means for setting a control signal to be output to the control valve mechanism based on the output signal.

With this configuration, the target value setting means can output a target value which is a valve timing corresponding to the operating state of the internal combustion engine, and the operation detecting means can detect the target value of the actuator from the phase difference between the crankshaft and the camshaft. A detection value corresponding to the operation state can be output. Then, in order to perform feedback control of the actuator in accordance with the deviation between the target value set by the target value setting unit and the detection value set by the operation detection unit, the proportional operation unit calculates the flow rate of the liquid supplied to the actuator as a value proportional to the deviation. The integral calculating means can calculate the flow rate of the liquid supplied to the actuator as a value corresponding to the integral value of the deviation. Further, the compensation calculating means variably sets the calculated value for dead zone compensation in accordance with the fluctuation cycle of the deviation in which the deviation is switched between a positive value and a negative value, so that the calculated value corresponding to the width of the dead band is obtained. Can be calculated, and the sliding displacement amount of the valve element can be adjusted according to the width dimension of the dead zone.

The output signal setting means can set a control signal such as a pulse signal to be output to the control valve mechanism on the basis of the respective calculation values of the proportional calculation means, the integration calculation means and the compensation calculation means. , The hunting of the actuator can be reduced, and the variable rotation phase means can be driven so that the valve timing corresponds to the operating state of the internal combustion engine.

Further, in the invention according to claim 2 , the compensation calculation means includes a coefficient setting circuit for increasing or decreasing a correction coefficient for dead zone compensation according to a variation cycle of the deviation by the variation cycle calculation means, and a correction by the coefficient setting circuit. And a compensation operation circuit for outputting the operation value based on the coefficient.

According to the above configuration, the coefficient setting circuit increases the correction coefficient when the variation cycle of the deviation is longer than the variation cycle corresponding to the dead zone of a fixed width, and decreases the correction coefficient when the variation cycle is short. , The correction coefficient can be set to a numerical value corresponding to the width dimension of the dead zone. The compensation calculation circuit outputs a calculation value based on the correction coefficient, so that when the deviation is a positive value, a positive value of the correction coefficient is used as a calculation value, and when the deviation is a negative value, the correction coefficient is calculated. A negative value can be used as the operation value.

Further, in the invention according to claim 3 , the valve control means determines a transient state based on a target value by the target value setting means, and determines a predetermined transient time when the target value is changed. And a transient state determining means for determining that the apparatus is in the non-transient state otherwise. The compensation calculating means sets a coefficient when the transient state determining means determines that the apparatus is in the transient state. The compensation value is output from the compensation operation circuit while the correction coefficient by the circuit is kept at a constant value, and the compensation value is increased / decreased by the coefficient setting circuit when the non-transient state is determined, and the compensation value is calculated from the compensation operation circuit. It is configured to output.

According to the above structure, the compensation operation means slides the valve body beyond the dead zone in the transient state.
The correction coefficient is held at a constant value by the coefficient setting circuit, the control signal based on the calculated value is set by the output signal setting means, and the actuator can be quickly moved to the target position. Also, in the non-transient state, the valve element reciprocates around the dead zone, so the compensation calculating means increases or decreases the correction coefficient by the coefficient setting circuit, and outputs a control signal based on the calculated value at this time from the output signal setting means. Thereby, hunting of the actuator can be reduced.

[0024]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings.

Here, FIGS. 1 to 11 show the first embodiment of the present invention.
A drive control device for a hydraulic cylinder as an actuator control device according to the third embodiment is shown as an example.

In FIG. 1, reference numeral 1 denotes a hydraulic pump which constitutes a hydraulic pressure source as a hydraulic pressure source together with a tank 2, and 3 denotes a hydraulic cylinder as an actuator connected to the hydraulic pump 1 via pipes 4A and 4B. The cylinder 3 includes a cylinder 3A, a piston 3B slidably provided in the cylinder 3A, and a rod 3C having one end fixed to the piston 3B and the other end protruding outside the cylinder 3A. . And the hydraulic cylinder 3 has a piston 3B
The pipes 4A and 4A are connected to the two oil chambers 3D and 3E defined by
The supply and discharge of the pressure oil via 4B causes the rod 3C
In the directions indicated by arrows A and B.

5 is a control valve device as a control valve mechanism, 6 is a spool valve constituting a main body of the control valve device 5, and the spool valve 6 has a substantially cylindrical valve casing 7; A spool sliding hole 7 </ b> A into which a spool 13 described later is slidably inserted is formed on the inner peripheral side of 7. The valve casing 7 is provided with a pump port 8, a tank port 9, and a pair of outflow / inflow ports 10 and 11 spaced apart in the axial direction of the spool sliding hole 7A. A drain port 12 is provided.

Here, the pump port 8 is connected to the hydraulic pump 1, and the tank port 9 is connected to the tank 2. The inflow / outflow port 10 is connected to the supply / discharge port 3F of the hydraulic cylinder 3, and the outflow / inflow port 11 is connected to the hydraulic cylinder 3
Is connected to the supply / discharge port 3G. In addition, outflow / inflow port 1
For example, 0 and 11 are formed as rectangular ports forming a rectangle as shown in FIG. 2, and the drain port 12 is connected to the tank 2.

Reference numeral 13 denotes a spool sliding hole 7 of the valve casing 7.
A is a spool as a valve body displaceably provided in A. The spool 13 has two lands 13A and 13B.
The land 13A opens and closes the inflow / outflow port 10 while the land 13B opens and closes the inflow / outflow port 11. The spool 13 is moved to a control unit 17 by an electromagnetic actuator 16 described later.
Are displaced in the directions indicated by arrows C and D in proportion to the duty ratio of the PWM signal output from. A drain port 12 is provided between one end of the spool 13 and the valve casing 7.
Is formed in the spring chamber 14, and a spring 15 that constantly urges the spool 13 in the direction of arrow D is formed in the spring chamber 14.
Is provided.

Here, when the spool 13 is in the neutral position, the land 13A of the spool 13 completely closes the inflow / outflow port 10 as shown in FIG.
Completely closes the inflow / outflow port 11. Then, the width of the lands 13A and 13B of the spool 13 is formed to be larger than the inflow / outflow ports 10 and 11 by a certain dimension δ, so that the stability when the ports are closed is ensured. For this reason, between the lands 13A, 13B of the spool 13 and the inflow / outflow ports 10, 11 of the valve casing 7, even if the spool 13 is slightly slid at the neutral position, the inflow / outflow ports 10, 11 are opened. A dead zone (corresponding to the dimension δ) having a constant width is formed.

Reference numeral 16 denotes an electromagnetic actuator as a spool driving means for driving and displacing the spool 13. The electromagnetic actuator 16 comprises an electromagnetic proportional solenoid or a linear type stepping motor.
A case 16A attached to the other end of the case 16;
A, a coil portion 16B provided in
And a drive rod 16C provided displaceably on the inner peripheral side of the drive rod.

