JP3802576B2 - Method and apparatus for controlling a drive unit of a vehicle - Google Patents

Description

[0001]
[Industrial application fields]
The present invention relates to a method and apparatus for controlling a drive unit of a vehicle, and more particularly, an actuator for adjusting the output of a drive unit by adjusting a variable (operating parameter) to be closed-loop or open-loop controlled of the drive unit; The present invention relates to a method and an apparatus for controlling a drive unit of a vehicle having means for adjusting this variable via at least one control amount based on at least one set value.
[0002]
[Prior art]
A method of this kind or a device of this kind is described in DE-OS 2523283 (US-PS 3964457) taking idling control of an internal combustion engine as an example. In this publication, a rotational speed control circuit is proposed for controlling the idling rotational speed, and based on the deviation between the rotational speed value of the internal combustion engine measured in the rotational speed control circuit and a predetermined rotational speed target value, An adjusting member for adjusting the engine speed or driving output, particularly a throttle valve for controlling the air supply amount, is adjusted so that the actual value of the engine speed approaches the target value. In that case, the adjusting member is driven by a DC motor or a stepping motor.
[0003]
However, the above-described prior art does not describe means for accurately adjusting the adjusting member or actuator, and means for correcting in consideration of step loss in the case of disturbance or stepping motor driving.
[0004]
Further, DE-OS 314991 (US-PS4549519) discloses that the fuel supply to the engine is cut off when the accelerator pedal is in the non-operating position and the rotational speed is higher than a predetermined engine rotational speed.
[0005]
[Problems to be solved by the invention]
SUMMARY OF THE INVENTION An object of the present invention is to provide a method and apparatus for controlling a vehicle drive unit that ensures accurate adjustment (positioning) of an adjustment member or actuator and that can be corrected in consideration of disturbance or step loss. It is.
[0006]
[Means for Solving the Problems]
  thisTo solve the problem,In the present invention (Claim 1),
  carMethod for controlling both drive unitsBecause,
  The actuator (60) for adjusting the output of the drive unit is driven by the controller (28) according to the target value and the actual value of the drive unit operation parameter.,
  The actuator is driven when the actual value becomes larger than the target value during the idling operation and the integrator of the controller (28) takes the minimum value, or when the fuel supply to the drive unit is cut off during the idling operation. As a result, the actuator position is corrected, and the actual value approaches the target value.Adopt configurationAnd
  In the present invention (claim 10),
  A device for controlling a drive unit of a vehicle,,
  A controller (28) for driving the actuator (60) for adjusting the output of the drive unit according to the target value and the actual value of the drive unit operation parameter is provided.,
  The actuator is driven when the actual value becomes larger than the target value during the idling operation and the integrator of the controller (28) takes the minimum value, or when the fuel supply to the drive unit is cut off during the idling operation. In this way, the actuator position is corrected so that the actual value approaches the target value..
[0007]
  In the present invention (claim 11),
  A method for controlling a drive unit of a vehicle,
  Adjust the output of the drive unitDoActuator (60) is providedThe position of the actuator can be obtained by position detection or estimated from the step counter value.,
  When the drive unit is idlingThe actuator is prevented from being driven,
  The actual position of the actuator is determined according to the intake air amount (Qist) or intake pipe pressure to the drive unit,
  The estimated actuator position value, or the actuator position value obtained by position detection,The actuator is corrected so as to approach the actual position value (Sollst) of the actuator,
  Next, adopt the configuration where the actuator is driven again,
  In the present invention (claim 12),
  An apparatus for controlling a drive unit of a vehicle,
  Adjust the output of the drive unitDoAn actuator (60),
  The position of the actuator is determined by position detection or estimated from a step counter value;
  When the drive unit is idlingThe actuator is prevented from being driven,
  The actual position of the actuator is determined according to the intake air amount (Qist) or intake pipe pressure to the drive unit,
  The estimated actuator position value, or the actuator position value obtained by position detection,A configuration is also employed in which the actuator is driven again after being corrected so as to approach the actual position value (Sollst) of the actuator.
