JP5617563B2 - Actuator control device - Google Patents

Description

  The present invention relates to an actuator control device, and can be used, for example, to control an actuator such as an automated manual transmission mounted on a vehicle.

  In an apparatus that controls the driving of an actuator, for example, control (feedback control) is performed in which a control input is calculated and given to a control target so that a deviation between a target value and an actual stroke becomes zero. In the feedback control system of the actuator, when the control input is saturated, the control target cannot follow the command value, and an overshoot (so-called windup phenomenon) occurs in the output response. When such a windup phenomenon occurs, the control performance may be deteriorated or the control system may become unstable. As one of countermeasures, an anti-windup controller is provided in the feedback control system (see, for example, Patent Documents 1 to 3).

  The anti-windup controller, for example, suppresses the windup phenomenon by feeding back a value obtained by multiplying the difference between the control input generated by the feedback controller and the input value limited by the actuator operating limit value. There is something to do.

  In the actuator control device, a feedback controller (for example, a sliding mode controller) having input disturbance suppression performance is applied as the feedback controller. The sliding mode controller converges the state quantity to be controlled by the switching input (nonlinear input) on the switching hyperplane represented by the switching function having the state quantity to be controlled as a variable (the value of the switching function is converged to 0). In addition, the controller controls the state quantity to be controlled on the super switching plane by sliding (sliding) on the switching function by the equivalent control input (linear input). In such a sliding mode controller, the state quantity of the controlled object can be stably constrained on the switching hyperplane while sufficiently securing robustness against input disturbances and characteristic changes of the controlled object.

JP 2004-005153 A JP 2004-240516 A Japanese Patent No. 3387451

  By the way, in the actuator control device including the feedback controller having the input disturbance suppression performance and the antiwindup controller, when the output fluctuation due to the input disturbance occurs, the control input can be generated up to the operation limit value of the actuator. The input disturbance suppression performance in the vicinity of the operation limit value may be deteriorated.

  The present invention has been made in view of such circumstances, and in an actuator control device including a feedback controller having an input disturbance suppression performance and an anti-windup controller, the input disturbance suppression performance is improved. Objective.

The present invention relates to a feedback controller having input disturbance suppression performance, a control input generated by the feedback controller, and a limit input (= input limit value) obtained by limiting the control input with an input limit value. A compensation input to be compensated by the feedback controller having the input disturbance suppression performance to an input amount determined from the operation limit value of the actuator in an actuator control device comprising a windup controller It is characterized by setting a value to which half of the disturbance range is added.

  In the present invention, a sliding mode controller can be given as a specific example of a feedback controller having input disturbance suppression performance. Further, as a specific configuration of the anti-windup controller, for example, a value obtained by multiplying the difference between the control input generated by the feedback controller (sliding mode controller) having the input disturbance suppression performance and the input limit value by the gain is used. A configuration in which feedback is provided to the input side of a feedback controller having input disturbance suppression performance can be given.

  According to the present invention, since the input limit value to the anti-windup controller is set from the input amount necessary for actuator operation and the input disturbance, the input disturbance suppression performance near the operation limit of the actuator is improved. be able to. This will be described below.

  First, in the conventional control, the input limit value is set considering only the output amount (actuator operation limit value (saturation characteristic)) necessary for ensuring the actuator operation. In such a setting, when the input / output characteristics fluctuate due to the input disturbance, it becomes impossible to generate the control input up to the operation limit value of the actuator (see FIGS. 5 and 6), so that the disturbance suppression performance near the operation limit value is obtained. There is a possibility that it cannot be fully utilized.

On the other hand, for example, as shown in FIGS. 5 and 6, a feedback controller having an input disturbance suppression performance with an input limit value as an input amount (input limit value of conventional control) determined from the operation limit value of the actuator. (e.g., the sliding mode controller) by a value obtained by adding a half of the complement償入force disturbance range-out compensation all at allows calculation of the control input to the operating limits of the actuator. As a result, the calculation margin of the feedback controller (sliding mode controller) having the input disturbance suppression performance can be obtained, so that the input disturbance suppression performance near the operation limit of the actuator is improved.