The control valve device 5 includes a valve casing 7,
It comprises a spool 13, an electromagnetic actuator 16, and the like, and variably controls the flow rate and direction of pressure oil to be supplied to and discharged from the hydraulic cylinder 3. That is, the control valve device 5 causes the electromagnetic actuator 16 to slide and displace the spool 13 in the spool sliding hole 7A of the valve casing 7.
11 is connected and cut off, the hydraulic oil from the hydraulic pump 1 via the pump port 8 is supplied to the hydraulic cylinder 3 and the hydraulic oil in the hydraulic cylinder 3 is supplied to the tank port 9.
It is discharged to the tank 2 through the drain port 12.

Reference numeral 17 denotes a control unit as valve control means for controlling the electromagnetic actuator 16. The control unit 17 is constituted by, for example, a microcomputer or the like, and the control unit 17 includes a storage unit such as a ROM and a RAM. 17A is provided.

In the control unit 17, a deviation calculation circuit 18, a proportional calculation circuit 19, an integration calculation circuit 20, a compensation calculation device 22, a neutral position setting circuit 24, a transient state determination circuit 25, and an output signal setting Circuit 2
6 are provided. Also, the control unit 17
The storage unit 17A stores a program for a spool valve control process as shown in FIG. 4, and stores in advance a constant Kp serving as a gain for proportional operation, a constant Ki serving as a gain for integration operation, and a transient flag F. Is stored. The input side of the control unit 17 is connected to a target value setter 29 and a position detection sensor 30 described later, and the output side is connected to the electromagnetic actuator 16 of the spool valve 6.

Here, each constant Kp, Ki is a numerical value obtained by an experiment. For example, the constant Kp is one of the constant Ki.
The value is about 2,000 to 2,000 times. The transient flag F is set to 1 (F = 1) when a transient state is determined by a transient state determination circuit 25 described later, and is set to zero (F = 1) when the transient state determination circuit 25 determines a non-transient state.
= 0).

Reference numeral 18 denotes a deviation calculation circuit as deviation calculation means, which calculates a deviation e between the target value r from the target value setting unit 29 and the detection value y from the position detection sensor 30. Reference numeral 19 denotes a proportional operation circuit as a proportional operation means. The proportional operation circuit 19 outputs a proportional operation value u1 proportional to the deviation e output from the deviation operation circuit 18. 20
Is an integral operation circuit as integral operation means. The integral operation circuit 20 integrates the deviation e and outputs an integral operation value u2 corresponding to the integral value of the deviation e.

Numeral 21 denotes a fluctuation cycle calculation circuit as fluctuation cycle calculation means.
The variation cycle T of the deviation e is calculated based on the deviation e from 8 as shown in FIG.

Numeral 22 denotes a compensation operation device as compensation operation means. As shown in FIGS. 3, 9 and 10, the compensation operation device 22 calculates the deviation e at which the deviation e switches between a positive value and a negative value. A coefficient setting circuit 23A for increasing or decreasing the correction coefficient Kb for dead zone compensation according to the fluctuation period T, and a compensation operation circuit 23B for outputting a compensation operation value u3 for performing a compensation operation for the dead zone based on the correction coefficient Kb. Be composed.

The coefficient setting circuit 23A increases or decreases the correction coefficient Kb in accordance with the variation period T of the deviation e so as to have a value corresponding to the constant dimension δ of the dead zone. (E = 0), the compensation operation value u
3 is set to 0 (u3 = 0), when the deviation e is a positive value (e> 0), the compensation operation value u3 is set to Kb (u3 = Kb), and when the deviation e is a negative value (e <0). To -Kb
(U3 = -Kb). As a result, the compensation calculation device 22 can output a compensation calculation value u3 for performing dead zone compensation of the spool valve 6.

When a transient state is determined by a transient state determination circuit 25 to be described later, the compensation arithmetic unit 22 holds the correction coefficient Kb by the coefficient setting circuit 23A at a constant value.
When a non-transient state is determined, the correction coefficient Kb by the coefficient setting circuit 23A is increased or decreased according to the fluctuation period T of the deviation e.

Numeral 24 denotes a neutral position setting circuit for setting the neutral position of the spool 13. The neutral position setting circuit 24 holds the spool 13 at the neutral position, for example, a constant neutral position corresponding to a duty ratio of 50%. The set value u4 is always output.

Reference numeral 25 denotes a transient state judging circuit as transient state judging means for judging a transient state based on the target value r by the target value setting unit 29. The transient state judging circuit 25 operates when the target value r is changed. Is determined to be a transient state during a predetermined transient time τ, and otherwise, it is determined to be in a non-transient state. Here, the transition time τ is set to a constant time (for example, about 400 ms) which is sufficient for the rod 3C of the hydraulic cylinder 3 to be displaced to the target value r and to be almost stopped.

Reference numeral 26 denotes an output signal setting circuit as output signal setting means. The output signal setting circuit 26 includes an addition operation circuit 27 and a PWM conversion circuit 28. The addition operation circuit 27 calculates the proportional operation value u1 and the integral operation value u.
2. The addition operation value u obtained by adding the compensation operation value u3 and the neutral position set value u4 is output to the PWM conversion circuit 28,
The conversion circuit 28 determines the duty ratio of the pulse width modulation signal (PWM signal) based on the addition operation value u output from the addition operation circuit 27, and converts the PWM signal as a control signal converted according to the duty ratio. Output to the electromagnetic actuator 16 of the control valve device 5.

Reference numeral 29 denotes a target value setting device as target value setting means for outputting a target value r to the control unit 17. As a specific example of the target value setting device 29, it controls the entire hydraulic cylinder control device. Control device including a command device, or a manual target value setting device. Here, the target value r is a numerical value corresponding to a target position at which the rod 3C of the hydraulic cylinder 3 is moved, and becomes, for example, zero when the rod 3C is contracted in the arrow B direction, and the rod 3C is moved in the arrow A direction. The maximum value is obtained when the maximum is extended.

Numeral 30 denotes a position detecting sensor as operation detecting means for detecting the operating state of the hydraulic cylinder 3. The position detecting sensor 30 detects the current position of the rod 3C and outputs a detection value y corresponding to the current position. Control unit 1
7 is output. Here, the detected value y is a value corresponding to the target value r when the rod 3C reaches the target value r. For example, when the rod 3C is contracted in the direction of arrow B, it becomes zero. The maximum value is obtained when 3C extends in the direction of arrow A at maximum.

The drive control device for the hydraulic cylinder 3 according to the present embodiment has the above-described configuration. Next, the spool valve control processing by the control unit 17 will be described with reference to FIG.

