JP4888160B2 - Variable valve operating device for internal combustion engine - Google Patents

Description

  The present invention relates to a variable valve operating apparatus for an internal combustion engine.

  2. Description of the Related Art Conventionally, a variable valve mechanism for an internal combustion engine has been provided with a variable valve mechanism that varies the valve characteristics of an engine valve such as an intake valve or an exhaust valve, and the mechanism is operated by an actuator that is driven within a predetermined drive range. Things are known.

  In such a variable valve system, in order to precisely control the valve characteristics of the engine valve, the actual valve characteristics are accurately detected, and the variable valve mechanism is operated so as to achieve the target characteristics, in other words, It is important to drive and control the actuator. As a method for detecting the actual valve characteristics of the engine valve, since the valve characteristics correspond to the driving position of the actuator within the driving range, a position sensor for detecting the driving position of the actuator is provided. It is conceivable to detect the actual valve characteristics of the engine valve using the driving position of the actuator detected by the sensor.

  However, the drive position within the drive range of the actuator detected by the position sensor does not always correspond to the actual drive position (valve characteristic of the engine valve) of the actuator, and the actual drive position. May deviate from the value corresponding to. For example, due to the occurrence of noise in the output of the position sensor, the drive position of the actuator detected by the position sensor may deviate from the value corresponding to the actual drive position. In this case, the driving position of the actuator detected by the position sensor becomes inaccurate, and consequently the valve characteristic of the engine valve detected based on the driving position becomes inaccurate. For this reason, even if the actuator is driven based on the detected valve characteristic and the valve characteristic of the engine valve is controlled to the target characteristic, there is a problem that it cannot be performed correctly.

  In order to suppress such a problem, the amount of deviation from the actual driving position at the driving position of the actuator detected by the position sensor is obtained, correction corresponding to the amount of deviation is applied to the detected driving position, and the detection is performed. It is necessary to return the drive position thus set to a value corresponding to the actual drive position.

  For this reason, in Patent Document 1, when it is required to drive the actuator to the range end of the drive range, in other words, the valve characteristic of the engine valve is required to have a characteristic corresponding to the range end. When the engine is in operation, the following processing is performed. That is, the actuator is driven to the range end of the drive range, and the actuator drive position detected by the position sensor when reaching the range end is stored (learned) as a learning value. Then, the learned value (detected drive position) is compared with the appropriate value of the drive position at the end of the range, and the correction corresponding to the amount of deviation between the two values is added to the drive position of the actuator detected by the position sensor. I try to give it.

Through such correction, the drive position of the actuator detected by the position sensor is set to a value corresponding to the actual drive position, and the valve characteristic of the engine valve detected based on the drive position is made accurate. In the above document, the actuator driving position detected by the position sensor when the actuator reaches the end of the range is learned as a learning value, but the amount of deviation of the detected driving position from the appropriate position is learned. Learning as a value is also conceivable. In this case, effects equivalent to the above can be obtained by performing correction corresponding to the learning value (deviation amount) on the driving position of the actuator detected by the position sensor.
JP 2003-41955 A (paragraphs [0031] to [0035])

  By the way, since driving to the range end of the drive range of the actuator for learning the learning value is performed in an engine operation state in which the valve characteristic of the engine valve corresponding to the range end is required, When the drive position is set to the end of the above range, it does not adversely affect the engine operation. However, if the driving speed in the process of driving the actuator to the end of the range is too fast, the sudden change in the valve characteristics of the engine valve may affect the engine operation. Further, the impact when the actuator reaches the displacement end becomes large, and the actuator or the like may be damaged.

  The present invention has been made in view of such circumstances, and its purpose is to influence the engine operation when the actuator is driven to the end of the drive range for learning the learned value. Another object of the present invention is to provide a variable valve operating apparatus for an internal combustion engine that can suppress the occurrence of breakage when reaching the end of the range.

In the following, means for achieving the above object and its effects are described.
In order to achieve the above object, according to the first aspect of the present invention, a variable valve mechanism that varies the valve lift amount and operating angle of the intake valve, and a drive within a predetermined drive range to operate the variable valve mechanism. And an actuator for detecting the drive position of the actuator, and a controller for controlling the actuator to drive within the drive range based on the detected drive position. In a variable valve operating apparatus for an internal combustion engine that drives to a range end of the drive range and learns, as a learning value, a deviation amount from the appropriate position of the drive position detected by the detection means in a state of reaching the displacement end In the internal combustion engine, the intake air amount is increased so as to increase the engine output as the accelerator operation amount increases. The range end driven by the actuator for learning is a range end on the side that increases the maximum lift amount and operating angle of the intake valve, and when the actuator is driven to the range end, includes a limiting means for limiting the driving speed, the limiting means, which pre-Symbol accelerator operation amount slide into mitigate the limitations of the drive speed of the actuator gradually as the drive speed of the Daito indeed the actuator increases It was.

According to the above configuration, when the actuator is driven to the end of the driving range for learning the learning value, the driving speed of the actuator is limited, so that driving to the end of the actuator affects engine operation. Or the occurrence of breakage when reaching the end of the range of the actuator can be suppressed.
When the actuator is driven to the end of the range to learn the learning value, the maximum lift amount and operating angle of the intake valve are increased, and the intake air amount of the internal combustion engine is changed to the increasing side. Further, whether or not the learning value is learned, when the accelerator operation amount becomes large and the engine output increase is requested, the intake air amount of the internal combustion engine is increased in accordance with the increase in the engine output accordingly. Increase.
Here, when the actuator is driven to the end of the range in order to learn the learning value, if the accelerator operation amount is large, the driving speed of the actuator driven toward the end of the range is made relatively high. It is preferable. This means that a large accelerator operation amount means that an increase in engine output is required, and the maximum lift amount of the intake valve is increased by increasing the drive speed of the actuator driven toward the end of the range. This is because it is preferable to increase the operating angle (increase in the intake air amount) and increase the engine output promptly in response to the above request. However, if the limit of the actuator drive speed by the limiting means is excessively large in such a case, the increase speed of the intake air amount of the internal combustion engine is greatly limited thereby, and the increase in the engine output due to the accelerator operation is limited. Even if the actual increase in engine output is delayed, a feeling of rattling is given.
According to the above configuration, when the driving speed is limited when the actuator is driven to the end of the range to learn the learning value, the limitation on the driving speed is gradually relaxed as the accelerator operation amount increases. Therefore, when the accelerator operation amount is small and the engine output request is small, the drive speed of the actuator is limited to a level that can suppress the influence on the engine operation, and the accelerator operation amount is set to request an increase in engine output. When the engine speed is large, the drive speed is excessively limited so that the engine output does not give a sense of shakiness.
As described above, according to the above-described configuration, it is possible to appropriately limit the driving speed of the actuator and to increase the engine output in order to set the influence of the driving of the actuator for learning the learned value on the engine operation to an allowable level. It is possible to achieve both the relaxation of the above-described restriction for preventing the feeling of stickiness in an optimum state. Therefore, it is possible to suppress the feeling of sticking about the increase in the engine output when the accelerator operation amount is a large value as much as possible while setting the influence of the driving of the actuator for learning the learned value on the engine operation to an allowable level. become able to.