  Then, after determining (setting) the input limit value in this way, the antiwindup controller is adjusted so that the desired antiwindup performance (overshoot suppression) is obtained (for example, the control input and the limit). By tuning the gain multiplied by the difference from the input, it is possible to achieve both the input disturbance suppression performance and the antiwindup effect.

  According to the present invention, in an actuator control device including a feedback controller having an input disturbance suppression performance and an anti-windup controller, an input limit value is set from an input amount necessary for actuator operation and an input disturbance. Therefore, the input disturbance suppression performance can be improved.

It is a schematic block diagram of the vehicle carrying the actuator to which this invention is applied. It is a block diagram which shows the structure of the hydraulic control circuit which controls the hydraulic fluid flow volume (hydraulic pressure) of a selection actuator, a shift actuator, and a clutch actuator, and the structure of control systems, such as ECU. It is a control block diagram which shows the structure of the control system of an actuator control apparatus. It is a figure which shows the structure of the antiwindup controller used for the control system of FIG. It is explanatory drawing of an input limiting value. It is explanatory drawing of an input limiting value.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  In this example, an automatic manual transmission in which shift shifting (gear stage switching) is automated is targeted, and an example in which the present invention is applied to a control device that controls an actuator (including an actuator of an automatic clutch) of the automated manual transmission. explain.

  First, a vehicle equipped with an automated manual transmission will be described with reference to FIG. The vehicle of this example is equipped with an engine 1, an automatic clutch 2, the automated manual transmission 3, a hydraulic control circuit 400, an ECU (Electronic Control Unit) 100, and the like.

  The engine 1 is an internal combustion engine such as a gasoline engine or a diesel engine, and a crankshaft 11 as an output shaft thereof is connected to the automatic clutch 2 (friction clutch 20).

  The automatic clutch 2 includes a dry single-plate friction clutch 20 and a clutch operating device 200. The friction clutch 20 includes a flywheel, a clutch disk, a pressure plate, a diaphragm spring, a clutch cover, and the like that are connected to the crankshaft 11 of the engine 1 (see, for example, JP 2010-203586 A).

  The clutch operating device 200 includes a release bearing, a release fork, a hydraulic clutch actuator 201, and the like. A driving force (forward / reverse movement) of the clutch actuator 201 is transmitted to the diaphragm spring via the release fork and the release bearing. To displace the pressure plate of the friction clutch 20 so that the clutch disk is strongly sandwiched between the pressure plate and the flywheel (clutch engagement state), or the pressure plate is pulled away from the clutch disk. The state (clutch disengagement state) can be set (see, for example, JP 2010-203586 A). The driving of the clutch actuator 201 (hydraulic oil flow rate control) is controlled by the hydraulic control circuit 400 and the ECU 100.

  The automated manual transmission 3 has a configuration similar to that of a general manual transmission such as a parallel gear transmission having six forward speeds and one reverse speed.

  The automated manual transmission 3 (hereinafter also referred to as “transmission 3”) is a constantly meshing stepped transmission including a synchromesh mechanism 300, and includes an input shaft 31, an output shaft 32, and the input shaft 31 and output. Six pairs of gears 311, 312,... 316 with different reduction ratios provided on the shaft 32 are provided, and one of the gear pairs 311, 312,. Thus, the six forward speed ratio is set. FIG. 1 schematically shows only three gear pairs 311 (gears 311a and 311b), a gear pair 312 (gears 312a and 312b), and a gear pair 316 (316a and 316b).

