JP5935138B2 - Control device for cam mechanism - Google Patents

Description

  The present invention relates to a control device for a cam mechanism that displaces a control member by a cam that is rotationally driven by a motor.

  In recent years, in internal combustion engines mounted on vehicles, variable valves that change the valve opening and closing characteristics (for example, maximum lift amount and working angle) of intake valves and exhaust valves for the purpose of improving output, reducing fuel consumption, and reducing exhaust emissions. There is one that adopts the device.

  As such a variable valve device, for example, as described in Patent Document 1 (Japanese Patent Application Laid-Open No. 2006-144593), a displacement mechanism that axially displaces a control shaft by a cam that is rotationally driven by a motor. And an opening / closing characteristic changing mechanism for changing the valve opening / closing characteristic, and the valve opening / closing characteristic is changed by operating the opening / closing characteristic changing mechanism by displacing the control shaft in the axial direction by the displacement mechanism. In Patent Document 1, a sensor that detects the rotational phase (rotational angle) of a cam is provided, and the control shaft is controlled by controlling the motor so that the rotational phase of the cam is the target rotational phase based on the output signal of the sensor. The valve opening / closing characteristic is controlled to the target valve opening / closing characteristic by controlling the displacement amount of the valve to the target displacement amount.

JP 2006-144593 A

  By the way, in the technique of the above-mentioned patent document 1, when the error of the calculated value based on the output signal of the sensor becomes large due to an abnormality of the sensor or the like that detects the rotation angle of the cam, the control accuracy of the valve opening / closing characteristics decreases, and the fuel consumption, There is a possibility of deteriorating exhaust emissions and drivability. In order to prevent such a problem, it is necessary to detect an error in the calculated value based on the output signal of the sensor and perform a process for reducing the influence of the error. The error of the calculated value based on the sensor output signal cannot be detected.

  Therefore, the problem to be solved by the present invention is a calculated value based on an output signal of a sensor that detects a cam rotation angle or the like in a system including a cam mechanism that displaces a control member by a cam that is rotationally driven by a motor. It is an object of the present invention to provide a control device for a cam mechanism that can detect an error in the above.

In order to solve the above problems, the invention according to claim 1 is directed to a cam mechanism (18) for displacing the control member (12) by a cam (17) driven to rotate by a motor (15), and a cam (17). A sensor (19) for detecting a rotation angle or information correlated therewith (hereinafter collectively referred to as “rotation angle information”), and a displacement amount of the control member (12) based on an output signal of the sensor (19) Alternatively, in a cam mechanism control device comprising a displacement amount information calculation means (21) for calculating information correlated with this (hereinafter collectively referred to as “displacement amount information”), the cam (17) is provided. The step (20) formed so that the inclination of the displacement of the control member (12) with respect to the rotation angle of the cam (17) is different from the other parts, and the cam ( 17) angular velocity or An angular velocity information calculating means (21) for calculating information having a correlation with this (hereinafter collectively referred to as "angular velocity information"), and a calculated value of displacement information calculated based on the output signal of the sensor (19) And error detection means (21) for detecting an error in the calculated value of the displacement amount information based on the angular velocity information.

In this configuration, the cam is provided with a step portion (a portion formed such that the inclination of the displacement of the control member with respect to the cam rotation angle is different from that of the other portions). When passing through the step position where the step contacts the control member, the rotational load of the motor changes suddenly and the angular velocity of the cam changes suddenly. Therefore, if cam angular velocity information (for example, angular velocity or angular acceleration) is monitored, it can be determined whether or not the rotational position of the cam is a step position. This is a known value determined in advance and can be stored in advance. Therefore, if the calculated value of the displacement amount information calculated based on the output signal of the sensor and the angular velocity information are used, an error of the calculated value of the displacement amount information (deviation from the actual displacement amount information) can be calculated.

  Specifically, as in claim 2, a step for determining whether or not the rotational position of the cam (17) is a step position that contacts the control member (12) at the step portion (20) based on the angular velocity information. The determination means (21) is provided, and the error detection means (21), when it is determined that the rotational position of the cam (17) is the step position, the actual displacement amount information stored in advance at the step position and the sensor (19 The difference from the calculated value of the displacement amount information calculated based on the output signal of) is preferably calculated as an error of the calculated value of the displacement amount information. In this way, the error of the calculated value of the displacement amount information can be calculated with high accuracy.