According to a second aspect of the present invention, in the first aspect of the invention, when the limiting means drives the actuator to the range end, the drive speed of the actuator is changed to the range end of the actuator by the same drive. The actuator is limited to a value that does not cause damage to the actuator when it reaches the highest speed.

  According to the above configuration, when the actuator is driven to the end of the drive range for learning the learning value, it is possible to quickly reach the end of the range while avoiding damage at the time of arrival.

Hereinafter, an embodiment in which the present invention is applied to an automobile engine will be described with reference to FIGS.
FIG. 1 is an enlarged sectional view showing a structure around a cylinder head 2 of a predetermined cylinder in the engine 1. In the engine 1, a combustion chamber 6 is defined by a cylinder head 2, a cylinder block 3, and a piston 5, and an intake passage 7 and an exhaust passage 8 are connected to the combustion chamber 6. The intake passage 7 and the combustion chamber 6 are communicated and blocked by the opening / closing operation of the intake valve 9, and the exhaust passage 8 and the combustion chamber 6 are communicated and blocked by the opening / closing operation of the exhaust valve 10. Become.

  The cylinder head 2 is provided with an intake camshaft 11 and an exhaust camshaft 12 for driving the intake valve 9 and the exhaust valve 10. The intake camshaft 11 and the exhaust camshaft 12 are rotated by transmission of rotation from the crankshaft of the engine 1. The intake camshaft 11 and the exhaust camshaft 12 are provided with an intake cam 11a and an exhaust cam 12a, respectively. The intake valve 9 and the exhaust valve 10 are opened and closed through integral rotation of the intake cam shaft 11 and the exhaust cam shaft 12 of the intake cam 11a and the exhaust cam 12a.

  Further, the engine 1 includes a variable valve mechanism 14 that varies the maximum lift amount and operating angle of the intake valve 9 as a variable valve mechanism that varies the valve characteristics of the engine valves such as the intake valve 9 and the exhaust valve 10. It is provided between the intake cam 11a and the intake valve 9. Through the operation of the variable valve mechanism 14, for example, the maximum lift amount and the operating angle are controlled to increase as the engine operation state that requires a larger amount of intake air is achieved. This is because the larger the maximum lift amount and the operating angle, the more efficiently the air is sucked into the combustion chamber 6 from the intake passage 7 and the above-described requirements regarding the intake air amount can be satisfied.

Next, the detailed structure of the variable valve mechanism 14 will be described.
The variable valve mechanism 14 includes an input arm 17 that is pushed by a rotating intake cam 11 a and swings about the axes of a rocker shaft 15 and a control shaft 16 that extend parallel to the intake cam shaft 11, and the input arm 17 And an output arm 18 that swings about the axis based on the swing. The input arm 17 is rotatably attached to a roller 19 and is biased toward the intake cam 11a by a coil spring 20 so that the roller 19 is pressed against the intake cam 11a. Further, the output arm 18 is pressed against the rocker arm 21 when swinging, and lifts the intake valve 9 via the rocker arm 21.

  The base end portion of the rocker arm 21 is supported by a lash adjuster 22, and the distal end portion of the rocker arm 21 is in contact with the intake valve 9. The rocker arm 21 is urged toward the output arm 18 by the valve spring 24 of the intake valve 9, whereby a roller 23 rotatably supported between the base end portion and the distal end portion of the rocker arm 21 is applied to the output arm 18. It is pressed. Therefore, when the input arm 17 and the output arm 18 swing based on the rotation of the intake cam 11a, the output arm 18 lifts the intake valve 9 via the rocker arm 21, and the intake valve 9 is opened and closed.

  In the variable valve mechanism 14, the relative position of the input arm 17 and the output arm 18 in the swing direction is changed by displacing the control shaft 16 disposed in the pipe-shaped rocker shaft 15 in the axial direction. Is possible. As described above, when the relative position of the input arm 17 and the output arm 18 in the swing direction is changed, the maximum lift amount and the operating angle of the intake valve 9 are made variable. That is, as the input arm 17 and the output arm 18 are brought closer to each other in the swinging direction, the maximum lift amount and the operating angle of the intake valve 9 become smaller. On the contrary, as the input arm 17 and the output arm 18 are separated from each other in the swinging direction, the maximum lift amount and the operating angle of the intake valve 9 increase.

  When the intake valve 9 is driven to open and close (to be precise, lift), the reaction force at that time tends to bring the input arm 17 and the output arm 18 of the variable valve mechanism 14 closer to each other, in other words, the above-described direction. It will work in a direction to reduce the maximum lift and operating angle. Therefore, the operation in the direction of decreasing the maximum lift amount and the operating angle in the variable valve mechanism 14 is the operation in the direction according to the reaction force. Further, the operation in the direction of increasing the maximum lift amount and the operating angle in the variable valve mechanism 14 is the operation in the direction against the reaction force.

  Next, an actuator for displacing the control shaft 16 for operating the variable valve mechanism 14 in the axial direction and a control device for driving and controlling the actuator will be described with reference to FIG.

  The actuator includes a brushless motor 47 connected to a base end portion (right end portion in the drawing) of the control shaft 16 shown in FIG. The converting mechanism 48 is for converting the rotational motion of the brushless motor 47 into linear motion in the axial direction of the control shaft 16. Then, the control shaft 16 is displaced in the axial direction by driving the actuator within a predetermined driving range, more specifically, rotating the brushless motor 47 within a predetermined rotation angle range, and the variable valve mechanism 14 operates. Will be. The rotation angle range of the brushless motor 47 is determined by a mechanical restriction on the rotation of the motor 47 (movement of the control shaft 16 in the axial direction). It is the rotation angle range (0 to 3600 °) for rotation.

