JP5066839B2 - Control parameter determination device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To efficiently accomplish obtaining of the optimum value of a plurality of gain values used in a brake liquid pressure control device for controlling a liquid pressure of a liquid pressure brake utilizing genetic algorithm. <P>SOLUTION: An ensemble is constituted by a plurality of individuals (gain curve) existing in certain generation. The individual includes a plurality of genes (gain value). In the plurality of individuals constituting the ensemble, evaluation is performed regarding each of the genes and evaluation is performed regarding each of the individuals. An intersection object individual and an elite individual are selected based on each evaluation of the individuals. By these intersections or the like, the gene of the intersection object individual is changed and the individual is changed and transferred to the next generation. After a plurality of generations, ununiformness between the individuals becomes small and the optimum individual (gain aggregate) is obtained. <P>COPYRIGHT: (C)2008,JPO&amp;INPIT

Description

  The present invention relates to a control parameter determination device that automatically determines a control parameter.

Patent Document 1 describes a hydraulic control device including an electromagnetic control valve that controls the hydraulic pressure of a hydraulic actuator. In this hydraulic pressure control device, the hydraulic pressure of the hydraulic pressure operating device is controlled by controlling the supply current to the electromagnetic control valve. Patent Documents 2 and 3 describe a control parameter determination device that determines a connection weight coefficient used in a neural network using a genetic algorithm when determining the control parameter using a neural network. Patent Document 4 describes a control parameter determination device that determines a gain used in PID control using a genetic algorithm. In the control parameter determination device described in Patent Document 3, control parameters used for automobile engine control are determined.
A genetic algorithm is a theory that seeks an optimal solution while changing a solution candidate according to a generational change in accordance with a genetic law existing in the living world. A solution candidate includes a gene, and the gene is changed by crossover or the like. By making this change over a plurality of generations, the solution candidates evolve and an optimal solution is required. Conventionally, an operation for obtaining an optimal solution has been performed by an operator. This work often relied on intuition and also required a long time. On the other hand, if a genetic algorithm is used, the working time can be shortened, and an optimal solution can be obtained without depending on intuition.
JP 2005-35466 A JP 2003-256005 A JP 2004-116351 A JP 10-31503 A

  The subject of this invention is obtaining the control parameter determination apparatus which determines the control parameter used for a hydraulic-pressure control apparatus.

Means and effects for solving the problem

  The control parameter determination device according to the present invention includes an electromagnetic control valve capable of controlling a hydraulic pressure of a hydraulic pressure actuator operated by hydraulic pressure, and controls the current supplied to the solenoid of the electromagnetic control valve by controlling the current supplied to the solenoid. For a hydraulic control device for controlling pressure, a control parameter set including one or more control parameters used when determining a supply current to the solenoid of the electromagnetic control valve is a plurality of predetermined control parameter sets. A control parameter determination device that determines a parameter set candidate group including a candidate control parameter set candidate, wherein (i) one of a plurality of control parameter set candidates included in the parameter set candidate group For an evaluation target candidate, at least one of one or more control parameters included in the one evaluation target candidate is used. Each of the one or more control parameters included in the one evaluation target candidate is evaluated based on the hydraulic pressure of the hydraulic actuator when the determined current is supplied to the solenoid of the electromagnetic control valve. And a candidate evaluation unit that executes an operation for evaluating the control parameter set candidate that is the one evaluation target candidate for each of the plurality of control parameter set candidates, and obtains an evaluation result for each of the plurality of parameter set candidates. And (ii) selecting at least one control parameter set candidate from the plurality of control parameter set candidates as a change target candidate based on the evaluation result for each of the plurality of control parameter set candidates acquired by the candidate evaluation unit In each of the selected at least one candidate for change, one or more control parameters included in each (Iii) a candidate changing unit for changing each of the at least one change target candidates to create a new parameter set candidate group by changing at least one of the data according to a predetermined rule; A plurality of control parameter set candidates included in the new parameter set candidate group created by the candidate change unit, as the evaluation target candidates, respectively, let the candidate evaluation unit evaluate, and based on the obtained evaluation results, By causing the candidate changing unit to change a control parameter set candidate that is at least one change target candidate and to create a new parameter set candidate group, a series of operations are repeatedly executed a predetermined number of times. Including a control parameter set determining unit for determining a control parameter set used in the pressure control device It is said.

In the control parameter determination device described in this section, a control parameter set including at least one control parameter used in the hydraulic pressure control device that controls the hydraulic pressure of the hydraulic pressure operating device is obtained using a so-called genetic algorithm. It is determined. It becomes possible to acquire a control parameter set (optimal control parameter set) used when controlling the hydraulic pressure of the hydraulic actuator without the operator.
The term “optimal” does not mean “the most suitable” theoretically or absolutely, but means the purpose of obtaining a solution. Therefore, a solution obtained using a genetic algorithm is not always the most suitable solution.
In the genetic algorithm, a control parameter set and a control parameter set candidate are referred to as an individual, and at least one control parameter included in the individual is referred to as a gene. The control parameter set used in the hydraulic control device is an optimal control parameter set (optimum individual), and the control parameter set candidate is an individual used in the process until the optimal control parameter set is determined. is there.
In a certain generation, one group is constituted by a plurality of individuals existing in the generation. In each of a plurality of individuals constituting the group, each of at least one gene included in each individual is evaluated, and each individual is evaluated. Based on the evaluation result for each of the plurality of individuals, at least one change target individual is selected, and at least one gene included in the selected change target individual is changed to change the individual. A group constituted by a plurality of individuals including the changed individual is set as a next generation group. By performing a series of operations including this evaluation and change over a plurality of generations, an optimum individual can be obtained.
One or more control parameters (genes) may be included in the control parameter set candidate (individual). In the case where two or more control parameters are included in the control parameter set candidate (evaluation target candidate), the current supplied to the electromagnetic control valve is determined using one control parameter or two or more controls. Parameters may be used and determined.
For example, when the current determined using one control parameter is supplied to the solenoid of the electromagnetic control valve, the evaluation based on the hydraulic pressure of the hydraulic actuator in that case is evaluated for the one control parameter. It can be considered as an evaluation. Also, if the hydraulic pressure of the hydraulic actuator is affected by the previous hydraulic pressure control as well as the current hydraulic pressure control, the hydraulic pressure of the hydraulic actuator when the current hydraulic pressure control is performed The evaluation based on both the control parameter used in the previous hydraulic pressure control (the control parameter used when the previous current value is determined) and the control parameter used in the current hydraulic pressure control It can be considered that Further, when the electromagnetic control valve is supplied with a current determined using two or more control parameters, the evaluation based on the hydraulic pressure of the hydraulic actuator evaluates the two or more control parameters. It can be considered that the evaluation includes the control parameter, or the control parameter having the largest contribution.
In any case, the evaluation for each of the plurality of control parameters included in the evaluation target candidate is acquired in consideration of the operating state of the hydraulic actuator and the like.

Patentable invention

  In the following, the invention that is claimed to be claimable in the present application (hereinafter referred to as “claimable invention”. The claimable invention is at least the “present invention” to the invention described in the claims. Some aspects of the present invention, including subordinate concept inventions of the present invention, superordinate concepts of the present invention, or inventions of different concepts) will be illustrated and described. As with the claims, each aspect is divided into sections, each section is numbered, and is described in a form that cites the numbers of other sections as necessary. This is merely for the purpose of facilitating understanding of the claimable invention, and is not intended to limit the set of components constituting the claimable invention to those described in the following sections. In other words, the claimable invention should be construed in consideration of the description accompanying each section, the description of the embodiments, etc., and as long as the interpretation is followed, another aspect is added to the form of each section. In addition, an aspect in which constituent elements are deleted from the aspect of each item can be an aspect of the claimable invention.

