JP3880899B2 - Control device for throttle valve drive device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a control device for a throttle valve drive device that drives a throttle valve of an internal combustion engine mounted on a vehicle, and more particularly, to a device that suppresses periodic fluctuations in vehicle speed (longitudinal vibration during vehicle travel).
[0002]
[Prior art]
A technique for preventing longitudinal vibration during traveling of a vehicle by correcting the ignition timing in accordance with the longitudinal acceleration of the vehicle and a differential value of the longitudinal acceleration has been known (Japanese Patent No. 2701270). According to this conventional method, the ignition timing is retarded when the longitudinal acceleration is equal to or greater than the predetermined acceleration and the differential value of the longitudinal acceleration is equal to or greater than the predetermined value.
[0003]
[Problems to be solved by the invention]
When the longitudinal vibration of the vehicle occurs, the driver's body may vibrate with the vibration of the vehicle, and the amount of depression of the accelerator pedal may slightly vary. In such a case, the engine output fluctuates due to fluctuations in the amount of depression of the accelerator pedal, so that the conventional method may not provide a sufficient effect of reducing the longitudinal vibration.
[0004]
The present invention has been made paying attention to this point, and suppresses the longitudinal vibration of the vehicle even if the driver's body vibrates due to the longitudinal vibration of the vehicle and the amount of depression of the accelerator pedal varies accordingly. An object of the present invention is to provide a control device for a throttle valve driving device.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, the invention described in claim 1 has drive means (6) for driving a throttle valve (3) provided in an intake system (2) of an internal combustion engine (1) mounted on a vehicle. In the control device of the throttle valve drive device (10), an accelerator operation amount detection means (9) for detecting the operation amount (AP) of the accelerator pedal of the vehicle, and a vehicle speed detection means (9) for detecting the vehicle speed (VP) of the vehicle. 11), comparing means for comparing the change in the accelerator pedal operation amount (AP) and the change in the vehicle speed (VP), and the accelerator operation amount detecting means (9) according to the comparison result by the comparing means. Filter means for performing a filter process for reducing fluctuations in the accelerator pedal operation amount (AP) detected by), and the throttle valve opening based on the accelerator pedal operation amount (AP) after the filter process. Target opening setting means for setting a target opening (THCMD) of TH) and drive control for controlling the driving means (6) so that the throttle valve opening (TH) becomes the target opening (THCMD). Means.
[0006]
According to this configuration, the variation in the accelerator pedal operation amount is compared with the variation in the vehicle speed, and the filter processing that reduces the variation in the accelerator pedal operation amount detected by the accelerator operation amount detection unit according to the comparison result. Is done. Then, a target opening of the throttle valve opening is set based on the accelerator pedal operation amount after the filter processing, and the driving means is controlled so that the throttle valve opening becomes the target opening. When the acceleration pedal operation amount fluctuates due to the vibration of the driver's body by performing a filter process that reduces the fluctuation of the accelerator pedal operation amount when the variation in the accelerator pedal operation amount approximates the variation in the vehicle speed. Even if it exists, the longitudinal vibration of a vehicle can be suppressed effectively.
[0007]
According to a second aspect of the present invention, in the control device for the throttle valve driving device according to the first aspect, the comparison means includes a variation period (T1) of the vehicle speed and a variation period (T2) of the accelerator pedal operation amount. Whether the deviation is less than or equal to a predetermined value, and the filter means executes the filtering process when the deviation is less than or equal to the predetermined value, and when the deviation is greater than the predetermined value, The accelerator pedal operation amount detected by the accelerator operation amount detection means is output as it is.