  By the way, when the brushless motor 47 is rotated in the reverse direction, the control shaft 16 is displaced toward the tip (left end in the figure), and the relative positions of the input arm 17 and the output arm 18 in the swing direction are changed so as to approach each other. The When the brushless motor 47 is rotated forward, the control shaft 16 is displaced toward the base end (right end in the figure), and the relative positions of the input arm 17 and the output arm 18 in the swing direction are changed from each other. Is done. The maximum lift amount of the intake valve 9 when the output arm 18 is swung by the rotation of the intake cam 11a through the change of the relative position in the swing direction of the input arm 17 and the output arm 18 by the rotational drive of the brushless motor 47. The operating angle is variable.

The brushless motor 47 is provided with three electrical angle sensors S1 to S3 and two position sensors S4 and S5.
The three electrical angle sensors S1 to S3 are shown in FIGS. 3A to 3C according to the magnetism of the four-pole multipolar magnet that rotates integrally with the rotor of the motor 47 when the brushless motor 47 rotates. Such a pulse signal, that is, a high signal “H” and a low signal “L” are alternately output. In addition, the pulse signals from the electrical angle sensors S1 to S3 are output with their phases shifted from each other. That is, the circumferential positions of the electric angle sensors S1 to S3 with respect to the rotor are determined so that the waveform of the pulse signal can be obtained. Note that the edge of the pulse signal output from one of the electrical angle sensors S <b> 1 to S <b> 3 is generated every 45 ° rotation of the brushless motor 47. Further, the pulse signal from the one sensor is in a state where the phase is shifted to the advance side and the delay side by 30 ° rotation of the brushless motor 47 with respect to the pulse signal from the other sensor.

  As shown in FIGS. 3D and 3E, the two position sensors S4 and S5 correspond to the magnetism of the 48-pole multipole magnet that rotates integrally with the rotor of the motor 47 when the brushless motor 47 rotates. , A high signal “H” and a low signal “L” are alternately output. The pulse signals from the position sensors S4 and S5 are output in a state where the phases are shifted from each other. That is, the circumferential positions of the position sensors S4 and S5 with respect to the rotor are determined so that the waveform of the pulse signal can be obtained. The edge of the pulse signal output from one of the position sensors S4 and S5 is generated every 7.5 ° rotation of the brushless motor 47. Further, the pulse signal from the one sensor is in a state of being shifted in phase by the amount of 3.75 ° rotation of the brushless motor 47 with respect to the pulse signal from the other sensor.

  Therefore, while the edge interval of the pulse signals from the electrical angle sensors S1 to S3 is 15 °, the edge interval of the pulse signals from the position sensors S4 and S5 is 3.75 °, which is larger than the edge interval of 15 °. It is getting shorter. Further, the edge of the pulse signal from the position sensors S4 and S5 is generated four times from the generation of the edge of the pulse signal from the electrical angle sensors S1 to S3 to the next generation of the edge.

  The control device of the brushless motor 47 that is rotationally driven to displace the control shaft 16 in the axial direction includes control of the valve characteristics of the intake valve 9 such as the maximum lift amount of the intake valve 9 and the operating angle of the intake cam 11a. An electronic control device 50 (FIG. 2) that performs various controls is provided. The electronic control unit 50 includes a CPU that executes arithmetic processing related to the above various controls, a ROM that stores programs and data necessary for the control, a RAM that temporarily stores arithmetic results of the CPU, and an external interface. The input / output port for inputting / outputting the signal is provided.

In addition to the electrical angle sensors S1 to S3 and the position sensors S4 and S5 described above, various sensors including the following sensors are connected to the input port of the electronic control unit 50.
An accelerator position sensor 51 that detects the amount of depression of the accelerator pedal (accelerator depression amount) that is depressed by the driver of the automobile.

A throttle position sensor 52 that detects the opening (throttle opening) of a throttle valve provided in the intake passage 7 of the engine 1.
An air flow meter 53 for detecting the amount of air taken into the combustion chamber 6 through the intake passage 7;

A crank position sensor 54 that outputs a signal corresponding to the rotation of the output shaft of the engine 1 and is used for detecting the engine rotation speed and the like.
An ignition switch 55 that is switched by an automobile driver and outputs a signal corresponding to the current switching position.

  The output port of the electronic control device 50 is connected to a drive circuit for the brushless motor 47 and the like. The electronic control unit 50 grasps the engine operating state based on the detection signals input from the various sensors. Then, the variable valve mechanism 14 is operated to control the valve characteristics of the intake valve 9 by driving the brushless motor 47 based on the grasped engine operating state and displacing the control shaft 16 in the axial direction. The valve characteristics of the intake valve 9, that is, the maximum lift amount and operating angle of the intake valve 9, are the axial position of the control shaft 16, that is, the rotation angle of the brushless motor 47 within the predetermined rotation angle range (actuator drive position). It becomes a thing corresponding to.

  The brushless motor 47 is driven by the counter of the electrical angle counter E shown in FIG. 3 (f) in accordance with the output pattern of the pulse signals from the electrical angle sensors S1 to S3 shown in FIGS. 3 (a) to 3 (c). This is done by changing the value and switching the energized phase of the coil 42 based on the counter value. More specifically, as shown in FIG. 4A, an electrical angle counter is selected depending on whether a high signal “H” or a low signal “L” is output from each of the electrical angle sensors S1 to S3. Any of consecutive integer values within the range of “0” to “5” is applied as the counter value of E. As a result, when the brushless motor 47 is rotating forward (toward the right in FIG. 3), the integer value within the range of “0” to “5” is “0” → “1” → “2” → “3” → “ The counter value of the electrical angle counter E is applied in the forward direction in the order of “4” → “5” → “0”. Further, when the brushless motor 47 rotates in the reverse direction (leftward in FIG. 3), each integer value in the range of “0” to “5” is set according to the output pattern of the pulse signal from the electrical angle sensors S1 to S3. “5” → “4” → “3” → “2” → “1” → “0” → “5” are applied as counter values of the electrical angle counter E in the reverse direction. Then, by switching the energization layer of the brushless motor 47 based on the counter value of the electric angle counter E, the motor is driven in the forward rotation direction or the reverse rotation direction.