First, in step 1, the target value setting unit 29
And the detection value y output from the position detection sensor 30 are read from the neutral position setting circuit 24.
The neutral position set value u4 output from the controller is read. And
In step 2, the deviation calculating circuit 18 calculates a deviation e (e = ry) between the target value r and the detected value y.

Next, in step 3, the constant Kp is read from the storage section 17A, and the proportional operation circuit 19 calculates the proportional operation value u1 (u1 = K1) which is the product of the constant Kp and the deviation e.
p × e) is calculated.

In step 4, the integral operation value u is calculated by multiplying the value obtained by time integration of the deviation e by a constant Ki.
2 (u2 = Ki * Ｋedt) is calculated.

Next, at step 5, a correction coefficient setting process, which will be described later, is performed to set a correction coefficient Kb for dead zone compensation according to the fluctuation period T of the deviation e.

Next, at step 6, the deviation e is zero (e =
0), and if "YES" is determined, since the rod 3C of the hydraulic cylinder 3 has reached the target position, the routine proceeds to step 10, where the compensation calculation value u3 for compensating the dead zone is calculated. Steps 11 and 1 described below are set to zero (u3 = 0) and return the spool 13 to the neutral position.
Step 2 is performed.

If "NO" is determined in the step 6, the process proceeds to a step 7, where the deviation e is a positive value (e> 0).
Is determined, and if "YES" is determined, the rod 3C of the hydraulic cylinder 3 is too small in the direction of the arrow B from the target position, so the routine proceeds to step 8 where the compensation operation value u3 is determined. Is set to Kb (u3 = Kb). Then, by the processing of steps 11 and 12, the spool 13 slides and displaces in the direction of arrow C by a certain dimension δ, and the hydraulic pump 1
Is supplied into the oil chamber 3D of the hydraulic cylinder 3.

On the other hand, if "NO" is determined in step 7, the deviation e becomes a negative value (e <0), and the rod 3C of the hydraulic cylinder 3 extends in the direction of arrow A from the target position. Since it has passed, the routine proceeds to step 9, where the compensation operation value u3 is set to -Kb (u3 = -Kb). Then, by the processing in steps 11 and 12, the spool 13 is slid and displaced by the fixed dimension δ in the direction of arrow D, and the pressure oil from the hydraulic pump 1 is supplied into the oil chamber 3E of the hydraulic cylinder 3.

Next, at step 11, the proportional operation value u1 is calculated.
, Integral operation value u2, compensation operation value u3 and neutral position set value u4, and an addition operation value u (u = u1 + u2 + u3 + u4) corresponding to the duty ratio of the PWM signal.
Is calculated.

In step 12, the addition operation value u is converted into a PWM signal having a duty ratio corresponding thereto, and this PWM signal is output to the electromagnetic actuator 16 to cause the spool 13 to slide. Thus, the pressure oil supplied to the hydraulic cylinder 3 is controlled, and the rod 3C has a deviation e.
Sliding displacement in a direction to reduce

Next, a correction coefficient setting process for increasing or decreasing the correction coefficient Kb for dead zone compensation according to the fluctuation period T of the deviation e will be described with reference to FIG. Here, the correction coefficient K
b is set in advance to an initial value corresponding to the fixed dimension δ of the dead zone.

First, at step 21, it is determined whether or not a transition state is present. Here, the determination of the transient state is performed, for example, by comparing the current target value r read in step 1 with the storage unit 17A in advance.
It is determined whether or not the previous target value stored in the memory is the same as the previous target value.If the target value has been changed, a predetermined transient time τ is determined as a transient state. Is determined as a non-transient state.

If "YES" is determined in the step 21, the correction coefficient Kb keeps the current numerical value because it is in a transient state, and the process proceeds to the step 27 and returns.
On the other hand, when it is determined to be “NO” in step 21, it is in the non-transient state, so that in step 22
Is performed, and the process proceeds to step 23.

Next, in steps 23 to 25, the fluctuation period T
The correction coefficient Kb is increased or decreased so as to have an appropriate fluctuation period T0 corresponding to the fixed dimension δ of the dead zone. Here, since the fluctuation period T slightly changes even with respect to the same correction coefficient Kb, the fluctuation period T is set to an appropriate value between the maximum value T1 and the minimum value T2 of the fluctuation period as shown in FIG. The correction coefficient Kb is set to be as follows.

In step 23, the fluctuation period T is set to the maximum value T of the appropriate fluctuation period corresponding to the fixed dimension δ of the dead zone.
It is determined whether or not it is greater than 1; if it is determined as "NO", the process proceeds to step 24 to determine whether or not the variation period T is smaller than the minimum value T2 of the appropriate variation period corresponding to the fixed size δ of the dead zone. Is determined. Then, in step 24, "N
O, the variation period T is a value between the maximum value T1 and the minimum value T2 of the appropriate variation period (T1 ≧ T ≧ T2
), And the correction coefficient Kb is a value corresponding to the constant dimension δ of the dead zone. Therefore, the process proceeds to step 27 while maintaining the current correction coefficient Kb, and returns.

On the other hand, if "YES" is determined in the step 24, the fluctuation period T is the minimum value T2 of the proper fluctuation period.
Is smaller than (T <T2), and the correction coefficient Kb is a value larger than the numerical value corresponding to the fixed dimension δ of the dead zone. Therefore, the routine goes to step 25, where the correction coefficient Kb is reduced by the minute amount ΔKb. . Here, the minute amount ΔKb is set to a value that is about one tenth of the initial value of the correction coefficient Kb.

When "YES" is determined in step 24, the fluctuation period T is a value larger than the proper maximum value T1 of the fluctuation period (T> T1), and the correction coefficient Kb is set to a fixed size δ substantially in the dead zone. Since the value is smaller than the corresponding numerical value, the process proceeds to step 25, where the correction coefficient Kb is increased by the minute amount ΔKb, and the process proceeds to step 27 and returns.

Next, the measurement process of the fluctuation period T by the fluctuation period calculation circuit 21 will be described with reference to FIG. Here, as shown in FIG. 8, the time during which the deviation e is a positive value is defined as a half cycle Ta, the time during which the deviation e is a negative value is defined as a half cycle Tb, and each half cycle Ta, As an initial value of Tb, a half value of an appropriate fluctuation period T0 corresponding to a fixed dimension δ of the dead zone is set in advance.

First, in step 31, the deviation e is a positive value (e
> 0), and if “YES” is determined, the process proceeds to step 32, where the initial value e0 as the previous deviation previously stored in the storage unit 17A is a negative value (e0 <
0) is determined.

If the determination in step 32 is "YES", the deviation e has changed from a positive value to a negative value.
a, and the process proceeds to step 34, where the variation period T
Is calculated as the sum of each half period Ta, Tb (T = Ta + Tb). Next, the routine proceeds to step 35, where the timer t is reset (t = 0), the initial value e0 is updated to the current deviation e in step 36, and the routine returns in step 42.