[0008]
According to this configuration, it is determined whether or not a deviation between the fluctuation cycle of the vehicle speed and the fluctuation cycle of the accelerator pedal operation amount is equal to or less than a predetermined value. When the deviation is equal to or less than the predetermined value, the filter processing is performed. Executed. That is, when the fluctuation cycle of the vehicle speed and the fluctuation cycle of the accelerator pedal operation amount are approximate, the filter processing is executed, and the fluctuation of the accelerator pedal operation amount used for calculating the target opening of the throttle valve is reduced. To do. As a result, it is possible to suppress the longitudinal vibration of the vehicle due to the periodic fluctuation of the accelerator pedal operation amount.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a diagram showing a configuration of a throttle valve driving device and a control device thereof according to an embodiment of the present invention. A throttle valve 3 is provided in an intake passage 2 of an internal combustion engine (hereinafter referred to as “engine”) 1 mounted on a vehicle. A return spring 4 that urges the throttle valve 3 in the valve closing direction and a default spring 5 that urges the throttle valve 3 in the valve opening direction are attached to the throttle valve 3. The throttle valve 3 can be driven by a motor 6 as a driving means via a gear (not shown). In a state where the driving force by the motor 6 is not applied to the throttle valve 3, the opening TH of the throttle valve 3 is a default opening THDEF (for example, 7.TH) where the urging force of the return spring 4 and the urging force of the default spring 5 are balanced. 5 degrees). The default opening THDEF is set so that the vehicle driven by the engine 1 can be evacuated even when the throttle valve drive device fails.
[0010]
The motor 6 is connected to an electronic control unit (hereinafter referred to as “ECU”) 7 for controlling the throttle valve, and its operation is controlled by the ECU 7. The throttle valve 3 is provided with a throttle valve opening sensor 8 for detecting the throttle valve opening TH, and the detection signal is supplied to the ECU 7.
[0011]
Further, the ECU 7 includes an accelerator sensor 9 for detecting an accelerator pedal depression amount (hereinafter referred to as “accelerator pedal operation amount”) AP indicating a request output of a driver of the vehicle driven by the engine 1, and a traveling speed (vehicle speed) of the vehicle. ) A vehicle speed sensor 11 for detecting VP is connected, and detection signals from these sensors are supplied to the ECU 7.
[0012]
The ECU 7 includes an input circuit to which a detection signal of the throttle valve opening sensor 8 and the accelerator sensor 9 is supplied, an AD conversion circuit that converts the input signal into a digital signal, a central processing unit (CPU) that executes various arithmetic processes, a CPU Are provided with a memory circuit composed of a ROM for storing a program to be executed, a map and a table referred to by the program, and a RAM for storing an operation result, and an output circuit for supplying a drive current to the motor 6. The ECU 7 determines the target opening THCMD of the throttle valve 3 according to the accelerator pedal operation amount AP, and controls the control duty (control amount) DUT of the motor 6 so that the detected throttle valve opening TH matches the target opening THCMD. And an electric signal corresponding to the control duty DUT is supplied to the motor 6. That is, the ECU 7 performs feedback control so that the throttle valve opening TH matches the target opening THCMD. This feedback control is performed, for example, by well-known PID (proportional integral derivative) control.
[0013]
FIG. 2 is a flowchart of the main routine of the throttle valve opening control process. This process is executed every predetermined time (for example, 10 milliseconds) by the CPU of the ECU 7.
In step S1, the comparison / filter process shown in FIG. 3 is executed. In this comparison / filtering process, the fluctuation period of the accelerator pedal operation amount AP detected by the accelerator sensor 9 is compared with the fluctuation period of the vehicle speed VP, and a filtering process is performed according to the comparison result.
[0014]
In step S2, the target opening degree THCMD is calculated according to the accelerator pedal operation amount AP after the comparison / filtering process. The target opening degree THCMD is set so as to be substantially proportional to the accelerator pedal operation amount AP.
In step S3, feedback control is performed to determine the control duty DUT of the motor 6 so that the throttle valve opening TH detected by the throttle valve opening sensor 8 coincides with the target opening THCMD.
[0015]
FIG. 3 is a flowchart of the comparison / filtering process executed in step S1 of FIG.
In step S12, a vehicle speed fluctuation period T1 is calculated based on the vehicle speeds VP (n) and VP (n-1). Here, (n) and (n−1) indicate control times (sample times) discretized in the execution cycle (10 milliseconds) of this process. In addition, (n) representing the current value is usually omitted. Specifically, for example, the vehicle speed VP (n-1) sampled last time is compared with the vehicle speed VP (n) sampled this time. Count the number of processings from the time when the magnitude relationship is different from the previous comparison result to the next time the magnitude relationship is different from the previous comparison result, multiply the count value by 2 (4 times), and multiply the processing cycle This is defined as a vehicle speed fluctuation period T1.