  One (input shaft side) gears 311a, 312a,... 316a constituting the gear pair 311, 312,... 316 are supported so as to rotate or idly rotate integrally with the input shaft 31 of the transmission 3, and the other ( The gears 311b, 312b,... 316b on the output shaft side are supported by the output shaft 32 of the transmission 3 so as to integrally rotate or idle. In this example, the input shaft side gears 311a, 312a,... 316a are supported so as to rotate integrally with the input shaft 31, and the output shaft side gears 311b, 312b,. It is supported to idle.

  The gears 311a, 312a,... 316a of these gear pairs 311, 312,... 316 and the gears 311b, 312b,. One of the gear pairs, for example, the gear 311b on the output shaft side of the gear pair 311 is connected to the output shaft 32 by the synchromesh mechanism 300, whereby the gear pair 311 enters the power transmission state, and the gear corresponding to the gear pair. A stage (for example, the first speed (1st)) can be obtained.

  Further, by connecting the gear 316b on the input shaft side of the gear pair 316 to the output shaft 32 by the synchromesh mechanism 300, the gear pair 316 enters a power transmission state, and the gear stage corresponding to the gear pair (for example, the sixth speed (6th )) Can be obtained. Although not shown, for example, a reverse gear pair is provided on the input shaft 31 of the transmission 3, and the reverse gear stage can be set by engaging the idle gear provided on the countershaft with the reverse gear pair. It has become.

  An input shaft 31 of the transmission 3 is connected to the friction clutch 20 (clutch disc). The rotation of the output shaft 32 of the transmission 3 is transmitted to the drive wheels 7 through the differential gear 5 and the axle 6.

  The synchromesh mechanism 300 uses a select actuator 301 and a shift actuator 302 as drive sources. Each drive (hydraulic oil flow rate control) of the select actuator 301 and the shift actuator 302 is controlled by the hydraulic control circuit 400 and the ECU 100.

  As shown in FIG. 2, the hydraulic control circuit 400 includes a select solenoid valve 401, a shift solenoid valve 402, a clutch solenoid valve 403, an oil pump 404, and the like. The select solenoid valve 401, the shift solenoid valve 402, and the clutch solenoid valve 403 are all linear solenoid valves. As the oil pump 404, a mechanical oil pump or an electric oil pump driven by the operation of the engine 1 is used.

  The select solenoid valve 401 is configured to adjust the flow rate of hydraulic oil (hydraulic pressure: stroke of the select actuator 301) supplied to the select actuator 301 of the automated manual transmission 3 in accordance with a command signal (drive current) from the ECU 100. Has been. When the piston rod of the select actuator 301 moves forward or backward in the select direction, the select operation of the synchromesh mechanism 300 of the automated manual transmission 3 is performed (see, for example, Japanese Patent Application Laid-Open No. 2010-203586). The movement amount (select stroke) of the piston rod of the select actuator 301 is detected by a select stroke sensor 501.

  The shift solenoid valve 402 is configured to adjust the flow rate of hydraulic fluid (hydraulic pressure: stroke of the shift actuator 302) supplied to the shift actuator 302 of the automated manual transmission 3 in accordance with a command signal (drive current) from the ECU 100. ing. When the piston rod of the shift actuator 302 moves forward or backward in the shift direction, the shift operation of the synchromesh mechanism 300 of the automated manual transmission 3 is performed (see, for example, JP 2010-203586 A). The shift amount (shift stroke) of the piston rod of the shift actuator 302 is detected by the shift stroke sensor 502.

  The clutch solenoid valve 403 is configured to adjust the flow rate of hydraulic oil (hydraulic pressure: stroke of the clutch actuator 201) supplied to the clutch actuator 201 of the automatic clutch 2 in accordance with a command signal (drive current) from the ECU 100. ing. When the piston rod of the clutch actuator 201 moves forward or backward, the automatic clutch 2 (friction clutch 2) is disconnected or engaged. A movement amount (clutch stroke) of the piston rod of the clutch actuator 201 is detected by a clutch stroke sensor 503.

  A drive current is continuously supplied during the drive control of the select solenoid valve 401, the shift solenoid valve 402, and the clutch solenoid valve 403. In addition, since the output is substantially continuous even in high-speed current ON-OFF control (duty control) such as PWM, energization control in such a case is also included.