[0008]
[Action]
In such a configuration, when the actuator is adjusted so that the operation parameter (variable) to be closed-loop or open-loop controlled is constantly deviated from the set value, the operation parameter is affected by acting on the variable representing the operation parameter. Correction is made to the actuator setting so that is close to the set value.
[0009]
Furthermore, as a result of such a configuration, a method and apparatus for adjusting a reference point for detecting or estimating the position of an actuator can be obtained. In that case, the reference point is adjusted by driving to the reference point in at least one operating stage or by correcting without driving to the reference point.
[0010]
In a preferred embodiment, the actuator is a stepping motor, and its adjustment is made according to the set position and the step counter value. In a certain operation phase, for example, the pre-start phase, the step counter is set to a reference value. In this pre-starting stage, when a predetermined amount of driving in the closing direction is performed, or when the engine speed exceeds the starting speed, a value representing the actuator position is set as a reference value.
[0011]
If the rotational speed is too large, the step counter value is changed by a predetermined value so that the engine rotational speed decreases. Further, when the fuel cut occurs many times in the idling operation, the step counter value is changed so that the engine speed decreases.
[0012]
Further, the position of the stepping motor is obtained based on the intake air amount, and the number of steps necessary to decrease the engine speed is calculated and output based on the difference between this position and the step counter value.
[0013]
When the step counter value deviates from the stepping motor position, the set value is increased or decreased, and adjustment is performed by changing the step counter value without driving the stepping motor.
[0014]
The set value is an air amount target value, and this target value is formed by a controller having at least an integral element from the difference between the target rotational speed and the actual rotational speed. When the integrated value reaches the minimum value, the motor position is corrected. If the position does not change or if the engine speed does not decrease too much, or if an attempt is made to reduce the engine speed a predetermined number of times, a fault in the control system or actuator part is detected and the drive is stopped. .
[0015]
The configuration of the invention ensures that the position of the actuator is adjusted accurately. In that case, in the case of a disturbance or a stepping motor, the step loss is considered and corrected.
[0016]
The configuration of the present invention is particularly effectively used in closed-loop control of idling speed.
[0017]
Further, the reference point for detecting or estimating the position of the actuator can be accurately determined.
[0018]
When a stepping motor is used for the actuator, the reference point (position estimation) of the step counter is determined and set by the configuration of the present invention, so that feedback of position information can be omitted.
[0019]
Further, according to the configuration of the present invention, it is possible to detect a failure of the control circuit or the actuator portion.
[0020]
By correcting the actuator settings, the reference point can be adjusted during operation without being driven to the reference point.
[0021]
【Example】
Next, the present invention will be described in detail using embodiments shown in the drawings.
[0022]
FIG. 1 is a block diagram showing an example of idling control (closed loop control) using a stepping motor, which is a device for controlling a vehicle drive unit (for example, an internal combustion engine).
[0023]
Reference numeral 10 denotes a control unit, which includes input lines 12 to 14 from measuring devices 16 to 18 for measuring various operating parameters of the engine and / or vehicle, and a measuring device 22 for detecting the engine speed. The input line 20 is led. The input lines 12 to 14 are led to the target value forming unit 24, the output line 26 is led to the rotation speed controller 28, and the input line 20 is further led to the rotation speed controller. The output line 30 of the controller 28 is led to the target position forming unit 32, the output line 34 is led to the coupling point 36, and the conducting wire 38 from the step counter 40 is further led to the coupling point. The output line 42 at the coupling point 36 is led to the step generation unit 44, the first output line 46 is led to the step counter 40, and the other two output lines 48 and 50 are output lines of the control unit 10 as output lines. 52 to 54. In connection with the output stages 52 to 54, motor windings 56 and 58 of the stepping motor 60 are provided. The rotor 62 of the stepping motor 60 is coupled via a mechanical connection member to an adjustment member (throttle valve) 66 for adjusting the output of the drive unit (engine output), particularly the air supply amount of an internal combustion engine (not shown). .