If "NO" is determined in the step 32, the deviation e is maintained at a positive value, so that the process proceeds to the step 42 and returns.

On the other hand, if "NO" is determined in the step 31, the process proceeds to a step 37, where the initial value e0 as the previous deviation previously stored in the storage unit 17A is a positive value (e0).
> 0) is determined. And step 37
When it is determined to be "YES", the deviation e has changed from a negative value to a positive value, so the routine proceeds to step 38, where the value of the timer t is held as the value of the half cycle Tb, and
And the variation cycle T is the sum of each half cycle Ta, Tb (T = Ta + T
b) Calculated as Next, the routine proceeds to step 40, where the timer t is reset (t = 0).
0 is updated to the current deviation e, and the process returns in step 42.

If "NO" is determined in the step 37, the deviation e is maintained at a negative value, so that the process proceeds to the step 42 and returns.

Here, the operations of the proportional operation circuit 19, the integration operation circuit 20, the compensation operation device 22, the transient state determination circuit 23 and the output signal setting circuit 26 are shown in FIGS.
Will be described in detail with reference to FIG.

A characteristic line 31 shown by a solid line in FIG. 7 shows the relationship between the duty ratio of the PWM signal and the opening of the inflow / outflow ports 10 and 11 in an ideal case. FIG.
When the spool 13 moves from the neutral position in the direction of arrow C to open the inflow / outflow ports 10, 11, the opening of the inflow / outflow ports 10, 11 is represented by a positive value. The opening degree of the inflow / outflow ports 10, 11 when 13 moves from the neutral position in the direction of arrow D is represented as a negative value.

When the duty ratio of the PWM signal is 50
%, The spool 13 is connected to the inflow / outflow ports 10 and 11
In a neutral position to completely close off the inlet and outlet ports 10,
The opening of No. 11 is 0% as a percentage. When the duty ratio of the PWM signal is between 50% and (50 + Δ1)%, the spool 13 moves from the neutral position in the direction indicated by the arrow C within a certain dimension δ. %. Further, when the duty ratio of the PWM signal is between 50% and (50-Δ1)%, the spool 13 moves from the neutral position in the direction indicated by the arrow D within a certain dimension δ. Is kept at 0%.

When the duty ratio of the PWM signal is 100
%, The opening of the inflow / outflow ports 10 and 11 is 1
When the spool 13 moves to the maximum in the direction indicated by the arrow C, the inflow / outflow ports 10 and 11 reach the maximum opening degree so that the hydraulic cylinder 3 extends to the maximum. On the other hand, PW
When the duty ratio of the M signal is about 0%, the opening of the inflow / outflow ports 10 and 11 becomes -100%, and the spool 1
3 moves to the maximum in the direction of arrow D, so that the inflow / outflow ports 10 and 11 have the maximum opening so as to minimize the hydraulic cylinder 3.

However, in the actual spool valve 6, due to a manufacturing error of the spool 13 and a change with time of the spring 15, the PW
Even when the duty ratio of the M signal is set to 50%, the spool 13 may not return to a fixed return position (neutral position). Also, the coil portion 16 in the electromagnetic actuator 16
B generates heat over a long period of operation, and heat resistance may be generated due to heat conduction from the engine, etc., and even in this case, the spool valve 6 may not return to the return position, and the characteristic indicated by the dotted line in FIG. Return position deviation Δ as indicated by line 32
2 may occur.

For this reason, in the present embodiment, an integral operation circuit 20 for performing an integral operation on the deviation e is provided, and outputs an operation value for compensating the deviation Δ2 of the return position. by this,
The rod 3C can be reliably stopped at an original stop position, which is a target position, and is prevented from stopping in a state where the rod 3C is displaced from the original stop position.

FIG. 8 shows the relationship between the position of the rod 3C, the proportional operation value u1, the integral operation value u2, the compensation operation value u3 and time. Here, it is assumed that the target value r has been changed to a constant value as indicated by a characteristic line 33 indicated by a dashed line in FIG.

At this time, the detected value y changes with time as indicated by a characteristic line 34 shown by a solid line in FIG. This is due to the operation described below.

First, immediately after the target value r changes stepwise from the initial value r0, the proportional operation value u1 becomes a large value corresponding to the deviation e (e = ry) as shown by the characteristic line 35. . Further, as shown by the characteristic line 36, the integral operation value u2 is
It becomes a large value in a short time corresponding to the deviation e. Then, the compensation operation value u3 is such that the deviation e is a positive value (e
> 0), the correction coefficient Kb corresponding to the fixed dimension δ of the dead zone is obtained.

As a result, the spool 13 slides and displaces in the direction indicated by the arrow C by a certain dimension δ in accordance with the compensation operation value u3, and slides in the direction indicated by the arrow C in accordance with the proportional operation value u1 corresponding to the deviation e. Dynamically displaces. Then, the rod 3 </ b> C extends in the direction of arrow A, and pressure oil from the hydraulic pump 1 is supplied into the oil chamber 3 </ b> D of the hydraulic cylinder 3.

Next, when the rod 3C extends in the direction of the arrow A from the target position and the detected value y becomes larger than the target value r, the proportional operation value u1 has a deviation e (e = ry). ), A negative value (e <0) is obtained. Further, the compensation operation value u
Since the deviation e is a negative value, the constant 3 becomes a constant -Kb corresponding to the constant dimension δ of the dead zone, and the integral operation value u2 gradually decreases.

As a result, the spool 13 is slid in the direction D in the direction of the arrow D in accordance with the compensation operation value u3 and slides in the direction of the arrow D in accordance with the proportional operation value u1 corresponding to the deviation e. Dynamically displaces. Then, the rod 3 </ b> C contracts in the direction of arrow B, and pressure oil from the hydraulic pump 1 is supplied into the oil chamber 3 </ b> E of the hydraulic cylinder 3.

While such operations are repeated, the integral operation value u2 converges to a constant value u20 so as to reduce the steady-state deviation. That is, the integration operation circuit 20 outputs a constant (constant value u20) corresponding to the deviation .DELTA.2 of the return position in FIG. In this manner, the deviation e becomes substantially zero (e = 0), and the rod 3C is brought into a stopped state in which the rod 3C repeats the minute sliding in the directions indicated by the arrows A and B around the target value r with the fluctuation period T.

Here, the fixed dimension δ of the dead zone is
3 may vary depending on the manufacturing error. In addition, the amount of sliding displacement of the spool 13 with respect to the PWM signal decreases due to the heat generated from the coil portion 16B in the electromagnetic actuator 16, and when the spool valve 6 is switched, the sliding displacement of the spool 13 exceeds a certain dimension δ of the dead zone. May not.