FIG. 1 is a diagram showing a schematic configuration of a variable valve control system in Embodiment 1 of the present invention. FIG. 2 is a diagram showing a schematic configuration of the cam and the control shaft. FIG. 3 is a diagram showing the relationship between the cam rotation angle and the amount of displacement of the control shaft. FIG. 4 is a diagram for explaining changes in valve opening / closing characteristics. FIG. 5 is a time chart showing the behavior of the actual displacement amount of the control shaft and the calculated displacement amount when the rotation angle sensor is normal. FIG. 6 is a time chart showing the behavior of the actual displacement amount of the control shaft and the calculated displacement amount when the rotation angle sensor or the like is abnormal. FIG. 7 is a flowchart showing the flow of processing of the error detection routine of the first embodiment. FIG. 8 is a flowchart showing the flow of processing of the error detection and abnormality diagnosis routine of the second embodiment. FIG. 9 is a flowchart showing the flow of processing of the error detection and correction routine of the third embodiment.

  Hereinafter, several embodiments will be described in which the embodiment for implementing the present invention is applied to a variable valve device that changes the valve opening / closing characteristics of an intake valve or an exhaust valve of an internal combustion engine (engine).

A first embodiment of the present invention will be described with reference to FIGS.
First, a schematic configuration of the entire variable valve control system will be described with reference to FIG.
In the variable valve device 11, an actuator unit 13 that displaces the control shaft 12 (control member) in the axial direction, and valve opening / closing characteristics (for example, a maximum lift amount, a working angle, etc.) are changed according to the displacement amount of the control shaft 12. A valve opening / closing characteristic changing mechanism 14 is provided. The actuator unit 13 is provided with a cam mechanism 18 that displaces the control shaft 12 by a cam 17 that is rotationally driven by a motor 15, and a rotation angle sensor 19 that detects the rotation angle of the cam 17. In the cam mechanism 18, a cam 17 is connected to a rotation shaft of the motor 15 via a speed reducer 16, and the tip of the control shaft 12 comes into contact with the outer peripheral surface of the cam 17 (the outer end surface of the cam 17 is the tip of the control shaft 12. The control shaft 12 is arranged so as to press the button. The cam mechanism 18 plays a role of converting the rotational movement of the cam 17 into the reciprocating linear movement of the control shaft 12.

As shown in FIG. 2, the outer periphery of the cam 17 is formed so that the distance from the center of rotation to the position where the cam 17 abuts the control shaft 12 (the position where the control shaft 12 is pressed) changes according to the rotation of the cam 17. ing. Further, step portions 20 formed so that the inclination (change rate) of the displacement amount of the control shaft 12 with respect to the rotation angle of the cam 17 is different from other portions at a plurality of locations (for example, three locations) on the outer peripheral surface of the cam 17. Is provided. In FIG. 2, each stepped portion 20 is indicated by a bold line for convenience of explanation.

As shown in FIG. 3, each step portion 20 is formed so that the inclination of the displacement amount of the control shaft 12 with respect to the rotation angle of the cam 17 is substantially 0 (that is, the displacement amount is substantially constant). That is, when the rotational position of the cam 17 passes through the first step position where the first step portion 20 contacts the control shaft 12, and the second step portion 20 contacts the control shaft 12. When passing through the position and when passing through the third step position where the third step portion 20 contacts the control shaft 12, the inclination of the displacement amount of the control shaft 12 is almost 0 (that is, the displacement amount is substantially constant). ).

  The output of the rotation angle sensor 19 is input to the ECU 21 (see FIG. 1). The ECU 21 is mainly composed of a microcomputer, and executes a variable valve control program stored in a built-in ROM (storage medium), so that the motor 15 of the variable valve device 11 can be operated according to the engine operating state or the like. The valve opening / closing characteristic changing mechanism 14 is operated by changing the control shaft 12 in the axial direction by the cam mechanism 18 to change the valve opening / closing characteristics (for example, the maximum lift amount and the operating angle) (see FIG. 4). .

  At that time, the ECU 21 (control means) calculates a target displacement amount value of the control shaft 12 (a displacement amount corresponding to the target valve opening / closing characteristics) according to the engine operating state and the like, and based on the output signal of the rotation angle sensor 19. By calculating the displacement amount of the control shaft 12 and performing feedback control of the motor 15 by PID control or the like so that the calculated displacement amount value of the control shaft 12 coincides with the target displacement amount value, the valve opening / closing characteristics can be adjusted. Control to characteristics.