[0024]
The target value forming unit 24 forms the idle speed target value Nsoll in accordance with supplied operating parameters such as engine temperature, battery voltage, connectable load status, vehicle speed, and the like. This target value is output to the controller 28 via the conductor 26, where it is compared with the actual rotational speed value Nist detected by the measuring device 22. In a preferred embodiment, the controller 28 having a proportional element and an integral element generates an output signal representing the target air quantity Qsoll to be supplied to the internal combustion engine according to the deviation value. This target air amount is converted into the position target value Xsoll in the unit 32, and the position target value is compared with the count value SZ of the step counter 40 at the coupling point 36.
[0025]
The connection point 36 forms a signal corresponding to the difference between the two values, and this signal is output to the step generation unit 44 via the conductor 42. In this unit 44, the number of steps to be output for adjusting the stepping motor so that the actual value approaches the target value is obtained based on the difference value and its sign, and each phase is shifted by 90 ° according to the moving direction. The number of pulses corresponding to the number of steps to be output via 48 and 50 is output to the output stages 52 and 54. The output stage determines the current flowing through the windings 56 and 58 in accordance with the driving thereof, whereby the rotor 62 of the stepping motor 60 is adjusted stepwise to a predetermined position so that the actual rotational speed approaches the target rotational speed. Become. The number of steps to be output is output from the step generation unit 44 to the step counter 40 via the conductor 46. Therefore, the counter value SZ corresponds to the estimated position of the stepping motor. In this way, the actuator is adjusted to the set value by the controller 28, and the actual rotation value approaches the target rotation value.
[0026]
The apparatus illustrated as a block circuit can be realized as a computer program. Further, instead of adjusting the air supply amount, particularly in the case of a diesel engine, it is also possible to adjust the amount of fuel to be metered via an actuator (or an adjustment member coupled thereto). Even if a DC motor is used instead of a stepping motor, the position is detected using an appropriate measuring device, and the actuator is adjusted by position feedback control, for example, air amount control, pressure control, torque or output The effect can be obtained in the same manner as in other closed loop control systems such as control.
[0027]
The adjustment or setting of the actuator (or adjustment member) is performed based on the difference between the target position and the actual position (estimated position in the case of stepping motor drive), so the reference point of the position value that is the basis of the position calculation is It must be known and must be adjusted (calibrated) according to the actual position of the motor.
[0028]
This adjustment is generally referred to as learning (end learning), and in the preferred embodiment shown in FIG. 2, is performed at the drive point where the actuator closes, i.e. when the amount of air supplied is zero. This takes place during the pre-starting phase, ie after the ignition switch is closed until the starter rotates.
[0029]
The program part shown in FIG. 2 is started when the ignition is turned on. Thereafter, in a first determination step 100, it is checked whether the memory contents of the constantly powered memory in the stopped operating state have been erased, i.e. whether the power has been cut off or disconnected from the battery. Otherwise, the learning process is not performed as shown in step 102, and the idling control program described above is executed using the reference value written in the memory in the next step 104. Thereafter, the program part is terminated.
[0030]
If erasure of the memory contents is detected in step 100, the learning process is started in step 108 and the interlocking counter i is set to zero. In the next step 110, a step in the closing direction is output and in step 112 the counter is incremented by one. Thereafter, in a decision step 114, it is checked whether the engine speed n has exceeded a starting speed (nstart) of, for example, 300 rpm, that is, whether the engine starter is rotating. If not, it is checked in step 116 whether the interlock counter has reached a predetermined maximum value. If not, the program part is repeated from step 110 until the maximum value is reached or the starting engine speed is exceeded. The maximum value corresponding to the maximum number of steps output in the learning process is set in the preferred embodiment so that the stepping motor will always reach its closed position. For example, the number of steps corresponds to the number of steps required to pass all the way from the fully open position to the closed position.
[0031]
When the maximum number of steps or the starting rotational speed shown in step 114 is reached, the step counter value SZ is set to zero or a reference value in step 118. Thereby, the step counter value is set to a value corresponding to the position actually existing in this state. This is of course only if the motor can reach the closed position. If the starter is activated too early, the reference value taken at step 118 is incorrect. A method for correcting this will be described later.