At this time, the dead zone compensation of the spool valve 6 cannot be performed stably. For example, when the spool valve 6 is switched, the spool 13 does not exceed the dead zone (weak dead zone compensation) or exceeds the dead zone ( (Dead zone compensation is strong). For this reason, the correction coefficient K for dead zone compensation
If b is smaller than the correction coefficient Kb0 corresponding to the fixed dimension δ of the dead zone, that is, if the dead zone compensation that causes the spool 13 to exceed the dead zone is not executed, the hydraulic pump 1
The amount of pressure oil supplied from the cylinder decreases, and the sliding displacement of the rod 3C decreases. Therefore, the rod 3C cannot slide and displace by the displacement corresponding to the deviation, and the rod 3C moves to the target position. The time to reach it will be long.

When the rod 3C enters a substantially stopped state in which the rod 3C slides and displaces at a constant fluctuation cycle near the target position, the response of the rod 3C decreases due to the decrease in the amount of sliding displacement. 3C is a characteristic line 38 in FIG.
As shown in the figure, the reciprocating motion occurs near the target position with a fluctuation period larger than the fluctuation period T0 corresponding to the constant dimension δ. At this time, the minute sliding amount in the directions indicated by arrows A and B increases in accordance with the shortage of the sliding displacement amount of the rod 3C,
The stability of the rod 3C with respect to the target value decreases.

On the other hand, if the correction coefficient Kb for dead zone compensation is larger than the correction coefficient Kb0 corresponding to the fixed dimension δ of the dead zone, that is, if the spool 13 slides beyond the dead zone, the hydraulic pressure Since the supply amount of the pressure oil from the pump 1 increases and the sliding displacement amount of the rod 3C increases, the rod 3C slides and displaces by a displacement amount corresponding to the deviation or more.

At this time, when the rod 3C substantially stops at the target position, the rod 3C responds excessively due to the increase of the sliding displacement, so that the sign of the deviation e frequently changes, The rod 3C reciprocates around the target position with a fluctuation cycle smaller than the fluctuation cycle T0 corresponding to the constant dimension δ, as shown by a characteristic line 38 in FIG. As a result, hunting occurs in which the spool 13 always reciprocates in the spool sliding hole 7A, vibration is generated in the hydraulic cylinder 3 and the spool valve 6, and the coil portion 16B is heated, so that the electromagnetic actuator 16 It causes a failure and causes excessive power consumption, thereby lowering the operation efficiency of the control valve mechanism 5. Further, the minute sliding amount in the directions indicated by arrows A and B increases in accordance with the increase in the sliding displacement amount of the rod 3C, and the stability of the rod 3C with respect to the target value decreases.

For this reason, in the present embodiment, when the dead zone compensation cannot be stably performed due to a manufacturing error or the like, the coefficient of the compensation calculating device 22 is determined based on the relationship between the fluctuation period T and the correction coefficient Kb shown in FIG. The correction coefficient Kb is increased or decreased by the setting circuit 23A, and the correction coefficient Kb is changed to
(Kb1 ≦ Kb ≦ Kb2). Hereinafter, the operation of the compensation calculation device 22 will be described with reference to FIGS. 10 and 11.

FIG. 10 shows the relationship between the position of the rod 3C, the compensation operation value u3, and time when the correction coefficient Kb is smaller than the minimum value Kb1 of the correction coefficient.

First, when the hydraulic cylinder 3 enters the non-transient state, the rod 3C slides in the directions indicated by arrows A and B around the target value r with the fluctuation period T, and the deviation e also becomes a positive value according to the fluctuation period T. And a negative value. At this time, since the correction coefficient Kb, which is the absolute value of the compensation operation value u3, is smaller than the minimum value Kb1 of the correction coefficient corresponding to the constant dimension δ, the supply amount of the hydraulic oil from the hydraulic pump 1 is reduced by the amount corresponding to the deviation e. And the responsiveness of the rod 3C decreases, and the fluctuation period T becomes a value larger than the maximum value T1 of the appropriate fluctuation period.

For this reason, the coefficient setting circuit 23A gradually increases the correction coefficient Kb based on the fluctuation period T. Accordingly, the fluctuation period T gradually decreases, and when the correction coefficient Kb reaches a value equal to or more than the minimum value Kb1 of the correction coefficient, the fluctuation period T becomes equal to or less than the maximum value T1 of the appropriate fluctuation period and the rod 3C
Is reduced, and the rod 3C enters a substantially stopped state in which a small sliding displacement is repeated near the target value r.

Next, FIG. 11 shows the relationship between the position of the rod 3C, the compensation operation value u3 and the time when the correction coefficient Kb is larger than the maximum value Kb2 of the correction coefficient.

First, when the hydraulic cylinder 3 enters the non-transient state, the rod 3C slides in the directions indicated by the arrows A and B around the target value r with the fluctuation period T, and the deviation e also becomes a positive value according to the fluctuation period T. And a negative value. At this time, since the correction coefficient Kb, which is the absolute value of the compensation operation value u3, is smaller than the maximum value Kb2 of the correction coefficient corresponding to the constant dimension δ, the supply amount of the hydraulic oil from the hydraulic pump 1 is reduced by the amount corresponding to the deviation e. More than that, while the rod 3C responds too sensitively, the fluctuation period T becomes smaller than the minimum value T2 of the appropriate fluctuation period, and hunting occurs.

Therefore, the coefficient setting circuit 23A gradually reduces the correction coefficient Kb based on the fluctuation period T. As a result, the fluctuation period T gradually increases, and when the correction coefficient Kb reaches a value equal to or more than the maximum value Kb2 of the correction coefficient, the fluctuation period T becomes equal to or more than the maximum value T2 of the appropriate fluctuation period, thereby reducing hunting and Then, the sliding displacement amount of the rod 3C decreases, and the rod 3C enters a substantially stopped state in which a small sliding displacement is repeated near the target value r.

Thus, according to this embodiment, since the proportional operation circuit 19, the integral operation circuit 20, the fluctuation period calculation circuit 21, and the compensation operation device 22 are provided in the control unit 17 for controlling the spool valve 6, the proportional operation circuit 19, the spool 13 is slid and displaced in accordance with the deviation e, and the integration operation circuit 20 can compensate for the deviation Δ2 of the return position generated in the spool valve 6. The compensation operation device 22 allows the fluctuation period from the fluctuation period calculation circuit 21 to be compensated. Based on T, the compensation operation value u3 is set variably, and the compensation operation value u3 is changed according to the fixed dimension δ of the dead zone to perform dead zone compensation of the spool valve 6.

The output signal setting circuit 26 outputs a PWM signal to the electromagnetic actuator 16 based on the proportional operation value u1, the integral operation value u2, and the compensation operation value u3.
The rod 3C of the hydraulic cylinder 3 can be quickly moved to a target position, hunting of the hydraulic cylinder 3 can be reduced, and the hydraulic cylinder 3 can be quickly brought to a substantially stopped state. And the reliability and stability of feedback control can be improved.