[0016]
Preferably, the vehicle acceleration DVP (n) is calculated by the following formula (1).
DVP (n) = VP (n) −VP (n−1) (1)
Next, similarly, the previous vehicle acceleration DVP (n−1) and the current vehicle acceleration DVP (n) are compared, and the fluctuation period of the vehicle speed acceleration DVP based on the number of processing until the magnitude relationship is different from the previous one. Is calculated to have the same period as the fluctuation period T1 of the vehicle speed VP. Since the fluctuation cycle can be calculated from the vehicle acceleration DVP that directly represents the fluctuation of the vehicle speed VP, the fluctuation speed T1 of the vehicle speed can be calculated more accurately without being influenced by the traveling speed of the vehicle.
[0017]
Further, the fluctuation period T1 of the vehicle speed from the vehicle acceleration DVP can be calculated as follows. A current value DVP (n) is stored in a ring buffer that stores a predetermined number N (for example, 200) of vehicle accelerations DVP (n) to DVP (n−N + 1), and an average value DVPAV of N data is calculated. . Next, data DVP (k), DVP (k−kT),... Taking values in the vicinity of the average value DVPAV are extracted from the ring buffer. However, k and (k−kT) are integers equal to or smaller than n and equal to or larger than (n−N + 1). The fluctuation period T1 is given by the following formula (2).
T1 = 2ΔT × kT (2)
Here, ΔT is the execution cycle of this process.
[0018]
In step S14, the fluctuation period T2 of the accelerator pedal operation amount AP is calculated by the same method as in step S12. That is, the accelerator pedal operation amount AP (n−1) sampled last time is compared with the accelerator pedal operation amount AP (n) sampled this time. Count the number of processings from the time when the magnitude relationship is different from the previous comparison result to the next time the magnitude relationship is different from the previous comparison result, multiply the count value by 2 (4 times), and multiply the processing cycle This is defined as a fluctuation period T2 of the accelerator pedal operation amount AP.
[0019]
Further, the variation cycle T2 of the accelerator pedal operation amount AP is calculated based on the change speed DAP (= AP (n) −AP (n−1)) of the accelerator pedal operation amount AP, as in step S12. Good. That is, the previous change speed DAP (n−1) is compared with the current change speed DAP (n), and the fluctuation period of the change speed DAP is calculated based on the number of processing until the magnitude relationship is different from the previous time. Then, it has the same cycle as the fluctuation cycle T2 of the accelerator pedal operation amount AP. Since the change cycle can be calculated from the change speed DAP that directly represents the change in the accelerator pedal operation amount AP, the change cycle T2 of the accelerator pedal operation amount AP can be calculated more accurately.
[0020]
Further, the fluctuation cycle of the accelerator pedal operation amount AP can be calculated as follows. The current value AP (n) of the detected accelerator pedal operation amount is stored in a ring buffer that stores a predetermined number N of accelerator pedal operation amounts AP (n) to AP (n−N + 1), and N data The average value APAV is calculated. Next, data AP (j), AP (j−jT),... Taking values in the vicinity of the average value APAV are extracted from the ring buffer. However, j and (j−jT) are integers equal to or smaller than n and equal to or larger than (n−N + 1). The fluctuation period T2 is given by the following equation (3).
T2 = 2ΔT × jT (3)
[0021]
In step S15, a filtering operation of the accelerator pedal operation amount AP, for example, a moving average operation, is performed to calculate a filtered accelerator pedal operation amount APF that reduces the fluctuation range of the accelerator pedal operation amount AP.
[0022]
In step S16, it is determined whether or not the value of the second timer TMR2 is greater than “0”. The second timer TMR2 is a down-count timer, and its value is initialized to “0” at first. Accordingly, the process proceeds from step S16 to step S17, and it is determined whether or not the value of the first timer TMR1 is greater than “0”. The first timer TMR1 is also a down-count timer like the second timer TMR2, and is initially initialized to “0”. Accordingly, the answer to step S17 is negative (NO), and the process proceeds to step S18.