[0032]
The same applies to a DC motor. In this case, a closing drive signal that can reliably reach the reference point for a predetermined time is output. If the period has elapsed or the starting rotational speed has been exceeded, the value of the position subsequently detected via the position sensor is stored as a reference point, preferably set to zero.
[0033]
The value of the reference point is used as a basis for determining the position value when performing idling control. This is because all detected values are associated with a reference point.
[0034]
FIG. 3 illustrates the method shown in FIG. 2 using signal waveforms when the actuator can be moved to the closed position. In the figure, the signals are shown in the horizontal direction and the signals in the vertical direction, respectively. According to FIG. 3 (a), the driver closes the ignition switch at time T0. During the entire learning period, as shown in FIG. 3B, the engine speed n is below the start speed nstart. Thereby, as shown in FIG. 3 (c), it becomes possible to output a predetermined number of steps from time T0 to time T1, and as shown in FIG. 3 (d), when the motor position is initially unknown, time T0. To move the motor position in the "closed" direction. At time T2, the motor reaches the closed position. However, until a time T1, a predetermined number of steps are output, but the motor remains in its closed position. Since the output of the predetermined step ends at the time T1, as shown in FIG. 3E, the step counter is set to zero or set to the reference value at this time, and the transition from the learning mode to the normal operation is performed. Done. Thus, the actual zero position is learned.
[0035]
FIG. 4 shows that the engine speed exceeds the start speed before the end of the learning mode. Here again, the driver operates the ignition switch at time T0 (FIG. 4 (a)), thereby outputting a predetermined number of steps from time T0 as shown in FIG. 4 (c). As shown in d), the motor position is reduced. Since the starter is operated in addition to the ignition switch, the engine speed increases as shown in FIG. At time T2, the engine speed exceeds the starting speed, thereby ending the learning process at time T2. As shown in FIG. 4C, the step output is stopped and the motor position (FIG. 4D) is above the closed position at this point. However, as shown in FIG. 4 (e), at the time T2, the step counter is set to zero or set to the reference value, the learning mode is ended, and the normal operation is started. The actuator is then rapidly opened to obtain the amount of air required for starting.
[0036]
Since the idling speed during operation becomes too high due to an erroneously set reference value, the function of idling speed control is impaired. However, at least the operating point of the idling speed control is thereby moved to the edge of the control area. Accordingly, it is necessary to correct the reference value set in error during operation and to take measures to center the idling speed control. For this purpose, the program unit shown in FIG. 5 is used.
[0037]
After starting the program at a predetermined time, in a first step 200 it is checked whether the engine is idling. This is the case, for example, when the idling switch is closed, the start-up phase is finished, a predetermined shut-off period has elapsed and the engine temperature has exceeded a limit value. In addition, the vehicle speed can be checked. If the idling state has not yet been reached in step 200, the program unit is repeated at a predetermined time.
[0038]
However, if the system is in the idling state, the counter T is started as shown in step 202, and in the subsequent decision step 204, the difference between the actual rotational speed and the target rotational speed is compared with a predetermined threshold value NO. If the difference exceeds this threshold value, that is, if the engine speed is too high, it is checked whether the integral value I of the controller 28 corresponds to the minimum value Imin, as shown in step 206. If so, this represents that the idling control system is in a rather unfavorable operating condition and cannot correct a rotational speed that is too high. In this case, therefore, the reference value is corrected.
[0039]
This can also be done in other ways when the fuel supply to the engine is interrupted a number of times, preferably twice, by exceeding the fuel cut speed due to the engine speed being too high during the idling operation. This is to check the corresponding set of flags (SAS) in step 208 regardless of the magnitude of the difference between the actual value and the target value or when the integrator is not at the minimum value as shown in step 206. Be examined by. This set of flags is illustrated in the flowchart shown in FIG.
[0040]
If this flag is not set, at least rough adjustment of the reference value is considered unnecessary. Accordingly, in this case, idling control is started as shown in step 210, and this program section is repeated at a predetermined time. If the engine speed is quite high and the integrator is at its minimum value, it is checked in a decision step 212 following step 206 whether a predetermined time has elapsed. If this is the case, a predetermined value SZ0 is added to the step counter value at that time in step 214 as in the case where the fuel cut flag during deceleration is set. Thereafter, the counter j is incremented by 1 (step 216), and it is checked in the decision step 218 whether or not the counter value has reached a predetermined maximum value jmax. Otherwise, idling control is performed based on the corrected step counter value as shown in step 210, thereby closing the actuator. This is performed until conditions 204 and 206 or condition 208 are not met.