The compensation operation device 22 is connected to the coefficient setting circuit 2
3A and the compensation calculation circuit 23B, the correction coefficient Kb for dead zone compensation is increased or decreased by the coefficient setting circuit 23A in accordance with the fluctuation period T of the deviation e from the fluctuation period calculation circuit 21, and the correction coefficient Kb is adjusted to the dead band. The compensation operation circuit 23B can output a compensation operation value u3 based on the correction coefficient Kb, and can reduce the time required for the rod 3C to reach the target value, as well as the hydraulic pressure. Hunting of the cylinder 3 can be reduced, and the rod 3C can be quickly brought to a substantially stopped state at the target value r.

Further, the compensation calculation device 22 increases or decreases the correction coefficient Kb by the coefficient setting circuit 23A based on the result of the determination by the transient state determination circuit 25, and performs the compensation calculation circuit 23B
, The compensation coefficient Kb is held during the transient state in which the spool 13 slides and displaces beyond the dead zone, and the rod 3 of the hydraulic cylinder 3
C can be quickly moved to the target position, and when the spool 13 is in a non-transient state in which the spool 13 reciprocates in the dead band, the correction coefficient Kb is changed to a numerical value corresponding to the fixed dimension δ of the dead band based on the fluctuation period T. Can be set,
The rod 3C can be quickly brought to a substantially stopped state at the target position.

Next, FIGS. 12 to 16 show a second embodiment of the present invention.
This embodiment is characterized in that the actuator control device is applied to a valve timing control device of an automobile engine as an internal combustion engine. In this embodiment, the same reference numerals are given to the same components as those in the first embodiment, and the description thereof will be omitted.

In the figure, reference numeral 51 denotes a crankshaft as an output shaft provided on an engine body (not shown) of the internal combustion engine. The crankshaft 51 has a small-diameter pulley 51A.
And a timing belt 52 is wound around the small-diameter pulley 51A. The timing belt 52 is also wound around a large-diameter pulley 53A of the drive shaft 53, so that the drive shaft 53 makes one rotation while the crankshaft 51 makes two rotations. The crankshaft 51 is provided with a later-described crank angle sensor 63 for detecting the rotation phase α.

Reference numeral 54 denotes a cam shaft for opening and closing an intake valve (not shown) provided in each cylinder of the engine. The cam shaft 54 is connected to a drive shaft 53 via an eccentric disk 59 described later. The drive shaft 53 and the drive shaft 53 are provided on the engine body side so as to be rotatable around the center O1-O1. The camshaft 54 is connected to the drive shaft 53 together with the
When the rotation phase β reaches a predetermined rotation phase determined according to the intake stroke of each cylinder, the intake valves are opened and closed by the cams 54A, 54A,.

Reference numeral 55 denotes a connecting arm for connecting the drive shaft 53 to the eccentric disk 59. The connecting arm 55 is provided at the other end of the drive shaft 53, and rotates integrally with the drive shaft 53. The connecting arm 55 is formed with a radially extending engagement groove 55A.
The engagement pin 59A of the eccentric disk 59 is engaged with 5A.

Reference numeral 56 denotes another connecting arm provided on one end side of the camshaft 54. The connecting arm 56 has an engaging groove 56A extending in the radial direction. The dowel pin 59B is engaged.

Reference numeral 57 denotes an eccentric mechanism as a rotation phase variable means for changing the opening and closing timings of the intake valves. The eccentric mechanism 57 includes a disk holder 58, an eccentric disk 59 and a control shaft 60, which will be described later, and And a linear actuator 62 such as the hydraulic cylinder 3 described in the first embodiment.

The eccentric mechanism 57 includes an eccentric disk 59.
Of the camshaft 54 to the center O1 -O1 of the camshaft 54.
15, the rotational phase β of the camshaft 54 is relatively changed with respect to the rotational phase α of the crankshaft 51, as shown in FIG. Causes a phase difference Φ according to Equation 1 described below.

Numeral 58 denotes a disk holder for accommodating the eccentric disk 59 so as to be rotatable.
As shown in FIG. 3, one end of the fixing pin 58 is attached to the engine body.
A, and a pair of engaging claws 5 integrally formed on the other end of the annular portion 58B.
8C and 58C.

An eccentric disk 59 connects the drive shaft 53 to the camshaft 54. The eccentric disk 59 has an engaging pin 59A formed on one side and an engaging pin 59B formed on the other side. The engaging pins 59A and 59B are provided on the eccentric disk 5 as shown in FIG.
Nine centers O2 -O2 are disposed at positions facing each other in the radial direction.

The eccentric disk 59 is accommodated in the annular portion 58B of the disk holder 58 so as to be rotatable around the center O2 -O2, and the engaging pins 59A, 59B are engaged with the engaging grooves of the connecting arms 55, 56. It is slidably engaged in 55A, 56A. Thereby, the drive shaft 5
3 and the camshaft 54 are connected to each other via connecting arms 55 and 56 and an eccentric disk 59. In this state, the eccentric disk 59 is moved between the connecting arms 55 and 56 in the radial direction of the camshaft 54 (drive shaft 53). Relative displacement.

Reference numeral 60 denotes a control shaft for eccentricizing the eccentric disk 59.
Numeral 0 is provided on the engine body so as to be rotatable about an axis O3-O3, and a circular cam 60A is eccentrically provided on one end side of the control shaft 60. The cam 60A is provided with each of the engaging claws 58C of the disc holder 58.
The control shaft 60 is connected to an actuator 62 via a connecting arm 61 so as to be slidable therebetween.

Reference numeral 61 denotes a connecting arm for connecting the control shaft 60 to the rod 62A of the actuator 62.
The connecting arm 61 is provided on the other end side of the control shaft 60, and rotates integrally with the control shaft 60. An engagement groove 61A extending in the radial direction is formed in the connection arm 61, and an engagement pin 62B of a rod 62A is engaged with the engagement groove 61A.

Reference numeral 62 denotes a linear actuator for rotating the control shaft 60. The actuator 62 is constituted by, for example, the hydraulic cylinder 3 described in the first embodiment. Then, pressure oil is supplied to and discharged from the actuator 62 via the spool valve 6 and the like, whereby the rod 62A moves forward and backward in the direction of arrow E.

The rod 62A is provided with an engaging pin 62B projecting therefrom.
Is slidably engaged in the engaging groove 61A. The control shaft 60 is rotated by the rod 62A of the actuator 62 slidingly displaced in the direction indicated by the arrow E, and the control shaft 60 fixes the disk holder 58 together with the eccentric disk 59 together with the eccentric disk 59 via the cam 60A. It is swung in the direction of arrow F around 58A.