-ECU-
Next, the ECU 100 will be described with reference to FIG. The ECU 100 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a backup RAM, and the like.

  The ROM stores various control programs, maps that are referred to when the various control programs are executed, and the like. The CPU executes various arithmetic processes based on various control programs and maps stored in the ROM. The RAM is a memory that temporarily stores calculation results in the CPU, data input from each sensor, and the like. The backup RAM stores data that should be saved when the engine is stopped, for example. It is a non-volatile memory.

  The ECU 100 also includes a sliding mode controller (SMC) 101, an anti-windup controller (AWC) 102, an observer 103, a limiter 104, and an adder / subtractor 15 that constitute an actuator control device described later.

  Various sensors that detect the operating state of the engine 1 are connected to the ECU 100. Further, the ECU 100 is connected to the select stroke sensor 501, the shift stroke sensor 502, the clutch stroke sensor 503, and the like.

  Then, the ECU 100 performs various types of the engine 1 including intake air amount control (throttle valve opening control), fuel injection amount control (injector opening / closing control), and the like, based on output signals of various sensors that detect engine operating conditions. Control, drive control of each actuator 301,302,201, etc. are performed.

-Actuator control device-
Next, the actuator control device will be described with reference to FIG. FIG. 3 is a control block diagram showing the configuration of the control system of the actuator control apparatus.

  In the control system of FIG. 3, the control target T is each actuator (select actuator 301, shift actuator 302) of the automated manual transmission 3, and is configured to control the hydraulic fluid flow rate (hydraulic pressure) of the actuator. Yes. However, in this example, the hydraulic fluid flow rate of the actuator is adjusted by a solenoid valve (select solenoid valve 401, shift solenoid valve 402), so that fluctuations in the drive current of the solenoid valve (drive current variation) are treated as input disturbances. Yes.

  A control system (actuator control device) shown in FIG. 3 includes a sliding mode controller (SMC) 101, an anti-windup controller (AWC) 102, an observer (observer) 103 as a feedback controller having input disturbance suppression performance, The limiter 104 and the adder / subtractor 105 are configured.

The observer 103 includes the control input u generated by the sliding mode controller 101 (or the control input [u ⁻ ] limited by the limiter 104) and the actual stroke y of the control target T (for example, the stroke sensor 501, Based on the detected value of 502), estimated state quantities [x0 ^] (stroke displacement), [x1 ^] (stroke displacement speed), [x2 ^] (stroke displacement acceleration), and estimated stroke [y ^] presume. The estimated state quantities ([x0 ^], [x1 ^], [x2 ^]) estimated by the observer 103 are input to the sliding mode controller 101, and the estimated stroke [y ^] is input to the adder / subtractor 105. .

The above [x0 ^], [x1 ^], [x2 ^], and [y ^] are assumed to be used in place of “hat”, which is a general notation for expressing an estimated value, and are shown in the drawings (FIG. In 3), general notation shall be used. [U ⁻ ] will be used in the following instead of “u upper bar”, and general notation is used in the drawing (FIG. 3).

  The anti-windup controller 102 is a general controller for suppressing the windup phenomenon, and includes a subtractor 121 and an amplifier 122 as shown in FIG.

The subtractor 121 of the anti-windup controller 102 includes a control input u (control input before the limiter) generated by the sliding mode controller 101 and a limiter 104 when the control input u is limited. Control input [u ⁻ ] (control input after limiter = input limit value) is input, and a deviation e _awc ([u ⁻ ] −u) of these control inputs is calculated. Then, a feedback signal u _awc is generated by multiplying the deviation e _awc by a predetermined gain kawc in the amplifier 122. This feedback signal u _awc is input to the adder / subtractor 105 (feedback to the input side of the sliding mode controller 101).