[0041]
However, if the interlock counter j reaches the maximum value, as shown in step 218, this indicates that the actuator has been tried to close a number of times but has not been successful. As shown at 220, it is estimated that there is a failure in the actuator portion or the idling control system portion, and the actuator is stopped. Thereafter, the program part is terminated.
[0042]
The method described above is also used in the case of a DC motor. In that case, the processing of the detected position signal is modified by changing the reference value to increase the actual value for position control so that a deviation occurs in the position controller.
[0043]
FIG. 6 shows a set of fuel cut flags to be inspected in step 208. According to this, after the start of the program part, it is checked in the first step 300 whether it is in an idling state. Otherwise, the program part is repeated at a predetermined time. If the system is idling, the counter k is set to zero and a decision 304 determines whether the fuel supply to the engine is shut off. If so, the counter k is incremented by 1 in step 306 and compared to its maximum value in the following step 308. If the counter has not reached the maximum value, it is checked at decision step 310 whether the system is still idle, as if the fuel has not been cut. If so, the program portion is repeated from decision step 304; otherwise, the counter k is set to zero at step 312 and the program portion is terminated and repeated at a predetermined time.
[0044]
When the counter k reaches the predetermined maximum value in step 308, the fuel supply to the engine is shut off many times while the idling state continues. A flag SAS is set.
[0045]
In FIG. 7, the process is clarified using signal waveforms. In the same figure, time is shown horizontally and each signal amount is shown vertically. In FIG. 7A, a predetermined target rotational speed (Nsoll) is shown by a dotted line, an actual rotational speed (Nist) is shown by a solid line, and an integrated value of the controller is shown in FIG. 7B. Until time T0, the controller attempts to reduce the idling speed which is too high. Since the minimum value is reached at time T0, the engine speed is constantly above the target speed, and the step counter value (solid line, SZ) is the value of the set target position (dotted line Xsoll) as shown in FIG. ). That is, the position controller is in a balanced state (no deviation). It is detected that the engine speed is too high and the integral value of the controller is at a minimum value during a period between T0 and T1 formed by the predetermined time T.
[0046]
Accordingly, the step counter value SZ is increased by a predetermined value at time T1. That is, the reference value is changed (for example, decreased) by a predetermined value. As a result, a control deviation is generated between the step counter value and the position target value, so that the engine speed (FIG. 7A) and the motor are independent of the integral component (FIG. 7B) of the speed controller. The actual position (FIG. 7 (d)) decreases, and this continues until time T2 when the step counter value again matches the position target value. In that case, the target value of the position is slightly reduced in some cases. This is because the proportional component of the rotation speed controller responds by changing the rotation speed.
[0047]
If it is determined that no substantial change has occurred during a predetermined time between time points T2 and T3, the step counter value is newly increased by a predetermined value at time point T3. As a result, the engine speed decreases. The actual rotational speed falls below the target rotational speed between time points T3 and T4, whereby the integrated value increases, and the target value and the actual value are approximated. At time T4 when the step counter value corresponds to the target position, the integral value increases and the actual rotational speed value is adjusted to the target rotational numerical value. Accordingly, the reference value of the step counter value set in error is corrected.
[0048]
An alternative to the configuration shown in FIG. 5 is shown in FIG. In the figure, the same reference numerals are used for the same steps. They will not be described in detail below.