  By the way, in order to operate the variable valve mechanism 14 by driving the brushless motor 47 and precisely control the valve characteristics of the intake valve 9, the rotational angle of the brushless motor 47 is accurately detected, and the rotational angle is the target. It is important to drive and control the brushless motor 47 so that the rotation angle corresponds to the valve characteristics. As described above, the valve characteristics of the intake valve 9 (here, the maximum lift amount and operating angle of the intake valve 9) correspond to the rotation angle of the brushless motor 47 within the predetermined rotation angle range. is there. Therefore, if the rotation angle of the brushless motor 47 is detected, the maximum lift amount and the operating angle of the intake valve 9 can be detected based on the rotation angle.

Hereinafter, the detection procedure of the rotation angle of the brushless motor 47 in this embodiment will be described with reference to the timing chart of FIG. 3 and the table of FIG.
3A to 3E are waveform diagrams showing how pulse signals are output from the sensors S1 to S5 in response to the rotation angle change of the motor 47 when the brushless motor 47 rotates. It is. Further, in (f) to (h), how the counter values of the electric angle counter E, the position counter P, and the stroke counter S correspond to changes in the rotation angle of the motor 47 when the brushless motor 47 rotates. It shows whether it will change.

  The position counter P represents how much the rotation angle of the brushless motor 47 has changed after the ignition switch 55 is turned on (ignition on) when starting operation of the engine 1. The counter value of the position counter P is increased or decreased based on the output pattern of the pulse signals from the position sensors S4 and S5 when the brushless motor 47 is rotated after the ignition is turned on. Specifically, as shown in FIG. 4 (b), one of the position sensors S4 and S5 has a rising edge or a falling edge of the pulse signal from one sensor, and the other sensor has a high level. Depending on whether the signal “H” or the low signal “L” is output, either “+1” or “−1” is added to the counter value of the position counter P. In the figure, “↑” represents the rising edge of the pulse signal, and “↓” represents the falling edge of the pulse signal.

  If the brushless motor 47 is rotating forward, the counter value of the position counter P is “1” for each edge of the pulse signal from the position sensors S4 and S5 shown in FIGS. It is added and changes to the right in FIG. If the brushless motor 47 is rotating in reverse, the counter value of the position counter P is decremented by “1” for each edge, and changes to the left in FIG. The position counter P is reset to “0” when the ignition switch 55 is turned off (ignition off). Therefore, the counter value of the position counter P represents how much the rotation angle of the brushless motor 47 has changed after the ignition is turned on.

  Further, the stroke counter S rotates the motor 47 with reference to the reverse rotation direction of the brushless motor 47 in the predetermined rotation angle range, in other words, the range end with respect to the maximum lift amount and the operation angle decrease direction of the intake valve 9. It represents a corner. The counter value of the stroke counter S is based on the counter value of the position counter P, the Lo end learned value Pr1, and the Hi end learned value Pr2, and the following equation “S = P + Pr1 (1)” or equation “S = P + Pr2. 2) ". The counter value of the stroke counter S set in this way changes as shown in FIG. 3H according to the counter value of the position counter P that changes as shown in FIG. The value corresponds to the rotation angle (actuator drive position). Therefore, the rotation angle of the brushless motor 47 can be detected based on the counter value of the stroke counter S.

  The Lo end learning value Pr1 in the equation (1) is learned as a value corresponding to a deviation amount between the rotation angle of the brushless motor 47 detected based on the counter value of the stroke counter S and the actual rotation angle of the motor 47. It has been done.

  Here, in the engine 1 provided with the variable valve mechanism 14, the brushless motor 47 is set so that the maximum lift amount and the operating angle of the intake valve 9 are set to values suitable for the next engine start immediately before the engine is stopped. Is stopped. Then, after such a stopping process, the brushless motor 47 is driven so that the maximum lift amount and the operating angle of the intake valve 9 suitable for starting the engine 1 can be obtained (hereinafter referred to as the starting rotational angle), and then the engine 1 will be stopped. The starting rotation angle usually takes a value between a minimum value (0 °) and a maximum value (3600 °) in the predetermined rotation angle range (0 to 3600 °) that the brushless motor 47 can take. Therefore, the counter value of the stroke counter S after the stop process is larger than “0” of “X1” in FIG. 5 which is a value corresponding to the starting rotation angle.

  Therefore, if the counter value of the position counter P is set as it is as the counter value of the stroke counter S, the counter value of the stroke counter S immediately after the ignition is turned on deviates from the value corresponding to the actual rotation angle of the brushless motor 47. Become. This is because the counter value of the position counter P is reset to “0” every time the ignition is turned off, and the counter value of the stroke counter S immediately after the ignition is turned on becomes “0” in accordance with the counter value of the position counter P. This is because the value becomes a value (“0”) corresponding to the minimum value of the predetermined rotation angle range in the brushless motor 47. That is, at this time, although the actual rotation angle of the brushless motor 47 is the start rotation angle (≠ “0”), the counter value of the stroke counter S becomes “0”, and the detection is based on the counter value. The rotation angle (“0 °”) is a value deviated from the starting rotation angle (≠ “0 °”), which is the actual rotation angle at this time.

  As a countermeasure to such a problem, after the start of the engine 1 by the ignition on, the amount of deviation between the rotation angle of the brushless motor 47 detected based on the stroke counter S and the actual rotation angle of the motor 47 is calculated as the Lo end learning value Pr1. The Lo end learning is performed, and the counter value of the stroke counter S is set using the Lo end learned value Pr1. Specifically, first, the motor 47 is configured to reduce the maximum lift amount and the operating angle of the intake valve 9 (in FIG. 5) so that the rotation angle of the brushless motor 47 becomes the minimum value (0 °) of the predetermined rotation angle range. The left end) is driven to the end of the range, and the Lo end learning value Pr1 is learned based on the counter value P1 of the position counter P when the end of the range is reached. In this learning, the value obtained by subtracting the counter value P1 of the position counter P from the original value of the counter value of the stroke counter S at this time is inverted, and the value after the inversion (“− ( 0−p1) ”) is stored in the nonvolatile memory 56 provided in the electronic control unit 50 as the Lo end learned value Pr1.