Here, in a range in which the control input u generated by the sliding mode controller 101 does not exceed the limit value (input limit value) of the limiter 104, the control input u before the limiter and the control input [u ⁻ ] after the limiter are The deviation e _uawc is 0 (feedback signal u _awc = 0).

On the other hand, when the control input u becomes equal to or greater than the limit value of the limiter 104 (when saturated), the deviation u _awc becomes a negative value ([u ⁻ ] −u <0), and the negative value feedback The signal u _awc is input to the adder / subtractor 105. The input limit value of the limiter 104 will be described later.

In the anti-windup controller 102 configured as described above, the windup phenomenon (overshoot) can be suppressed by tuning the gain kawc multiplied by the e _awc ([u ⁻ ] −u).

The adder / subtractor 105 receives the target stroke (target value) r, the estimated stroke [y ^] (actual stroke (output) y) estimated by the observer 103, and the feedback signal u _awc from the antiwindup controller 102. Entered. The adder / subtractor 105 calculates a deviation (r− [y ^]) between the target stroke r and the estimated stroke [y ^].

When the deviation is calculated, if the control input u generated by the sliding mode controller 101 does not exceed the limit value of the limiter 104, the feedback signal u _awc from the antiwindup controller 102 is 0. The deviation (r− [y ^]) between the output of the control object T and the target value is input to the sliding mode controller 101 as it is. On the other hand, when the control input u is greater than or equal to the limit value of the limiter 104, the feedback signal u _awc (negative value) is added to the deviation (r− [y ^]), so the deviation (r− A value ((r− [y ^]) − u _awc ) obtained by subtracting the feedback signal u _awc from [y ^]) is input to the sliding mode controller 101. That is, when the control input u is limited by the upper limit value of the limiter 104 (when saturated), the control deviation input to the sliding mode controller 101 is the deviation between the output of the control target T and the target value. It becomes smaller than (r- [y ^]).

The sliding mode controller 101 is, for example, a well-known controller of a type 1 servo system configured using an expansion system in which an integrated value z of a difference between the target value r and the output y is added to the state quantity of the control target T. Te, the switching hyperplane S represented by the switching function of the state quantity as a variable of the controlled object T (σ (x) = Sx ), is converged by the switching input (nonlinear input) u _nl the state quantity of the control object T (The value of the switching function is converged to 0 (σ (x) → 0)), and the state quantity of the control target T is changed by sliding (sliding) on the switching function by the equivalent control input (linear input) u _eq . The feedback controller is constrained on the super switching plane S.

In such a sliding mode controller 101, the state quantity of the controlled object T is stably constrained on the switching hyperplane while compensating for robustness against input disturbance (disturbance that satisfies the matching condition: the above-described drive current variation). can do. Then, the control input u (u = u _eq + u _nl ) generated by the sliding mode controller 101 is given to the control object T through the limiter 104.

-About input limit values-
Next, the input limit value of the limiter 104 will be described with reference to FIGS.

  5 and 6, the horizontal axis represents input (solenoid valve drive current), and the vertical axis represents output (stroke (hydraulic oil flow rate)). In addition, the solid line shown in FIG. 5 is a map (input / output characteristic map) for obtaining the drive current from the flow rate requirement value (stroke requirement value). The input / output characteristic map shown in FIG. 5 is calculated by experiments / calculations using nominal products and stored in the ECU 100.

  First, as shown in FIG. 5 and FIG. 6, in the conventional control, the input limit value is determined considering only the input amount (input amount necessary for actuator operation (servo performance ensuring flow rate)) determined from the actuator operation limit value. Is set. With this setting, if the actual input / output characteristics do not deviate from the map characteristics (solid line in FIG. 5) (there is no change in input / output characteristics due to input disturbance), the actuator's operating limit value is reached. Since the control input can be generated, calculation of the control input (calculation of the sliding mode controller 101) can be performed up to the vicinity of the operation limit value. However, when the input / output characteristics fluctuate due to input disturbance, for example, as shown in FIG. 5, when the actual characteristics (broken line) deviate from the map characteristics (solid line), the output (flow rate for the same input value (current value) ) Varies to the lower side), the control input cannot be generated up to the operation limit value (see FIG. 6), so the calculation result of the control input near the operation limit value may not be able to fully exhibit the disturbance suppression performance. .