(1) Fluid pressure control including an electromagnetic control valve capable of controlling the fluid pressure of a fluid pressure operating device operated by fluid pressure, and controlling the fluid pressure by controlling the current supplied to the solenoid of the solenoid control valve. For a device, a control parameter set including one or more control parameters used when determining a supply current to the solenoid of the electromagnetic control valve is a control parameter set candidate that is a candidate for a plurality of predetermined control parameter sets. A control parameter determination device that determines based on a parameter set candidate group including:
  For an evaluation target candidate that is one of a plurality of control parameter set candidates included in the parameter set candidate group, at least one of one or more control parameters included in the one evaluation target candidate is used. Each of the one or more control parameters included in the one evaluation target candidate is evaluated based on the hydraulic pressure of the hydraulic actuator when the determined current is supplied to the solenoid of the electromagnetic control valve. In addition, an operation for evaluating the control parameter set candidate which is the one evaluation target candidate is executed for each of the plurality of control parameter set candidates, and candidate evaluation for obtaining an evaluation result for each of the plurality of parameter set candidates And
  Based on the evaluation results for each of the plurality of control parameter set candidates acquired by the candidate evaluation unit, at least one control parameter set candidate is selected as a change target candidate from the plurality of control parameter set candidates, and the selected The operation of changing one of the change target candidates by changing at least one of the one or more control parameters included in each of the change target candidates according to a predetermined rule is performed as the at least one change. A candidate changing unit that executes each of the target candidates and creates a new parameter set candidate group,
  A plurality of control parameter set candidates included in the new parameter set candidate group created by the candidate change unit, as the evaluation target candidates, respectively, let the candidate evaluation unit evaluate, and based on the obtained evaluation results, By causing the candidate changing unit to change a control parameter set candidate that is at least one change target candidate and to create a new parameter set candidate group, a series of operations are repeatedly executed a predetermined number of times. A control parameter set determining unit for determining a control parameter set used in the pressure control device;
Including, andThe control parameter is a gain that is a relationship between an absolute value of a hydraulic pressure deviation between a target hydraulic pressure of the hydraulic actuator and an actual hydraulic pressure and a current.Control parameter determination device.
(2) When the candidate evaluation unit controls (a) a hydraulic pressure detection device that detects the hydraulic pressure of the hydraulic pressure actuator, and (b) a current supplied to the solenoid of the electromagnetic control valve, Based on the hydraulic pressure detected by the hydraulic pressure detection device, a responsiveness acquisition unit that acquires responsiveness for the control, and (c) the control parameter based on the responsiveness acquired by the responsiveness acquisition unit A control parameter determination device according to item (1), including a responsiveness evaluation unit that evaluates each of1).
  In the control parameter determination device described in this section, the power supply to the solenoid of the electromagnetic control valve
Based on the hydraulic pressure of the hydraulic actuator when the flow is controlled, responsiveness for that control is obtained. The level of responsiveness can be expressed in a delayed state or in an overshoot state. The delayed state is determined by the delay time, an insufficient amount of actual fluid pressure with respect to the target fluid pressure, etc. The state is determined by the presence or absence of overshoot, the amount of overshoot (for example, it can be determined by the difference between the target hydraulic pressure and the actual hydraulic pressure of the hydraulic actuator). Hereinafter, the actual hydraulic pressure of the hydraulic pressure operating device may be abbreviated as an actual hydraulic pressure. Moreover, since the actual hydraulic pressure is a detected hydraulic pressure by the hydraulic pressure detecting device, it may be referred to as a detected hydraulic pressure, or it may be referred to as a controlled hydraulic pressure because it is a hydraulic pressure to be controlled by the hydraulic pressure control device. it can.
  The level of responsiveness can be the evaluation result of each control parameter. The level of responsiveness can be expressed by a numerical value that changes continuously or by a numerical value that changes stepwise.
(3) The responsiveness acquisition unit is configured to: (i) a target hydraulic pressure of the hydraulic pressure operating device and the hydraulic pressure detection device;
A fluid pressure deviation responsiveness acquisition unit that acquires responsiveness based on the detected fluid pressure, and (ii) a fluid pressure detected by the fluid pressure detection device from a predetermined reference time is determined in advance. Assuming that the actual time required to reach the set fluid pressure for measurement and the fluid pressure of the fluid pressure operating device have changed according to the change in the target fluid pressure, until reaching the set fluid pressure for measurement The control parameter determination device according to item (2), including at least one of a time-responsive responsiveness acquisition unit that acquires responsiveness based on an arrival time without delay required for.
  The responsiveness can be acquired based on the actual fluid pressure and the target fluid pressure, or can be acquired based on the actual arrival time and the arrival time without delay.
  For example, when the actual fluid pressure exceeds the target fluid pressure, it can be assumed that an overshoot has occurred. Overshoot occurs when the actual hydraulic pressure is higher than the target hydraulic pressure while the hydraulic pressure of the hydraulic actuator is increasing, or when the actual hydraulic pressure is lower than the target hydraulic pressure while the hydraulic pressure of the hydraulic actuator is decreasing. Suppose that it occurred. When the actual fluid pressure exceeds the target fluid pressure, an overshoot occurs when the absolute value (overshoot amount) of the difference between the target fluid pressure and the actual fluid pressure is greater than or equal to the overshoot determination threshold. Can be evaluated. Further, when the absolute value of the difference between the target hydraulic pressure and the actual hydraulic pressure is large, it can be evaluated that the amount of overshoot is larger than that when the absolute value is small and the level of responsiveness is low.
  Further, when the actual fluid pressure is insufficient with respect to the target fluid pressure, it can be assumed that a delay has occurred. If the actual fluid pressure is smaller than the target fluid pressure during pressure increase, or if the actual fluid pressure is greater than the target fluid pressure during decompression, there is a delay, and if the absolute value of these differences is large It can be evaluated that the delay is larger than the small case.
  For example, it can be assumed that a delay has occurred when the actual arrival time is longer than the arrival time without delay. The time obtained by subtracting the arrival time without delay from the actual arrival time can be referred to as a delay time (positive value). However, when the delay time is long, the delay can be greater than when the delay time is short.
  Also, if the delay time obtained by subtracting the arrival time without delay from the actual arrival time is negative, it can be assumed that an overshoot has occurred.In many cases, the negative delay time is longer than the shorter one. It can be evaluated that the overshoot amount is large.
  The supply current to the electromagnetic control valve is controlled so that the actual hydraulic pressure approaches the target hydraulic pressure. The target hydraulic pressure may increase or decrease. The arrival time without delay is required for the hydraulic pressure of the hydraulic actuator to reach the set hydraulic pressure for measurement, assuming that the hydraulic pressure of the hydraulic actuator has changed without delay as the target hydraulic pressure changes. In other words, the time required for the target hydraulic pressure to reach the set hydraulic pressure for measurement. When the target hydraulic pressure is changed in accordance with a predetermined pattern, the time until the target hydraulic pressure reaches the set hydraulic pressure for measurement (delay arrival time without delay) can be acquired based on the control pattern. it can. The control pattern can be represented by, for example, a target hydraulic pressure change gradient with respect to time.
  As described above, the acquisition of responsiveness by the time-responsive responsiveness acquisition unit can be performed when the actual hydraulic pressure reaches the set hydraulic pressure for measurement, but the elapsed time from the reference time Can be performed when the set time for measurement is reached.
  In any case, a responsiveness acquisition unit (a hydraulic pressure deviation responsiveness acquisition unit and a time responsiveness acquisition unit
At least one of (2) acquires responsiveness when a predetermined condition is satisfied. The responsiveness acquiring condition may be a condition determined by hydraulic pressure or a condition determined by time. However, as described above, if the responsiveness is acquired in a state where the current value determined by using one control parameter is supplied to the solenoid of the electromagnetic control valve, each control parameter is evaluated. Can often be performed accurately. Therefore, the responsiveness acquisition condition can be satisfied at the timing when the current value is determined using one control parameter.
(4) The responsiveness acquisition unit includes: (i) a hydraulic pressure detected by the hydraulic pressure detection device, and the hydraulic pressure operation.
An overshoot acquisition unit that compares the target hydraulic pressure of the moving device to acquire an overshoot state, and (ii) a time measuring device that measures an elapsed time from a predetermined reference time, The actual arrival time measured by the time measuring device when the fluid pressure detected by the detection device reaches a predetermined measurement set fluid pressure, and the fluid pressure of the fluid pressure operating device changes in the target fluid pressure. (2) including at least one of a delay acquisition unit that acquires a delay state by comparing with the arrival time without delay required to reach the measurement set hydraulic pressure Or the control parameter determination apparatus as described in (3) term (Claim 3).
(5) The responsiveness acquisition unit includes an overshoot presence / absence detection unit that detects the presence / absence of overshoot, and the responsiveness evaluation unit detects that an overshoot has occurred by the overshoot presence / absence detection unit. The control parameter determination device according to any one of (2) to (4), further including an overshoot low evaluation unit that evaluates that the level of responsiveness is lower than that in the case where it is not detected. ).
  When overshoot is detected, it is evaluated that the level of responsiveness is lower than when it is not detected, and the evaluation of the control parameter is lowered. This is because in the control of the hydraulic actuator, it is considered that the occurrence of overshoot is not desirable as compared with the case where the delay time is long.
  For example, when overshoot is detected, the numerical value indicating evaluation can be made smaller than when it is not detected. When the evaluation is high, it can be considered that the control parameter (gene) is highly compatible with the hydraulic pressure control (environment of the group). Therefore, the evaluation value, which is a numerical value representing the evaluation, can be referred to as the fitness. When the evaluation value is large, the degree of matching is high, and the numerical value indicating the degree of matching becomes large. In addition, the degree of adaptation when overshoot occurs can be a predetermined set value (a value smaller than the degree of adaptation when no overshoot is detected). This is because the presence or absence of overshoot itself is often a problem. On the other hand, when an overshoot occurs, the degree of conformity can be made lower when the overshoot amount is large than when the overshoot amount is small.
(6) Time measurement in which the responsiveness acquisition unit measures (i) an elapsed time from a predetermined reference time.
And (ii) from the actual arrival time measured by the time measurement device when the hydraulic pressure detected by the hydraulic pressure detection device reaches a predetermined measurement set hydraulic pressure, A delay time acquisition unit that acquires, as a delay time, a time obtained by subtracting an arrival time without delay required to reach the set hydraulic pressure for measurement, assuming that the hydraulic pressure has changed as the target hydraulic pressure changes. And the responsiveness evaluation unit has the highest evaluation when the delay time acquired by the delay time acquisition unit is within a predetermined setting range, and the amount of deviation of the delay time from the setting range is The control parameter determination device according to any one of the items (2) to (5), including a mountain-shaped evaluation unit that lowers the evaluation when it is larger than when it is smaller (Claim 5).
(7) Evaluation is performed when the mountain-shaped evaluation unit is within a setting range determined by a predetermined first setting time longer than 0 and a second setting time longer than the first setting time. (6) including a continuous mountain-shaped evaluation unit that sets the evaluation value indicating the maximum value as the evaluation value, and decreases the evaluation value as the amount of deviation of the delay time from the first setting time or the second setting time increases. control
A parameter determining device (claim 6).
  When the delay time is within the setting range, the evaluation is the highest (the degree of conformity is the largest), and when the deviation from the setting range is large, the evaluation is lower (the degree of conformance is reduced) than when it is small. A function representing the relationship between the delay time and the fitness can be referred to as an evaluation function.
  In the hydraulic control device, an electromagnetic control valve is used so that the actual hydraulic pressure of the hydraulic operating device approaches the target hydraulic pressure.
The current supplied to the solenoid is controlled so that when the target hydraulic pressure is changed, the actual hydraulic pressure is changed accordingly.
  For example, in a fluid pressure control device, holding control is performed when the absolute value of the fluid pressure deviation between the actual fluid pressure and the target fluid pressure is less than or equal to the set fluid pressure determined by the dead zone, and is increased when the fluid pressure is outside the set fluid pressure. Pressure control or pressure reduction control may be performed. In the pressure increase control and the pressure reduction control, the electromagnetic control valve is opened, but in the holding control, it is closed. When such a control is performed, if the delay time is too short, for example, during the pressure increase control, the actual fluid pressure quickly approaches the target fluid pressure, so that the pressure increase control is switched to the holding control. After that, when the actual fluid pressure decreases from the target fluid pressure by more than the set fluid pressure, the pressure increase control is started, but immediately, the actual fluid pressure approaches the target fluid pressure and is switched to the holding control. There is a possibility that the pressure control and the holding control are repeatedly executed at relatively short intervals. As described above, when control hunting occurs, vibrations occur or operation noises accompanying opening and closing of the electromagnetic control valve frequently occur. Moreover, it is not desirable for the hydraulic pressure control that the delay time is too long. On the other hand, if the delay time is kept within the set range, the hydraulic pressure deviation between the actual hydraulic pressure and the target hydraulic pressure is kept above the set hydraulic pressure, and the pressure increase control is continuously performed. Can do. As a result, it is possible to suppress vibrations and reduce operating noise. The same applies to the decompression control. Thus, the setting range of the delay time is determined by the control mode in the hydraulic pressure control device, and can be determined by the size of the dead zone, for example.
(8) The control parameter set includes a plurality of control parameters that are set for the hydraulic pressures of the hydraulic actuators different from each other, and the candidate evaluation unit includes an evaluation value that represents a delay time and an evaluation. A multi-function evaluation unit that has a plurality of evaluation functions representing the relationship between the two, and uses different evaluation functions depending on whether the hydraulic pressure of the hydraulic actuator corresponding to the control parameter to be evaluated is large or small The control parameter determination device according to any one of (1) to (7).
  In the case where one control parameter set candidate (individual) includes a plurality of control parameters (genes), it is possible to evaluate all of the plurality of control parameters with the same evaluation function. Two or more evaluation functions different from each other can be used. A plurality of control parameters are divided into a plurality of groups, and different evaluation functions are used in each group. Each group includes one or more control parameters. The grouping is performed based on the hydraulic pressure of the hydraulic actuator, and for example, the groups can be different depending on whether the hydraulic pressure corresponding to the control parameter is large or small. The evaluation function may be two or three or more, and may be provided for each control parameter, that is, for each hydraulic pressure of the hydraulic actuator.
(9) When each of the evaluation functions has a delay time within a predetermined setting range, the evaluation value indicating the evaluation becomes the largest, and when the deviation from the setting range of the delay time is large, the evaluation value is smaller. It is a mountain function where the evaluation value is small, and when the hydraulic pressure corresponding to the control parameter to be evaluated is small, it is set in a state where the delay time representatively representing the setting range is located in a region where the delay time is short. (8) The control parameter determination device according to item (8).
  Due to the characteristics of the hydraulic actuator, the delay is likely to be larger when the hydraulic pressure is small than when the hydraulic pressure is large. Therefore, when the hydraulic pressure of the hydraulic pressure operating device is small, it is desirable to set the setting range so that it is located in a region where the delay time is short compared to when the hydraulic pressure is large. However, such setting is not indispensable, and conversely, when the hydraulic pressure is large, the setting range may be set so as to be located in a region where the delay time is shorter than when the hydraulic pressure is small. This is because the demand for the required hydraulic pressure to be quickly satisfied is often greater when the hydraulic pressure is higher.
  The time representative of the setting range can be expressed by a lower limit value, an upper limit value, an intermediate value, or the like if the width of the setting range is the same.
  Note that the width of the setting range can be made variable.
(10) The candidate evaluation unit includes a function correspondence evaluation unit that evaluates each of the control parameters based on a delay time and a predetermined evaluation function. The control parameter determination device according to any one of the above.
  The evaluation function can be a Yamagata function as described above, but is not limited thereto. For example, it is possible to use a function whose fitness is increased as the delay time is shorter. The evaluation function is determined by the type of hydraulic actuator, the mode of use, the purpose of use, and the like. The evaluation function can be a function represented by one straight line or a plurality of straight lines (polygonal lines), or a function represented by a curve. Even in the case of the Yamagata function, it may be a function represented by a broken line or a function represented by a curve, and the peak may be a point, a straight line, or a smooth curve. There may be.
  The evaluation function can be determined each time.
(11) The candidate evaluation unit includes an overshoot priority evaluation unit that evaluates overshoot in preference to the delay time when overshoot occurs.
The control parameter determination device according to any one of the above.
  For example, when an overshoot is detected, the delay time can be prevented from being measured.
(12) The control parameter set includes a plurality of control parameters, and the candidate evaluation unit (a) includes a plurality of controls included in each of the control parameter set candidates that are candidates for evaluation (a). For each of the parametersBased on responsivenessAn individual evaluation unit that performs evaluation, and (b) a comprehensive evaluation that evaluates each of the control parameter set candidates that are the evaluation target candidates based on the evaluation of each of the plurality of control parameters evaluated by the individual evaluation unit The control parameter determination device according to any one of items (1) to (11), including an evaluation unit (claim 7).
  When the control parameter set candidate includes one control parameter, the evaluation for the one control parameter (hereinafter referred to as individual evaluation) can be used as the evaluation for the control parameter set candidate. When the control parameter set candidate includes a plurality of control parameters, the control parameter set candidate is evaluated comprehensively (hereinafter referred to as comprehensive evaluation) based on the individual evaluation of each of the plurality of control parameters. For example, a value obtained by statistically processing the fitness of each of a plurality of control parameters (hereinafter sometimes referred to as individual fitness) may be referred to as the fitness of a control parameter set (hereinafter referred to as total fitness). Yes). The minimum or maximum value of the individual fitness of multiple control parameters is taken as the overall fitness of the control parameter set candidate, the average value is taken as the overall fitness, and the importance of the control parameter is taken into account. It is possible to set a value determined as a total fitness, or a total value of a plurality of individual fitness values as a total fitness. The total fitness can also be referred to as the overall fitness.
(13) The comprehensive evaluation unit includes an evaluation vector having an evaluation value representing the evaluation for each of the plurality of control parameters obtained by the individual evaluation unit as a component, and evaluation of each of the plurality of control parameters. A control parameter determination device according to (12), further including a vector inner product acquisition unit that acquires an inner product with a weighting vector representing a weight of the component as an evaluation value representing an evaluation of the evaluation target candidate.
  For one evaluation target candidate, an inner product of a vector having the individual fitness of each control parameter as a component and a weighting vector having weight as a component is taken as the total fitness of the evaluation target candidate. As for the weighting vector, for example, the weight of the individual fitness for the control parameter corresponding to the hydraulic pressure belonging to the region where the hydraulic operation device is frequently used is increased, or in the region where the demand for responsiveness is severe in the hydraulic pressure control. The weight of the individual fitness can be increased.
  In the control parameter determination device described in this section, a plurality of control parameters included in one control parameter set candidate are used for hydraulic pressure control of a series of hydraulic actuators and are related to each other. Therefore, it is suitable for expressing as one vector having these as components. It can also be expressed using a matrix.
(14) The candidate evaluator is configured to determine each of the plurality of control parameter set candidates.Represents evaluation based on responsivenessThe control parameter determination device according to any one of (1) to (13), further including a rank determination unit that determines ranks of the plurality of control parameter set candidates based on the evaluation value. .
  According to the overall fitness of each individual, determine the rank of each of the multiple individuals included in the group.
Can do.
(15) The control parameter determination device includes identification information assigned to each of the plurality of control parameter set candidates, and an evaluation value representing an evaluation for each of the plurality of control parameter set candidates. Including identification information correspondence evaluation value storage unit that stores them in association with each other (1)
(14) The control parameter determination device according to any one of (14).
  If identification information is given to each control parameter set candidate, each control parameter set candidate can be specified based on the identification information.
(16) For each of the plurality of control parameter set candidates, the control parameter determination device includes (x) each of at least one control parameter included in the control parameter set candidate.
, (Y) includes a dynamic individual data storage unit that stores data representing responsiveness for each of these control parameters and (z) data representing an evaluation determined based on the responsiveness in association with each other (1 The control parameter determination device according to any one of items) to (15).
  Control parameters, data representing responsiveness, and data representing evaluation are stored in association with each other. Note that the control parameters may be changed when moving to the next generation. Similarly, in the next generation, responsiveness is acquired and an evaluation based on the responsiveness is performed. Therefore, data representing responsiveness, data representing evaluation, and the like can be erased when shifting to the next generation.
(17) The control parameter determination device according to any one of (1) to (16), wherein each of the control parameter set candidates is set based on an operation characteristic of the hydraulic operation device.
(Claim 10).
  As shown in FIG. 10, the hydraulic operating device often has a characteristic that a larger amount of hydraulic fluid is required when the hydraulic pressure change amount is the same than when the hydraulic pressure is small, compared to when the hydraulic pressure is large. In such a hydraulic actuator, the delay is often greater when the hydraulic pressure is low than when it is high. On the other hand, if the proportional gain as the control parameter is made larger than when the hydraulic pressure is small, the difference in responsiveness between when the hydraulic pressure is low and when the hydraulic pressure is high can be reduced.
(18) Each of the control parameter set candidates is mutually connected by the hydraulic actuators.SizeIncluding a plurality of control parameters determined respectively corresponding to different hydraulic pressures,When the plurality of control parameters are arranged in order of the hydraulic pressure of the hydraulic actuator corresponding to each of them, they are adjacent to each other.Among the two control parameters, in a state where the high pressure side control control parameter corresponding to the larger hydraulic pressure of the hydraulic pressure operating device satisfies the condition that it is equal to or lower than the low pressure side control control parameter corresponding to the smaller hydraulic pressure, The control parameter determination device according to any one of (1) to (17), wherein the plurality of control parameters are set (claim 11).
  In the control parameter determination device described in this section, the proportional gain as the control parameter is made smaller when the hydraulic pressure is large than when the hydraulic pressure is small. For the hydraulic pressures adjacent to each other, the high-pressure side control parameter is set to be equal to or lower than the low-pressure side control parameter. In this way, the control parameter set candidates are set in a state where a predetermined condition is satisfied among a plurality of control parameters, and this condition (individual property) will be described later. In addition, it is a condition (essence that must not be impaired) that should be maintained even if the control parameter set candidate is changed. In this sense, this condition is referred to as a constraint condition.
(19) The plurality of control parameters may be mutually connected by the hydraulic actuators.SizeProvided for different hydraulic pressures,Two hydraulic pressures adjacent to each other among these different hydraulic pressuresThe control parameter determination device according to the item (18), in which the interval is made narrower when the hydraulic pressure of the hydraulic actuator is small than when it is large.
  When a plurality of control parameters included in the control parameter set and the control parameter set candidate are respectively set corresponding to different hydraulic pressures of the hydraulic actuator, the hydraulic pressure interval of the hydraulic actuator is the hydraulic pressure interval. Even if the pressure is constant regardless of the size, the pressure may be varied depending on the hydraulic pressure. For example, when the hydraulic pressure of the hydraulic actuator is divided into a plurality of parts and the control parameter is set corresponding to each of the partition hydraulic pressures, even if the partitioning intervals are equal, the hydraulic pressure is small if the hydraulic pressure is small The interval may be made smaller. If the interval is reduced, more control parameters are set in the hydraulic pressure range (hydraulic pressure region) of the same size, and the hydraulic pressure can be more finely controlled in the hydraulic pressure range. In the hydraulic pressure operating device in which the control parameter is determined by the control parameter determining device described in this section, since the finer control is required in the region where the hydraulic pressure is low, the interval is reduced. In the hydraulic pressure operating device, when fine control is required in a region where the hydraulic pressure is high, it is desirable that the interval be reduced when the hydraulic pressure is high.
  Further, in the same hydraulic pressure range of the hydraulic actuator, when the hydraulic pressure is low, the amount of change in the proportional gain as the control parameter can be made larger than when the hydraulic pressure is high. For example, when a vector having a proportional gain as a component is considered, the proportional gain value approaches a constant value as the hydraulic pressure increases.
(20) The control parameter determination device according to any one of (1) to (19), wherein the control parameter determination device includes an input device for inputting a plurality of parameter set candidates.
  In the control parameter determination device described in this section, a plurality of parameter set candidates are input by an operator. The input device can be referred to as an initial value input device or an initial individual input device.
(21) The candidate changing unit is configured to determine each of the plurality of control parameter set candidates evaluated by the candidate evaluating unit.Based on responsivenessThe control according to any one of (1) to (20), further including a change target candidate selection unit that selects a predetermined number of parameter set candidates as the change target candidates in order from the lowest evaluation A parameter determination device (claim 13).
  As described above, at least one control parameter set candidate (individual) included in the control parameter set candidate group is changed to be a next-generation control parameter set candidate. A certain change target candidate is set as a predetermined number of control parameter set candidates in descending order. The control parameter set candidate (individual) is changed by changing at least one control parameter (gene) included therein. The set number may be one or two or more. The set number can be determined by the total number of control parameter set candidates included in the control parameter set candidate group. For example, when the total number of control parameter set candidates included in the control parameter set candidate group is NA, it can be set to 1/4 or more, 1/3 or more, and 1/2 or more of NA.
  It should be noted that the change target candidates can be selected randomly rather than selecting the set number from the lower rank.
(22) For each of the control parameter set candidates that are the candidates for change, the candidate changing unit sets each control parameter for each of the control parameters included therein.Based on responsivenessThe control parameter determination device according to any one of (1) to (21), further including an individual change determination unit that individually determines whether or not to change each control parameter based on the evaluation. ).
  In the control parameter determination device described in this section, in each of the control parameter set candidates that are candidates for change, each of the control parameters included therein is changed based on individual evaluation. Whether or not to do so is individually determined. For example, when the fitness for the control parameter Gm is Sm, it is determined whether or not the fitness Sm is higher than the change determination threshold value Sth. If the fitness is high, the control parameter Gm needs to be changed. It is determined that the value is low, and it is determined that the control parameter Gm is not changed. When it is lower than the change determination threshold value Sth, it is determined that the necessity for changing is high, and it is determined to change the control parameter Gm. Further, instead of the change determination threshold value Sth, it is possible to compare with the matching degree Sem for the corresponding control parameter of another control parameter set candidate. For example, when the fitness Sm of the control parameter Gm is equal to or higher than the fitness SEM of the control parameter set candidate corresponding to each other in the control parameter set candidate having a higher rank, it is determined that the necessity for changing is low. When smaller than SEm, it can be determined that the necessity of changing is high. In this way, for each of the control parameters included in the control parameter set candidate, it is individually determined whether the necessity for changing is high or low, and if the necessity for changing is high, the control parameter can be changed. Thus, the time required to obtain the optimal control parameter set can be shortened. If only the recessive gene is changed, individual evolution can be carried out quickly.
  It is also possible to randomly select one or more control parameters from a plurality of control parameters included in the change target candidate, change the selected control parameter, and prevent other control parameters from being changed. is there.
(23) The candidate changing unit, for each of the control parameters, for each control parameterBased on responsivenessIncludes an independent stand-alone change unit that changes the control parameter when the evaluation is lower than a predetermined change level and does not change the control parameter when the evaluation is higher than a predetermined maintenance level (1) to (22) A control parameter determination device according to any one of the preceding claims (claim 15).
(24) When the individual independent type changing unit evaluates that a certain control parameter is an evaluation indicating that an overshoot has occurred, the control parameter is reduced, and the evaluation result for the control parameter is set to be delayed. The control parameter determination device according to item (23), which includes an individual change unit corresponding to responsiveness that increases the control parameter when the evaluation is greater than a certain degree.
  When the control parameter is a proportional gain, if the evaluation of the control parameter is an evaluation indicating that overshoot has occurred, reducing the proportional gain can make overshoot less likely and the delay is large. If the proportional gain is increased, the degree of delay can be reduced.
  For example, when an overshoot occurs, the proportional gain Gm is set to a value that is small by a set ratio (Gm ′ ← Gm · γ: 0 <γ <1), or a value that is small by a set value (Gm ′ ← Gm−δ). Can be. Further, when the degree of delay is equal to or greater than the set level (for example, when the delay time is equal to or longer than the set time or the delay time is too long), a value that is larger by the set ratio (Gm ′ ← Gm · γ: γ> 1) Or a larger value (Gm ′ ← Gm + δ) by a set value.
(25) The candidate changing unit (a) for each of the plurality of control parameter set candidatesBased on responsivenessBased on the evaluation, a change target candidate group is created by selecting a predetermined number of change target candidates from the plurality of control parameter set candidates, and the change target candidates are selected from the plurality of control parameter set candidates. One or more non-change target candidates are selected from the control parameter set candidates excluding, a non-change target candidate group is created, one change target candidate for each change target candidate belonging to the change target candidate group, A pair creation unit that creates a pair composed of one of the non-change target candidates belonging to the non-change target candidate group, and (b) each of the pairs created by the pair creation unit is a change target candidate and a non-change target candidate. The control parameters that correspond to each otherBased on the responsivenessWhen the evaluations are compared, and the evaluation for the change target candidate is equal to or higher than the evaluation for the non-change target candidate, the evaluation for the change target candidate is not performed without changing the control parameter of the change target candidate. The subordinate type change unit that changes the control parameter to a value closer to the control parameter of the non-change target candidate when the evaluation is lower than the change target candidate, as described in any one of the items (1) to (24) A control parameter determination device (claim 17).
(26) In order from the lowest evaluation of each of the plurality of control parameter set candidates evaluated by the candidate evaluation unit, a predetermined number of control parameter set candidates are set as the change target candidates. A candidate group is created, and an elite candidate group is created by using a control parameter set candidate obtained by removing the set number of change target candidates from the plurality of control parameter set candidates as an elite set candidate as a non-change target candidate. An elite dependent set creation unit that creates a set of one change target candidate and one elite set candidate included in the elite set candidate group for each of all change target candidates belonging to the change target candidate group. A control parameter determination device as set forth in (25), including: (Claim 18).
  In a set of change target candidates and non-change target candidates, it is necessary to compare evaluations of control parameters corresponding to each other, and to change the control parameters when the evaluation of the change target candidate is lower than the evaluation of the non-change target candidate It is highly likely that it will be changed, and it will be
If it is above, it is less necessary to change, and it can be determined not to change.
  If the candidate for non-change is an elite candidate, the elite candidate has a higher overall evaluation than the candidate for change, so if the evaluation of the control parameters corresponding to each other is compared, the evaluation of the elite candidate is not changed. There is always at least one control parameter for which the candidate evaluation is lower. Therefore, the evaluation of the control parameter between the change target candidate and the elite candidate is compared, and based on the comparison result, at least one of the control parameters of the change target candidate is necessarily changed.
(27) The candidate changing unit includes a plurality of changing means for changing the change target candidate according to different rules, and one or more of the plurality of changing means are operated (1) to (26) The control parameter determination device according to any one of the items.
  The change target candidate is changed according to a predetermined rule, but may be changed by one changing unit or may be changed by a plurality of changing units. When changing by a plurality of changing means, it can always be changed by all of the plurality of changing means, or it can be changed by one or more changing means of the plurality of changing means. .
  For example, when each of the plurality of changing means is a means for changing the change target candidate according to a predetermined change pattern when mutually different predetermined change conditions are satisfied, a plurality of changes are made. The means is operated according to a predetermined priority order, or one or more of the plurality of changing means are selected each time, the selected changing means is operated, and the other changing means are It can be prevented from being activated. It is possible to select a change unit corresponding to a change condition that is satisfied from a plurality of change units.
(28) Each of the control parameter set candidates is mutually connected by the hydraulic actuators.SizeIncluding a plurality of control parameters respectively determined corresponding to a plurality of different hydraulic pressures, the candidate changing unit, in each of the change target candidates,When the plurality of control parameters are arranged in order of the hydraulic pressure of the hydraulic actuator corresponding to each of the plurality of control parameters, they are adjacent to each other.Of the two control parameters, when the high-pressure side control parameter corresponding to the larger hydraulic pressure of the hydraulic actuator is larger than the low-pressure side control parameter corresponding to the smaller hydraulic pressure, the high-pressure side control parameter The control parameter determination device according to any one of (1) to (27), further including a constraint condition corresponding change unit that changes at least one of the low-pressure side control parameters.
  In the control parameter determination device described in this section, even if the change target candidate is changed, the above-described constraint condition determined by the operation characteristics of the hydraulic operation device is satisfied.
(29) When the high-pressure side control parameter is larger than the low-pressure side control parameter, the constraint condition correspondence changing unit keeps the high-pressure side control parameter as it is and increases the low-pressure side control parameter to increase the high-pressure side control parameter. The control parameter determination device according to item (28), including a constraint condition corresponding increase unit having the same size as the control parameter (claim 20).
  For example, when testing whether or not a control parameter set candidate (individual) changed by the candidate changing unit satisfies a constraint condition, a plurality of control parameters (each of genes) are examined in order from the smallest hydraulic pressure. There are cases where the inspection is performed and inspections are performed in order from the highest hydraulic pressure. If the control parameter on the high-pressure side is less than or equal to the control parameter on the low-pressure side in order from the largest hydraulic pressure, if the condition is not met, the high-pressure side proportional gain that is the high-pressure side control parameter It is desirable to increase the low-pressure side proportional gain, which is the low-pressure side control parameter. Next, the increased low-pressure side control parameter is used as the high-pressure side control parameter, and is compared with the low-pressure side control parameter, and the increased control parameter is again subject to inspection.
  Note that it is not essential that the low-pressure side control parameter has the same magnitude as the high-pressure side control parameter, and can be made larger than the high-pressure side control parameter.
(30) When the high-pressure side control parameter is larger than the low-pressure side control parameter, the constraint condition correspondence changing unit keeps the low-pressure side control parameter unchanged, reduces the high-pressure side control parameter, and reduces the low-pressure side control parameter. The control parameter determination device according to item (28) or (29), including a constraint condition corresponding decrease unit having the same size as the control parameter.
  When inspecting whether the control parameter on the high-pressure side is equal to or lower than the control parameter on the low-pressure side in order from the smallest hydraulic pressure, if the constraint condition is not satisfied, the control parameter on the low-pressure side is left as it is. It is desirable to reduce the control parameter on the high pressure side. Even if the control parameter on the high pressure side is reduced, the reduced high pressure side control parameter is then used as the low pressure side control parameter and compared with the high pressure side control parameter. It is possible to avoid being lost.
  The high-pressure side control parameter can be made smaller than the low-pressure side control parameter.
(31) The constraint condition correspondence changing unit, (a) the high pressure side control parameter is the low pressure side control parameter.
If larger than the meter, the high-pressure side control parameter is left as it is, and the low-pressure side control parameter is increased to be the same size as the high-pressure side control parameter, and (b) the high-pressure side control When the parameter is larger than the low-pressure side control parameter,
The low-pressure side control parameter is left as it is, and the high-pressure side control parameter is reduced to be the same size as the low-pressure side control parameter, and (c) the change target
For each of the candidates, if the control parameter changed due to overshoot is included more than a predetermined set number, select the constraint condition corresponding increase portion, if less than the set number, The control parameter determination device according to any one of (28) to (30), further including a changing unit selecting unit that selects the constraint condition corresponding decreasing unit.
  When the control parameter is changed by the constraint condition corresponding decreasing unit, the control parameter of the control parameter set candidate is relatively decreased as compared with the case where the control parameter corresponding increasing unit is changed. As a result, when the control parameter is reduced due to overshoot, it is desirable to select the constraint condition corresponding reduction unit.
  The set number can be one, or two or more.
(32) The constraint condition correspondence changing unit includes a parameter exchanging unit that switches the high-pressure side control parameter and the low-pressure side control parameter when the high-pressure side control parameter is larger than the low-pressure side control parameter. Thru | or the control parameter determination apparatus as described in any one of (31) term.
(33) Each of the control parameter set candidates includes a plurality of control parameters respectively determined corresponding to a plurality of different hydraulic pressures of the hydraulic pressure operating device, and the control parameter determination device is configured to change the candidate In each of the changed candidates changed by the unit, among the two control parameters corresponding to the hydraulic pressures adjacent to each other, the high pressure side control parameter corresponding to the higher hydraulic pressure of the hydraulic pressure operating device is the hydraulic pressure. One of the items (1) to (32) including a constraint condition conformity inspection unit for inspecting whether the control parameter is equal to or less than the low-pressure side control parameter corresponding to the smaller one
The control parameter determination device described in 1.
(34) Optimal control based on a plurality of control parameter set candidates included in a control parameter set candidate group obtained after the control parameter set determination unit repeatedly executes the series of operations a predetermined number of times. The control parameter determination device according to any one of (1) to (33), further including an optimal control parameter set determination unit that determines a parameter set.
  The set number of times is, for example, 30 times or more, 40 times or more, 50 times or more, 60 times or more, 70 times or more, 200 times or less, 170 times or less, 150 times or less, 130 times or less, 100 times or less, 90 times. Hereinafter, it may be 80 times or less and 70 times or less. When a series of operations is repeated a set number of times in this way, the variation in the overall fitness is reduced among the plurality of control parameter set candidates included in the final generation group, and the average value of the overall fitness is also high. Become. Therefore, an average control parameter set candidate of a plurality of control parameter set candidates included in the final generation group may be an optimal control parameter set, or the highest-order control parameter set candidate may be an optimal control parameter set. it can.
(35) The hydraulic pressure control device includes a supply current determination unit that determines a supply current to the electromagnetic control valve using the at least one control parameter, and the control parameter determination device includes the supply current determination unit. The control parameter determination device according to any one of (1) to (34), further including an information output unit that supplies at least the control parameter.
  When the supply current determination unit is provided in the hydraulic pressure control device, data representing the control parameter is supplied from the control parameter determination device to the supply current determination unit. In addition to the control parameter, data representing the target hydraulic pressure can be supplied.
  On the other hand, the supply current determination unit can be provided in the control parameter determination device. In this case, in the control parameter determination device, the supply current is determined, and data representing the determined supply current value is supplied to the hydraulic pressure control device, or the control parameter determination device directly controls the electromagnetic control valve. The supply current to the solenoid can be controlled (direct driver is controlled).
(36) The supply current determination unit determines the supply current so that the hydraulic pressure of the hydraulic pressure operating device increases to an upper limit hydraulic pressure with a predetermined gradient and then decreases to a lower limit hydraulic pressure. The control parameter determination device according to item (35), including a supply current determination unit corresponding to a hydraulic pressure change.
  When the electromagnetic control valve is provided between the hydraulic actuator and the high pressure source, and between the hydraulic actuator and the reservoir as the low pressure source, the hydraulic pressure of the hydraulic actuator is increased. In the state, the supply current to the high pressure source side electromagnetic control valve (pressure increase control valve) is controlled and the hydraulic pressure is reduced while the low pressure source side electromagnetic control valve (pressure reduction control valve) is kept closed. In this case, the pressure increase control valve is kept closed, and the supply current to the pressure reduction control valve is controlled. In this way, there is an advantage that responsiveness can be acquired in both the pressure increase control valve and the pressure reduction control valve in one increase and decrease of the hydraulic pressure.
  The supply current determination unit may include a holding unit that holds the hydraulic pressure of the hydraulic actuator at a hydraulic pressure near the upper limit hydraulic pressure. The control parameter can be evaluated even when the hydraulic pressure of the hydraulic actuator is maintained. In this case, responsiveness may not be evaluated, but it is possible to evaluate the appropriateness of the control parameter for holding control.
(37) The electromagnetic control valve included in the hydraulic pressure control device controls the hydraulic pressure of the hydraulic pressure operating device to a magnitude corresponding to the supply current to the solenoid, and the supply current to the solenoid is continuous. A linear control valve that can be changed automatically, according to any one of items (1) to (36)
A control parameter determination device (claim 22).
  By continuously controlling the supply current to the solenoid of the linear control valve, the hydraulic pressure of the hydraulic actuator can be continuously changed. The linear control valve may be a normally closed valve or a normally open valve.
(38) The hydraulic pressure control device includes a feedback control unit that controls a supply current to the solenoid of the electromagnetic control valve so that an actual hydraulic pressure of the hydraulic pressure operating device approaches a target hydraulic pressure, and the control The control parameter determination device according to any one of (1) to (37), wherein the parameter is a feedback control gain used in the feedback control unit (claim 23).
  The proportional gain in the feedback control is an aspect of the control parameter.
  It can be applied not to the feedback control gain but to the feedforward control gain, or to both the feedback control gain and the feedforward control gain.
(39) The hydraulic pressure actuating device is a hydraulic brake that suppresses rotation of a vehicle wheel by a hydraulic pressure of a brake cylinder, and the hydraulic pressure control device controls the current supplied to a solenoid of the electromagnetic control valve. The control parameter determination device according to any one of (1) to (38), wherein the control parameter determination device is a brake cylinder hydraulic pressure control device that controls the hydraulic pressure of the brake cylinder (claim 24).
  The hydraulic actuator can be a hydraulic actuator provided in the machine tool, but can be a hydraulic brake that suppresses the rotation of the wheels of the vehicle. The hydraulic pressure of the brake cylinder in the hydraulic brake is controlled by the brake cylinder hydraulic pressure control device, and the control gain used in the brake cylinder hydraulic pressure control device is determined by the control parameter determining device.
(40) For a brake force control apparatus that controls a brake action force that suppresses rotation of a vehicle wheel by controlling a supply current to the action force control actuator, a supply current to the action force control actuator is determined. A control parameter determination device for determining a control parameter set including at least one control parameter used in a case based on a parameter set candidate group including a plurality of predetermined control parameter set candidates,
  For an evaluation target candidate that is one of a plurality of control parameter set candidates included in the parameter set candidate group, at least one of one or more control parameters included in the one evaluation target candidate is used. Each of the one or more control parameters included in the one evaluation target candidate is evaluated based on the hydraulic pressure of the hydraulic actuator when the determined current is supplied to the solenoid of the electromagnetic control valve. In addition, an operation for evaluating the control parameter set candidate which is the one evaluation target candidate is executed for each of the plurality of control parameter set candidates, and candidate evaluation for obtaining an evaluation result for each of the plurality of parameter set candidates And
  Based on the evaluation results for each of the plurality of control parameter set candidates acquired by the candidate evaluation unit, at least one control parameter set candidate is selected as a change target candidate from the plurality of control parameter set candidates, and the selected The operation of changing one of the change target candidates by changing at least one of the one or more control parameters included in each of the change target candidates according to a predetermined rule is performed as the at least one change. A candidate changing unit that executes each of the target candidates and creates a new parameter set candidate group,
  A plurality of control parameter set candidates included in the new parameter set candidate group created by the candidate changing unit are evaluated as candidates for evaluation, and each of the candidate evaluation units is evaluated, and based on the obtained evaluation result The candidate changing unit is caused to change a control parameter set candidate that is at least one change target candidate, and repeatedly execute a series of operations for creating a new parameter set candidate group by a predetermined number of times, A control parameter set determining unit for determining a control parameter set used in the brake force control apparatus;
A control parameter determination device comprising:
  The control parameter determination device described in this section includes the technique described in any one of items (1) to (39).
Technical features can be employed.
(41) The control parameter determination device according to (40), wherein the candidate evaluation unit includes an action force detection device that detects an action force of the brake.
  When the brake is an electric brake, the pressing force of the brake member by the electric motor can be used as the braking action force.
(42) The control parameter determination device according to (40) or (41), wherein the control parameter determination device is provided in the vehicle, and the candidate evaluation unit includes a deceleration sensor that detects the deceleration of the vehicle. .
  When the control parameter determination device is provided in the vehicle, it is possible to evaluate the control parameter and the control parameter set candidate based on the deceleration of the vehicle. The target deceleration of the vehicle can be determined based on the operation state of the brake operation member by the driver or can be determined based on the traveling state of the vehicle.
(43) The brake applied force control device is configured to supply a value of a current supplied to the applied force control actuator so that an actual applied force of the brake approaches a target applied force determined based on an operation state of a brake operation member by a driver. The control parameter determination device according to any one of (40) to (42), including a supply current determination unit for determining
  In the control parameter determination device described in this section, the target value of the brake action force can be determined based on the operation state of the brake operation member by the driver. On the other hand, while the brake force is decreasing, the target value may be decreased according to a predetermined pattern regardless of the brake operation state.
(44)The gain is determined corresponding to a plurality of hydraulic pressures having different sizes from each other, and when the hydraulic pressure of the hydraulic actuator is small, the gain is set to a larger value than when it is large ( The control parameter determination device according to any one of items 1) to (43) (claim 2).
(45)The brake of the hydraulic brake that suppresses the rotation of the vehicle wheel by the hydraulic pressure of the brake cylinder.
Using a hydraulic control actuator including an electromagnetic control valve capable of controlling the hydraulic pressure of the rake cylinder by controlling the supply current to the solenoid, and a control parameter set including at least one control parameter for the supply current to the solenoid A brake fluid pressure control device including a supply current determination unit to determine;
  A control parameter determination program for causing a computer to determine the control parameter set used in the hydraulic pressure control device based on a parameter set candidate group including a plurality of predetermined control parameter set candidates.
  For an evaluation target candidate that is one of a plurality of control parameter set candidates included in the parameter set candidate group, a current determined using each of at least one control parameter included in the evaluation target candidate is The operation of evaluating each of the control parameters based on the hydraulic pressure of the brake cylinder when supplied to the solenoid of the electromagnetic control valve, and evaluating the control parameter set candidate that is the one evaluation target candidate, A candidate evaluation function for executing each of the plurality of control parameter set candidates and obtaining an evaluation result for each of the plurality of parameter set candidates;
  Based on the evaluation results for each of the plurality of control parameter set candidates acquired by the candidate evaluation function, at least one control parameter set candidate is selected as a change target candidate from the plurality of control parameter set candidates, and the selected By changing at least one of at least one control parameter included in each of the change target candidates according to a predetermined rule, each of the change target candidates is changed, and a new parameter set candidate group is obtained. Candidate change function to create,
  A plurality of control parameter set candidates included in a new parameter set candidate group created by the candidate change function are evaluated as candidates for the evaluation, respectively, based on the obtained evaluation results. By causing the candidate change function to change a control parameter set candidate that is at least one change target candidate, and repeatedly executing a series of operations for creating a new parameter set candidate group by a predetermined number of times, A control parameter set determining function for determining a control parameter set used in a brake fluid pressure control device;
Control parameter determination program for realizing
Brake fluid pressure control support unit.
  In the brake fluid pressure control support unit, if a computer is connected to the brake fluid pressure control device and a control parameter determination program is executed, an optimum set of control parameters used for fluid pressure control of the brake cylinder can be determined. it can. The brake fluid pressure control support unit described in this section adopts the technical features described in any one of items (1) to (43).
You can.
  The brake hydraulic pressure control support unit can also include a hydraulic brake such as a brake cylinder. Further, instead of the control parameter determination program, a recording medium storing the control parameter determination program or a control parameter determination device including a computer on which the control parameter determination program is operated can be used.
(46)About the hydraulic pressure control device that includes an electromagnetic control valve that can control the hydraulic pressure of the hydraulic pressure operating device that is operated by the hydraulic pressure, and controls the hydraulic pressure by controlling the supply current to the solenoid of the electromagnetic control valve. A control parameter set including at least one control parameter used when determining a supply current to the solenoid of the electromagnetic control valve is stored in a computer based on a parameter set candidate group including a plurality of predetermined control parameter set candidates. A control parameter determination program for determining,
  The control parameter is a gain which is a relationship between an absolute value of a hydraulic pressure deviation between a target hydraulic pressure of the hydraulic actuator and an actual hydraulic pressure and a current;
  In the computer,
  For an evaluation target candidate that is one of a plurality of control parameter set candidates included in the parameter set candidate group, at least one control parameter included in the evaluation target candidateThe gain isBased on the hydraulic pressure when a current determined using each of theObtaining the responsiveness of the control,SaidgainAbout each ofBased on the responsivenessAn operation for evaluating the control parameter set candidate that is one candidate for evaluation is performed for each of the plurality of control parameter set candidates, and evaluation results for each of the plurality of parameter set candidates are obtained. Candidate evaluation function to
  Based on the evaluation results for each of the plurality of control parameter set candidates acquired by the candidate evaluation function, at least one control parameter set candidate is selected as a change target candidate from the plurality of control parameter set candidates, and the selected At least one included in each of the candidates for changegainA candidate change function for changing each of the change target candidates to create a new parameter set candidate group by changing at least one of them according to a predetermined rule;
  A plurality of control parameter set candidates included in a new parameter set candidate group created by the candidate change function are acquired by causing the candidate evaluation function to evaluate as candidate evaluation targets to be evaluated by the candidate evaluation function. Based on the evaluation result, the candidate changing function causes the control parameter set candidate that is at least one change target candidate to be changed to create a new parameter set candidate group by a predetermined set number of times. By repeatedly executing it, a set of control parameters used in the hydraulic pressure control device is determined.
A control parameter determination program for realizing a control parameter set determination function (claim 25).
  The control parameter determination program described in this section is described in any one of the items (1) to (44).
The technical features listed can be adopted.