[0049]
When an operation state that requires correction of the reference value is detected, in step 400, the air amount (Qist) obtained at the present time from the characteristic curve (table or map) storing the position of the stepping motor with respect to the intake air amount is obtained. The corresponding actuator position (STELLPOS) is read, and the difference between the actuator position read in step 402 and the actual step counter value is formed as a value A. Thereafter, in step 404, the number of steps corresponding to the difference is output in the closing direction of the motor. Thereby, the actual air amount is reduced by an amount corresponding to the value A. The step counter value is unchanged. By this method, the step counter value for the actuator position is corrected by A. In that case, this is done without manipulating the idling control parameters themselves. In decision step 406, it is examined whether the position of the actuator has changed, that is, whether another value has been determined for the actuator position from the characteristic curve described above. Otherwise, as shown in step 408, the idling control part or the actuator part may be out of order, and the drive is stopped.
[0050]
If the position of the actuator has changed in step 406, it is checked in step 410 whether there is still an operating condition that requires correction of the reference value. If so, it is estimated that there is a failure in step 408, and the drive is stopped. Otherwise, the reference value of the step counter is corrected, and idling control is continued as shown in step 210. .
[0051]
Since the above-described method for correcting the reference value is preferably performed when the rotational speed deviation is greater than N0, the correction is relatively rough. In that case, the rotational speed deviation may still remain. Accordingly, FIG. 9 shows still another method for correcting the reference value.
[0052]
In the first step 500 after the start of the program part, it is checked whether a stable idling state exists. This is because the idling switch is closed, the engine temperature is above the lower limit, the vehicle speed is zero, the predetermined waiting time has elapsed after the idling switch is closed, and the deviation between the actual value and the target value Is smaller than a predetermined value N0. If not, the program unit is terminated and repeated at a predetermined time. On the other hand, if the condition exists, it is considered that correction is necessary, and the stepping motor is driven as shown in step 502. Blocked (locked). In step 504, the actual position of the stepping motor is read out from the above characteristic curve according to the intake air amount (volume or mass flow rate) or the intake pipe pressure.
[0053]
In a subsequent decision step 506, it is checked whether the absolute value of the difference between this position and the step counter value is greater than a predetermined allowable value. If this difference is larger than the allowable value, it is checked whether or not the difference between the above-described value obtained in step 508 and the step counter value is larger than the allowable value B. If this is the case, the controller output signal or the air amount target value (qsoll) is incremented by 1 in step 510, and then the step counter value is changed in step 514 by temporarily outputting the corresponding correction step from the step generation unit. The Thereafter, decision step 506 is repeated. If the difference (absolute value) is smaller than the allowable value, stepping motor driving is started again as shown in step 516, and the program section is terminated.
[0054]
When the difference is smaller than the allowable value in the determination step 508, the air amount target value is decreased by 1 as shown in step 512, and thereafter the step counter value is changed in step 514 in the same manner. Thereafter, 506 is repeated. If the difference is smaller than the allowable value, stepping motor driving is started again as shown in step 516, and the program unit is terminated.
[0055]
Accordingly, the step counter value is corrected in accordance with the actual situation according to the intake air amount. The idling control is positioned at the center of the operating range.
[0056]
Further, the values A, B and N0 may be equal in each embodiment or may be different from each other. Similarly, incrementing or decrementing can be performed by a predetermined value or by 1.
[0057]
【The invention's effect】
  The present inventionAccording to (Claims 1 and 10), the actuator for adjusting the output of the drive unit is driven by the controller according to the target value and actual value of the operation parameter of the drive unit, and the actual value is less than the target value during idling operation. When the integrator of the controller takes a minimum value, or when the fuel supply to the drive unit is cut off during idling, the actuator position is corrected by driving the actuator. Because the value can be close to the target valueGuaranteed to accurately adjust the position of the actuatorThe BookThe inventive arrangement is particularly effective in closed loop control of idling speed.
[0058]
  Furthermore, the present invention(Claims 11 and 12)ThenSince the estimated position of the actuator is corrected to approach the actual position,, Actuator position detectionThecorrectWhatcan do.
[Brief description of the drawings]
FIG. 1 is a schematic block diagram showing the configuration of a drive output control system in which the present invention is used, taking idling rotational speed control using a stepping motor as an example.
FIG. 2 is a flowchart showing a flow of adjusting a reference point for position detection or position estimation in a pre-starting stage.
FIG. 3 is a diagram showing time characteristics of various signals in a predetermined operation state when performing an adjustment operation.