  As shown in FIG. 5, when the rotation angle sensor 19 and the cam mechanism 18 are normal, the displacement amount of the control shaft 12 calculated based on the actual displacement amount of the control shaft 12 and the output signal of the rotation angle sensor 19 is calculated. The value almost matches. However, as shown in FIG. 6, when the rotation angle sensor 19 or the cam mechanism 18 is abnormal, the displacement of the control shaft 12 calculated based on the actual displacement amount of the control shaft 12 and the output signal of the rotation angle sensor 19. There is a possibility that a deviation (amount of deviation) from the amount calculation value becomes large and an error of the displacement amount calculation value of the control shaft 12 becomes large.

  As described above, when an error in the calculated amount of displacement of the control shaft 12 based on the output signal of the rotation angle sensor 19 due to an abnormality in the rotation angle sensor 19 or the cam mechanism 18 or the like, the control accuracy of the valve opening / closing characteristics decreases, There is a possibility of deteriorating fuel consumption, exhaust emission, drivability, etc. In order to prevent such a problem, it is necessary to detect an error in the calculated displacement amount of the control shaft 12 and perform processing to reduce the influence of the error.

  Therefore, in the first embodiment, the ECU 21 calculates an angular velocity information (for example, angular velocity and angular acceleration) of the cam 17 based on an output signal of the rotation angle sensor 19 by executing an error detection routine of FIG. The error of the calculated displacement amount of the control shaft 12 is detected based on the calculated displacement amount value of the control shaft 12 and the angular velocity information calculated based on the output signal of the rotation angle sensor 19.

Since the step portion 20 (the portion formed so that the inclination of the displacement amount of the control shaft 12 with respect to the rotation angle of the cam 17 is different from the other portions) is provided on the outer peripheral surface of the cam 17, When the rotational position of the cam 17 passes through the step position where the step portion 20 contacts the control shaft 12, the rotational load of the motor 15 changes suddenly and the angular velocity of the cam 17 changes suddenly. Therefore, if the angular velocity information (for example, angular velocity and angular acceleration) of the cam 17 is monitored, it can be determined whether or not the rotational position of the cam 17 is a step position. The actual displacement amount at this step position is: This is a known value determined mechanically and can be stored in advance. Therefore, if the calculated displacement amount of the control shaft 12 calculated based on the output signal of the rotation angle sensor 19 and the angular velocity information of the cam 17 are used, an error in the calculated displacement amount of the control shaft 12 (relative to the actual displacement amount). Deviation) can be calculated.

  Specifically, based on the angular velocity information of the cam 17, it is determined whether or not the rotational position of the cam 17 is a step position where the step portion 20 contacts the control shaft 12, and the rotational position of the cam 17 is the step position. Is determined, the difference between the actual displacement amount at the step position stored in advance and the displacement amount calculated value of the control shaft 12 calculated based on the output signal of the rotation angle sensor 19 is calculated as the displacement amount of the control shaft 12. Calculated as the value error.

  As shown in FIGS. 5 and 6, when the rotational position of the cam 17 passes through the step position (position where the step portion 20 contacts the control shaft 12) during the rotation of the motor 15, the rotational load of the motor 15 changes suddenly. As a result, the angular velocity of the cam 17 changes suddenly. More specifically, when the rotational position of the cam 17 starts to pass through the step position (when the control shaft 12 starts to contact the stepped portion 20), the angular velocity of the cam 17 increases rapidly and the angular acceleration increases rapidly. When the rotational position of 17 finishes passing through the step position (when the control shaft 12 finishes contacting the stepped portion 20), the angular velocity of the cam 17 decreases rapidly and the angular acceleration decreases rapidly.

  Focusing on such characteristics, in this embodiment, when the angular velocity information (for example, angular velocity and angular acceleration) of the cam 17 exceeds a predetermined value or falls outside a predetermined range, the rotational position of the cam 17 is stepped. It is determined that it is a position. Thereby, the step position can be determined with high accuracy.

The processing contents of the error detection routine of FIG. 7 executed by the ECU 21 will be described below.
The error detection routine shown in FIG. 7 is repeatedly executed at a predetermined cycle during the power-on period of the ECU 21. When this routine is started, first, at step 101, it is determined whether or not the motor 15 is rotating at a constant driving force. At step 101, the motor 15 is not rotating at a constant driving force. If it is determined, the routine is terminated without executing the processing from step 102 onward.