Reference numeral 63 denotes a crank angle sensor which constitutes an operation detecting means together with the cam position sensor 64. The crank angle sensor 63 detects when the rotational phase α of the crankshaft 51 reaches a predetermined rotational phase. The reference signal S1 is output as shown in FIG.

Reference numeral 64 denotes a cam position sensor provided on the camshaft 54 side. The cam position sensor 64 detects when the rotation phase β of the camshaft 54 reaches a predetermined rotation phase, and is shown in FIG. Thus, the reference signal S2 is output.

Here, the crank angle sensor 63 and the cam position sensor 64 are configured to output the reference signals S1 and S2 only once during one rotation of the camshaft 54. Then, the eccentric mechanism 57 causes the crankshaft 51
When the phase difference .PHI. Is generated between the crank angle sensor 63 and the camshaft 54, the reference signal S1 of the cam position sensor 64 is shifted from the position synchronized with the reference signal S1 of the crank angle sensor 63 as shown by S2 'in FIG. Relative displacement by the amount, the phase difference Φ is determined based on the time ΔT between the reference signals S1 and S2 'and the engine speed N.

[0115]

## EQU1 ## Φ = k × ΔT × N is detected (where k is a constant).

On the other hand, the crank angle sensor 63 and the cam position sensor 64 are connected to a control unit (not shown) similar to the control unit 17 described in the first embodiment. Then, the control unit measures the time ΔT between the reference signals S 1 and S 2 ′ to detect the phase difference Φ based on the equation (1), and based on the detected value, determines the rotation angle θ (see FIG. 14).

The control unit is connected to a target value setter (not shown) as target value setting means for calculating an optimum valve timing based on the engine speed N and the like. The rotation angle of the control shaft 60 corresponding to the valve timing is output to the control unit as a target value. Accordingly, the control unit operates the actuator 62 so that the rotation angle θ of the control shaft 60 matches the target value output from the target value setting device, and performs feedback control of the rotation angle θ of the control shaft 60. I do.

The actuator control device according to the present embodiment has the above-described configuration. Next, the operation of the valve timing control device for an automobile engine to which the actuator control device is applied will be described.

First, the crankshaft 5 is driven by the engine.
1 is rotationally driven, this rotational driving force is transmitted to the drive shaft 53 via the timing belt 52, and the coupling arm 55 and the eccentric disk 59
14, the rotational driving force is transmitted to the camshaft 54 via the engaging pin 59B of the eccentric disk 59 and the connecting arm 56, and the camshaft 54 rotates Each of the intake valves is opened and closed when the phase β reaches a predetermined rotation phase.

When the opening / closing timing of the intake valve is changed, a target value setting device (not shown) outputs the rotation angle of the control shaft 60 corresponding to the optimal valve timing to the control unit as a target value. Thereby, the control unit moves the rod 62A in the direction of arrow E of the actuator 62 as shown in FIG. 13 so that the rotation angle θ of the control shaft 60 matches the target value output from the target value setting device. .
At this time, the control shaft 60 that engages with the rod 62A via the connecting arm 61 or the like rotates in the direction of arrow F, and the eccentric disk 59 is connected to the connecting arm 5 as shown in FIG.
The camshaft 54 is relatively displaced in the radial direction between the camshafts 5 and 56, and the center O2-O2 is eccentric from the center O1-O1 of the camshaft 54 by the amount of eccentricity ε.

As a result, the rotational phase β of the cam shaft 54
And a rotation phase α of the crankshaft 51, and the opening / closing timing of the intake valve opened and closed by the camshaft 54 changes according to the phase difference Φ.
By changing the phase difference Φ to a desired value, the opening / closing timing of the intake valve can be appropriately controlled.

Thus, in the present embodiment having the above-described structure, substantially the same operation and effect as those of the first embodiment can be obtained.
Since the valve timing is variably controlled, the valve timing can be controlled stably even when the return position or the neutral position of the actuator 62 is shifted due to a change in the ambient temperature or the like.

Further, since the actuator 62 can be moved to the target position more quickly and the hunting of the actuator 62 can be reduced, it is possible to prevent the control shaft 60 and the like from generating vibrations and the like. The phase difference Φ generated between the camshaft 54 and the camshaft 54 can be controlled with high responsiveness, the engine can be driven in an optimal state corresponding to the operating state of the engine, and appropriate intake and exhaust can be performed. Driving performance can be improved.

In each of the above embodiments, the spool 13 is slid and displaced by the electromagnetic actuator 16 such as a proportional solenoid. However, the present invention is not limited to this, and instead of the proportional solenoid, a linear stepping motor is used. May be used.

Further, in each of the above embodiments, the predetermined period of time after the target value is changed is set as the transient time. However, the transient period is such that the fluctuation cycle of the deviation after the target value is changed is changed. It may be variably set as the time until the period becomes shorter than a certain period.

In each of the above embodiments, the correction coefficient is increased or decreased by setting the fluctuation period as the sum of a half period having a positive deviation and a half period having a negative deviation. The correction coefficient may be increased or decreased based on each half cycle, and the variation cycle may be measured by a compensation operation value.

[0127]

As described above in detail, according to the first aspect of the present invention, the valve control means for controlling the control valve mechanism is provided with the fluctuation cycle calculating means, the proportional calculating means, the integral calculating means and the compensation calculating means. The fluctuation cycle of the deviation is calculated by the fluctuation cycle calculation means, the flow rate of the liquid supplied to the actuator is calculated by the proportional calculation means in proportion to the deviation, and the deviation of the return position generated in the control valve mechanism can be compensated by the integration calculation means. The compensation value can be variably set by the compensation calculation means based on the fluctuation cycle from the fluctuation cycle calculation means, and the dead band compensation of the control valve mechanism can be performed while changing the calculation value according to the width of the dead band. The output signal setting means sets control signals based on the respective calculation values of the proportional calculation means, the integration calculation means, and the compensation calculation means, so that even when a control valve mechanism or the like changes over time or a manufacturing tolerance occurs. In addition, the actuator can be quickly moved to the target position to improve control responsiveness, and the actuator can be brought closer to the target position early, effectively reducing hunting of the actuator and improving the reliability of feedback control. And stability can be improved.

According to the first aspect of the present invention, since the valve timing is variably controlled by the actuator, the actuator is targeted even when a change in ambient temperature or a manufacturing error occurs in the width of the dead zone. The hunting of the actuator can be reduced, and the phase difference between the crankshaft and the camshaft can be controlled with high responsiveness. Then, the engine can be driven in an optimal state corresponding to the operating state of the engine, appropriate intake and exhaust are performed, and the operating performance of the engine can be improved.