FIG. 4 is a diagram showing time characteristics of various signals in other operating states when performing an adjusting operation.
FIG. 5 is a flowchart for explaining a first embodiment for correcting the setting of the actuator when the engine speed is too high.
FIG. 6 is a flowchart showing a process for detecting engine rotation that is too high during idling.
FIG. 7 is a diagram showing time characteristics of signals generated when the first embodiment shown in FIG. 5 is carried out.
FIG. 8 is a flowchart showing a second embodiment for correcting the setting of the actuator.
FIG. 9 is a flowchart showing a third embodiment for correcting the setting of the actuator.
[Explanation of symbols]
10 Control unit
24 Target value formation unit
28 Rotational speed control unit
32 Target position forming unit
40 step counter
44 Step generation unit
60 Stepping motor
62 Rotor
66 Adjustment member

Claims (12)

A method for controlling a drive unit of a vehicle,
The actuator (60) for adjusting the output of the drive unit is driven by the controller (28) according to the target value and the actual value of the drive unit operation parameter,
The actuator is driven when the actual value becomes larger than the target value during the idling operation and the integrator of the controller (28) takes the minimum value, or when the fuel supply to the drive unit is cut off during the idling operation. Thus, the actuator position is corrected, and the actual value is brought close to the target value.   The method of claim 1, wherein the actuator is a stepping motor and a step counter is provided.   3. The method according to claim 2, wherein the step counter is set to a reference value in the pre-starting phase.   4. The method according to claim 2, wherein the correction is performed by changing a step counter value by a predetermined value so that the engine speed decreases.   The stepping motor position is obtained based on the intake air amount, and the number of steps required to reduce the engine speed is calculated and output based on the difference between this position and the step counter value. Item 5. The method according to any one of Items 2 to 4.   When the step counter value deviates from the stepping motor position, the air amount target value is increased or decreased, and the adjustment is performed by changing the step counter value without driving the stepping motor. 6. A method according to any one of claims 2-5.   The method according to claim 6, wherein an air amount target value is formed by the controller from a difference between a target rotational speed and an actual rotational speed.   If the actuator position does not change or if the engine speed does not decrease too much, or if an attempt is made to reduce the engine speed a predetermined number of times, a failure in the control system or actuator part is detected and the actuator is not driven. 8. The method according to claim 1, wherein the method is stopped.   The value representing the actuator position is set to a reference value when a predetermined amount of driving in the closing direction is performed in the pre-starting stage or when the engine speed exceeds the starting speed. Item 4. The method according to Item 3. An apparatus for controlling a drive unit of a vehicle,
A controller (28) for driving the actuator (60) for adjusting the output of the drive unit according to a target value and an actual value of an operation parameter of the drive unit;
The actuator is driven when the actual value becomes larger than the target value during the idling operation and the integrator of the controller (28) takes the minimum value, or when the fuel supply to the drive unit is cut off during the idling operation. Thus, the actuator position is corrected, and the actual value is brought close to the target value. A method for controlling a drive unit of a vehicle,
An actuator (60) for adjusting the output of the drive unit is provided , and the position of the actuator is determined by position detection or estimated from the step counter value ,
When the drive unit is in idling operation, the actuator is prevented from being driven,
The actual position of the actuator is determined according to the intake air amount (Qist) or intake pipe pressure to the drive unit,
The estimated actuator position value or the actuator position value obtained by position detection is corrected so as to approach the obtained actuator actual position value (Sollst).
A method for controlling a drive unit of a vehicle, wherein the actuator is subsequently driven again. An apparatus for controlling a drive unit of a vehicle,
An actuator (60) for adjusting the output of the drive unit;
The position of the actuator is determined by position detection or estimated from a step counter value;
When the drive unit is in idling operation, the actuator is prevented from being driven,
The actual position of the actuator is determined according to the intake air amount (Qist) or intake pipe pressure to the drive unit,
The estimated actuator position value or the actuator position value obtained by position detection is corrected so as to approach the obtained actual actuator position value (Sollst), and the actuator is driven again. An apparatus for controlling a drive unit of a vehicle.

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