Hereinafter, a control parameter determination device according to an embodiment of the present invention will be described in detail with reference to the drawings. In the present embodiment, the control parameter determining device determines the control parameter used in the brake hydraulic pressure control device as the hydraulic pressure control device. A control parameter determination program is stored in the control parameter determination device.
In the vehicle hydraulic brake device shown in FIG. 3, the hydraulic pressures of the brake cylinders 18 and 20 of the hydraulic brakes 14 and 16 that suppress the rotation of the left and right front wheels 10 and the left and right rear wheels 12 are controlled by the brake hydraulic pressure control device 22. Is done.
The brake fluid pressure control device 22 includes pressure-increasing linear valves 24 and 26 as pressure-increasing electromagnetic control valves provided corresponding to the brake cylinders 18 and 20, respectively, and pressure-reducing linear valves 28 and 30 as pressure-reducing electromagnetic control valves. In addition, a hydraulic pressure control unit 32 mainly including a computer is included. The pressure-increasing linear valves 24 and 26 and the pressure-reducing linear valve 28 provided corresponding to the brake cylinder 18 of the front wheel 10 are normally closed electromagnetic valves, and the pressure-reducing pressure provided corresponding to the brake cylinder 20 of the rear wheel 12. The linear valve 30 for use is a normally open solenoid valve. The pressure-increasing linear valves 24 and 26 are provided between the power hydraulic pressure source 34 and the brake cylinders 18 and 20, and the pressure-decreasing linear valves 28 and 30 are provided between the brake cylinders 18 and 20 and the reservoir 36. . The power hydraulic pressure source 34 includes a pump device 40 including a pump and a pump motor, an accumulator 42, and the like. The hydraulic fluid pumped from the reservoir 36 by the pump device 40 is pressurized, and the hydraulic fluid is stored in the accumulator 42 in a pressurized state.
The vehicle hydraulic brake device also includes a manual hydraulic pressure source 50. The manual hydraulic pressure source 50 includes a brake pedal 52 as a brake operating member and a tandem master cylinder 54 having two pressurizing chambers. The hydraulic pressure corresponding to the operating force is determined by operating the brake pedal 52. Is generated in the master cylinder 54. Each of the two pressurizing chambers of the master cylinder 54 and the brake cylinder 18 of the front wheel 10 are respectively connected by a master passage 56. Each of the master passages 56 is provided with a master shut-off valve 60, and a stroke simulator device 62 is provided in one of the master passages 56 (a master passage connecting the brake cylinder 18 of the left front wheel and one pressurizing chamber of the master cylinder 54). Is provided.

The hydraulic pressure control unit 32 includes a target hydraulic pressure determination unit 70 and an applied current determination unit (supply current determination unit) 80. A driver 82 is connected to the applied current determination unit 80, and solenoids 72 to 78 of the linear valves 24, 26, 28, 30 are connected via the driver 82. Further, the hydraulic pressure control unit 32 includes a brake cylinder hydraulic pressure sensor 90 that detects the hydraulic pressure of each brake cylinder 18, 20, an accumulator pressure sensor 92 that detects the hydraulic pressure of the power hydraulic pressure source 34, and the hydraulic pressure of the master cylinder 54. A master cylinder hydraulic pressure sensor 94 that detects pressure, a brake operation state detection device 96 that detects an operation state of the brake pedal 52, and the like are connected. The brake operation state detection device 96 includes at least one of an operation force sensor that detects an operation force of the brake pedal 52, a stroke sensor that detects an operation stroke, and the like. 96, or the master cylinder hydraulic pressure sensor 94 itself can be considered as the brake operation state detection device 96.
In the target hydraulic pressure determination unit 70, the target hydraulic pressure Pref is acquired based on the detection value or the like by the brake operation state detection device 96, and is supplied to the applied current determination unit 80 together with the gain value Kx. In the applied current determination unit 80, the pressure increasing linear valves 24 and 26 and the pressure reducing pressure are determined based on the supplied target hydraulic pressure Pref, the gain value Kx, the actual brake cylinder hydraulic pressure Pwc detected by the brake cylinder hydraulic pressure sensor 90, and the like. The current value applied to the linear valves 28 and 30 is determined. The storage unit of the applied current determining unit 80 stores a valve opening current determining table represented by the map of FIG. 2, an applied current (supply current) determining program represented by the flowchart of FIG. The gain value Kx may be stored in the applied current determination unit 80.

  In the vehicle hydraulic brake device, during normal braking (when the brake hydraulic pressure control device 22 and the like are normal), the hydraulic pressures of the brake cylinders 18 and 20 are the power fluid when the master cutoff valve 60 is closed. The hydraulic pressure of the pressure source 34 is used to control the supply current to the solenoids 72 to 78 of the pressure-increasing linear valves 24 and 26 and the pressure-decreasing linear valves 28 and 30. The supply current is determined so that the hydraulic pressure (braking force) of the brake cylinders 18 and 20 becomes a required hydraulic pressure determined by the operating state of the brake pedal 52 of the driver.

FIG. 1 shows a pressure-increasing linear valve 24 and a pressure-reducing linear valve 28 that can control the hydraulic pressure in the brake cylinder 18 of the front wheel. The pressure-increasing linear valve 24 and the pressure-decreasing linear valve 28 have the same structure, and the valve element 100, the valve seat 102, and the spring 104 that applies the biasing force Fs in the direction in which the valve element 100 approaches the valve seat 102, respectively. And a solenoid 72 (76), and a differential pressure acting force according to a hydraulic pressure difference between the front and the rear is provided in a state of acting in a direction to separate the valve element 100 from the valve seat 102. Further, when a current is supplied to the solenoid 72 (76), an electromagnetic driving force Fd having a magnitude corresponding to the supplied current amount acts in a direction to separate the valve element 100 from the valve seat 102.
In these pressure-increasing linear valve 24 and pressure-decreasing linear valve 28, the electromagnetic driving force Fd and the differential pressure acting force Fp act in a direction to separate the valve element 100 from the valve seat 102, and the biasing force Fs of the spring 104 is the valve element. It acts in a direction to bring 100 close to the valve seat 102. Therefore, when the sum of the differential pressure acting force Fp and the electromagnetic driving force Fd is smaller than the urging force Fs of the spring 104 (Fp + Fd <Fs), the seating valve 106 is in the closed state but larger than the urging force Fs of the spring 104. In the case (Fp + Fd> Fs), it is opened.

  In the pressure-increasing linear valve 24 and the pressure-decreasing linear valve 28, the relationship shown in FIG. 2 is established between the valve opening current Iopen and the differential pressure ΔP before and after. When the urging force Fs of the spring 104 is considered to be constant, a large electromagnetic driving force Fd is required when the differential pressure acting force Fp is small in order to switch the seating valve 106 from the closed state to the open state. It can be seen that when the differential pressure acting force Fp is large, it may be small. When the differential pressure ΔP before and after the brake cylinder hydraulic pressure is controlled, the valve opening current Iopen increases. The differential pressure acting force Fp in the pressure increasing linear valve 24 is acquired as a value corresponding to the difference between the value detected by the accumulator pressure sensor 92 and the value detected by the brake cylinder hydraulic pressure sensor 90, and the difference in the pressure reducing linear valve 28 is obtained. The pressure acting force Fp is acquired as a value corresponding to a value detected by the brake cylinder hydraulic pressure sensor 90. The hydraulic pressure in the reservoir 36 can be considered as atmospheric pressure.

In the applied current determination unit 80, the applied current (supply current) I to the solenoids 72 and 76 of the pressure increasing and pressure reducing linear valves 24 and 28 is expressed by the formula I = IFF + IFB (1)
IFB = Iopen + Kx · | e |
e = Pref−Pwc
Determined according to. Pref is the target hydraulic pressure, and Pwc is the actual hydraulic pressure of the brake cylinder 18. Since the actual hydraulic pressure Pwc of the brake cylinder 18 is a value detected by the brake cylinder hydraulic pressure sensor 90, it can be referred to as a detected hydraulic pressure. Moreover, since it is the target hydraulic pressure controlled by the hydraulic pressure control unit 32, it can also be referred to as a control hydraulic pressure. Hereinafter, for the sake of simplicity, the actual hydraulic pressure Pwc of the brake cylinder 18 is referred to as an actual hydraulic pressure Pwc.
The equation (1) is a basic equation that represents the control principle, and is actually determined according to a more complicated equation. As shown in the equation (1), the applied current I has a magnitude obtained by adding the feedforward control current IFF and the feedback control current IFB. The feedback control current IFB is set to the valve opening current Iopen and the gain value Kx The magnitude is obtained by adding the value obtained by multiplying the absolute value of the hydraulic pressure deviation e between the hydraulic pressure Pref and the actual hydraulic pressure Pwc. The feedforward control current IFF can be set to a predetermined set value, for example, but is not related to the present invention, and thus description of the determination of the feedforward control current is omitted. The gain value Kx is an aspect of the control parameter and is a value of a proportional gain for feedback control. As will be described later, the gain value Kx is a value determined by the actual fluid pressure Pwc. In the present embodiment, a plurality of gain values Kx are set corresponding to a plurality of different actual fluid pressures Pwc.
The above formula (1) is merely an example, and the current applied to the solenoids 72 and 76 can be determined according to another formula.

  In addition, the applied current determination unit 80 selects any one of the pressure increasing mode, the pressure reducing mode, and the holding mode from the hydraulic pressure deviation e. In this embodiment, a dead zone is provided, and as shown in FIGS. 4B and 4C, when the hydraulic pressure deviation e is within a predetermined setting range (PTHdown ≦ e ≦ PTHup: PTHup > 0, PTHdown <0), that is, when the actual hydraulic pressure Pwc is within the dead zone determined with respect to the target hydraulic pressure Pref, the holding mode is selected. In the holding mode, no current is applied to the solenoid 72 of the pressure-increasing linear valve 24 (normally closed valve) or the solenoid 76 of the pressure-decreasing linear valve 28 (normally closed valve), and these are closed. The When the hydraulic pressure deviation e is larger than the pressure increase side threshold value PTHup (value determined by the pressure increase side dead zone) (e> PTHup), that is, when the actual fluid pressure Pwc is smaller than the target fluid pressure Pref by the pressure increase side threshold value PTHup ( The pressure increasing mode is selected for Pref−PTHup> Pwc). Although no current is applied to the solenoid 76 of the pressure-reducing linear valve 28, a current determined according to the equation (1) is applied to the solenoid 72 of the pressure-increasing linear valve 24. When the hydraulic pressure deviation e is smaller than the decompression side threshold value PTHdown (value determined by the decompression side dead zone) {e <PTHdown <0}, that is, the actual fluid pressure Pwc is an absolute value of the decompression side threshold value PTHdown from the target fluid pressure Pref. If it is greater than the value, {Pwc> Pref + | PTHdown |} is selected as the decompression mode. A current determined by the equation (1) is applied to the solenoid 72 of the pressure-reducing linear valve 28 without applying a current to the solenoid 72 of the pressure-increasing linear valve 24.