[0023]
In step S18, the absolute value of the change speed DAP of the accelerator pedal operation amount AP (= AP (n) −AP (n−1)) is a predetermined change speed DAPX (for example, the operation range of the accelerator pedal is in the range of 0 to 20 degrees). If it is, it is determined whether the value is smaller than 0.0025 degrees. When | DAP | <DAPX, the value of the first timer TMR1 is reset to “0” (step S20). Next, the accelerator pedal operation amount AP detected by the accelerator sensor 9 is output as it is (step S22), the value of the second timer TMR2 is reset to “0” (step S23), and this process is terminated. Therefore, in this case, the detected accelerator pedal operation amount AP is directly applied to the calculation of the target opening THCMD.
[0024]
If | DAP | ≧ DAPX in step S18 and the accelerator pedal operation amount AP changes relatively greatly, the first predetermined time TM1 (for example, 3 seconds) is set in the first timer TMR1 and started (step S18). S19). When the first timer TMR1 is set, the process immediately proceeds from step S17 to step S21 until the first predetermined time TM1 elapses.
[0025]
In step S21, the ratio T2 / T1 between the fluctuation period T1 of the vehicle speed calculated in step S12 and the fluctuation period T2 of the accelerator pedal operation amount AP is larger than the lower threshold value RL (for example, 0.99) and the upper threshold value (for example, 1). .01) is less than or equal to. If the answer to the question is negative (NO) and the vehicle speed fluctuation period T1 and the accelerator pedal operation amount AP fluctuation period T2 are not substantially equal, the routine proceeds to step S22.
[0026]
If the answer to step S21 is affirmative (YES) and the vehicle speed variation period T1 and the accelerator pedal operation amount AP variation period T2 are substantially equal, the second timer TMR2 receives a second predetermined time TM2 (for example, 5). Second) is set and started (step S24). Then, the accelerator pedal operation amount AP is changed to the post-filter processing accelerator pedal operation amount APF (step S25), and this process is terminated.
[0027]
When the second timer TMR2 is set, the process immediately proceeds from step S16 to step S25 until the second predetermined time TM2 elapses. Therefore, once the answer to step S21 is affirmative (YES), the filtered accelerator pedal operation amount APF is applied to the calculation of the target opening THCMD until the second predetermined time TM2 elapses.
[0028]
FIG. 4 is a time chart showing changes in the vehicle speed VP, the accelerator pedal operation amount AP, the vehicle acceleration DVP, and the change speed DAP of the accelerator pedal operation amount AP. The solid line L1 corresponds to the vehicle speed VP, and the broken line L2 represents the accelerator pedal operation. Corresponding to the amount AP, the solid line L3 corresponds to the vehicle acceleration DVP, and the broken line L4 corresponds to the change speed DAP of the accelerator pedal operation amount AP. When the driver's body vibrates due to the longitudinal vibration of the vehicle and the accelerator pedal operation amount AP changes accordingly, the vehicle speed VP or the vehicle acceleration DVP and the accelerator pedal operation amount AP or the change speed DAP are shown in FIG. As shown in FIG. Therefore, when the fluctuation cycle T1 of the vehicle speed VP and the fluctuation cycle T2 of the accelerator pedal operation amount AP are substantially equal, the filtered accelerator pedal operation amount APF is used for calculating the target opening THCMD, so that In the case where the vibration causes a longitudinal vibration of the driver's body and the accelerator pedal operation amount AP fluctuates accordingly, the longitudinal vibration of the vehicle can be effectively suppressed.
[0029]
In the present embodiment, the motor 6 corresponds to a drive unit, and the accelerator sensor 9 corresponds to an accelerator operation amount detection unit. The vehicle speed sensor 11 constitutes vehicle speed detection means. The ECU 7 constitutes comparison means, filter means, target opening setting means, and drive control means. More specifically, steps S12, S14, and S21 in FIG. 3 correspond to comparison means, steps S15, S22, and S25 in FIG. 3 correspond to filter means, and step S2 in FIG. 2 corresponds to target opening setting means. Step S3 in the figure corresponds to drive control means.