  The Lo end learned value Pr1 learned as described above is the same as the rotation angle of the brushless motor 47 detected based on the counter value when the counter value of the position counter P is directly set as the counter value of the stroke counter S. The value corresponds to the amount of deviation (“− (0−p1)”) from the actual rotation angle of the motor 47. Using this Lo end learned value Pr1, the counter value of the stroke counter S is set as in the above equation “S = P + Pr1 (1)”, and this counter value corresponds to the actual rotation angle of the brushless motor 47. It becomes the value. The Lo end learned value Pr1 is implemented after the start of every operation of the engine 1. Therefore, during the period from the start of operation until the learning of the Lo end learned value Pr1 during the current operation is completed, the Lo learned during the previous operation stored in the nonvolatile memory 56 in the setting of the counter value of the stroke counter S. The edge learning value Pr1 is used.

  By the way, even if the rotation angle of the brushless motor 47 is adjusted to the start rotation angle by the stop process, the rotation angle of the motor 47 is started and rotated while the engine is stopped, for example, when the maintenance of the brushless motor 47 is performed while the engine 1 is stopped. There is a possibility that the rotation angle is shifted from the angle (corresponding to “X1” in FIG. 5), for example, corresponding to “X2” in FIG. In this case, even if the counter value of the stroke counter S is set as in the above equation “S = P + Pr1” when the ignition is on, the counter value becomes “X1” and corresponds to the actual rotation angle of the brushless motor 47. It will deviate from the value of “X2”. This is because the counter value of the stroke counter S is set using the Lo end learned value Pr1 learned during the previous operation of the engine 1. When the counter value X1 of the stroke counter S deviates from the value X2 corresponding to the actual rotation angle of the brushless motor 47 as described above, the rotation angle of the brushless motor 47 detected based on the counter value X1 is the brushless motor 47. The value deviates from the actual rotation angle (corresponding to X2).

  Such a deviation is eliminated when learning of the Lo end learning value Pr1 (Lo end learning during the current operation of the engine 1) performed after the start of the engine 1 is completed. That is, the brushless motor 47 is driven to the end of the range of the maximum lift amount and operating angle of the intake valve 9 (left side in FIG. 6), and the counter value of the position counter P when reaching the end of the range is “P2 "P2" is subtracted from "0" which is the original value of the stroke counter S. A value obtained by inverting the sign of the subtracted value (“− (0−P2)”) is stored (learned) in the nonvolatile memory 56 provided in the electronic control unit 50 as the Lo end learned value Pr1. By setting the counter value of the stroke counter S using the learned Lo end learned value Pr1 (“− (0−P2)”) during the current operation learned in this way, the actual value of the brushless motor 47 at the counter value is set. The deviation from the value corresponding to the rotation angle is eliminated.

  However, in order to perform the Lo end learning, the brushless motor 47 must be driven to the range end on the reduction side of the maximum lift amount and the operating angle of the intake valve 9 in the rotation angle range. Driving the brushless motor 47 to the end of the range causes an excessive decrease in the intake air amount of the engine 1, so that the operation does not affect the operation of the engine 1, for example, a special operation state such as during fuel cut Can only be done under For this reason, the condition that the fuel cut is being performed must be included as one of the execution conditions for the Lo end learning, and it is inevitable that the opportunities for performing the Lo end learning are reduced from the relationship. Therefore, even if it is desired to perform the Lo end learning after the start of the engine 1 is completed, it is not always possible to do this. The counter of the stroke counter S during the operation of the engine 1 before the completion of the Lo end learning is completed. There remains a problem that the value deviates from the value corresponding to the actual rotation angle of the brushless motor 47.

  The Hi edge learning value Pr2 in the equation (2) is for suppressing the occurrence of such a problem. Similarly to the Lo end learned value Pr1, this Hi end learned value Pr2 also corresponds to the amount of deviation between the rotation angle of the brushless motor 47 detected based on the counter value of the stroke counter S and the actual rotation angle of the motor 47. As a value to be learned. However, the Hi edge learning for learning the Hi edge learning value Pr2 is performed in a manner that can be executed at a higher frequency than the Lo edge learning for learning the Lo edge learning value Pr1, In addition, it is performed between the start completion of the engine 1 and the completion of Lo end learning.

  Specifically, first, the range on the increase side (the right side in FIG. 7) of the maximum lift amount and the operating angle of the intake valve 9 so that the rotation angle of the brushless motor 47 becomes the maximum value (3600 °) of the predetermined rotation angle range. The motor 47 is driven to the end, and learning of the Hi end learning value Pr2 is performed based on the counter value P3 of the position counter P when the end of the range is reached. In the learning, a value (“n−p3”) obtained by subtracting the counter value P3 of the position counter P from “n” which is the original value of the stroke counter S at this time is set as the Hi end learned value Pr2. (Learning)

  The learning value Pr2 (“n−p3”) learned as described above is the brushless detected based on the counter value when the counter value of the position counter P is set as it is as the counter value of the stroke counter S. The value corresponds to the amount of deviation between the rotation angle of the motor 47 and the actual rotation angle of the motor 47 (“− (0−P2)” in FIG. 6). Then, until the Lo end learning is completed after the start of the engine 1 is completed, instead of setting the counter value of the stroke counter S based on the above equation (1), the above formula “1” using the Hi end learned value Pr2 is used. The counter value of the stroke counter S is set based on “S = P + Pr2 (2)”. Thereby, the counter value of the stroke counter S becomes a value corresponding to the actual rotation angle of the brushless motor 47. Then, by detecting the rotation angle of the brushless motor 47 based on the counter value, the deviation of the detected rotation angle from the actual rotation angle in the motor 47 is eliminated.

  The learning of the Hi end learning value Pr2 is performed by driving the brushless motor 47 to the range end on the increase side of the maximum lift amount and the operating angle of the intake valve 9 in the rotation angle range. Here, when the brushless motor 47 is driven to the end of the above range, the intake air amount of the engine 1 tends to increase as the maximum lift amount and operating angle of the intake valve 9 increase. Since it can be suppressed by controlling the throttle valve to the closed side or the like, the above driving can be executed even during normal operation of the engine 1. Therefore, with regard to Hi edge learning, since the execution conditions (learning conditions) of learning are gentle compared to Lo edge learning and there are more opportunities to perform the same Hi edge learning, there are many cases before the execution of Lo edge learning. Can be done. Note that specific execution conditions for Hi-end learning include conditions such as an engine operating state that requires a large amount of intake air.

  As described above, after the operation of the engine 1 is started and until the Lo end learning is completed, the Hi end learning is performed and the counter value of the stroke counter S is set based on the above equation (2). The deviation of the rotation angle of the brushless motor 47 detected based on the counter value with respect to the actual rotation angle can be quickly eliminated. For this reason, the rotation angle of the brushless motor 47 detected based on the counter value of the stroke counter S deviates from the actual rotation angle because there is no opportunity to perform Lo end learning after the engine 1 starts operating. It is possible to suppress the occurrence of a state of being left standing.