  The selection mode of the pressure increasing mode, the pressure reducing mode, and the holding mode is not limited to this. For example, the threshold value when switching from the pressure increasing mode to the holding mode (pressure increasing → holding threshold value) is different from the threshold value when switching from the holding mode to the pressure increasing mode (holding → pressure increasing threshold value). It can be a size.

In the applied current determination unit 80, an applied current determination program represented by the flowchart of FIG. 4A is executed at predetermined time intervals.
In step 1 (hereinafter abbreviated as S1. The same applies to other steps), it is determined whether information indicating the target hydraulic pressure Pref and information indicating the gain value Kx have been acquired. When these pieces of information are acquired, the pressure-increasing linear valve 24 and the pressure-decreasing linear valve 28 are controlled in S2-4.
In S2, the brake cylinder hydraulic pressure sensor 90 detects the hydraulic pressure Pwc, and based on the hydraulic pressure deviation e between the target hydraulic pressure Pref and the actual hydraulic pressure Pwc, one of the pressure increasing mode, the pressure reducing mode, and the holding mode is selected. In S3, the current applied to the solenoid 72 of the pressure-increasing linear valve 24 and the solenoid 76 of the pressure-decreasing linear valve 28 is determined, and in S4, the driver 82 is controlled accordingly. The supply current to the pressure-increasing linear valve 24 and the pressure-reducing linear valve 28 is controlled so that the actual fluid pressure Pwc approaches the target fluid pressure Pref.
In this embodiment, the applied current determination unit 80 and the like constitute a feedback control unit.

FIG. 5 shows how the target hydraulic pressure Pref and the actual hydraulic pressure Pwc change when the brake cylinder hydraulic pressure increase control is performed.
As the target hydraulic pressure Pref increases, the applied current is increased, and the actual hydraulic pressure Pwc of the brake cylinder 18 is increased. Since the hydraulic pressure is transmitted from the power hydraulic pressure source 34 to the brake cylinder 18 via the brake pipe, the actual hydraulic pressure Pwc is increased with a delay.
If the gain value Kx is too small, the delay of the actual hydraulic pressure Pwc with respect to the target hydraulic pressure Pref increases, which is not desirable in brake cylinder hydraulic pressure control. If the gain value Kx is too large, an overshoot in which the actual fluid pressure Pwc exceeds the target fluid pressure Pref is likely to occur, or the delay is too small, so that control hunting may occur. If the gain value Kx is too large, the actual hydraulic pressure Pwc quickly approaches the target hydraulic pressure Pref, so that the pressure increasing control is immediately switched to the holding control. However, after that, when the actual hydraulic pressure Pwc becomes smaller than the target hydraulic pressure Pref by the pressure increase side threshold value PTHup or more, the control is switched again to the pressure increase control. , Switching to holding control. As described above, when the pressure increasing control and the holding control are frequently repeated, ON / OFF of the applied current is frequently repeated. As a result, vibrations and operating noise occur frequently. The situation is the same in the decompression control.
For these reasons, when the target hydraulic pressure Pref is increased or decreased, the gain value Kx has a magnitude that allows the pressure increase control or the pressure reduction control to be continuously performed, that is, when an appropriate delay occurs, It is desirable that the hydraulic pressure deviation e between the pressure Pref and the actual hydraulic pressure Pwc be maintained at a magnitude that is outside the set range determined by the dead zone (e> PTHup, e <PTHdown <0).
Such an optimum gain value Kx is conventionally determined by an operator. However, the determination of the optimum gain value Kx depends on the intuition of the operator and is a work that requires a long time. Therefore, in this embodiment, the optimum gain value Kx is automatically determined by the control parameter determination device.

As shown in FIG. 1, the control parameter determination device includes an automatic adaptation unit 120. The automatic adaptation unit 120 is mainly a computer and includes an execution unit 130, a storage unit 132, an input / output unit 134, and the like. The storage unit 132 includes a static memory 140 and a dynamic memory 142. The static memory 140 stores an automatic adaptation program or the like shown in the flowchart of FIG. 7, and the buffer as the dynamic memory 142 sequentially stores data obtained in the process of determining the optimum gain value Kx. . The input unit 134 is connected to a brake cylinder hydraulic pressure sensor 90, a start switch 144, an input device 146, and the like.
The automatic adaptation unit 120 is connected between the target hydraulic pressure determination unit 70 and the applied current determination unit 80, and an automatic adaptation program is incorporated into the applied current determination program. In the present embodiment, the control parameter is not determined by mounting the automatic adaptation unit 120 on the actual vehicle, but is determined using a bench unit. With the automatic adaptation unit 120 connected to the bench unit {(all or part of the vehicle brake device of FIG. 3 (including at least the brake fluid pressure control device 22 and the brake cylinders 18 and 20)}), the gain value Kx The optimum value (hereinafter referred to as optimum gain value) is determined using a so-called genetic algorithm.
As described above, the gain value Kx is set for each of a plurality of different actual hydraulic pressures Pwc, and the optimum gain value Kx (Ka, Ka, for each hydraulic pressure Px (Pa, Pb, Pc...). Kb, Kc...) Is determined. A set of optimum gain values Ka, Kb, Kc... Is called an optimum gain set HK (see FIG. 39 (d)), and is represented by one vector (matrix). By determining each optimum gain value Kx, the optimum gain set HK is determined. Hereinafter, in this specification, a gain value and a gain set may be used without distinction.
The optimum gain set HK is determined for each wheel, that is, for each linear valve. Hereinafter, the optimum gain set is determined for the pressure increasing linear valve 24 and the pressure reducing linear valve 28 on the front wheel side. A description will be given of the case.
In the vehicle brake device according to the present embodiment, the target hydraulic pressure Pref and the gain value Kx are supplied from the target hydraulic pressure determination unit 70 to the applied current determination unit 80, but when the automatic adaptation unit 120 is incorporated. The target hydraulic pressure Pref and the gain value Gx are supplied from the automatic adaptation unit 120 to the applied current determination unit 80.
The optimum gain set HK is determined by the automatic adaptation unit 120. The optimum gain value Kx included in the determined optimum gain set HK is used by the brake hydraulic pressure control device 22 mounted on the actual vehicle. The In other words, the gain value used in the brake fluid pressure control device 22 is the optimum gain value Kx. In the automatic adaptation unit 120, the optimum gain set candidate value is used in the process of determining the optimum gain set HK. Hereinafter, the gain value Gx is simply referred to as a gain value Gx, and the set of gain values Gx is the optimum gain candidate set. Hereinafter, this is simply referred to as a gain set.

In the genetic algorithm, an individual (solution candidate) is changed with a generation change according to the laws of inheritance in the living world, and an optimal solution (optimal individual) is acquired after a plurality of generations. An individual includes a plurality of genes (solution elements), and the individual evolves when at least one of the genes is changed by crossover or the like.
In FIG. 6, there are a plurality of individuals Hm in a certain generation, and a group Am is constituted by these plurality of individuals Hm. In each of the plurality of individuals Hm, the suitability for each of the plurality of genes Gm included therein is acquired, the evaluation for each of the genes Gm is performed, and the evaluation for each individual Hm is performed. Based on the evaluation results, a non-change target individual (elite individual) HmE and a change target individual HmV are selected from a plurality of individuals Hm. The non-change target individual HmE remains as it is (without changing the gene GmE included in it: GmE → Gm + 1) and becomes the individual Hm + 1 included in the next generation population Am + 1. The individual is changed by changing at least one gene GmV among the plurality of genes Gm included in the individual HmV (set as gene Gm + 1), and the individual Hm + of the next generation population Am + 1 1 Regarding the change target individual HmV, there are cases where all the genes included therein are changed and cases where some genes are changed.
As described above, the gene corresponds to the gain value (control parameter) Gx, and the individual corresponds to the gain set (control parameter set candidate). The individual includes a plurality of gain values (genes) Ga, Gb, Gc.

  The automatic adaptation program is executed when a predetermined start condition is satisfied. As shown in the flowchart of FIG. 7, in S11, I. The initial population is created, and in S12-14, II. Determination of target hydraulic pressure / acquisition of responsiveness, III. Acquisition (evaluation) of fitness, IV. Crossover target individuals are selected and crossed (changed), and it is determined in S15 whether or not the set generation has been reached. Before reaching the set generation, S12 to 14 (II to IV) are repeatedly performed. When the set generation is reached, the determination of S15 is YES, and in S16, the optimum individual is selected from a plurality of individuals existing in the generation. HK, that is, an optimum gain set (a set of optimum gain values Kx) is obtained and output.

I. Creation of Initial Group The initial group is a group of individuals existing in the first generation, and is a group of gain set candidates that are initially set in determining the optimum gain set HK.
An individual is represented by a gain curve 150 as shown in FIG. 8A, and a plurality of points constituting the gain curve 150 are genes (gain values). Further, the initial group A0 includes a plurality of individuals (gain curves) 150 as shown in FIGS. 9 (a) and 9 (b).
Each of the gain curves 150 is created based on the hydraulic pressure characteristics in the brake cylinder 18, and the gain values Gx (x = a to j) are different from each other as shown in FIGS. 8 (a) and 8 (b). It is set corresponding to each of a plurality of brake cylinder hydraulic pressures. As shown in FIG. 10, the brake cylinder 18 has a hydraulic pressure characteristic that requires a larger amount of hydraulic fluid when the hydraulic pressure is small and when the hydraulic pressure is increased by the same amount than when the hydraulic pressure is large. In other words, when the same amount of hydraulic fluid is supplied, when the hydraulic pressure of the brake cylinders 18 and 20 is small, the amount of change in the hydraulic pressure is smaller than when the hydraulic pressure is large. Therefore, when the hydraulic fluid is supplied at the same flow rate when the hydraulic pressure of the brake cylinder 18 is large and small, the amount of change in the hydraulic pressure is smaller than when the hydraulic pressure is small, and when the hydraulic pressure is small, the hydraulic fluid has the same gradient. The control delay increases with respect to the demand to increase the pressure. On the other hand, as shown in FIG. 8 (a), if the gain value is made smaller when the hydraulic pressure of the brake cylinder 18 is larger than when it is small, the control is performed depending on whether the brake cylinder hydraulic pressure is small or large. The difference in delay can be reduced.

Therefore, in this embodiment, the gain value Gx is set in association with each of a plurality of different brake cylinder hydraulic pressures Px, and the brake cylinder hydraulic pressures increase with the plurality of gain values Gx. (Px <Px + 1, Gx ≧ Gx + 1). Each individual (gain curve) 150 constituting the initial population A0 is created satisfying this condition, and this condition is a condition that should be maintained even if the generation changes. Called.
The gain curve 150 is a line that approaches a certain value when the brake cylinder hydraulic pressure increases. That is, as shown in FIG. 8 (a), when the brake cylinder hydraulic pressure interval is the same, when the brake cylinder hydraulic pressure is small, the amount of decrease in the gain value is larger than when the brake cylinder hydraulic pressure is large. Thus, in the gain curve 150, the relationship between the hydraulic pressure and the gain value is not linear but nonlinear.
Further, as shown in FIG. 8A, when the brake cylinder hydraulic pressure is small, the brake cylinder hydraulic pressure interval when setting the gain value is narrower than when the brake cylinder hydraulic pressure is large (PinterL <PinterH). When the brake cylinder hydraulic pressure is small, the gain value Gx is set finer than when the brake cylinder hydraulic pressure is large. This is because finer control (control that satisfies the demands of the driver in detail) is desired at the beginning of braking.
Further, as described above, it is desirable that the actual fluid pressure Pwc changes with an appropriate delay with respect to the change in the target fluid pressure Pref. Therefore, each of the gain values Gx is set in consideration of that. As will be described later, the gain value Gx that keeps the delay time within a predetermined setting range is set to a magnitude suitable for the brake cylinder hydraulic pressure.

Further, in this embodiment, one gain curve 150 (individual) includes ten gain values Gx (genes).
If the number of gain values Gx included in the gain curve 150 is small, the time required for data processing can be shortened, but it becomes difficult to finely control the brake cylinder hydraulic pressure. On the other hand, if the number of gain values Gx is large, it becomes possible to finely control the brake cylinder hydraulic pressure, but it takes a long time for data processing. Based on these circumstances, in this embodiment, the number of gain values Gx included in one gain curve 150 is set to ten. Further, when the number of gain values Gx is large, the characteristics of the gain curve (individual) 150 can be set more finely than when the number is small, and in this sense, the number of gain values Gx is referred to as resolution. it can. Note that the number of genes included in an individual is not essential and is not limited.
In the present example, the number of individuals existing in a certain generation is 10, and the number of individuals included in the group is 10. If the number of individuals H who are members of the group A is too small, there is a high possibility that the finally obtained solution will be biased. If the number is too large, a more suitable solution may be obtained. However, the data processing time becomes longer. For these reasons, in this embodiment, the number of genes included in the group is 10, but the number is not limited thereto.

In this embodiment, the gain curve 150 is not actually a curve but a broken line connecting a plurality of points determined by (brake cylinder hydraulic pressure, gain value), and an example thereof is shown in FIG. In addition, since the genes (gain values Gx) are related to each other, it is effective to represent the individual 150 by one vector or row example.
The optimum individual (control parameter set) determined in the present embodiment is an individual having a plurality of gain values related to each other, whereas it is determined by the control parameter determination device described in Patent Documents 2 and 3 described above. The plurality of optimal control parameters are different from each other in that they are independent scalars. Moreover, in the control parameter determination apparatus described in Patent Documents 2 and 3, the weight coupling coefficient of the neural network is determined using a sigmont function. Therefore, a large capacity is required in the computer. On the other hand, in the control parameter determination apparatus according to the present embodiment, the sigmont function is not used, so that the memory capacity can be reduced accordingly.
Each individual (gain curve) 150 set in the initial group A0 is preferably determined for each hydraulic brake (for each caliper). Since the operation characteristics are different for each hydraulic brake, the individuals included in the initial group A0 are made different accordingly. For example, it can be determined for each vehicle type. Furthermore, each individual 150 can be made different on the front wheel side and the rear wheel side even in the same vehicle type. The operation request for the hydraulic brake 14 on the front wheel side is often different from the operation request for the hydraulic brake 16 on the rear wheel side. For example, the front brake hydraulic pressure brake 14 can be set to a larger gain value so that the request is quickly satisfied.

FIG. 11A shows a data structure used for executing the automatic adaptation program. The data structure corresponds to the structure of the dynamic memory 42. In the dynamic memory 142, a gain value recording buffer 162, a delay time (responsiveness) recording buffer 164, an individual fitness recording buffer 166, and an overall fitness recording buffer 168 are provided for each individual 150. It is done. Further, identification information is attached to each individual 150, and these buffers 162 to 168 are provided in association with the identification information. According to the identification information, one of the plurality of individuals 150 constituting the group A can be specified.
Further, as described above, the gain value Gx is provided corresponding to a plurality of different brake cylinder hydraulic pressures Px, and the delay time and the like are also obtained corresponding to the brake cylinder hydraulic pressures Px. As shown, the gain value recording buffer 162, the delay time recording buffer 164, and the individual fitness recording buffer 166 are also provided corresponding to the brake cylinder hydraulic pressure Px, respectively. In this embodiment, as will be described later, since index values are assigned in association with the brake cylinder hydraulic pressure, these are provided in correspondence with the index values. Hereinafter, the gain value corresponding to the brake cylinder hydraulic pressure Px will be referred to as Gx (x = a, b, c, d,...), And the gain value corresponding to the index value N will be referred to as G (N) (N = (1, 2, 3, 4...) Are often described, but these may be described without particular distinction. The hydraulic pressure region represented by the index value 1 will be described later. In any case, the gain value G (1) corresponding to the index value 1 is the gain value Ga {G (1) = Ga}, and the index value The gain value G (2) corresponding to 2 is the gain value Gb {G (2) = Gb}, and the same applies to the index values 3, 4, 5,.
In the present embodiment, a plurality of individuals H 0 (a plurality of gain curves 150) constituting the initial group A 0 are input via the input device 146.

The flowchart of FIG. 12 describes the flowchart of FIG. 7 in more detail. In the flowchart of FIG. 12, it is determined in S21 whether or not the automatic adaptation flag is ON. In this embodiment, when the start switch 144 is operated by the operator, an ON signal (one form of trigger signal) is output, and the automatic adaptation flag is turned ON. In the OFF state of the automatic adaptation flag, S22 and subsequent steps are not executed.
When the automatic adaptation flag is switched to the ON state, the above-mentioned initial group A0 is created in S22 (I), and in S23, it is determined whether or not the generation number M has reached a predetermined set generation number Ms. The The set generation number Ms can be, for example, 60s.
Before reaching the set generation number Ms, as described above, determination of II target fluid pressure / acquisition of responsiveness, acquisition of III fitness, selection / crossover of individuals to be crossed over (S24-31) are repeatedly executed. The
In a certain generation (initial generation when S24 is first executed) m, one target individual is specified from a plurality of individuals Hm included in the group Am of the generation m (S24). Then, the responsiveness is acquired for the target individual (S25 to 27), the evaluation is performed (S28), and the rank is determined (S29: added to the rank table). When the rank is determined, in S30, it is determined whether or not all of the plurality of individuals 150 included in the group Am of the generation m are identified as target individuals (whether or not all the individuals have been processed). If the determination is NO, the process returns to S24 and the next target individual is specified. Similarly, in S25 to 29, responsiveness is acquired, evaluated, and added to the rank table. While S30 is NO, S24-30 are repeatedly executed.
When the processing for all the individuals Hm included in the group Am of the generation m (II responsiveness acquisition, III fitness acquisition) is performed, the determination of S30 is YES, and the IV crossover target individual Selection and crossover are performed (S31), and an individual Hm + 1 to be transferred to the next generation (m + 1) is determined. In S32, the next generation is designated, and S24 to 30, 31 are executed similarly in the next generation (m + 1).
When the generation number M reaches the set generation number Ms, the determination in S23 is NO. In S33, the optimum individual (optimum gain set) HK is determined, and in S34, the automatic adaptation flag is turned OFF. The automatic adaptation flag may be reset (turned off) after a set time has elapsed after the start switch 144 is turned on, or may be reset after the optimum gain set HK is acquired. can do.
In the present embodiment, a control parameter set determining unit is configured by a part that stores S33 of the automatic adaptation unit 120, a part that executes S33, and the like.

II. Determination of target hydraulic pressure / acquisition of responsiveness Acquiring responsiveness in S12 of the flowchart of FIG. 7 (S25 to 27 of the flowchart of FIG. 12) is performed according to the flowchart of FIG. The routine represented by the flowchart of FIG. 13 is executed for the target individual 150 identified in S24 of the flowchart of FIG.
In S51, the target hydraulic pressure creation function is read. In S52, the target hydraulic pressure Pref is determined. In S53, the gain value Gx is determined. Then, the target fluid pressure Pref and the gain value Gx are output from the automatic adaptation unit 120 to the applied current determination unit 80. In the applied current determining unit 80, the formula Ig = IFF + IFB = IFF + {Iopen + Gx · | e |} (2)
Thus, the applied current is determined, and the supply current to the solenoids 72 and 76 of the pressure-increasing linear valve 24 and the pressure-decreasing linear valve 28 is controlled.
In S54, 55, it is determined whether the flag SF is 2 or 4. The flag SF is a flag representing a stage determined by a change pattern of the target hydraulic pressure Pref, as will be described later.
When the flag SF is 2, pressure increase control is being performed, and responsiveness is acquired in S56. When the flag SF is 4, pressure reduction control is being performed, and responsiveness is acquired in S57.
In the present embodiment, a responsiveness acquisition unit is configured by a part that stores S56 and 57 of the automatic adaptation unit 120, a part that executes the part, and the like. The responsiveness acquisition unit is also an overshoot acquisition unit and a delay acquisition unit.

(i) Determination of target hydraulic pressure The target hydraulic pressure Pref is increased or decreased according to a predetermined change pattern.
An example of the change pattern of the target hydraulic pressure Pref is shown in FIG. As shown in FIG. 18, the target hydraulic pressure Pref is increased with a constant pressure increase gradient α, then held at a constant hydraulic pressure Pmax, and decreased with a constant pressure decrease gradient β. Further, a period during which the brake cylinder hydraulic pressure control is performed (which can be referred to as a control period and starts from the time Tstart in FIG. 18) is also referred to as a pre-start period Tpre (represented by a flag SF1 and referred to as a pre-control period). Can be divided into a pressure increasing period Tup (represented by flag SF2), a holding period Thold (represented by flag SF3), and a pressure reducing period Tdown (represented by flag SF4). Therefore, as described above, the responsiveness is acquired in the period represented by the flags SF2, 4.
This target hydraulic pressure change pattern is determined based on information (user information, input information) input in advance. By the operator, the hydraulic pressure Pint at the start of pressure increase, the retained hydraulic pressure Pmax after the increase, the pressure increase gradient α (dPup / dt), the pressure decrease gradient β (dPdown / dt), the pre-start period Tpre, the hold period Thold, and the end period Tend is input. Further, the depressurization end hydraulic pressure Pend is the same as the start time hydraulic pressure Pint (Pint = Pend), and can be, for example, atmospheric pressure.
The pressure increase period Tup is calculated from the equation Tup = (Pmax−Pint) / α from the fluid pressure Pint at the start of increase, the holding fluid pressure Pmax, and the pressure increase gradient α.
Sought in accordance with
The depressurization period Tdown is calculated from the equation Tdown = (Pend−Pmax) / β from the depressurization end hydraulic pressure Pend, the holding hydraulic pressure Pmax, and the depressurization gradient β (β <0).
As required.
The time when the elapsed time from the start time Tstart of the hydraulic pressure control is Tpre is the pressure increase start time (time when the control start is a reference) Tupstart, and the time when the elapsed time is (Tpre + Tup) is the pressure increase end time Tupend The time point of (Tpre + Tup + Thold) is the pressure reduction start time Tdownstart, and the time point of (Tpre + Tup + Thold + Tdown) is the pressure reduction end time Tdownend.