  On the other hand, if it is determined in step 101 that the motor 15 is rotating with a constant driving force, the process proceeds to step 102 where the displacement amount of the control shaft 12 is mapped based on the output signal of the rotation angle sensor 19. Etc. are calculated. The processing in step 102 serves as a displacement amount information calculation means in the claims.

  Thereafter, the process proceeds to step 103, and angular velocity information (angular velocity and angular acceleration) of the cam 17 is calculated based on the output signal of the rotation angle sensor 19. The processing in step 103 serves as angular velocity information calculation means in the claims.

  Thereafter, the routine proceeds to step 104, where it is determined whether or not the rotational position of the cam 17 is a step position (a position where the step portion 20 contacts the control shaft 12) based on the angular velocity information (angular velocity and angular acceleration) of the cam 17. To do. The processing in step 104 serves as a step determining means in the claims.

  In this case, for example, when the angular velocity or angular acceleration of the cam 17 becomes larger than a predetermined value or becomes larger than a predetermined range, when the rotational position of the cam 17 starts to pass the step position (the control shaft 12 is It may be determined that the rotation position of the cam 17 is the step position. Alternatively, when the angular position or acceleration of the cam 17 is smaller than a predetermined value or smaller than a predetermined range, when the rotational position of the cam 17 finishes passing the step position (the control shaft 12 has a step portion). It is also possible to determine that the rotational position of the cam 17 is the step position.

  Further, when both the angular velocity and the angular acceleration of the cam 17 are larger than a predetermined value or larger than a predetermined range, it is determined that it is a time when the rotational position of the cam 17 starts to pass through the step position. Thus, the rotational position of the cam 17 may be determined to be the step position. Alternatively, when both the angular velocity and the angular acceleration of the cam 17 are smaller than a predetermined value or smaller than a predetermined range, it is determined that the rotational position of the cam 17 has finished passing the step position. Then, it may be determined that the rotational position of the cam 17 is the step position.

  If it is determined in step 104 that the rotational position of the cam 17 is not the step position, this routine is terminated without executing the processing from step 105 onward.

  Thereafter, when it is determined in step 104 that the rotational position of the cam 17 is the step position, the process proceeds to step 105 and the actual displacement amount of the control shaft 21 at the current step position is read. The actual displacement amount of the control shaft 21 at each step position is stored in advance in the ROM of the ECU 21. When the current step position is the first step position, the actual displacement amount of the control shaft 21 at the first step position is read. When the current step position is the second step position, the actual displacement amount of the control shaft 21 at the second step position is read. When the current step position is the third step position, the actual displacement amount of the control shaft 21 at the third step position is read.

  Thereafter, the process proceeds to step 106, and the difference between the actual displacement amount of the control shaft 21 at the step position and the calculated displacement amount of the control shaft 21 based on the output signal of the rotation angle sensor 19 is calculated as the control shaft 21. It is calculated as an error of the calculated displacement amount. The processing in step 106 serves as error detection means in the claims.

  When a predetermined execution condition is satisfied (for example, immediately after the ignition switch is turned on and before the engine is started, during idling stop, immediately after the engine is stopped, etc.), the motor 15 is forcibly driven to rotate with a constant driving force. Then, the routine of FIG. 7 may be executed.

In the first embodiment described above, the step portion 20 (the portion formed so that the inclination of the displacement amount of the control shaft 12 with respect to the rotation angle of the cam 17 is different from the other portions) is provided on the outer peripheral surface of the cam 17, and the motor During the rotation of 15, the displacement amount of the control shaft 12 is calculated based on the output signal of the rotation angle sensor 19, and the angular velocity information (for example, angular velocity and angular acceleration) of the cam 17 is calculated. Based on this, it is determined whether or not the rotational position of the cam 17 is a step position that contacts the control shaft 12 at the step portion 20, and when the rotational position of the cam 17 is determined to be the step position, the step stored in advance is determined. Since the difference between the actual displacement amount at the position and the displacement amount calculated value of the control shaft 12 calculated based on the output signal of the rotation angle sensor 19 is calculated as an error of the displacement amount calculated value of the control shaft 12, Of the control shaft 12 The error in the position quantity calculation value can be accurately calculated.

  Next, Embodiment 2 of the present invention will be described with reference to FIG. However, description of substantially the same parts as those in the first embodiment will be omitted or simplified, and different parts from the first embodiment will be mainly described.