  However, in the Hi end learning, the rotation of the motor 47 is completed until learning of the Hi end learning value Pr2 is completed at the range end on the increase side of the maximum lift amount and the operating angle of the intake valve 9 in the rotation angle range of the brushless motor 47. You must maintain the corners. The maintenance of the rotation angle of the brushless motor 47 at the end of the range must be performed against the reaction force when the intake valve 9 is driven to open and close, and the rotation angle of the motor 47 is not necessarily affected by the reaction force. Since it cannot always be maintained, the accuracy of the Hi end learned value Pr2 after completion of learning is inferior to the accuracy of the Lo end learned value Pr1 after completion of learning. That is, regarding the accuracy as a value corresponding to the amount of deviation, the Lo end learned value Pr1 is more accurate than the Hi end learned value Pr2.

  Accordingly, when the Lo end learning execution condition is satisfied after the completion of the Hi end learning, the Lo end learning value Pr1 is learned in the current operation of the engine 1, and thereafter, the stroke counter S of the stroke counter S based on the above equation (2) is calculated. Instead of setting the counter value, the counter value is set based on the above equation “S = P + Pr1 (1)” using the Lo end learned value Pr1. Thereby, the counter value of the stroke counter S is made accurate as a value corresponding to the actual rotation angle of the brushless motor 47.

Next, the driving of the brushless motor 47 performed at the time of learning the Hi end, that is, the driving to the range end on the increase side of the maximum lift amount and the operating angle of the intake valve 9 will be described.
As drive control of the brushless motor 47 during execution of Hi-end learning, a target rotation angle is set as the target value of the rotation angle of the brushless motor 47, and the rotation angle of the motor 47 detected based on the counter value of the stroke counter S is set. Is controlled so as to drive the brushless motor 47 so as to be adjusted to the target rotation angle.

  The target rotation angle is the maximum lift amount and operating angle of the intake valve 9 in the predetermined rotation angle range of the brushless motor 47 after the start of Hi end learning (after timing T1), as indicated by the solid line L1 in FIG. Is increased to a max value that is larger than the value corresponding to the range end (Hi end) on the increase side. Regarding this max value, even if the counter value of the stroke counter S deviates from the value corresponding to the actual rotation angle (broken line L2) of the brushless motor 47, the rotation angle (solid line) detected based on the counter value. L2) is increased to such an extent that the brushless motor 47 can reach the end of the range when the motor 47 is driven to reach the maximum value.

  The brushless motor 47 is driven so that the rotation angle (solid line L2) of the motor 47 detected based on the counter value of the stroke counter S matches the target rotation angle (max value). When the actual rotation angle of the brushless motor 47 reaches the above range end (Hi end) as indicated by a broken line L3 in the drawing (timing T2), the motor 47 is in contact with the Hi end. Learning of the Hi edge learning value Pr2 is performed. Until the learning of the Hi end learning value Pr2 is completed, the state where the brushless motor 47 is abutted against the Hi end is maintained. The learned Hi edge learned value Pr2 is a value corresponding to the amount of deviation between the detected rotation angle (L2) and the actual rotation angle (L3).

  By the way, if the driving speed (rotational speed) when driving the brushless motor 47 to the Hi end is too high, that is, if the inclination of the broken line L3 between the timings T1 and T2 in FIG. A sudden change in the maximum lift amount and operating angle of the intake valve 9 accompanying the above may affect the engine operation. Further, if the driving speed when driving the brushless motor 47 to the Hi end is too high, the impact at the time of reaching the Hi end becomes large, and the brushless motor 47 and the conversion mechanism 48 may be damaged. .

  In order to suppress this, in this embodiment, when the brushless motor 47 is driven to the Hi end for Hi end learning, the drive speed of the brushless motor 47 is limited. Specifically, the target rotation angle is not set to the above-mentioned max value immediately after the start of Hi edge learning, but the change to the maximum value of the target rotation angle is indicated by a solid line L4 between timings T1 to T3 in FIG. Therefore, the change speed of the target rotation angle that changes toward the maximum value is limited. As a result, the actual rotation angle of the brushless motor 47 is gradually changed to the Hi end as shown by the broken line L5 in the drawing, and the drive speed of the motor 47 driven toward the Hi end is limited. The Rukoto. By limiting the driving speed of the brushless motor 47 in this way, the occurrence of the above-described problems can be suppressed. The driving speed of the brushless motor 47 toward the Hi end is also greatly limited and slowed down as the speed of change of the target rotation angle that changes toward the max value is greatly limited and slowed down.

  Here, how to limit the change speed of the target rotation angle of the brushless motor 47 that changes toward the max value, that is, how to limit the change speed of the target rotation angle between timings T1 to T3 in FIG. ,explain in detail.

  The change speed limit is performed based on the speed limit value that can be variably set. That is, as the speed limit value decreases, the target rotational angle change speed that changes toward the max value is greatly limited and slowed. Conversely, as the speed limit value increases, the target speed change speed limit is relaxed. Is done. The magnitude of the speed limit value is set so as to satisfy the following conditions (A) and (B).

  (A) In order to perform Hi end learning, the influence on the engine operation due to the change in the maximum lift amount and the operating angle of the intake valve 9 when the brushless motor 47 is driven to the Hi end does not exceed an allowable level.

(B) No damage occurs when the brushless motor 47 reaches the Hi end, and the motor 47 reaches the Hi end at the fastest speed.
When driving the brushless motor 47 to the Hi end so as to perform Hi end learning, the change speed of the target rotation angle of the brushless motor 47 is limited based on the magnitude of the speed limit value, and the drive speed of the motor 47 is set. Even if it is limited, if the accelerator depression amount is large at that time, it is preferable to relatively increase the driving speed of the motor 47 driven toward the Hi end. This means that a large accelerator operation amount requires an increase in engine output, and the drive speed of the brushless motor 47 to the Hi end is increased to increase the maximum lift amount and operating angle of the intake valve 9. This is because it is preferable to accelerate the increase (increase in the intake air amount) and increase the engine output promptly in response to the above request. Under such circumstances, even if the control to the closing side of the throttle valve is performed while the brushless motor 47 is driven to the Hi end side, the throttle valve is controlled to the opening side according to the accelerator depression amount. The

  However, if the drive speed of the brushless motor 47 is excessively limited at this time, even if the increase in the engine output is delayed even though the increase in the engine output is requested by the depression of the accelerator pedal, the feeling of rattling is felt. Will give. This is because when the driving speed of the brushless motor 47 driven toward the Hi end is excessively limited in response to a request to increase the engine output due to depression of the accelerator pedal, the maximum lift amount of the intake valve 9 and This is because the increase in the intake air amount due to the increase in the operating angle is delayed and the engine output is not increased quickly.