In this embodiment, the elapsed time from the start time Tstart of the hydraulic pressure control is measured by the timer A, the elapsed time in each period determined by the flag SF is measured by the timer B, and the time is measured by the timers A, B, etc. The device is configured.
When the time measured by the timer A reaches the pressure increase start time Tupstart, the flag SF is switched from 1 to 2, and the flag SF is kept at 2 during the pressure increase period Tup. When the pressure increase end time Tupend is reached, the flag SF is switched from 2 to 3, and is maintained at 3 during the holding period Thold. When the pressure decrease start time Tdownstart is reached, the flag SF is switched from 3 to 4. It is kept at 4 during the decompression period Tdown, and the flag SF is switched to 0 when the decompression period Tdown has elapsed.
The timer B measures the elapsed time from the start of each period while the flag SF is a constant value, and is reset when the flag SF changes (the count value NtB of the counter of the timer B is 0). ) The time is a value obtained by multiplying the count value NtB by the period (cycle time when the program is executed) ΔT (tB = ΔT · NtB).

The gain value Gx used for controlling the brake cylinder hydraulic pressure is determined based on the actual hydraulic pressure Pwc and the target individual 150. As described above, the gain curve 150 is a broken line, and defines the relationship between a plurality of different brake cylinder hydraulic pressures Px and the gain value Gx. For example, the actual hydraulic pressure Pwc is a gain value. When the hydraulic pressures Pa, Pb, Pc... Correspond to Ga, Gb, Gc..., The gain values used for determining the applied current are the gain values Ga, Gb, Gc. It is said. When the actual hydraulic pressure Pwc is between two hydraulic pressures corresponding to the gain value, an interpolation value of the two gain values is used as a gain value. For example, when the actual brake cylinder hydraulic pressure Pwc is between the hydraulic pressures Pc and Pd (Pc <Pwc <Pd), a value obtained by linear interpolation of the two gain values Gc and Gd,
GHcd = Gc + {(Gd-Gc) / (Pd-Pc)}. (Pwc-Pc)
Is the value used for control. An example of the relationship between the actual brake cylinder hydraulic pressure Pwc and the gain value Gx used in the hydraulic pressure control is shown in FIG.

The target fluid pressure creation (target fluid pressure determination) in S52 is performed by executing the routine represented by the flowchart of FIG. In S72, it is determined whether or not the change pattern shown in FIG. 18 has been created. The change pattern in FIG. 18 is the same while the main routine is executed once. That is, while the optimum gain set is acquired, the target hydraulic pressure is changed according to the same pattern (the hydraulic pressure change gradient is constant).
If no change pattern has been created, a change pattern is created in S73 as described above. If a change pattern has already been created, S73 is not executed.
In S74, whether the measurement time by the timer A has reached any one of the pressure increase start time Tupstart, the pressure increase end time Tupend, the pressure decrease start time Tdownstart, and the pressure decrease end time Tdownend, that is, has reached a delimiter time It is determined whether or not. If the break time is reached, the timer B is reset in S75 (the count value NtB of the timer B counter is set to 0). If it is not the break time, the time measurement by the timer B is performed in S76. Are continuously performed (the count value NtB of the counter is incremented by 1).
In S77 to 89, based on the elapsed time from the control start time Tstart measured by the timer A, the flag SF is determined, and the target hydraulic pressure Pref is determined accordingly and used when determining the supply current. The gain value G to be determined is determined and output to the applied current determination unit 80 (S80).

When the time tA measured by the timer A has not reached the pressure increase start time Tupstart, that is, when it is in the pre-start period Tpre in FIG. 18, the flag SF is 1. Further, since the break time has not been reached, the determination in S74 is NO, and the measurement by the timer B is continuously performed in S76. Since the time tA has not reached the pressure increase start time Tupstart, the determination in S77 is YES, the flag SF is set to 1 in S78 and 79, and the target hydraulic pressure Pref is determined to be 0 (pre-start hydraulic pressure Pint). Is done. In S80, information indicating the target hydraulic pressure Pref = 0 and the gain value Ga is output to the applied current determining unit 80. Since it is before the start of the pressure increase control, the actual hydraulic pressure Pwc is also 0 and the gain value is Ga. In the applied current determination unit 89, the holding mode is selected, and the applied current to the pressure-increasing linear valve 24 becomes zero. Before the time tA reaches the pressure increase start time Tupstart, S72, 74, 76, 77-80 are repeatedly executed.
When the time tA measured by the timer A reaches the pressure increase start time Tupstart, since the break has been reached, the determination in S74 is YES, and the timer B is reset in S75. Next, since the determination in S77 is NO and the determination in S81 is YES, the flag SF is set to 2 in S82 and 83, and the target hydraulic pressure Pref is expressed by the formula Pref = Pint + α · tB.
As required. tB is a time measured by the timer B, and is an elapsed time (ΔP · NtB) from the pressure increase start time Tupstart. Thus, during the pressure increase control represented by the flag SF (= 2), the target hydraulic pressure Pref is increased at a gradient determined by the input pressure increase gradient α. Further, the applied current determination unit 80 outputs a target hydraulic pressure Pref (> 0) and a gain value Gx determined by the actual brake cylinder hydraulic pressure Pwc. The gain value Gx is determined based on the actual fluid pressure Pwc and the target individual 150. In the applied current determination unit 80, the applied current value is determined using the gain value Gx and supplied to the solenoid 72 of the pressure-increasing linear valve 24. Before the time tA measured by the timer A reaches the pressure increase end time Tupend (before the time tB measured by the timer B reaches the pressure increase period Tup), S72, 74, 76, 77, 81 to 83, 80 Is repeatedly executed.

  When the time tA measured by the timer A reaches the pressure increase end time Tupend, the timer B is reset. The determination in S77 and 81 is NO, and the determination in S84 is YES. In S85 and 86, the flag SF is set to 3 (switched from 2 to 3), and the target hydraulic pressure Pref is set to the holding hydraulic pressure Pmax. The holding hydraulic pressure Pmax may be the same as the brake cylinder hydraulic pressure Pj corresponding to the gain value Gj that defines the gain curve 150 shown in FIG. 9, or may be larger than the hydraulic pressure Pj. The gain value output to the applied current determination unit 80 is a gain value Gj corresponding to the brake cylinder hydraulic pressure Pj. As shown in FIGS. 8 (a) and 9 (a), in the gain curve 150, the gain value G is set so that the amount of change decreases and approaches a constant value as the brake cylinder hydraulic pressure increases. . Therefore, when the brake cylinder hydraulic pressure is high, it can be considered that the value is almost constant Gj. Before the time measured by the timer A reaches the decompression start time Tdownstart, S72, 74, 76, 77, 81, 84 to 86, 80 are repeatedly executed.

When the time tA measured by the timer A reaches the decompression start time Tdownstart, the timer B is reset in S75, the determinations in S77, 81, 84 are NO, and the determination in S87 is YES. In S88 and 89, the flag SF is set to 4, and the target hydraulic pressure Pref is expressed by the formula Pref = Pmax + β · tB.
Depressurization gradient β <0
As required. The target hydraulic pressure Pref is decreased with a gradient determined by the input depressurization gradient β. Further, the gain value Gx is acquired in the same manner, and information indicating the target hydraulic pressure Pref and the gain value Gx is supplied to the applied current determination unit 80. Before reaching the decompression end time Tdownend, that is, when the time measured by the timer B is within the decompression period Tdown, S72, 74, 76, 77, 81, 84, 87 to 89, 80 are repeatedly executed. .
When the time tA measured by the timer A reaches the decompression end time Tdownend, the timer B is reset and the determinations in S77, 81, 84, and 87 are NO, so the flag SF is set to 0 in S90 and 91. At the same time, the target hydraulic pressure Pref is set to a predetermined end hydraulic pressure Pend (in this embodiment, it is the same magnitude as the pre-start hydraulic pressure Pint, and the atmospheric pressure is 0).
When the measurement time by the timer B exceeds the end period Tend, the control of the brake cylinder hydraulic pressure for obtaining the responsiveness for each gene for one target individual 150 is ended. Thereafter, the timer A is reset, the next target individual is specified in S24, and the same execution is performed for the target individual.

The target hydraulic pressure change pattern is not limited to the pattern shown in FIG. The pressure increase gradient, the pressure decrease gradient, and the like can be different for each control valve, different for the front wheel side valve and the rear wheel side valve, or the like. It is desirable to set the size so that each of the requirements can be properly evaluated.
It is not essential to provide the period Tend.

(ii) Acquisition of responsiveness While the current applied to the pressure-increasing linear valve 24 and the pressure-reducing linear valve 26 is controlled in this way, the actual brake cylinder hydraulic pressure Pwc is detected, and the detected actual hydraulic pressure Pwc is detected. Based on this, a level of responsiveness is obtained. The level of responsiveness can be expressed by delay time, presence / absence of delay, overshoot amount, presence / absence of overshoot.
Here, a case where a delay time as responsiveness is measured will be described.
In this embodiment, as shown in FIG. 20, the delay time Tr is measured when the actual fluid pressure Pwc reaches the measurement target fluid pressure Ptarget, and the measured delay time is the delay time recording buffer 164. To be recorded.
The time (actual arrival time Tx) required for the actual hydraulic pressure Pwc to reach the measurement target hydraulic pressure Ptarget is the actual elapsed time Tx from the start-up control start time Tupstart, and is measured by the timer B (Tx = TB = NtB × ΔT).
Further, when it is assumed that the hydraulic pressure of the brake cylinder 18 is increased without delay according to the change of the target hydraulic pressure Pref (when it is assumed that the hydraulic pressure of the brake cylinder 18 is increased by the target gradient α), the brake cylinder hydraulic pressure becomes the target hydraulic pressure for measurement. The time required to reach Ptarget (no delay arrival time Ttarget) is given by the equation Ttarget = Ptarget / α
(According to the change pattern). Since this time is also the time required for the target hydraulic pressure Pref to become the measurement target hydraulic pressure Ptarget, it can also be referred to as the measured hydraulic pressure arrival time.
Therefore, the delay time Tr is a time obtained by subtracting the arrival time Ttarget without delay from the actual arrival time Tx, and the expression Tr = Tx−Ttarget.
Can be asked according to.
As shown in FIG. 20, when the actual arrival time is Tx1 and is longer than the non-delay arrival time Ttarget (Tx1> Ttarget), the delay time Tr becomes a positive value, but the actual arrival time is Tx2, When the arrival time without delay Ttarget is shorter (Tx2 <Ttarget), the delay time Tr becomes a negative value. The delay time Tr has a negative value when overshoot occurs. In this embodiment, the measured delay time Tr is recorded in the delay time recording buffer 164, but the time is recorded as a value having a sign.

As shown in FIG. 19, the measurement target hydraulic pressure Ptarget is basically set to the same value as the brake cylinder hydraulic pressure Px when the gain value is set in the initial setting, but the brake cylinder hydraulic pressure Pa is When it is 0, the minimum value Ptarget (1) of the measurement target hydraulic pressure (the first measurement target hydraulic pressure during the pressure increase control) is set to a value larger than Pa and smaller than Pb.
Pa <Ptarget (1) <Pb
In other cases, the measurement target hydraulic pressure Ptarget (N) is set to the same value as the brake cylinder hydraulic pressure Px corresponding to the gain value.
Ptarget (2) = Pb, Ptarget (3) = Pc,... Ptarget (10) = Pj
Further, as shown in FIG. 19, a hydraulic pressure region where the hydraulic pressure is smaller than the measurement target hydraulic pressure Ptarget (1) is defined as a region represented by an index value 0.
Index value 0: Pwc <Ptarget (1)
Further, a hydraulic pressure region that is equal to or higher than the minimum measurement target hydraulic pressure Ptarget (1) and smaller than the second lowest measurement target hydraulic pressure Ptarget (2) (the brake cylinder hydraulic pressure Pb corresponding to the next gain value Gb) is indexed. It is assumed that the area is represented by value 1.
Index value 1: Ptarget (1) ≦ Pwc <Ptarget (2) {Ptarget (1) ≦ Pwc <Pb}
Furthermore, the hydraulic pressure is smaller than the second smallest measurement target hydraulic pressure Ptarget (2) and smaller than the third smallest measurement target hydraulic pressure Ptarget (3) (the brake cylinder hydraulic pressure Pc corresponding to the third gain value Gc). Let the area be an area represented by an index value of 2.
Index value 2: Ptarget (2) ≦ Pwc <Ptarget (3) {Pb ≦ Pwc <Pc}
The pressure region corresponding to the index value 10 is the following index value 10: Ptarget (10) ≦ Pwc {Pj ≦ Pwc}
become that way.
In this way, the lower limit value of the hydraulic pressure range corresponding to the index value N is set as the measurement target hydraulic pressure Ptarget (N).

Acquisition of responsiveness (measurement of delay time) during the pressure increase control in S56 is performed according to the routine represented by the flowchart of FIG.
In S121, the actual brake cylinder hydraulic pressure Pwc is detected, and in S122, the hydraulic pressure area is obtained, and the index value N corresponding to it is acquired. Then, in S123, it is determined whether or not the index value N is 0. Since the index value N is 0 before the actual brake cylinder hydraulic pressure reaches the first measurement target hydraulic pressure Ptarget (1), S124 and subsequent steps are not executed. On the other hand, if the index value N is 1 or more, it is determined in S124 whether or not data has already been recorded in the delay time recording buffer 162 corresponding to the index value N. If already recorded, steps S125 and after are not executed. If no data is recorded in the delay time recording buffer 164 corresponding to the index value N, the determination in S124 is YES, and in S125 to 127, the above-described actual arrival time Tx and no-delay arrival time Ttarget are acquired. Thus, the delay time Tr is acquired, and the value is recorded in S128.

For example, when the actual fluid pressure Pwc reaches the measurement target fluid pressure Ptarget (1), the index value becomes 1. The determination in S123 is NO, and in S124, it is determined whether or not data representing the delay time Tr has already been recorded in the portion corresponding to the index value 1 of the delay time recording buffer 164. When the actual hydraulic pressure (actual brake cylinder hydraulic pressure) Pwc has reached the measurement target hydraulic pressure Ptarget (1) (has reached the lower limit of the hydraulic pressure range corresponding to the index value 1), the determination is YES If this is the case (when S124 is first executed after switching to the index value 1), no data should be recorded in the portion corresponding to the index value 1 of the delay time recording buffer 164. . Therefore, in S125 to 128, the delay time Tr is acquired and recorded in the portion corresponding to the index value 1 of the delay time recording buffer 124.
When the actual fluid pressure Pwc exceeds the measurement target fluid pressure Ptarget (1) but is smaller than the fluid pressure Pb (the next measurement target fluid pressure Ptarget (2)), the fluid pressure with an index value N of 1 is used. In the area. Although the determination in S123 is NO, in this case, since data has already been recorded in the portion corresponding to the index value 1 of the delay time recording buffer 164, the determination in S124 is YES, and after S125 Is never executed.
When the actual fluid pressure Pwc reaches the measurement target fluid pressure Pb (= Ptarget (2)), the index value becomes 2. In S124, it is determined whether or not data is recorded in the portion of the delay time recording buffer 164 corresponding to the index value 2, but when the lower limit value of the hydraulic pressure region represented by the index value 2 is reached. Since no data is recorded, the determination in S124 is NO, and in S125 to 128, the delay time Tr is measured and recorded.
Similarly, responsiveness is acquired during the pressure increase control. When the actual fluid pressure Pwc reaches the measurement target fluid pressure Ptarget (10) (maximum measurement target fluid pressure Pj), the index value is changed. 10, the delay time Tr is measured and recorded in the delay time recording buffer 164 in S125-128.

In the present embodiment, when the pressure increase period Tup ends, the pressure increase control is ended, so that the brake cylinder hydraulic pressure does not continue to increase thereafter.
When the pressure increase period Tup ends (when the pressure increase end time Tupend is reached), the holding control is performed. During the holding period Thold, the applied current to the solenoid 72 of the pressure increasing linear valve 24 is controlled so that the actual brake cylinder hydraulic pressure Pwc is maintained at the holding hydraulic pressure Pmax (the applied current may be 0 in some cases). ).
When the pressure increasing end time Tupend is reached, the actual brake cylinder hydraulic pressure may be lower than the holding hydraulic pressure Pmax or higher than the holding hydraulic pressure Pmax. The supply current to the pressure-increasing linear valve 24 and the pressure-reducing linear valve 28 is controlled so that the brake cylinder hydraulic pressure Pwc is maintained at the holding hydraulic pressure Pmax.

Thus, in the present embodiment, since the lower limit value of the hydraulic pressure range represented by the index value N is the target hydraulic pressure for measurement, the actual hydraulic pressure Pwc reaches the target hydraulic pressure Ptarget for measurement. No data is recorded in the portion of the delay time recording buffer 164 corresponding to the index value. Therefore, the delay time Tr is always measured and recorded in the delay time recording buffer 164 when the measurement target hydraulic pressure Ptarget is reached.
Further, since the measurement target hydraulic pressure Ptarget (N) is set to the hydraulic pressures Pb to Pj at which the gain value Gx is set, when the gain values Gb to Gj are output to the applied current determining unit 80, that is, When the gain value Gb to Gj itself is used alone for determining the applied current, not the interpolation value of the gain value (the current determined when the gain values Gb to Gj themselves are used alone is supplied to the pressure-increasing linear valve 24. (When supplied) can be measured. It is better to measure when the current determined by the gain value alone is supplied than when the delay time is measured when the current determined by the interpolation value is supplied. It can be carried out.
The minimum measurement target hydraulic pressure Ptarget (1) is a value different from the hydraulic pressure Pa, but is a value close to the hydraulic pressure Pa, and the delay time is acquired in a state where the contribution of the gain value Ga is large. In this case, it may be considered that the response is about the gain value Ga.

In the above embodiment, the delay time Tr is recorded in the delay time recording buffer 124 as a value with a sign, but the delay time Tr is a negative value and overshoot occurs. Is detected, a predetermined value (for example, a negative set value, a large value that is not possible as a normal delay time, a non-numeric symbol, Or the like can be recorded).
In that case, in S128, when the delay time Tr is 0 or more (Tr ≧ 0), the acquired delay time Tr is recorded as it is, and when it is a negative value (Tr <0). A predetermined set value To is recorded.

Next, the case where the presence or absence of overshoot is detected separately from the measurement of the delay time will be described.
As shown in FIG. 16B, when the actual hydraulic pressure Pwc reaches the measurement target hydraulic pressure Ptarget, it is determined whether or not the actual hydraulic pressure Pwc (= Ptarget) is larger than the target hydraulic pressure Pref. If the hydraulic pressure Pwc is larger (Pref <Pwc), it is assumed that overshoot has occurred. As the target hydraulic pressure Pref, a value obtained by multiplying the elapsed time Tx and the pressure increase gradient α is used even if the value acquired in S83 of the flowchart of FIG. 14 is used.
The value acquired as may be used.
In the flowchart shown in FIG. 16A, if no data is recorded in the portion corresponding to the index value of the delay time recording buffer 164, the determination in S124 is NO, and in S161, the actual hydraulic pressure Pwc (= It is determined whether or not (Ptarget) is larger than the target hydraulic pressure Pref. If the actual hydraulic pressure Pwc is larger and it is detected that an overshoot has occurred, the delay time is set as the overshoot corresponding time Tover in S162, and the delay time recording buffer 164 corresponds in S128. The time Tover is recorded in the part. The time Tover is a predetermined set value, and is a value (for example, a negative value) different from the normal delay time.
On the other hand, when the actual hydraulic pressure Pwc is equal to or lower than the target hydraulic pressure Pref, the delay time Tr is measured after S125, and the delay time recording buffer 164 corresponds to the same as in the above embodiment. Recorded in the part.
Thus, in this embodiment, when an overshoot is detected, the delay time is not measured. In that sense, it can be considered that the presence or absence of overshoot is preferentially evaluated.

In S161, whether or not the actual hydraulic pressure Pwc (= Ptarget) is larger than the overshoot determination threshold value Pthover with respect to the target hydraulic pressure Pref, that is, the expression Pwc−Pref> Pthover (3)
It can also be determined whether or not is established. That is, it is determined whether or not the overshoot amount (Pwc−Pref), which is a value obtained by subtracting the target hydraulic pressure Pref from the actual hydraulic pressure Pwc, is larger than the overshoot determination threshold value Pthover.
When the actual fluid pressure Pwc is larger than the target fluid pressure Pref by an overshoot determination threshold value ΔPthover (Pref + ΔPth <Pwc), it is determined that an overshoot has occurred. Similarly, the delay time is measured. The overshoot allowable threshold value Pthover may be a set value larger than 0 or 0, but the case of 0 corresponds to the above embodiment.
On the other hand, when the overshoot allowable threshold value Pthover is a set value larger than 0, the delay time Tr may be a negative value even if the expression (3) is not satisfied. However, when equation (3) is not satisfied, the overshoot amount is small and the absolute value of the delay time Tr is also small. That is, the overshoot amount (Pwc−Pref) can be acquired separately from the case where the overshoot amount (Pwc−Pref) is larger than the allowable threshold value Pthover, and the overshoot amount is stored in the delay time recording buffer 164. It is possible to record differently depending on whether it is larger or smaller than Pthover. For example, when the overshoot amount is larger than the threshold value Pthover, the delay time Trover1 is recorded,
Pwc-Pref> Pthover
Tr = Trover1
If it is smaller than the threshold value Pthover, the delay time Trover2
Pthover>Pwc-Pref> 0
Tr = Trover2
Trover2> Trover1 and | Trover2 | <| Trover1 |
Is to be recorded.
The delay time Trover2 can also be set to zero. This is because the overshoot amount is small and the delay time can be considered short.

Next, a case where responsiveness is acquired during pressure reduction control will be described.
Even during the pressure reduction control, the responsiveness is acquired in the same manner as during the pressure increase control. As shown in FIG. 22, during the pressure reduction control, the actual brake cylinder hydraulic pressure Pwc is changed to the measurement target hydraulic pressure Ptarget. Is reached, the delay time Tr is measured.
The actual arrival time Tx required for the actual hydraulic pressure Pwc to reach the measurement target hydraulic pressure Ptarget from the deceleration start time Tdownstart is the measurement time by the timer B.
Tx = ΔT · NtB
Can be asked according to. On the other hand, if it is assumed that the actual brake cylinder hydraulic pressure has decreased without following the change in the target hydraulic pressure and according to the target decrease gradient β (in accordance with the target hydraulic pressure change pattern), the brake cylinder hydraulic pressure is measured. The arrival time Ttarget without delay, which is the time required to reach the target hydraulic pressure Ptarget, is expressed by the equation Ttarget = (Pmax−Ptarget) / β
Get according to.
The delay time Tr is a value obtained by subtracting the non-delay arrival time Ttarget from the actual arrival time Tx Tr = Tx−Ttarget
As required.
When the actual arrival time Tx is longer than the non-delay arrival time Ttarget (Tx2-Ttarget> 0), a delay occurs. When the actual arrival time Tx is short (Tx1-Ttarget <0), an overshoot can occur. In 164, a delay time Tr having positive and negative signs is recorded.