[0030]
The present invention is not limited to the embodiment described above, and various modifications can be made. For example, in step S21 in FIG. 3, the absolute value | T2-T1 | of the deviation between the fluctuation period T2 and the fluctuation period T1 is a predetermined value (T1 × (RH-1)) or (T1 × (1-RL). It is also possible to determine whether or not it is smaller.
[0031]
The present invention can also be applied to control of a throttle valve driving device that drives a throttle valve of a marine vessel propulsion engine such as an outboard motor having a vertical crankshaft.
[0032]
【The invention's effect】
As described above in detail, according to the first aspect of the present invention, the variation in the accelerator pedal operation amount is compared with the variation in the vehicle speed, and is detected by the accelerator operation amount detection means according to the comparison result. Filter processing is performed to reduce fluctuations in the accelerator pedal operation amount. Then, a target opening of the throttle valve opening is set based on the accelerator pedal operation amount after the filter processing, and the driving means is controlled so that the throttle valve opening becomes the target opening. When the acceleration pedal operation amount fluctuates due to the vibration of the driver's body by performing a filter process that reduces the fluctuation of the accelerator pedal operation amount when the variation in the accelerator pedal operation amount approximates the variation in the vehicle speed. Even if it exists, the longitudinal vibration of a vehicle can be suppressed effectively.
[0033]
According to the second aspect of the present invention, it is determined whether or not the deviation between the fluctuation cycle of the vehicle speed and the fluctuation cycle of the accelerator pedal operation amount is equal to or less than a predetermined value, and the deviation is equal to or less than the predetermined value. At some point, the filtering process is executed. That is, when the fluctuation cycle of the vehicle speed and the fluctuation cycle of the accelerator pedal operation amount are approximate, the filter processing is executed, and the fluctuation of the accelerator pedal operation amount used for calculating the target opening of the throttle valve is reduced. To do. As a result, it is possible to suppress the longitudinal vibration of the vehicle due to the periodic fluctuation of the accelerator pedal operation amount.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating a configuration of a throttle valve driving device and a control device thereof according to an embodiment of the present invention.
FIG. 2 is a flowchart of a main routine of a throttle valve opening control process.
FIG. 3 is a flowchart of processing for comparing a variation cycle (T2) of an accelerator pedal operation amount with a variation cycle (T1) of a vehicle acceleration and filtering an accelerator pedal operation amount.
FIG. 4 is a time chart for explaining a case where filtering is necessary.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Internal combustion engine 2 Intake passage 3 Throttle valve 6 Motor (drive means)
7 Electronic control unit (comparison means, filter means, target opening setting means, drive control means)
8 Throttle valve opening sensor 9 Accelerator sensor (accelerator operation amount detection means)
10 throttle valve drive 11 vehicle speed sensor (vehicle speed detection means)

Claims (2)

In a control device for a throttle valve drive device having a drive means for driving a throttle valve provided in an intake system of an internal combustion engine mounted on a vehicle,
An accelerator operation amount detection means for detecting an operation amount of an accelerator pedal of the vehicle;
Vehicle speed detecting means for detecting the vehicle speed of the vehicle;
Comparison means for comparing the fluctuation of the accelerator pedal operation amount and the fluctuation of the vehicle speed;
Filter means for performing filter processing for reducing fluctuations in the accelerator pedal operation amount detected by the accelerator operation amount detection means in accordance with a result of comparison by the comparison means;
Target opening setting means for setting a target opening of the throttle valve opening based on the accelerator pedal operation amount after the filter processing;
And a drive control means for controlling the drive means so that the throttle valve opening becomes the target opening. The comparing means determines whether or not a deviation between the fluctuation period of the vehicle speed and the fluctuation period of the accelerator pedal operation amount is equal to or less than a predetermined value, and the filter means determines that the deviation is equal to or less than the predetermined value. 2. The throttle valve according to claim 1, wherein the filter processing is executed at a certain time, and when the deviation is larger than the predetermined value, the accelerator pedal operation amount detected by the accelerator operation amount detection means is output as it is. Control device for driving device.

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