  Therefore, the magnitude of the speed limit value is variably set so as to gradually increase as the accelerator depression amount increases as shown in FIG. 10 while satisfying the conditions (A) and (B). Here, as the speed limit value is increased, the drive speed limit when driving the brushless motor 47 toward the Hi end during the Hi end learning is gradually relaxed. Therefore, when the brushless motor 47 is driven toward the Hi end for learning the Hi end, the limit of the driving speed of the motor 47 is gradually relaxed as the accelerator depression amount at that time increases. The

  As described above, when the accelerator depression amount is small and the engine output request is small, the driving speed of the brushless motor 47 to the Hi end can be limited to a level that can suppress the influence on the engine operation. Further, when the accelerator operation amount is increased to request an increase in engine output, it is possible to prevent the drive speed from being excessively limited to the Hi end of the brushless motor 47, and the engine speed is excessively limited. It is possible to suppress a feeling of rattling with respect to the increase in output. Furthermore, whether the accelerator depression amount is small or large, it is possible to suppress damage to the motor 47 and the conversion mechanism 48 when the Hi end is reached by limiting the driving speed of the brushless motor 47 to the Hi end. it can.

  Next, the limitation on the change speed of the target rotation angle of the brushless motor 47 toward the max value when the Hi edge learning is performed will be described with reference to the flowchart of FIG. 11 showing a drive speed limitation routine. This drive speed limiting routine is executed on the periodic enemy through the electronic control unit 50 by, for example, a time interruption every predetermined time.

  In this routine, on the condition that Hi edge learning is being performed (S101: YES), it is determined whether or not the target rotation angle of the brushless motor 47 has not reached the maximum value (S102). If it is a stroke determination, a process for changing the target rotation angle to the maximum value is performed (S103). Then, in the process of step S104, the speed limit value is calculated based on the accelerator depression amount as shown in FIG. 10, and in the process of step S105, based on the magnitude of the speed limit value, in the period from timing T1 to T3 in FIG. The rate of change of the target rotation angle to the maximum value is limited. Here, as the accelerator depression amount increases and the speed limit value increases, the limit of the speed of change of the target rotation angle to the maximum value is relaxed. On the other hand, if a negative determination is made in step S102, that is, if the target rotation angle of the brushless motor 47 has reached the maximum value, the target rotation angle is held at the same max value (S106). Such a state is continued until the Hi edge learning is completed.

According to the embodiment described in detail above, the following effects can be obtained.
(1) When the brushless motor 47 is driven to the Hi end for Hi end learning, the drive speed of the brushless motor 47 is limited. More specifically, when the brushless motor 47 is driven to the Hi end, the brushless motor 47 is driven toward the Hi end so that the influence on the engine operation due to the change in the maximum lift amount and the operating angle of the intake valve 9 does not exceed the allowable level. The driving speed of the brushless motor 47 is limited. Therefore, when the motor 47 is driven to the Hi end, the influence on the engine operation due to the motor 47 can be accurately suppressed to an allowable level, and problems caused by the drive can be avoided.

  (2) Regarding the limitation of the driving speed of the brushless motor 47 driven toward the Hi end, no damage occurs when the motor 47 reaches the Hi end by the driving, and the Hi end of the motor 47 It is also done to reach the fastest. For this reason, when the motor 47 is driven to the Hi end, damage to the brushless motor 47 and the conversion mechanism 48 at the time of arrival can be avoided while quickly reaching the Hi end.

  (3) When the brushless motor 47 is driven to the Hi end so as to perform Hi end learning, even if the drive speed of the brushless motor 47 is limited, if the accelerator depression amount is large at that time, the above drive speed Is preferably relatively fast. If the drive speed of the brushless motor 47 is excessively limited at this time, even if the increase in the engine output is delayed due to the depression of the accelerator pedal, the feeling of rattling is felt. Will give. In order to suppress such a feeling of stickiness, when driving the brushless motor 47 toward the Hi end for learning the Hi end, the limit of the driving speed of the motor 47 is greatly relaxed as the accelerator depression amount at that time increases. Is done. As a result, when the accelerator depression amount is small (the engine output request is small), the driving speed of the brushless motor 47 to the Hi end can be limited to a level that can suppress the influence on the engine operation, and the accelerator operation amount is large ( When there is a request for an increase in engine output), it is possible to suppress the harsh feeling of an increase in engine output due to excessive limitation of the drive speed.

  (4) When driving toward the Hi end of the brushless motor 47 to perform Hi end learning, the limit of the driving speed of the motor 47 is gradually relaxed as the accelerator depression amount at that time increases. It becomes like this. For this reason, in order to prevent the drive of the brushless motor 47 from affecting the operation of the engine to an allowable level, the drive speed of the motor 47 is appropriately limited and the feeling of stickiness regarding the increase in engine output is not given. It is possible to achieve both the relaxation of the above restriction in doing so in an optimum state. Accordingly, it is possible to suppress the feeling of stagnation related to the increase in engine output when the accelerator depression amount is large as much as possible while keeping the influence of the driving of the brushless motor 47 on the engine operation to an allowable level.

In addition, the said embodiment can also be changed as follows, for example.
The relaxation of the restriction on the driving speed of the brushless motor 47 does not necessarily need to be gradually performed according to the amount of accelerator depression, and may be performed in stages such as two stages or three stages.

Further, it is not always necessary to perform the relaxation based on the accelerator depression amount for limiting the driving speed of the brushless motor 47.
The restriction on the driving speed of the brushless motor 47 may be specialized to suppress the influence on the engine operation or may be specialized to suppress the breakage when reaching the Hi end.