Further, the relationship between the index value N and the hydraulic pressure range is determined as shown in FIG. A range (Pwc> Pj) where the actual hydraulic pressure Pwc is larger than the hydraulic pressure Pj corresponding to the gain value Gj is represented by an index value 11, and a hydraulic pressure range (Pj ≧ Pwc> Pi below the hydraulic pressure Pj and higher than the hydraulic pressure Pi). ) Is represented by an index value of 10.
Further, the measurement target hydraulic pressure Ptarget is basically the same as the hydraulic pressures Pj to Pb for which the gain values are set, but the minimum hydraulic pressure Pa corresponding to the minimum gain value Ga is 0 (atmospheric pressure). In some cases, the measurement target hydraulic pressure Ptarget (1) is larger than the hydraulic pressure Pa and smaller than the hydraulic pressure Pb. That is, the upper limit value of the hydraulic pressure range represented by the index value is set as the measurement target hydraulic pressure.
From the above,
Index value 11: Pwc> Pj {Pwc> Ptarget (10)}
Index value 10: Pj ≧ Pwc> Pi {Ptarget (10) ≧ Pwc> Ptarget (9)}
...
Index value 2: Pb ≧ Pwc> Ptarget (1) {Ptarget (2) ≧ Pwc> Ptarget (1)}
Index value 1: Ptarget (1) ≧ Pwc> Pa
It becomes.
As shown in FIGS. 21A and 21B, in the pressure reduction control, when the actual hydraulic pressure Pwc is decreased and reaches the upper limit value of the hydraulic pressure range represented by the index value, that is, the index value changes. In such a case, the delay time is measured. Therefore, at the time when the delay time is measured, no data is recorded in the portion corresponding to the index value of the delay time recording buffer 164. The delay time is measured every time the actual hydraulic pressure Pwc reaches the hydraulic pressure Px at which the gain value Gx is set, and the response when the gain value itself is output to the applied current determining unit 80 is acquired. Will be. As a result, the responsiveness with respect to the gain value can be accurately acquired.
Note that the index value 11 is provided for convenience, and when the actual hydraulic pressure Px is higher than the hydraulic pressure Pj, the delay time or the like is not measured. In addition, the relationship between the index value and the hydraulic pressure range is different between the pressure increase control and the pressure reduction control, but in any case, when the delay time Tr reaches the actual hydraulic pressure Pwc reaches the hydraulic pressures Pb to Pj. The points to be measured are the same, and the index values in that case are the same.

The execution of S57 is performed according to the flowchart of FIG. In S181, the actual brake cylinder hydraulic pressure Pwc is detected, and in S182, the index value N is acquired. When the index value N is 11, S184 and subsequent steps are not executed. If the index value is 10 or less, the determination in S183 is NO, and it is determined in S184 whether or not data has already been recorded in the portion of the delay time recording buffer 164 corresponding to the index value. . If not recorded, the actual arrival time Tx and the non-delay arrival time Ttarget are acquired in S185 to 187, the delay time Tr is acquired, and the delay time Tr is recorded in the delay time recording buffer 164 in S188.
For example, when the brake cylinder hydraulic pressure decreases from the hydraulic pressure Pmax and reaches the hydraulic pressure Pj (= Ptarget (10)) by the pressure reduction control, the index value becomes 10. When the hydraulic pressure Pj is reached, since no data is recorded in the portion corresponding to the index value 10 of the delay time recording buffer 164, the delay time Tr is measured and recorded as described above. .
When the brake cylinder hydraulic pressure is smaller than the hydraulic pressure Pj and larger than the hydraulic pressure Pi, the index value N is 10. In this case, the portion corresponding to the index value 10 of the recording buffer 164 such as a delay time is not present. Since the delay time Tr has already been recorded, S185 and the subsequent steps are not executed.
When the actual fluid pressure Pwc decreases to the fluid pressure P (= Ptarget (9)), the index value becomes 9 for the first time. In this case, since the delay time is not recorded in the portion corresponding to the index value 9 of the delay time recording buffer 164, the delay time Tr is measured and recorded in the corresponding portion of the delay time recording buffer 164. Is done.
When the actual fluid pressure Pwc reaches the measurement target fluid pressure Ptarget (1), the index value becomes 1, and the delay time Tr is measured and recorded in S185 to 188.
When the depressurization end time Tdownend is reached, the depressurization control is terminated. The target hydraulic pressure Pref is set to 0 and the flag SF is set to 0. At the end of the pressure reduction control, the brake cylinder hydraulic pressure may not have decreased to 0 (Pend). However, since the target hydraulic pressure Pref is set to 0 as described above, the actual hydraulic pressure Pwc is subsequently changed to the atmospheric pressure. Will be lowered.
Thus, by one increase / decrease in the brake cylinder hydraulic pressure, the responsiveness is acquired while the pressure increasing linear valve 24 and the pressure reducing linear valve 28 are controlled using the target individual 150. .

Similarly to the case where the delay time is measured during the pressure increase control, the routine shown in the flowchart of FIG. 16 can be applied to the case where the pressure reduction control is performed, and the presence or absence of overshoot is detected separately. Can be done.
In the pressure reduction control, when the actual fluid pressure Pwc reaches the measurement target fluid pressure Ptarget, the actual fluid pressure Pwc (same as the measurement target fluid pressure Ptarget) is compared with the target fluid pressure Pref to determine the actual fluid pressure Pwc. When is less than the target hydraulic pressure Pref (Pwc <Pref), it is possible to prevent the delay time Tr from being measured because an overshoot has occurred. Furthermore, when the actual hydraulic pressure Pwc is smaller than the target hydraulic pressure Pref by an overshoot allowable threshold value Pthover (Pwc <Pref−Pthover), it is determined that an overshoot has occurred or that the overshoot amount is large. Can do.

In addition, the aspect of acquiring responsiveness is not limited to the above aspect. For example, the pressure increase control and the pressure reduction control may be performed a plurality of times, and a value obtained by statistically processing a plurality of delay times acquired in each may be recorded in the delay time recording buffer 164. For example, the responsiveness is comprehensively acquired based on the average value of a plurality of delay times, the number of times of overshoot determination, and the like, and the result is recorded in the delay time recording buffer 164. Further, when the delay time is measured a plurality of times, the target hydraulic pressure change pattern can be varied.
Furthermore, data representing the appropriateness of the gain value can be acquired in the holding period Thold. In the holding period Thold, the target hydraulic pressure Pref is set to a constant value (Pmax), and accordingly, it is desirable that the actual hydraulic pressure Pwc is kept constant and the holding mode is continuously selected. However, for example, if the gain value Gj is too large, overshoot occurs at the time of switching from the pressure increase control to the hold control, and then the amplitude of the actual hydraulic pressure Pwc increases, and the pressure increase / decrease (hold) is repeated. Control hunting may occur. Further, if the gain value Gj is too small, there is a possibility that pressure increase control or pressure reduction control is continuously performed during the holding period Thold.
Therefore, for example, in the holding period Thold, the time during which the holding mode is continuously set is acquired, or a value (maximum amplitude) obtained by subtracting the minimum value from the maximum value of the hydraulic pressure in the holding period Thold is acquired. And so on. In the holding period Thold, when the holding mode is continuously set for a long time, the gain value Gj can be considered to be a more appropriate value depending on the short time. Further, it can be considered that the gain value Gj is more appropriate than when the change amount (amplitude) of the hydraulic pressure during the holding period Thold is smaller than the appropriate determination threshold value. The gain value Gj can be evaluated in consideration of these.
Further, the response of the gain value Gj may be acquired based on the hydraulic pressure when switching from the pressure increase control to the holding control or the hydraulic pressure when switching from the holding control to the pressure reducing control. Is possible.

III. Acquisition of conformity The acquisition of conformity in S13 of FIG. 7 (S28 of FIG. 12) is performed according to the routine of FIG. The delay time Tr stored in the delay time recording buffer 164 is read. Based on the delay time Tr and a predetermined evaluation function, an evaluation value Sx, which is a numerical value representing evaluation of responsiveness with respect to the gain value Gx, is obtained. To be acquired. The evaluation value Sx is a value representing the suitability of the gain value (gene) Gx for the hydraulic pressure control, in other words, the value representing the suitability of the gene Gx to the environment. In this sense, hereinafter, the evaluation value can be referred to as the fitness. Further, the fitness for the gene Gx is referred to as an individual fitness, and the fitness for an individual is referred to as an overall fitness. This is because the total fitness is obtained comprehensively based on the individual fitness of each gene.
In the target individual 150 determined in S24 of FIG. 12, the delay time Tr1 is read from the portion corresponding to the index value 1 of the delay time recording buffer 164 in S221 of the flowchart of FIG. 23. In S222, the delay time Tr1 is read. And the evaluation function, the individual suitability S1 is acquired and recorded in the portion corresponding to the index value 1 of the individual suitability recording buffer 166.
Next, in S224, the index value is incremented by 1, and the individual fitness level S2 is acquired based on the delay time Tr2 and the evaluation function, and is recorded in the portion corresponding to the index value 2 of the individual fitness level recording buffer 166. Is done.
Similarly, by repeatedly executing S222 to S225, the delay time Trx is read out while the index value N is sequentially increased, and the individual fitness Sx is obtained based on the evaluation function. It is recorded in the recording buffer 166.
When the index value is greater than 10 (L = 10: the number of genes included in the individual) and the determination in S225 is YES, the acquisition of the individual fitness for one target individual 150 is terminated. In S226, the total fitness SGA is acquired for the target individual 150 and recorded in the total fitness recording buffer 168. Next, in S29 of FIG. 12, a ranking table 200 shown in FIG. 25 is created. In this embodiment, each time the total fitness SGA is acquired for the target individual 150, the individual 150 is sequentially added to the ranking table 200.

  An example of the evaluation function is shown in FIG. In this embodiment, the evaluation function is a Yamagata evaluation function. When the delay time is within a predetermined set time (T1 <Tr <T2), the individual fitness Sx is the highest, and moreover, it is a function that becomes lower as the delay time Tr becomes shorter or longer. . Further, when the delay time Tr is a negative value, that is, when overshoot occurs, the delay time Tr is set to be lower than when the delay time Tr is a positive value (when the delay time Tr is too long). Further, in a region where the delay time Tr is out of the set range, the individual fitness is continuously changed as the delay time changes. In addition, on the side where the delay time Tr is larger than the set range, the slope of decrease in the individual suitability accompanying the increase in the amount of deviation from the set time is made gentler than on the small side.

The evaluation is highest when the delay time Tr is within the set range, as described above, when the target hydraulic pressure Pref is increased or decreased, the pressure increase control and the pressure reduction control are continuously performed. It is for doing so. In other words, when the setting range of the delay time is set to an appropriate time for the control of the brake cylinder hydraulic pressure, and the delay time Tr is within the setting range, the individual suitability S is maximized. The evaluation function is set in
In the brake cylinder hydraulic pressure control, overshoot is a phenomenon that should be avoided to suppress hunting. Therefore, when the overshoot occurs, the evaluation is set to be lower than the case where the delay time is too long, for example, the delay time Ts or more in FIG.

The total fitness SGA is acquired as an inner product of the individual fitness vector [S] and the weighting vector [W].
The individual fitness vector having the individual fitness S acquired corresponding to the index value N as a component is expressed by the equation [S] = [Sa, Sb, Sc,.
The weighting vector having the weighting corresponding to the index value N as a component is expressed by the equation [W] = [Wa, Wb, Wc,.
These inner products are expressed by the equation SGA = ΣSx · Wx
= Sa · Wa + Sb · Wb + Sc · Wc + ··· + Sj · Wj
Get according to.
For example, in the control of brake cylinder hydraulic pressure, the evaluation weight for the gain value corresponding to the index value included in the hydraulic pressure area that is frequently used is increased, or the index included in the hydraulic pressure area where responsiveness is severely demanded It is possible to increase the evaluation weight for the gain value corresponding to the value.
Thus, since the total fitness SGA (IDj) is determined for each individual 150 existing in a certain generation, the rank is determined for each of all the individuals 150 included in the group of a certain generation. The individual with the highest overall fitness SGA (IDj) and the highest evaluation is the individual with the highest ranking, the individual with the lowest overall fitness SGA (IDj) and the lowest evaluation with the ranking of 10 (the population Corresponding to the total number of individuals included in the

Corresponding to each of the gain values Gx, the individual fitness Sx is acquired based on the delay time Tr and the evaluation function, and the total fitness is obtained for each gain curve 150 based on the individual fitness Sx. SGA is acquired. Further, since each individual 150 is associated with the identification information ID, the total fitness SGA is stored in association with the identification information. An example is shown in FIG.
In the present embodiment, a response correspondence evaluation unit is configured by the part that stores S28 of the automatic adaptation unit 120, the part that executes the process, and the like. Moreover, an individual evaluation part is comprised by the part which memorize | stores S221-225, the part to perform, etc. The individual evaluation unit is also an overshoot low evaluation unit, a Yamagata evaluation unit, and a continuous Yamagata evaluation unit. A comprehensive evaluation unit is configured by a part that stores S226, a part that executes S226, and the like. The comprehensive evaluation unit is also a vector dot product acquisition unit. In addition, the order determining unit is configured by a part that stores S29, a part that executes S29, and the like.

The evaluation function is not limited to that in the above embodiment. For example, as shown in FIG. 26 (a), the individual fitness S can be a function that changes stepwise as the delay time Tr changes. In this embodiment, the individual fitness S is changed in six stages. The individual suitability S can be evaluated at 7 levels or more, or can be evaluated at 5 levels or less. However, when obtaining the optimum gain value, it is desirable that the evaluation is performed in three or more stages.
The number of evaluation functions is not limited to one, and a plurality of evaluation functions can be provided in advance. For example, the gain values are divided into a plurality of groups based on the brake cylinder hydraulic pressure, and different evaluation functions are used in each group. Each group includes one or more gain values. For example, the first group is a group to which the gain values Ga, Gb, and Gc belong, the second group is the group to which the gain values Gd, Ge, Gf, and Gg belong, and the third group is a group to which the gain values Gh, Gi, and Gj belong. And Then, different evaluation functions are used in each of the first group, the second group, and the third group. There may be two groups or four or more groups. In this case, the evaluation function used in the group having a low hydraulic pressure has a delay time of the set range (T1 to T2) as shown in FIG. 26 (b) than the evaluation function used in the group having a high hydraulic pressure. Can be a function provided in a shorter part.
Furthermore, a different evaluation function can be used for each gain value (each hydraulic pressure or each index value). For example, as shown in FIG. 26 (b), when the index value N is small (the brake cylinder hydraulic pressure is small), the set range (T1˜ T2) can be a function located in a region with a short delay time. A function represented by a broken line is an evaluation function when the brake cylinder hydraulic pressure is large, and a function represented by a solid line is a function when the brake cylinder hydraulic pressure is small. In the hydraulic pressure control, when the control hydraulic pressure is small, it is desirable that the delay time is shorter than when the control hydraulic pressure is large. Therefore, the time range in which the evaluation function has the highest degree of fitness is larger when the index value N is small. The delay time is provided in a region where the delay time is short.
Conversely, when the index value N is large, the delay range Tr can be made shorter in the setting range (T1 to T2) where the individual fitness is the maximum value than in the case where the index value N is small. This is because when the hydraulic pressure is high, it may be desired to quickly reach the target hydraulic pressure Pref.

Further, in the above embodiment, the applied current is determined according to the equation (2). However, a larger value or a smaller value is supplied, and similarly, responsiveness is obtained. (Delay time, presence / absence of overshoot).
If the supply current is larger than a value determined in accordance with Equation (2) (hereinafter referred to as a standard current), overshoot is likely to occur, and if the supply current is smaller than the standard current, the delay is increased. As described above, if a current larger than the standard current is supplied or a small current is supplied, the degree of expansion (robustness) of the adaptive range of the gain value can be acquired.
For example, a value obtained by multiplying a feedback control current IFB whose supply current is a standard current by R1 (R1> 1, for example, 1.1) Igover = IFF + IFB · R1
If so, overshoot control is performed. The presence or absence of overshoot is detected, and when it is detected that overshoot has occurred, the individual fitness indicating that fact is recorded in the fitness recording buffer 166.
For example, when the actual fluid pressure Pwc reaches the measurement target fluid pressure Ptarget (2) (= Pb), if it is detected that an overshoot has occurred, the index value of the individual fitness recording buffer 166 is detected. A value indicating that an overshoot has occurred is recorded in portions corresponding to 1 and 2 (portions corresponding to gain values Ga and Gb). In this embodiment, when the hydraulic pressure is continuously increased or decreased, the gain value actually used in the hydraulic pressure control also changes. For this reason, there is a case where it is also affected by adjacent gain values. Therefore, when it is detected that an overshoot has occurred when the actual hydraulic pressure Pwc reaches a certain measurement target hydraulic pressure Ptarget, not only the gain value but also the previous and subsequent gain values are evaluated. Try to keep it low.
The description such as (Sa / Sb = 0) in FIG. 27 represents this. When overshoot is detected when the actual fluid pressure Pwc reaches the measurement target fluid pressure Pb in the case where the individual adaptability when the overshoot occurs is set to 0, this corresponds to the index value 1. Both the individual fitness Sa for the gain value Ga and the individual fitness Sb corresponding to the index value 2 are set to zero.

In this embodiment, in the initial setting, in the individual 150, when the hydraulic pressure is small, the hydraulic pressure interval when the gain value is set is made smaller than when the hydraulic pressure is high, and the gain value is set finely. . For this reason, when the hydraulic pressure is small, the number of gain values (number of index values) affected is larger than when the hydraulic pressure is large. The affected gain value is not limited to the mode shown in FIG. Regardless of the magnitude of the hydraulic pressure, the same fitness is applied to at least one of the gain value on the low hydraulic pressure side and the gain value on the high hydraulic pressure side. For both the low gain value and the high fluid pressure gain value, the same goodness of fit is obtained. Can be made to have no effect.
This evaluation mode can also be applied when a standard current (R1 = 1) is supplied.

In addition, the fitness can be acquired by reducing the supply current. For example, a value obtained by multiplying the feedback control current IFB of the standard current by R2 (R2 <1, for example, 0.9) Igover = IFF + IFB · R2
The current determined by is supplied.
The delay time Tr is measured in the same manner as in the above embodiment, and the individual fitness is acquired and recorded based on the measured delay time Tr and the evaluation function. Note that whether or not the delay time is equal to or longer than the set time Ts is acquired. If the delay time is equal to or longer than the set time Ts, an individual fitness indicating that fact can be recorded. Further, as in the case where the presence or absence of overshoot is detected, the adjacent gain value can be affected, but it is not essential.
As described above, when the individual fitness is acquired a plurality of times by changing the supply current, for example, as shown in FIG. 28, a plurality of individual fitness recording buffers 210 to 214 are provided for one individual 150. Can be.

Each of the individual fitness recording buffers 210 to 214 (standard current compatible individual fitness recording buffer 210, overshoot compatible individual fitness recording buffer 212, delay compatible individual fitness recording buffer 214) has a standard current Ig. , Larger current Igover, smaller current Igr is supplied, and the individual fitness based on the response obtained when it is supplied is recorded. In the present embodiment, the total fitness SGA for the individual 150 is calculated based on the individual fitness Sna to Snj, Soa to Soj, Sra to Srj recorded in each of the individual fitness recording buffers 210 to 214. To be acquired.
For example, based on the individual fitness levels recorded in the individual fitness level recording buffers 210 to 214, the total fitness levels (reference current compatibility total fitness SGAn, overshoot compatibility total fitness SGAo, delay response total adaptation, respectively) Degree SGAr) is acquired, and the total fitness SGA for the individual 150 is obtained based on these three total fitness SGAn, SGAo, and SGAr. When the overshoot-compatible total suitability SGAo and the delay-corresponding total suitability SGAr are equal to or greater than the predetermined set values SGAoth, SGArth, the standard current-compatible total suitability SGAn is set to a value that is larger by the set value δ (SGA = (SGAn + δ). This is because even if a current different from the standard current is supplied, appropriate control is performed, and thus high robustness is achieved. On the other hand, if at least one of the overshoot-compatible total suitability SGAo and the delay-corresponding total suitability SGAr is less than or equal to the set values SGAoth, SGArth, the standard current-compatible total suitability SGAn is set to a value that is smaller by the set value δ. (SGA = SGAn-δ).
In addition, the individual fitness level S corresponding to each index value can be determined based on the three individual fitness levels (Snx, Sox, Srx) corresponding to the same index value. As in the case described above, when both the overshoot-compatible individual adaptability Sox and the delay-corresponding individual adaptability Srx are larger than the set values Soth and Srth, a value larger than the standard current-compatible individual adaptability Snx by the set value δn. Is the individual fitness Sx corresponding to the gain value (Sx = Snx + δn), and at least one of the overshoot-compatible individual fitness Sox and the delay-compatible individual fitness Srx is smaller than the set values Soth and Srth A value (Sx = Snx−δn) smaller than the current corresponding individual adaptability Snx by the set value δn is set as the individual adaptability S. Then, the total fitness SGA is acquired based on the individual fitness Sx acquired from the three individual fitness (Snx, Sox, Srx). By doing in this way, it becomes possible to evaluate each individual 150 more comprehensively.

The sizes of the coefficients R1 and R2 are not limited to those in the above embodiment. The coefficient R1 may be a value smaller or larger than 0.9, and the coefficient R2 may be smaller than 1.1 or larger.
A value obtained by statistically processing the three individual fitness levels (Snx, Sox, Srx) is set as the individual fitness level Sx, or a value obtained by multiplying each by a weighting coefficient (wn, wo, wr) (wn · Snx, A value obtained by statistically processing (wo · Sox, wr · Srx) can be used as the individual fitness Sx.