  In the second embodiment, an error detection and abnormality diagnosis routine of FIG. 8 described later is executed by the ECU 21 to calculate an error of the displacement amount calculation value of the control shaft 12, and then the error of the displacement amount calculation value is set to a predetermined value. The presence / absence of abnormality of the rotation angle sensor 19 and the cam mechanism 18 is determined by comparison with the abnormality determination value.

  The routine of FIG. 8 executed in the second embodiment is obtained by adding the processes of steps 107 to 109 after the process of step 106 of the routine of FIG. 7 described in the first embodiment. This processing is the same as in FIG.

  In the error detection and abnormality diagnosis routine of FIG. 8, after calculating the displacement amount calculation value error of the control shaft 12 by the same method as in the first embodiment by the processing of steps 101 to 106, the process proceeds to step 107 and the control shaft 12 It is determined whether or not the absolute value of the error of the displacement amount calculation value is larger than a predetermined abnormality determination value.

  If it is determined in step 107 that the absolute value of the error in the calculated displacement amount of the control shaft 12 is greater than the abnormality determination value, the process proceeds to step 108, where there is an abnormality in the rotation angle sensor 19 or the cam mechanism 18 or the like. And the abnormality flag is set to ON, and a warning lamp (not shown) provided on the instrument panel of the driver's seat is turned on or blinked, or a warning display section ( A warning is displayed on the display (not shown) to warn the driver, and the abnormality information (abnormality code or the like) is stored in a rewritable nonvolatile memory (such as a backup RAM (not shown)) of the ECU 21 even when the ECU 21 is turned off. The data is stored in a rewritable memory that holds data, and this routine is terminated.

  On the other hand, when it is determined in step 107 that the absolute value of the error in the calculated displacement amount of the control shaft 12 is equal to or less than the abnormality determination value, the process proceeds to step 109 and the rotation angle sensor 19 or the cam mechanism. It is determined that there is no abnormality such as 18 (normal), the abnormality flag is kept OFF, and this routine is terminated. The processing in these steps 107 to 109 serves as an abnormality diagnosis means in the claims.

  In the second embodiment described above, after calculating the error of the calculated displacement amount of the control shaft 12, the error of the calculated displacement amount of the control shaft 12 is compared with a predetermined abnormality determination value, and the rotation angle sensor 19 or cam Since the presence / absence of an abnormality in the mechanism 18 or the like is determined, when an abnormality occurs in the rotation angle sensor 19 or the cam mechanism 18 or the like, the abnormality can be detected at an early stage.

  Next, Embodiment 3 of the present invention will be described with reference to FIG. However, description of substantially the same parts as those in the first embodiment will be omitted or simplified, and different parts from the first embodiment will be mainly described.

  In the third embodiment, an error detection and correction routine of FIG. 9 described later is executed by the ECU 21 to calculate an error of the calculated displacement amount of the control shaft 12, and then control is performed using the error of the calculated displacement amount. The displacement amount calculation value or the displacement amount target value of the shaft 12 is corrected.

  The routine of FIG. 9 executed in the third embodiment is obtained by adding the process of step 110 after the process of step 106 of the routine of FIG. 7 described in the first embodiment, and processes of other steps. Is the same as FIG.

  In the error detection and correction routine of FIG. 9, the error of the displacement amount calculation value of the control shaft 12 is calculated by the same method as in the first embodiment by the processing of steps 101 to 106, and then the process proceeds to step 110 to change the displacement of the control shaft 12. The displacement amount calculated value of the control shaft 12 is corrected by adding an error of the displacement amount calculated value to the amount calculated value. Alternatively, the displacement amount target value of the control shaft 12 is corrected by subtracting the error of the displacement amount calculation value from the displacement amount target value of the control shaft 12. The processing of step 110 serves as a calculated value correction means or target value correction means in the claims.

  The ECU 21 uses the corrected displacement amount calculated value or the corrected displacement amount target value to feedback control the motor 15 so that the displacement amount calculated value of the control shaft 12 matches the displacement amount target value. The opening / closing characteristics are controlled to the target valve opening / closing characteristics.

  In the third embodiment described above, after calculating the error of the displacement amount calculation value of the control shaft 12, the displacement amount calculation value or the displacement amount target value of the control shaft 12 is corrected using the error of the displacement amount calculation value. Since it did in this way, the fall of the control precision of the valve opening / closing characteristic resulting from the error of a displacement amount calculation value can be suppressed.