  In consideration of such points, in this example, as shown in FIGS. 5 and 6, the input limit value of the limiter 104 is set to the input amount determined from the operation limit value of the actuator (the input amount necessary for the actuator operation ( Servo performance securing flow))) and input disturbance (drive current variation) to be compensated by the sliding mode controller 101. That is, a value obtained by adding half (1/2) of the compensation input disturbance range to the input limit value of the conventional control is set as the input limit value of the limiter 104. Thus, by setting the input limit value of the limiter 104 in consideration of the input disturbance, the control input can be calculated up to the operation limit value of the actuator as shown in FIG. Therefore, the input disturbance suppression performance near the operation limit of the actuator is improved.

  Then, after determining (setting) the input limit value of the limiter 104 in this way, the gain kawc of the amplifier 122 of the antiwindup controller 102 is obtained so that a desired antiwindup performance (overshoot suppression) can be obtained. By tuning by means of experiments and simulations, it is possible to achieve both the input disturbance suppression performance and the antiwindup effect.

  In the above example, the control example of the select actuator 301 and the shift actuator 302 of the automated manual transmission 3 has been described. However, the same control can be applied to the clutch actuator 201 of the automatic clutch 2.

-Other embodiments-
In the above example, the sliding mode controller is used as the feedback controller having the input disturbance suppression performance. However, the present invention is not limited to this, and the feedback control for matching the output of the controlled object to the target value is executed. As long as the controller is a feedback controller having the ability to suppress input disturbance, an input disturbance suppression controller having any other configuration may be applied. Further, the antiwindup controller is not limited to the one shown in FIG. 4, and an antiwindup controller having another configuration that is generally used may be applied.

  In the above example, the actuator control device of the automated manual transmission has been described, but the present invention is not limited to this, for example, an automatic transmission that sets a gear stage using a clutch and brake and a planetary gear device, The present invention is also applicable to actuator control of other transmissions such as a belt-type continuously variable transmission (CVT) that continuously adjusts the transmission gear ratio.

  The present invention is not limited to a hydraulic actuator, but can be applied to control of an electric or negative pressure (pneumatic) actuator. In addition to a transmission, for example, an internal combustion engine, a braking device (brake) It is also applicable to actuator control devices that drive various devices and devices such as

  INDUSTRIAL APPLICABILITY The present invention can be used for an actuator control device including a feedback controller having an input disturbance suppression performance and an anti-windup controller, for example, for controlling an actuator such as an automated manual transmission mounted on a vehicle. It can be used effectively.

2 Automatic Clutch 201 Clutch Actuator 3 Automated Manual Transmission 301 Select Actuator 302 Shift Actuator 100 ECU
101 Sliding mode controller (feedback controller with input disturbance suppression performance)
102 Anti-windup controller 104 Limiter T Control target 400 Hydraulic control circuit 401 Select solenoid valve 402 Shift solenoid valve 403 Clutch solenoid valve 501 Select stroke sensor 502 Shift stroke sensor 503 Clutch stroke sensor

Claims (2)

An actuator comprising: a feedback controller having input disturbance suppression performance; and an anti-windup controller to which a control input generated by the feedback controller and a limit input obtained by limiting the control input with an input limit value are input. In the control device of
The input limit value is set to a value obtained by adding half of the compensation input disturbance range to be compensated by the feedback controller having the input disturbance suppression performance to the input amount determined from the operation limit value of the actuator. Actuator control device. The actuator control device according to claim 1,
Said feedback controller having an input disturbance suppression performance, the control device of the actuator, wherein the sliding mode controller der Rukoto.

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