According to the second aspect of the present invention, the compensation calculating means increases or decreases the correction coefficient for dead zone compensation in accordance with the variation cycle of the deviation, and the compensation calculation circuit outputs a calculated value based on the correction coefficient. And the correction coefficient can be set to a value corresponding to the width of the dead zone,
The actuator can be quickly moved to a target position, hunting of the actuator can be reduced, and the actuator can be quickly brought to a substantially stopped state.

Further, according to the third aspect of the present invention, since the compensation calculating means is configured to increase or decrease the correction coefficient by the coefficient setting circuit based on the result of the determination by the transient state determining means, the valve body slides beyond the dead zone. In the transient state of displacement, the correction coefficient is held and the actuator can be quickly moved to the target position. In the non-transient state in which the valve element reciprocates near the dead zone, the deviation is a positive value and a negative value. The correction coefficient can be set to a numerical value corresponding to the width of the dead zone based on the fluctuation cycle of the deviation that switches to the value of, and hunting of the actuator can be reduced.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view showing a hydraulic cylinder, a control valve device, and the like of an actuator control device according to a first embodiment of the present invention.

FIG. 2 is an enlarged cross-sectional view showing a relationship between a port and a land of a valve casing, as viewed from the direction of arrows II-II in FIG.

FIG. 3 is a control block diagram of a control unit and the like shown in FIG. 1;

FIG. 4 is a flowchart showing a spool valve control process by a control unit.

FIG. 5 is a flowchart showing a correction coefficient setting process in FIG. 4;

FIG. 6 is a flowchart showing a process of measuring a fluctuation cycle in FIG. 5;

FIG. 7 is a characteristic diagram illustrating a relationship between a duty ratio of a PWM signal output from a control unit and an opening of an inflow / outflow port.

FIG. 8 is a characteristic diagram showing change characteristics of a detection value, a proportional operation value, an integral operation value, and a compensation operation value when the hydraulic cylinder is stroked.

FIG. 9 is a characteristic diagram showing a relationship between a variation cycle of a deviation and a correction coefficient for dead zone compensation.

FIG. 10 is a characteristic diagram showing change characteristics of a detection value and a compensation calculation value when the dead zone compensation is weak.

FIG. 11 is a characteristic diagram showing change characteristics of a detection value and a compensation calculation value when dead zone compensation is strong.

FIG. 12 is a partially broken front view showing a crankshaft, a camshaft, and the like provided in an engine valve timing control device according to a second embodiment of the present invention.

13 is a perspective view showing a crankshaft, a disk holder, and the like in FIG. 12 together with an actuator.

FIG. 14 is a sectional view showing the eccentric disk together with a control shaft and the like as viewed from the direction indicated by arrows XIV-XIV in FIG. 12;

FIG. 15 shows an arrow in FIG. 12 showing a crankshaft, a camshaft, a crank angle sensor, a cam position sensor, and the like.
It is sectional drawing seen from the XV-XV direction.

FIG. 16 is a characteristic diagram showing reference signals output from a crank angle sensor and a cam position sensor.

[Explanation of symbols]

 Reference Signs List 1 hydraulic pump 2 tank 3 hydraulic cylinder (actuator) 3C rod 5 control valve device (control valve mechanism) 13 spool (valve element) 16 electromagnetic actuator (spool drive means) 17 control unit (valve control means) 18 deviation calculation circuit (deviation) Calculation means 19 Proportional calculation circuit (Proportional calculation means) 20 Integral calculation circuit (Integration calculation means) 21 Fluctuation cycle calculation circuit (Fluctuation cycle calculation means) 22 Compensation calculation device (Compensation calculation means) 23A Coefficient setting circuit 23B Compensation calculation circuit 25 Transient state determination circuit (transient state determination means) 26 Output signal setting circuit (output signal setting means) 29 Target value setter (target value setting means) 30 Position detection sensor (operation detection means) 51 Crankshaft 54 Camshaft 57 Eccentric mechanism (Rotation phase variable means) 62 actuator 63 Click angle sensor 64 cam position sensor r target value y detection value e deviation T fluctuation cycle

Continuation of front page (56) References JP-A-9-151766 (JP, A) JP-A-6-299813 (JP, A) JP-A-7-11980 (JP, A) JP-A-7-83080 (JP, A) JP-A-7-26992 (JP, A) JP-A-7-269380 (JP, A) JP-A-62-35904 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB Name) F02D 13/00 F02D 41/00-45/00 395 G05B 11/00

Claims (3)

(57) [Claims] An actuator, which is driven and controlled by a hydraulic pressure supplied and discharged from a hydraulic pressure source, is disposed between the actuator and the hydraulic pressure source, and normally has a valve body in a neutral position with a dead zone having a constant width. And a control valve mechanism for slidingly displacing the valve body from a neutral position when supplying and discharging hydraulic pressure to and from the actuator from the hydraulic pressure source; and controlling a valve body of the control valve mechanism to operate the actuator. An actuator control device comprising: a valve control unit that performs sliding displacement according to a signal. The actuator control device is driven by the actuator in order to variably control a valve timing of the internal combustion engine. A rotation phase varying means for generating a phase difference, wherein the valve control means adjusts a valve timing of the internal combustion engine by adjusting a valve timing of the internal combustion engine. Target value setting means for setting a target value for operating the actuator so as to be at a timing corresponding to a state; and operation detecting means for detecting an operation state of the actuator from a phase difference between the crankshaft and the camshaft. Deviation calculating means for calculating a deviation between a target value set by the target value setting means and a detection value detected by the operation detecting means; a fluctuation period calculating means calculating a fluctuation period of the deviation calculated by the deviation calculating means; A proportional operation means for performing a proportional operation on the deviation from the means, an integral operation means for performing an integral operation on the deviation from the deviation operation means, and a dead band compensation for the control valve mechanism. A compensating means for compensating the dead zone so as to set a calculated value variably in accordance with a fluctuation cycle; Means, integral calculation means and the compensation computation section actuator control apparatus characterized by being configured and an output signal setting means for setting the control signal to be output to the control valve mechanism based on the respective calculated value by. 2. A coefficient setting circuit for increasing or decreasing a correction coefficient for dead zone compensation according to a fluctuation cycle of a deviation by a fluctuation cycle calculation means, and a compensation value based on a correction coefficient by the coefficient setting circuit. The actuator control device according to claim 1, further comprising a compensation calculation circuit that outputs the following. 3. The valve control means determines a transient state based on a target value set by the target value setting means. When the target value is changed, the valve control means determines a transient state during a predetermined transient time. At other times, there is provided a transient state determining means for determining that the apparatus is in the non-transient state, and the compensation calculating means keeps the correction coefficient by the coefficient setting circuit constant when the transient state determining means determines that the apparatus is in the transient state. 3. The actuator control device according to claim 2 , wherein the actuator control device is configured to hold the value and to increase or decrease the correction coefficient by the coefficient setting circuit in accordance with the variation cycle of the deviation when it is determined that the state is in the non-transient state.