  In each of the first to third embodiments, in the system for calculating the displacement amount of the control shaft 12 based on the output signal of the rotation angle sensor 19, an error of the calculated value of the displacement amount of the control shaft 12 is calculated. However, the present invention is not limited to this. For example, in a system that calculates the lift amount or the working angle (physical quantity that changes with the displacement of the control shaft 21) based on the output signal of the rotation angle sensor 19, the lift amount or the working angle An error of the calculated value may be calculated. Alternatively, in the system that calculates the rotation angle of the cam 17 based on the output signal of the rotation angle sensor 19, an error in the calculated value of the rotation angle of the cam 17 may be calculated.

  Further, based on the output signal of the rotation angle sensor 19 that detects the rotation angle of the cam 17, displacement amount information (the rotation angle of the cam 17, the displacement amount of the control shaft 21, the physical quantity that changes with the displacement of the control shaft 12, etc.). For example, the displacement amount information may be calculated based on an output signal of a displacement amount sensor that detects the displacement amount of the control shaft 12. Or you may make it calculate displacement amount information based on the output signal of the rotation angle sensor which detects the rotation angle of the motor 15. FIG.

In the first to third embodiments, the present invention is applied to the cam mechanism of the variable valve device. However, the present invention is not limited to this, and the present invention may be applied to a cam mechanism of a device other than the variable valve device.
In addition, the present invention can be implemented with various modifications within a range not departing from the gist, such as the configuration of the cam mechanism (the shape of the cam and the control member, the number and position of the stepped portions, etc.) may be appropriately changed.

  DESCRIPTION OF SYMBOLS 11 ... Variable valve apparatus, 12 ... Control shaft (control member), 15 ... Motor, 17 ... Cam, 18 ... Cam mechanism, 19 ... Rotation angle sensor, 20 ... Step part, 21 ... ECU (control means, displacement amount information calculation) Means, angular velocity information calculating means, step determining means, error detecting means, abnormality diagnosing means, calculated value correcting means, target value correcting means)

Claims (7)

A cam mechanism (18) that displaces the control member (12) by a cam (17) that is rotationally driven by a motor (15), and a rotation angle of the cam (17) or information having a correlation therewith (hereinafter referred to as “ A sensor (19) for detecting a rotation angle information), and a displacement amount of the control member (12) based on an output signal of the sensor (19) or information correlated therewith (hereinafter referred to as " In a control device for a cam mechanism comprising displacement amount information calculating means (21) for calculating (displacement amount information))
A step portion (20) provided on the cam (17) and formed so that an inclination of a displacement amount of the control member (12) with respect to a rotation angle of the cam (17) is different from other portions;
Angular velocity information calculating means (21) for calculating the angular velocity of the cam (17) or information correlated therewith (hereinafter collectively referred to as “angular velocity information”) based on the output signal of the sensor (19);
Error detection means (21) for detecting an error in the calculated displacement amount information based on the calculated displacement amount information calculated based on the output signal of the sensor (19) and the angular velocity information. A control device for a cam mechanism. A step determining means (21) for determining whether the rotational position of the cam (17) is a step position in contact with the control member (12) at the step portion (20) based on the angular velocity information;
When it is determined that the rotational position of the cam (17) is the step position, the error detection means (21) stores actual displacement information at the step position stored in advance and the output of the sensor (19). 2. The control device for a cam mechanism according to claim 1, wherein a difference from a calculated value of the displacement amount information calculated based on the signal is calculated as an error of the calculated value of the displacement amount information.   The step determining means (21) determines that the rotational position of the cam (17) is the step position when the angular velocity information exceeds a predetermined value or falls outside a predetermined range. The cam mechanism control device according to claim 2.   4. An abnormality diagnosing means (21) for determining the presence / absence of an abnormality by comparing an error of a calculated value of the displacement amount information with a predetermined abnormality determination value. Cam mechanism control device.   The cam according to any one of claims 1 to 4, further comprising calculated value correcting means (21) for correcting the calculated value of the displacement amount information based on an error of the calculated value of the displacement amount information. Control device for the mechanism. Control means (21) for controlling the motor (15) so that the calculated value of the displacement information matches the target value of the displacement information;
The control of the cam mechanism according to any one of claims 1 to 4, further comprising target value correcting means (21) for correcting the target value based on an error of a calculated value of the displacement amount information. apparatus.   The displacement amount information is any one of a rotation angle of the cam (17), a displacement amount of the control member (12), and a physical amount that changes in accordance with the displacement of the control member (12). The control device for a cam mechanism according to any one of claims 1 to 6.

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