Further, the brake cylinder hydraulic pressure can be controlled by changing the target hydraulic pressure change pattern shown in FIG. For example, it is effective to control the brake cylinder hydraulic pressure by changing the pressure increase gradient α and the pressure decrease gradient β. Even in this case, a plurality of individual fitness recording buffers are obtained for one individual 150. In this case, the average value of each individual fitness can be obtained, and the average individual fitness can be regarded as the individual fitness corresponding to the index value. Based on the degree, the total fitness can be acquired. It is also possible to acquire the overall fitness based on the acquired individual fitness, and use the average value of the plurality of overall fitness as the overall fitness of the individual.
For example, with respect to the pressure increasing linear valve 24, the same gain is obtained when the individual suitability obtained when the pressure increasing gradients are α0, α1, and α2 (α0 <α1 <α2), respectively, S0x, S1x, and S2x. The individual fitness Sx corresponding to the value (same index value) is set to the average value Shx {= (S0x + S1x + S2x) / 3}, and the total fitness SGAh is acquired based on the average individual fitness Shx. be able to. In addition, the total fitness SGA0, SGA1, and SGA2 are acquired based on the individual fitness, and the average value SGAH {= (SGA0 + SGA1 + SGA2) / 3} of the total fitness SGA0, SGA1, and SGA2 is obtained. SGA can also be used.

IV. Selection and crossover (change) of crossover target individuals
The selection and change of the IV. Individual to be crossed in S14 of FIG. 7 (S31 of FIG. 12) is performed according to the routine of FIG. In S251, a crossover target individual and a non-crossover target individual are selected from a plurality of individuals existing in a certain generation. In S252, a pair (pair) of crossover target individuals and non-crossover target individuals is created for each crossover target individual. Is done. In S253 and 254, crossover is performed. In S255, the gene is changed so as to satisfy the constraint condition, and in S256, the next generation population is created.
In the selection of S251, as shown in FIG. 30, a plurality of individuals 150 included in a group Am of a generation is divided into a non-crossover target individual 150E and a crossover target individual 150T. In this embodiment, Based on the rank table 200 shown in FIG. 25, Mo individuals determined in advance from the higher rank are set as the non-crossover target individuals 150E, and the remaining individuals, that is, (N-Mo) individuals from the lower rank. Is the crossover target individual 150T. The group Am is divided into a non-crossover target group AE to which the non-crossover target individual 150E belongs and a crossover target group AT to which the crossover target individual 150T belongs. Hereinafter, the non-crossover target individual is referred to as an elite individual 150E. For the elite individual 150E, the gene (gain value) included in it is not changed, but for the crossing target individual 150T, at least one of the gain values included therein is changed.
In the present embodiment, a candidate changing unit is configured by a part that stores S31 of the automatic adaptation unit 120, a part that executes S31, and the like.

  It is not essential that the non-crossover target individual 150E is an elite individual, and an individual selected at random can be used. For example, among the numbers 1 to 10, four numbers are selected at random, and an individual having a rank corresponding to the number is set as a non-crossover target individual. In addition, it is not essential that the number of non-crossover target individuals is four and the number of crossover target individuals is six. For example, the same number (5 each) can be used, or one elite individual can be used.

  Creation of the pair (pair) of S252 is performed as shown in FIG. For each cross target individual 150T, one of four elite individuals 150E is selected at random, and one of the cross target individuals 150T and one of the elite individuals 150E are used as a set 300, 302... 312 (FIG. 31). Is created). A total of six sets 300 to 312 are created for the number of individuals to be crossed 150T.

Note that the mode of creating a set is not limited to that in the above embodiment. For example, the set may be created such that the sum of the rank of the crossover target individual 150T and the rank of the elite individual 150E does not exceed a set value (for example, 12). (Rank 10 crossover individual 150T10, rank 1 elite individual 150E1), (rank 9 crossover target individual 150T9, rank 2 elite individual 150E2)...
Moreover, it can also be made so that the sum of the respective total fitness is equal to or greater than a set value.
Furthermore, all the elite individuals for each of the cross individual 150T can be the same. (Rank 10 crossover individual 150T10, rank 1 elite individual 150E1), (rank 9 crossover target individual 150T9, rank 1 elite individual 150E1)...
In the present embodiment, a set creation unit is configured by a part that stores S252 of the automatic adaptation unit 120, a part that executes the part, and the like. The group creation unit is also an elite dependent group creation unit and a change target candidate selection unit.

In S253 and 254, the gain value of the cross target individual 150T is changed. In S254, the gain value is changed under the influence of the elite individual 150E. However, in S253, the gain value is changed independently without being influenced by the elite individual 150E. Therefore, although it is difficult to say that the execution of S253 is a crossover, strictly speaking, since it is an execution by a genetic algorithm, in this embodiment, the execution of S253 and S254 is considered to be a broad crossover. Further, the execution of S253 can be referred to as an individual change, and the execution of S254 can be referred to as a mutual change.
Whether individual changes or mutual changes are made in this embodiment, whether or not each of a plurality of genes (gain values) included in each cross target individual 150T should be individually changed (need to be changed). High or low) is determined. When it is determined that the necessity for changing is high, the change of the gain value is determined. When it is determined that the necessity for changing the gain value is low, it is determined that the gain value is not changed.

In the individual change in S253, for each of a plurality of gain values (crossover target genes) included in one crossover target individual 150 (target individual), the corresponding individual fitness S is read out one by one and from the set value It is determined whether or not it is small. If it is smaller than the set value, it is determined that it should be changed, and its gain value is changed.
In this embodiment, two set values are provided. As shown in FIG. 24, the overshoot correspondence change threshold value ST1 that is one set value is a value that is determined that overshoot has occurred when the individual suitability is smaller than that, and the other set value. When the delay time corresponding change threshold value ST2 (> ST1) is smaller than that, it is determined that the delay time is too long. When the individual suitability Sx is smaller than the overshoot correspondence change threshold ST1 (Sx <ST1), the corresponding gain value is changed to a value of 0.9 times (Gx ′ ← 0.9 × Gx), When it is smaller than the delay time corresponding change threshold value ST2 (ST1 <Sx <ST1), the gain value is changed to a value multiplied by 1.1 (Gx ′ ← 1.1 × Gx).

For example, as shown in FIG. 32, when the individual suitability Sb corresponding to the gain value Gb is smaller than the overshoot correspondence change threshold value ST1,
Sb <ST1
The gain value Gb (crossover target gene) is changed to a value multiplied by 0.9.
Gb '← 0.9 × Gb
Further, when the individual adaptability Sg corresponding to the gain value Gg is equal to or greater than the overshoot change threshold value ST1, but smaller than the delay time change threshold value ST2,
ST1 ≦ Sg <ST2
The gain value Gg is changed to a value multiplied by 1.1.
Gg '← 1.1 × Gg
Since the individual fitness levels Sa, Sc, Sd, Se, Sf, Sh corresponding to the remaining gain values Ga, Gc, Gd, Ge, Gf, Gh are all equal to or greater than the threshold value ST2, these gain values Ga , Gc, Gd, Ge, Gf, and Gh are not changed in S253.

In the mutual change in S254, in the set 300 of the cross target individual 150T and the elite individual 150E, the individual matching degrees corresponding to each other {ST (N), SE (N)}, that is, the individual matching corresponding to the same index value N The degrees are compared with each other to determine whether or not the individual fitness STN of the crossing target individual 150T is equal to or higher than the individual fitness SEN of the elite individual 150E.
When the individual fitness ST (N) of the cross individual 150T is equal to or higher than the fitness SE (N) of the elite 150E, ST (N) ≧ SE (N)
Therefore, it is determined that the necessity of changing is low, and it is determined that the corresponding gain value GT (N) of the crossing target individual 150T is not changed.
When the individual fitness ST (N) of the individual 150T to be crossed is smaller ST (N) <SE (N)
Therefore, it is determined that the necessity of changing is high, and the change of the gain value GT (N) of the crossing target individual 150T is determined.
In this case, the crossover target gene GT (N) is different from the gain value GE (N) (elite gene) of the elite individual 150E by the difference {SE (N)} between the individual fitness {ST (N), SE (N)}. -ST (N)} For example, the crossover target gene is the formula GT (N) ′ ← (1-γ) · GT (N) + γ · GE (N) (4)
The value is changed according to

As shown in FIG. 33 (b), the ratio γ is determined to be larger when the individual fitness difference {SE (N) −ST (N)} is larger than when it is small. As a result, as shown in FIG. 33 (c), the changed gain value GT (N) ′ is closer to the gain value GE (N) of the elite individual 150E than when it is small when the ratio γ is large. Is done.
For example, as shown in FIG. 33 (a), the individual fitness (STa, SEa) corresponding to the index value 1 is compared between the crossover target individual 150T and the elite individual 150E, and the crossover target gene individual fitness STa. Is equal to or higher than the individual fitness degree SEa of the elite gene, it is determined that the necessity for changing is low, and the gain value GTa is not changed. When the individual fitness level STb corresponding to the crossover target gene GTb is smaller than the individual fitness level SEb corresponding to the elite gene GEb (STb <SEb) among the individual fitness levels corresponding to the index value 2, the gain value GTb. It is determined that the necessity for change is high, and it is determined to be changed. The individual fitness difference (SEb−STb) is acquired, and the ratio γ is acquired according to the table 250 shown in FIG.
GTb '← (1-γ) ・ GTb + γ ・ GEb
The value is changed according to

The crossover of S253 and 254 is executed according to the routine represented by the flowchart of FIG.
In S270, one of the six sets 300, 302,... Created in S252 is specified. This corresponds to the fact that one target individual is specified from the six crossing target individuals 150T.
In S271, 1 is substituted into the initial value of the index value N (corresponding to the number of genes). The individual fitness STa corresponding to the index value 1 is read. In S272, it is determined whether or not it is smaller than the overshoot correspondence change threshold value ST1, and in S273, the delay time exceeds the overshoot correspondence change threshold value ST1. It is determined whether or not it is smaller than the correspondence change threshold value ST2, and in S274, it is determined whether or not it is smaller than the individual fitness degree SEa corresponding to the index value 1 of the elite individual 150E. Whether or not it is highly necessary to change the gain value GTa is determined based on the individual fitness STa corresponding to the gain value GTa.
When the individual suitability STa is smaller than the overshoot corresponding change threshold value ST1, the gain value GTa is decreased in S275, and when it is smaller than the delay time corresponding change threshold value ST2, the gain value GTa is determined in S276. Is increased. If it is smaller than the individual fitness degree SEa of the elite individual 150E, it is changed to a value close to the gain value GEa of the elite individual 150E in S277 and 278. Further, if the determination in all of S272 to 274 is NO, it is determined that the necessity for changing is low, and in this example, the crossover target gene (gain value GTa) remains unchanged and is changed. There is no.

Thereafter, in S279, the index value N (gene number) is incremented by 1, and the index value is set to 2. Similarly, for the gain value GTb corresponding to the index value 2, it is determined whether or not the necessity for changing is high. If it is determined that the necessity for changing is high, the gain value GTb is changed. It will not be changed.
In S280, it is determined whether or not the index value N is larger than the total number L (10) of genes included in the individual 150. If it is 10 or less, S272 to 279 are executed in the same manner. When the index value becomes 11, the determination in S280 is YES and the crossover in one set is completed.
In S281, the next set is selected (the next crossing target individual 150T is selected), and S271 to 280 are executed in the same manner. In the present embodiment, since six groups are created, when the processing for all six groups is completed, the determination in S282 is YES, and this routine ends.
As described above, in this embodiment, it is determined whether or not to change each gene individually, and the genes are changed only when it is necessary to change them. Since the evaluation is performed not on the individual but on the gene, it is possible to appropriately perform the evolution of the individual.
In the present embodiment, an individual independent type changing unit is configured by a part that stores S253 and a part that executes S253 of the automatic adaptation unit 120, and a dependent side changing unit is configured by a part that stores S254, a part that executes S254, and the like. . The individual independent type changing unit is also a responsiveness corresponding individual changing unit. In addition, the individual change determination unit is configured by a part that stores S272 to 274, a part that executes S272, and the like.

In the above-described embodiment, mutual changes are made after individual changes are made, but they can be executed in the reverse order. In other words, in the above-described embodiment, the individual change has priority, and when the individual change is performed, the mutual change is not performed. On the other hand, the mutual change can be executed with priority, and when the mutual change is performed, the individual change is not performed. When the conditions for mutual modification are satisfied, the conditions for individual modification are usually also satisfied. Therefore, even if mutual modification is performed with priority, the gain value to be modified often does not change. . In any case, it is desirable that the gain curves 150 be crossed so that they can converge early (so that an optimal gain set can be obtained with a small number of iterations).
In the mutual change, the crossover target gene can be brought close to the elite gene at a predetermined setting ratio, instead of being brought close to the elite gene according to the individual fitness difference.

Next, in S255, it is checked whether or not the constraint condition is maintained in each of the crossover target individuals 150T changed in S253 and 254. If the constraint characteristic is not maintained, the gain value is Be changed.
As described in the initial setting, the individual (gain curve) 150 indicates that “in the fluid pressures adjacent to each other, the gain value GH with the higher fluid pressure does not become larger than the gain value GL with the lower fluid pressure (GH ≦ GL In other words, it is created so that it generally descends to the right. On the other hand, in each of the crossing target individuals 150, if the gain values included therein are individually changed without regard to the previous and subsequent relationships, the constraint condition may not be satisfied. Therefore, whether or not the constraint condition is maintained for the changed cross target individual 150T is inspected. If the constraint condition is not maintained, the gain value is changed (corrected) so that the constraint condition is satisfied.

The check as to whether or not the constraint condition is satisfied may be performed in order from the smallest brake cylinder hydraulic pressure (in order of increasing index value) or in order from the larger one (in order of increasing index value). . In any case, the check compares two gain values corresponding to two adjacent hydraulic pressures (index values), and whether the high-pressure side gain value is larger than the low-pressure side gain value, that is, It is determined whether or not the gain value has been reversed. When the constraint condition is maintained, the gain value is not changed. However, when it is determined that the constraint condition is not maintained, the gain value on the high-pressure side is set so that the constraint condition is satisfied. At least one of the gain value on the low pressure side is changed. The gain value on the high pressure side may be reduced or the gain value on the low pressure side may be increased.
In the present embodiment, a change that reduces the gain value on the high-pressure side is referred to as a decrease corresponding to the constraint condition, and a change that increases the gain value on the low-pressure side is referred to as an increase corresponding to the constraint condition. When at least one of the values Ga to Gj is changed due to the occurrence of an overshoot, that is, when there is at least one individual fitness that is equal to or less than the overshoot change threshold value ST1, When the constraint condition corresponding decrease is performed and there is no individual fitness that is equal to or less than the overshoot response change threshold ST1, the constraint condition increase is performed.
When it is changed due to the constraint condition reduction, the gain value is relatively smaller than when it is changed due to the constraint condition increase, so the gain value changed due to the occurrence of overshoot In the case of having the crossing, the restriction target corresponding reduction is executed for the crossing target individual 150.

In S291 of the flowchart of FIG. 35, one of the crossover target individuals 150T is identified (target individual is identified), and in S292, among a plurality of gain values included in the individual 150T, it is reduced due to overshoot. It is determined whether there is a gain value. If at least one gain value has been reduced due to overshoot, the determination is yes, and in S293, a constraint condition reduction is performed and there is no gain value reduced due to overshoot. In S294, the constraint condition corresponding increase is executed. Thereafter, in S295, the next target individual 150T is specified, and the same execution is repeated. When the constraint condition change is executed for all the crossing target individuals 150T, the determination is YES, and this routine ends. In this routine, the elite individual 150E is not a target individual.
In the present embodiment, the control parameter increasing unit is configured by the part that stores S293 and the part that executes S293 in the automatic adaptation unit 120, and the control parameter decreasing unit is configured by the part that stores S294 and the part that executes S294. These are combined to form a conditional change unit.

In the reduction of the constraint condition correspondence, one gain curve 150 is checked in order from the smallest hydraulic pressure. When it is detected that the high-pressure side gain value GH is larger than the low-pressure side gain value GL (GH> GL), the low-pressure side gain value GL is left as it is, and the high-pressure side gain value GH is reduced. The gain value GL is the same as the low-pressure side gain value GL (GH ′ ← GL).
Specifically, two gain values are specified in order from the smallest index value to obtain the inspection target gain values (Ga, Gb), (Gb, Gc)... Big and small are compared.
For example, as shown in FIGS. 36 (b) and 36 (c), it is determined whether or not the high gain side gain value Gf is larger than the low pressure side gain value Ge for the inspection target gain values (Ge, Gf). When it is determined that the high-side gain value Gf is larger (Ge <Gf), the high-pressure side gain value Gf is reduced to the same value as the low-pressure side gain value Ge.
Gf '← Ge
Next, the changed gain value Gf ′ and the gain value Gg on the higher voltage side are set as inspection target gain values (Gf ′, Gg) and compared. That is, the previously changed high-pressure side gain value Gf ′ is used as the current low-pressure side gain value Gf ′, and the low-pressure side gain value Gf ′ is compared with the high-pressure side gain value Gg. If the gain value Gf ′ on the low pressure side is larger as a result of comparison (Gf ′> Gg), the gain value Gg on the high pressure side is not changed (b), but the gain value Gf ′ on the low pressure side is not changed. Is smaller (Gf ′ <Gg), for example, when the constraint condition is not satisfied because the gain value is decreased, the high-pressure side gain value Gg is also decreased (c).
Gg '← Gf'
In this way, all the gain values Ga to Gj included in the cross target individual 150T are inspected in order from the smallest index value (in order from the largest gain value), and the constraint condition is satisfied. The gain value is decreased. As a result, the gain value of the gain curve 150 is likely to be relatively small. When overshoot is detected, it is reasonable to cause the constraint condition reduction to be performed.

The constraint condition reduction is performed according to a routine represented by the flowchart of FIG. In S301, the initial value of the index value is set to 2. In S302, it is determined whether or not the index value is equal to or less than the total number of genes (resolution: 10 in this embodiment). If it is equal to or less than the total number of genes, it is determined in S303 whether or not the gain value G (N) corresponding to the index value is larger than the gain value G (N-1) corresponding to one smaller index value. The
G (N)> G (N-1)
When the gain value G (N) corresponding to the index value N is equal to or less than the gain value G (N-1) corresponding to the index value one smaller, {G (N) ≦ G (N-1)} Since the constraint condition is satisfied, there is no need to change the gain value, but when the gain value G (N) corresponding to the index value is larger than the gain value G (N−1) corresponding to the index value one smaller {G Since (N)> G (N−1)} does not satisfy the constraint condition, in S304, the gain value G (N) having the larger index value is reduced and the gain value G having the smaller index value is set. The same value as (N-1).
G (N) '← G (N-1)
Thereafter, in S305, the index value is increased, the process returns to S302, and S302 to S305 are repeatedly executed.

In the increase corresponding to the constraint condition, when one individual 150 is inspected in order from the highest hydraulic pressure, it is detected that the high-pressure side gain value GH is larger than the low-pressure side gain value GL (GH> GL ), The gain value GH on the high pressure side is left as it is, and the gain value GL on the low pressure side is increased to the same value as the gain value GH on the high pressure side (GL ′ ← GH).
For example, as shown in FIGS. 37B and 37C, the gain values Ge and Gf are compared, and when the gain value Gf is larger (Ge <Gf), the gain value Ge is increased. Next, the increased gain value Ge ′ is compared with the gain value Gd on the low pressure side (Ge ′, Gd) (the previously changed low gain value Ge ′ is the current high pressure side gain value Gd). The gain value Ge ′ is compared, and the high-pressure side gain value Ge ′ is compared with the low-pressure side gain value Gd). When the constraint condition is satisfied for the two gain values (Ge ′, Gd) (Ge ′ ≦ Gd), the gain value is not changed (b), but for example, the constraint is obtained by increasing the gain value. When the condition is not satisfied (Ge> Gd), the next low-pressure side gain value Gd is increased (c).
Gd ← Ge '
If the inspection for all the gain values included in the individual 150 is completed, the gain value tends to be relatively large finally. For this reason, it is reasonable to prevent the constraint condition reduction from being executed when no overshoot is detected.

The increase in the constraint condition correspondence is performed according to the flowchart of FIG. In S331, the initial value of the index value is set to the total number of genes L. In S332, it is determined whether or not the index value is 2 or more. If it is 2 or more, it is determined in S333 whether or not the gain value Gx corresponding to the index value is larger than the gain value Gx-1 corresponding to the smaller index value. When the gain value Gx is equal to or smaller than the gain value Gx-1, the gain value is not changed when {Gx ≦ Gx-1} is satisfied, but the gain value Gx is not changed. If it is larger than {Gx> Gx-1}, the constraint condition is not satisfied, so in S334,
Gx-1 ← Gx
It is said.
Thereafter, in S335, the index value is decreased, and then the process returns to S332. When the execution of S332 to 335 is repeatedly performed and the index value becomes smaller than 2, the determination of S332 is NO and the change of the gain value is terminated.

As described above, in this embodiment, the gain value is changed so that the constraint condition is satisfied. However, the gain value is changed in a different manner depending on whether or not the overshoot is detected. Therefore, the gain value can be changed appropriately, and the individual can be rapidly evolved.
In the above embodiment, a case has been described in which all of the crossing target individuals 150T are subjected to crossover and then all of the constraint condition correspondence changes are performed. However, when one set is specified, It is also possible to continuously perform the crossover and constraint condition correspondence change for the crossover target individual 150T included.
In addition, it is not essential to change the constraint condition in a different manner depending on the presence or absence of overshoot. After the gain value is changed, the constraint condition corresponding change can be performed each time or in any one of the predetermined modes.

Thus, after the change is made, the next generation individual is determined and output.
As shown in FIG. 38, a group composed of a non-crossover target individual (elite individual) 150E and a crossover target individual 150T whose gene has been changed is set as a next generation group Am + 1. In this case, the rank table 200 is cleared, and the delay time recording buffer 162, the fitness recording buffer 166, and the overall fitness recording buffer 168 provided for all the individuals 150 are also cleared. In the next generation, the measurement of the delay time, the acquisition of the fitness, and the like are executed again for the elite individual 150E, and the same processing is repeatedly executed for all the individuals. Since the delay time measurement, that is, the responsiveness does not always obtain the same result, it is desirable to measure the delay time again for the elite individual 150E. Even if it is an elite individual this time, it will not necessarily be an elite individual next time.
A series of operations such as II. Determination of target hydraulic pressure / acquisition of responsiveness, III. Acquisition of fitness, IV. Selection of crossover target / crossover, etc. are repeatedly executed a predetermined number of times (for example, 60 times). After that, the optimum gain value (optimum solution) HK is determined.