  In the above-described embodiment, it has been described that Hi edge learning is performed between the start completion of the engine 1 and the completion of Lo end learning. However, when the counter value of the position counter P is determined to be abnormal, the Hi edge learning is performed. The counter value of the stroke counter S may be set based on the above formula (2). In this case, it is possible to suppress the counter value of the stroke counter S from deviating from the value corresponding to the actual rotation angle of the brushless motor 47 due to the abnormality of the counter value of the position counter P. The present invention may be applied to driving the brushless motor 47 when such Hi-end learning is performed.

  The driving speed of the motor 47 may be limited when the brushless motor 47 for learning the Lo end is driven to the Lo end. In this case, it is possible to obtain an effect that damage when the Lo end is reached is suppressed. In addition, if the engine is capable of learning Lo end during engine operation, when driving the brushless motor 47 for Lo end learning during engine operation, the influence of the drive on the engine operation is allowed. The effect of being able to be obtained is obtained.

  In the above embodiment, the variable valve mechanism 14 is illustrated that converts the rotational movement of the brushless motor 47 into the movement of the control shaft 16 in the axial direction and is driven through the axial displacement of the control shaft 16. The variable valve mechanism is not limited to this. For example, it is possible to employ a variable valve mechanism that is driven directly by the rotational motion of the brushless motor 47.

  Instead of providing the position sensors S4 and S5, it is conceivable to provide another sensor that outputs a pulse signal as the brushless motor 47 rotates, for example, an optical sensor. In this case, a plurality of optical sensors each including a light emitting element and a light receiving element are provided in the circumferential direction on the side of the thickness direction of the disc with the slit that rotates integrally with the brushless motor 47, and each of the sensors is rotated when the brushless motor 47 rotates. It is conceivable to output a pulse signal. In this case, the output pattern of the pulse signal from each sensor is adjusted according to the slit pattern in the disc with slit and the number and position of the optical sensors.

  Instead of detecting the rotational angle of the brushless motor 47 by the position sensors S4 and S5, the axial position of the control shaft 16 is detected by a magnetic sensor, and the rotational angle of the brushless motor 47 is detected based on the axial position. You may do it.

-Although what provided the brushless motor 47 as an actuator which drives the variable valve mechanism 14 was illustrated, it may be provided with another type of motor.
The variable valve mechanism 14 may be driven by a hydraulic actuator.

  -When the variable valve apparatus which makes the valve characteristic of the exhaust valve 10 variable is provided, you may apply this invention to the variable valve apparatus.

The expanded sectional view which shows the structure around the cylinder head of the engine to which the variable valve mechanism of this embodiment is applied. 4 is a schematic diagram showing an actuator that drives the variable valve mechanism and a control device that drives and controls the actuator. (A) to (h) are the waveforms of the pulse signals of the electrical angle sensors S1 to S3, the waveforms of the pulse signals of the position sensors S4 and S5 with respect to the change in the rotation angle of the brushless motor, the transition of the counter value of the electrical angle counter E, 6 is a timing chart showing the transition of the counter value of the position counter P and the transition of the counter value of the stroke counter S. (A) is a table | surface which shows the change aspect of the counter value of the electrical angle counter E which changes according to the signal from electrical angle sensor S1-S3, (b) is the position counter P according to the signal from position sensor S4, S5. The table which shows the addition / subtraction mode of the counter value of. Explanatory drawing which shows the change of the counter value of a position counter and a stroke counter at the time of Lo edge learning. Explanatory drawing which shows the change of the counter value of a position counter and a stroke counter at the time of Lo edge learning. Explanatory drawing which shows the change of the counter value of a position counter and a stroke counter at the time of Hi edge learning. The time chart which shows transition of the detected value of the target rotation angle of a brushless motor at the time of Hi edge learning, an actual rotation angle, and the rotation angle of the motor. The time chart which shows transition of the detected value of the target rotation angle of a brushless motor at the time of Hi edge learning, an actual rotation angle, and the rotation angle of the motor. The graph which shows the change of the speed limit value with respect to the change of the accelerator depression amount. The flowchart which shows the procedure which restrict | limits the change speed of the target rotation angle of a brushless motor at the time of implementation of Hi edge learning.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Engine, 2 ... Cylinder head, 3 ... Cylinder block, 5 ... Piston, 6 ... Combustion chamber, 7 ... Intake passage, 8 ... Exhaust passage, 9 ... Intake valve, 10 ... Exhaust valve, 11 ... Intake camshaft, 11a DESCRIPTION OF SYMBOLS ... Intake cam, 12 ... Exhaust cam shaft, 12a ... Exhaust cam, 14 ... Variable valve mechanism, 15 ... Rocker shaft, 16 ... Control shaft, 17 ... Input arm, 18 ... Output arm, 19 ... Roller, 20 ... Coil spring , 21 ... Rocker arm, 22 ... Rush adjuster, 23 ... Roller, 24 ... Valve spring, 47 ... Brushless motor, 48 ... Conversion mechanism, 50 ... Electronic control device (detection means, control means, limiting means), 51 ... Accelerator position sensor 52 ... Throttle position sensor, 53 ... Air flow meter, 54 ... Crank position sensor , 55 ... ignition switch, 56 ... nonvolatile memory, S1 to S3 ... electric angle sensors, S4, S5 ... position sensor (detecting means).

Claims (2)

A variable valve mechanism that varies the valve lift amount and operating angle of the intake valve, an actuator that is driven within a predetermined drive range to operate the variable valve mechanism, and a detection means that detects the drive position of the actuator And a control means for controlling the actuator to drive within the driving range based on the detected driving position, and driving the actuator to the end of the driving range when the learning condition is satisfied, In a variable valve operating apparatus for an internal combustion engine that learns, as a learning value, a deviation amount from an appropriate position of the drive position detected by the detection means in a reached state,
In the internal combustion engine, the amount of intake air is increased in order to increase the engine output as the accelerator operation amount increases.
The range end where the actuator is driven for learning the learned value is a range end on the side where the maximum lift amount and operating angle of the intake valve are increased, and the actuator is driven to the range end. At the time, provided with a limiting means for limiting the drive speed of the actuator,
Said limiting means before Symbol accelerator operation amount Daito indeed variable valve of an internal combustion engine, characterized in that the driving speed of the actuator slide into mitigate the limitations of the drive speed of the actuator gradually to be larger apparatus. The restricting means, when driving the actuator to the end of the range, sets the driving speed of the actuator to a value that does not cause damage to the actuator when the actuator reaches the end of the range by the same driving and is the fastest. The variable valve operating apparatus for an internal combustion engine according to claim 1, wherein the variable valve operating apparatus is defined as follows.

Images