39 (a) and 39 (b), the numbers on the horizontal axis represent individuals for each generation. 1 to 10 are individuals in the first generation, and 11 to 20 are individuals in the second generation. Hereinafter, similarly, 101 to 110 are individuals in the 10th generation, and 591 to 600 are individuals in the 60th generation. And the vertical axis | shaft of Fig.39 (a) is the total fitness of each individual | organism | solid. From FIG. 39 (a), it can be seen that as the number of generations increases, the overall fitness of each individual becomes relatively high (evolution), and the variation between each individual becomes small. Also, the vertical axis in FIG. 39 (b) represents the difference (variation) in individual fitness between individuals, and it can be seen that the difference in individual fitness between individuals decreases as the number of generations increases.
Further, FIG. 39 (c) shows all individuals 150 included in the primary population A0 and all individuals 150 included in the 60th generation population A60. In the first group A0, a plurality of individuals are different from each other, but the individuals 150 in the 60th generation group A60 are all similar individuals.
The optimum gain set HK is determined from a plurality of individuals (gain sets) 150 included in the 60th generation group A60. Among the plurality of individuals 150, the individual with the highest rank is set as the optimum gain set HK. These average individuals can be used as the optimum gain set HK. In this case, an average individual excluding individuals greatly different from the average individual can be set as the optimum gain set HK. A plurality of optimum gain values Ki (optimum genes) included in the optimum gain set HK are stored in the memory of the target hydraulic pressure determining unit 70 and used for controlling the brake cylinder hydraulic pressure of the vehicle.
It can be evaluated by a person whether or not the optimal gain set determined by the genetic algorithm is the optimal value, but it is not essential.

As described above, the case where the optimum gain value used for the feedback control of the brake cylinder hydraulic pressure is obtained using the genetic algorithm has been described. However, the present invention is not limited to that in the above-described embodiment, and is appropriately modified. Can be implemented.
In addition, the series of genetic algorithms is executed in the same manner with different values of the pressure increase gradient and the pressure decrease gradient so that the true optimum gain value can be obtained from each of the obtained optimum gain values. Can do.
Further, it can be applied to determine the optimum value of the feedforward gain.
Further, in the above embodiment, the bench test is performed. However, after the vehicle is started to run after the automatic adaptation program is installed in the brake fluid pressure control device 22 in a state where the vehicle is mounted on an actual vehicle, the gain is increased. It is also possible to optimize the values as appropriate. In this way, it is possible to correct the optimum gain value in response to changes with time in the electromagnetic linear valve. In that case, instead of detecting the brake cylinder hydraulic pressure, it is also possible to detect the deceleration of the vehicle and obtain the responsiveness according to the deceleration.
Furthermore, the structure of the brake device is not limited to that in the above embodiment. Any circuit may be used as long as the circuit includes an electromagnetic linear valve.
The present invention can be practiced in various modifications and improvements based on the knowledge of those skilled in the art, in addition to the aspects described above.

It is a figure which shows the control parameter determination apparatus which is one Example of this invention, and the principal part of the brake fluid pressure control apparatus to which the control parameter determination apparatus was connected. It is a map showing the valve opening current determination table memorize | stored in the hydraulic pressure control part which has the computer of the said brake hydraulic pressure control apparatus as a main body. It is a circuit diagram of the whole hydraulic brake device including the brake hydraulic pressure control device. (a) It is a flowchart showing the applied current determination program memorize | stored in the applied current determination part of the said hydraulic-pressure control part. (b), (c) It is a figure which represents typically the content of the control mode determination table memorize | stored in the said applied current determination part. It is a figure which shows the change of the brake cylinder hydraulic pressure in the said hydraulic brake device. It is a figure which shows typically the generation | occurrence | production change of the process in which the control parameter set is determined in the automatic adaptation part as the said control parameter determination apparatus. It is a flowchart showing the optimization program (main routine) memorize | stored in the said automatic adaptation part. (a), (b) It is a figure showing the control parameter set candidate used when the optimal control parameter set is determined in the said automatic adaptation part. (c) It is a figure which shows notionally the gain value (control parameter) used when the supply current to an electromagnetic control valve is determined using the said control parameter set candidate. It is a figure showing the initial group of the control parameter set candidate used when the optimal control parameter set is determined in the said automatic adaptation part. It is a figure which shows the hydraulic pressure change characteristic (the relationship between a hydraulic pressure and the amount of liquid consumption) in the said brake cylinder. It is a figure which shows notionally the structure of the buffer provided corresponding to one control parameter set candidate in the said automatic adaptation part. It is a flowchart showing the optimization program of the said FIG. 7 in detail. It is a flowchart showing a part of the optimization program (target hydraulic pressure determination / responsiveness acquisition). It is a flowchart showing a part (target hydraulic pressure creation) of the said optimization program. It is a flowchart showing a part of the optimization program (measurement of delay time during pressure increase). (a) It is another flowchart showing a part of the optimization program (measurement of delay time during pressure increase). (b) It is a figure for demonstrating the aspect of the said pressure increase middle delay time measurement of (a). It is a flowchart showing a part of the optimization program (delay time measurement during decompression). It is a figure shown in the change pattern of the target hydraulic pressure created in the said automatic adaptation part. (a) It is a figure which shows the aspect of the measurement of the delay time during the said pressure increase. (b) It is a figure which shows notionally the structure of a buffer. It is a figure for demonstrating the aspect of a measurement of the delay time during pressure increase represented with the flowchart of FIG. (a) It is a figure for demonstrating the aspect of a measurement of the delay time in pressure reduction represented by the flowchart of FIG. (b) It is a figure which shows notionally the structure of a buffer. It is a figure for demonstrating the aspect of the measurement of the delay time during the said pressure reduction, and is a figure which shows the change of target hydraulic pressure, and the change of brake cylinder hydraulic pressure. It is a flowchart showing a part (fit degree acquisition) of the said optimization program. It is a figure which shows notionally the evaluation function memorize | stored in the said automatic adaptation part. It is a figure which shows notionally the ranking table produced in the said automatic adaptation part. It is a figure showing another evaluation function memorize | stored in the said automatic adaptation part. It is a figure which shows typically the relationship between the individual adaptability in case an individual adaptability is acquired in another aspect in the said automatic adaption part, the change of a target hydraulic pressure, and the change of a brake cylinder hydraulic pressure. It is a figure which shows typically the structure of another buffer provided corresponding to the control parameter set candidate in the said automatic adaptation part. It is a flowchart showing a part (crossing object individual selection / crossing) of the optimization program. It is a figure which represents typically execution (determination of a cross object individual, an elite individual) of S251 of the said optimization program. It is a figure which represents typically execution (creation of a set) of S252 of the said optimization program. It is a figure showing typically execution (individual change of a crossover individual) of S253 of the above-mentioned optimization program. It is a figure showing typically execution of S254 of the above-mentioned optimization program (mutual change of a crossing object individual). It is a flowchart showing a part (crossover of S253,254) of the said optimization program. It is a flowchart showing a part of change of the above-mentioned optimization program (restraint condition correspondence change of S255). (a) It is a flowchart showing a part of the above-mentioned optimization program (reduction in constraint condition corresponding to S293). (b), (c) It is a figure showing the change state of a gain value when the said restriction | limiting condition corresponding reduction is performed. (a) It is a flowchart showing a part of the above-mentioned optimization program (restraint condition increase in S294). (b), (c) It is a figure showing the change state of a gain value when the said constraint condition corresponding | compatible increase is performed. It is a figure which shows typically the next generation control parameter set candidate group produced in the said automatic adaptation part. It is a figure which shows the change state of the control parameter set candidate until a control parameter set is determined in the said automatic adaptation part.

Explanation of symbols

18, 20: Brake cylinder 24, 26: Linear valve for pressure increase 28, 30: Linear valve for pressure reduction 32: Fluid pressure control unit 70: Target fluid pressure determination unit 80: Applied current determination unit 82: Driver 120: Automatic adaptation unit 130 : Execution unit 132: Storage unit 140: Static memory 142: Dynamic memory 144: Start switch 146: Input device 150: Individual 162: Gain value recording buffer 164: Delay time recording buffer 166: Individual fitness recording buffer 168: Buffer for recording total fitness 200: Ranking table 300, 302: Set

Claims (25)

About the hydraulic pressure control device that includes an electromagnetic control valve that can control the hydraulic pressure of the hydraulic pressure operating device that is operated by the hydraulic pressure, and controls the hydraulic pressure by controlling the supply current to the solenoid of the electromagnetic control valve. A parameter including a control parameter set candidate that is a candidate of a plurality of predetermined control parameter sets, including a control parameter set including one or more control parameters used when determining a supply current to the solenoid of the electromagnetic control valve A control parameter determination device for determining based on a set candidate group,
For an evaluation target candidate that is one of a plurality of control parameter set candidates included in the parameter set candidate group, at least one of one or more control parameters included in the one evaluation target candidate is used. Each of the one or more control parameters included in the one evaluation target candidate is evaluated based on the hydraulic pressure of the hydraulic actuator when the determined current is supplied to the solenoid of the electromagnetic control valve. In addition, an operation for evaluating the control parameter set candidate which is the one evaluation target candidate is executed for each of the plurality of control parameter set candidates, and candidate evaluation for obtaining an evaluation result for each of the plurality of parameter set candidates And
Based on the evaluation results for each of the plurality of control parameter set candidates acquired by the candidate evaluation unit, at least one control parameter set candidate is selected as a change target candidate from the plurality of control parameter set candidates, and the selected The operation of changing one of the change target candidates by changing at least one of the one or more control parameters included in each of the change target candidates according to a predetermined rule is performed as the at least one change. A candidate changing unit that executes each of the target candidates and creates a new parameter set candidate group,
A plurality of control parameter set candidates included in the new parameter set candidate group created by the candidate changing unit are evaluated as candidates for evaluation, and each of the candidate evaluation units is evaluated, and based on the obtained evaluation result The candidate changing unit is caused to change a control parameter set candidate that is at least one change target candidate, and repeatedly execute a series of operations for creating a new parameter set candidate group by a predetermined number of times, A control parameter set determining unit for determining a control parameter set used in the hydraulic control device , and
The control parameter is a gain which is a relationship between an absolute value of a hydraulic pressure deviation between a target hydraulic pressure of the hydraulic actuator and an actual hydraulic pressure and a current;
The candidate evaluation unit includes: (a) a hydraulic pressure detecting device that detects the hydraulic pressure of the hydraulic pressure operating device; and (b) during control of a current supplied to a solenoid of the electromagnetic control valve, by the hydraulic pressure detecting device. Based on the detected hydraulic pressure, a responsiveness acquisition unit that acquires responsiveness for the control, and (c) evaluation of each of the gains based on the responsiveness acquired by the responsiveness acquisition unit. A control parameter determination device including a response response evaluation unit for performing the control parameter determination. The gain is determined corresponding to a plurality of hydraulic pressures having different sizes from each other, and when the hydraulic pressure of the hydraulic actuator is small, the gain is set to a larger value when the hydraulic pressure is large. Item 2. The control parameter determination device according to Item 1. The responsiveness acquisition unit (i) compares the hydraulic pressure detected by the hydraulic pressure detection device with a target hydraulic pressure of the hydraulic pressure operating device, and acquires an overshoot state; (Ii) including a time measuring device for measuring an elapsed time from a predetermined reference time, and the time when the hydraulic pressure detected by the hydraulic pressure detecting device reaches a predetermined set hydraulic pressure for measurement. Assuming that the actual arrival time measured by the measuring device and the hydraulic pressure of the hydraulic actuator have changed as the target hydraulic pressure changes, the arrival time without delay required to reach the set hydraulic pressure for measurement is reached. Compare the time and control parameter determining apparatus according to claim 1 or 2 comprising at least one of the delay acquisition part for acquiring the status of the delay. From the case where the responsiveness acquisition unit includes an overshoot presence / absence detection unit that detects the presence / absence of overshoot, and the responsiveness evaluation unit detects no overshoot when the overshoot presence / absence detection unit detects the overshoot. 4. The control parameter determination device according to claim 1, further comprising an overshoot low evaluation unit that evaluates that the level of responsiveness is low. The responsiveness acquisition unit includes (i) a time measuring device that measures an elapsed time from a predetermined reference time, and (ii) a measurement setting in which the hydraulic pressure detected by the hydraulic pressure detection device is predetermined. When it is assumed that the hydraulic pressure of the hydraulic actuator has changed as the target hydraulic pressure changes from the actual arrival time measured by the time measuring device when the hydraulic pressure is reached, the set hydraulic pressure for measurement A delay time acquisition unit that acquires, as a delay time, a time obtained by subtracting the arrival time without delay required to reach the delay time, the delay time acquired by the delay time acquisition unit is predetermined. It was highest rating if within the set range, any one of claims 1 to 4 when the amount deviates large includes a chevron evaluation unit to lower the rating than smaller from the set range of the delay time Control parameters described in Data determination device.   A numerical value representing evaluation when the mountain-shaped evaluation unit is within a setting range determined by a predetermined first setting time larger than 0 and a second setting time longer than the first setting time. 6. The control according to claim 5, further comprising: a continuous mountain-shaped evaluation unit that sets the evaluation value as a maximum value and decreases the evaluation value as the amount of deviation of the delay time from the first setting time or the second setting time increases. Parameter determination device. The control parameter set includes a plurality of gains , and the candidate evaluation unit (a) for each of the control parameter set candidates that are the evaluation target candidates, for each of the plurality of gains included therein, and individual evaluation unit for performing evaluation based on the response, (b) on the basis of the evaluation for each of said plurality of gain was evaluated by the individual evaluation unit, the control parameters of the set candidate which is the evaluation target candidate The control parameter determination device according to any one of claims 1 to 6, further comprising a comprehensive evaluation unit that performs evaluation for each. Weighting the comprehensive evaluation unit, to the individual evaluation obtained by the unit a plurality of evaluation values representing the evaluation for each of the gain and evaluation vector whose components, component a weight of each of said plurality of gain The control parameter determination device according to claim 7, further comprising a vector inner product acquisition unit that acquires an inner product with a vector as an evaluation value of the evaluation target candidate. The candidate evaluation unit includes a rank determining unit that determines ranks of the plurality of control parameter set candidates based on an evaluation value representing an evaluation based on the responsiveness for each of the plurality of control parameter set candidates. The control parameter determination device according to any one of claims 1 to 8.   10. The control parameter determination device according to claim 1, wherein each of the control parameter set candidates is set based on an operation characteristic of the hydraulic operation device. Each of the control parameter set candidates includes a plurality of gains respectively determined corresponding to a plurality of hydraulic pressures having different sizes from each other, and corresponds to each of the plurality of gains. When arranging in order of the hydraulic pressure of the hydraulic actuator, the high-pressure side control gain corresponding to the higher one of the two hydraulic gains adjacent to each other is the hydraulic pressure. The control parameter determination device according to any one of claims 1 to 10 , wherein the plurality of gains are set in a state in which a condition that is equal to or lower than a low-pressure side control gain corresponding to a smaller value is set. The plurality of gains are provided corresponding to a plurality of fluid pressures having different sizes of the fluid pressure operating device, and of the plurality of fluid pressures different from each other , The control parameter determination device according to claim 11, wherein the interval is narrower when the hydraulic pressure of the hydraulic pressure operating device is small than when the hydraulic pressure is large. The candidate changing unit selects a predetermined set number of control parameter set candidates in order from the lowest evaluation based on the responsiveness for each of the plurality of control parameter set candidates evaluated by the candidate evaluation unit. The control parameter determination device according to any one of claims 1 to 12, further comprising a change target candidate selection unit that is selected as a change target candidate. The candidate changing unit, for each of the to be changed candidate control parameter set candidates, for each of all the gains it contains, whether to change each gain based on the evaluation based on the response of the gain The control parameter determination device according to claim 1, further comprising an individual change determination unit that individually determines the parameters. The candidate changing unit, for each of the gain, change the gain is lower than the change level evaluation based on the response of each gain is predetermined higher than the maintenance level the evaluation predetermined The control parameter determination apparatus according to claim 1, further comprising an individual independent type changing unit that does not change the gain . If the individual independent changing unit, the evaluation of the gain, if the overshoot is an evaluation indicating that occurs, to reduce the gain, an evaluation indicating that delay is greater than or equal to about settings The control parameter determining apparatus according to claim 15, further comprising a response-responsive individual changing unit that increases the gain . The candidate changing unit selects (a) a predetermined number of change target candidates from the plurality of control parameter set candidates based on the evaluation based on the responsiveness for each of the plurality of control parameter set candidates. The change target candidate group is created, and one or more non-change target candidates are selected from the control parameter set candidates excluding the change target candidate from the plurality of control parameter set candidates. Create a set that creates a pair consisting of one change target candidate and one of the non-change target candidates belonging to the non-change target candidate group for each of the change target candidates belonging to the change target candidate group. and parts, (b) for each set of created by the set creating unit, in the change target candidates and the non-change target candidates, the corresponding gain each other Comparing the evaluated together based on the responsiveness of you are, if the evaluation in the change target candidate is rated higher in the non-change target candidate, without changing its gain to be changed candidates, the evaluation in the change target candidate If it is lower than the evaluation of the non-change candidate, control according to any one of claims 1 to 16 including the dependent changing unit that changes a value closer to the gain of the non-change candidate its gain Parameter determination device. It said set creating unit, in order from the evaluation it is low for the plurality of control parameter set candidates each evaluated by the candidate evaluating unit, a control parameter set candidate of a predetermined set number as the change target candidate Create the change target candidate group, and create an elite candidate group using the control parameter set candidates obtained by removing the set number of change target candidates from the plurality of control parameter set candidates as elite set candidates as non-change target candidates And an elite dependent set for creating a set of one change target candidate and one elite set candidate included in the elite set candidate group for each of all change target candidates belonging to the change target candidate group. The control parameter determination device according to claim 17, comprising a creation unit. Each of the control parameter set candidates includes a plurality of gains respectively determined corresponding to a plurality of hydraulic pressures having different sizes of the hydraulic pressure operating device, and the candidate changing unit includes the change target candidate When the plurality of gains are arranged in the order of the hydraulic pressures of the hydraulic actuators corresponding to the respective gains, the hydraulic pressure of the hydraulic actuator of two adjacent gains is is larger than the low-pressure side gain high-pressure side gain corresponding to the larger corresponds towards the fluid pressure is low, claims including constraint condition corresponding changing unit that changes at least one of said low pressure side gain and the high-pressure side gain Item 19. The control parameter determination device according to any one of Items 1 to 18. Constraint the constraint condition corresponding changing unit, when the high-pressure side gain is greater than the low pressure side gain, the high-pressure side gain, which is as it is, by increasing the low-pressure side gain, the same size as the high-pressure side gain The control parameter determination device according to claim 19, further comprising a condition corresponding increase unit. Constraint the constraint condition corresponding changing unit, when the high-pressure side gain is greater than the low pressure side gain, the low pressure side gain, which is as it is, to reduce the high pressure side gain, the same size as the low-pressure side gain 21. The control parameter determination device according to claim 19, further comprising a condition corresponding reduction unit.   The electromagnetic control valve included in the hydraulic pressure control device controls the hydraulic pressure of the hydraulic pressure operating device to a magnitude corresponding to the supply current to the solenoid, and the supply current to the solenoid continuously changes. The control parameter determination device according to any one of claims 1 to 21, wherein the control parameter determination device is a linear control valve to be operated. The hydraulic pressure control device includes a feedback control unit that controls a supply current to a solenoid of the electromagnetic control valve so that an actual hydraulic pressure of the hydraulic pressure operating device approaches a target hydraulic pressure, and the gain is the feedback The control parameter determination device according to any one of claims 1 to 22, wherein the control parameter determination device is a feedback control gain used in the control unit.   The hydraulic actuator is a hydraulic brake that suppresses rotation of a vehicle wheel by a hydraulic pressure of a brake cylinder, and the hydraulic controller controls the brake by controlling a supply current to a solenoid of the electromagnetic control valve. The control parameter determination device according to any one of claims 1 to 23, wherein the control parameter determination device is a brake cylinder hydraulic pressure control device that controls a hydraulic pressure of the cylinder. About the hydraulic pressure control device that includes an electromagnetic control valve that can control the hydraulic pressure of the hydraulic pressure operating device that is operated by the hydraulic pressure, and controls the hydraulic pressure by controlling the supply current to the solenoid of the electromagnetic control valve. A control parameter set including at least one control parameter used when determining a supply current to the solenoid of the electromagnetic control valve is stored in a computer based on a parameter set candidate group including a plurality of predetermined control parameter set candidates. A control parameter determination program for determining,
The control parameter is a gain which is a relationship between an absolute value of a hydraulic pressure deviation between a target hydraulic pressure of the hydraulic actuator and an actual hydraulic pressure and a current;
In the computer,
An evaluation target candidate that is one of a plurality of control parameter set candidates included in the parameter set candidate group is determined using each of the gains that are at least one control parameter included in the evaluation target candidate. When a current is supplied to the solenoid of the electromagnetic control valve, the control response is acquired based on the hydraulic pressure, and evaluation is performed based on the acquired response for each of the gains. A candidate evaluation function for executing an operation for evaluating a control parameter set candidate that is one evaluation target candidate for each of the plurality of control parameter set candidates, and obtaining an evaluation result for each of the plurality of parameter set candidates;
Based on the evaluation results for each of the plurality of control parameter set candidates acquired by the candidate evaluation function, at least one control parameter set candidate is selected as a change target candidate from the plurality of control parameter set candidates, and the selected By changing at least one of at least one gain included in each of the change target candidates according to a predetermined rule, each of the change target candidates is changed to create a new parameter set candidate group A candidate change function to
A plurality of control parameter set candidates included in a new parameter set candidate group created by the candidate change function are acquired by causing the candidate evaluation function to evaluate as candidate evaluation targets to be evaluated by the candidate evaluation function. Based on the evaluation result, the candidate changing function causes the control parameter set candidate that is at least one change target candidate to be changed to create a new parameter set candidate group by a predetermined set number of times. A control parameter determination program for realizing a control parameter set determination function for determining a control parameter set used in the hydraulic pressure control device by being repeatedly executed.

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