JP5951321B2 - Electronic control unit - Google Patents

Description

  The present invention relates to an electronic control device, and more particularly to an electronic control device that executes sliding mode control on a control target device of a vehicle.

  In recent years, in an electronic control device for an internal combustion engine of a vehicle such as a motorcycle, for example, an electronic control throttle device, a control amount related to the control is feedback controlled to a desired target value by driving a throttle valve. It has come to be.

  In such feedback control processing, for example, PID (Proportional-Integral-Derivative) control is generally used. However, it is generally difficult to ensure the stability of the control against the influence of disturbance or the like. There is a tendency that the gain setting related to the input term is difficult.

  Therefore, it has been proposed to apply a sliding mode control that uses a switching function to control a control amount related to the control to a desired target value in an electronic control device for an internal combustion engine of a vehicle.

  Patent document 1 relates to a controller using sliding mode control, and proposes to use a switching function having a deviation between a controlled variable and a target value thereof and a time differential value of the deviation (change speed of deviation) as a state variable. ing.

JP 63-148302 A

  According to the study of the present inventor, if the configuration in Patent Document 1 is applied to an electronically controlled throttle device, in order to control the throttle valve opening amount as the control amount so as to converge to the target value, It is conceivable that the control input is generated by the sliding mode control process, the operation amount is determined based on the control input, and the actuator of the throttle valve is operated.

  In this way, according to the electronically controlled throttle device using the sliding mode control, in principle, such a plurality of the plurality of state values on the switching plane defined by the switching function having a plurality of state quantities of the throttle valve to be controlled as variables. Can be configured to converge to an equilibrium point (a point where each state quantity matches each target value) on the switching plane while constraining these state quantities on the switching plane. . Here, in the sliding mode control, in principle, as long as the state quantity reaches the switching plane, the state quantity is hardly affected by disturbances or the like, and is very stably set to the equilibrium point on the switching plane. It has the characteristic that it can be made to converge.

However, according to the study of the present inventor, in the configuration in Patent Document 1, a switching function having a state quantity that is a deviation between a controlled variable and its target value and a time differential value (deviation change speed) of the deviation is provided. In order to calculate the rate of change of this deviation, subtract the previous deviation from the current deviation and divide it by the sampling time (time interval) to obtain the rate of change of the deviation. It will be necessary. For this reason, the time interval measurement and the calculation processing divided by the time interval become complicated, the configuration becomes complicated, and the control responsiveness such as lamp response tends to be reduced. There is room.

  The present invention has been made through the above-described studies, and can simplify the arithmetic processing and can perform sliding mode control with improved control responsiveness such as lamp responsiveness. The purpose is to provide.

In order to achieve the above object, in the first aspect, the present invention outputs an operation amount to the control target device so that the control amount from the control target device becomes a target amount by executing a sliding mode control process. A sliding mode controller unit, wherein the sliding mode controller unit defines a switching line or a switching plane by a switching function having a plurality of state variables as variables, and the plurality of state quantities are in the switching line or the switching plane. In the electronic control device that calculates a control input so as to converge to an equilibrium state and outputs the operation amount based on the control input to the control target device, the plurality of state amounts include a first state amount and a second state amount. The sliding mode controller unit calculates a deviation amount that is a deviation between the control amount and the target amount. The sliding mode control process is executed at a constant time period using the switching function in which the deviation change amount, which is the change amount of the deviation amount, is set as the second state amount. At a certain time period, a current deviation amount that is a deviation between the control amount detected in the current cycle and the target amount, and a past calculated in the previous cycle before the current deviation amount and the current cycle. A current deviation change amount that is a difference from the deviation amount is calculated, and the current deviation amount and the current deviation change amount are substituted into the first state amount and the second state amount, and A value is calculated, and the switching function includes a coefficient to be multiplied by the deviation change amount, and the coefficient causes the first state amount and the second state amount to converge to an equilibrium state in the sliding mode control. Decreasing convergence characteristics The sliding mode controller unit is configured to stabilize the control amount with respect to the target amount for each constant time period. When the degree is determined and it is determined that the control amount is stable with respect to the target amount, the time interval between the current cycle and the past cycle for calculating the deviation change amount is set to an electronic control device according to claim extension freely der Rukoto by the same duration and period length of the predetermined time period.

The present invention, in addition to such a first aspect, the sliding mode controller unit, the control amount of the stabilizing degree of the second it is freely change the damping characteristic component according to with respect to the target amount Let it be a situation.

Further, the present invention, in addition to the first or second aspect, the sliding mode controller unit, the time interval between the current cycle and the past cycle for calculating the deviation change amount, A third aspect is to set the response delay time from the input of the manipulated variable in the control target device to the output of the controlled variable being longer than the response delay time.

In the electronic control device according to the first aspect of the present invention, the sliding mode controller unit sets the deviation amount, which is the deviation between the control amount and the target amount, as the first state amount, and the deviation that is the variation amount of the deviation amount. Using the switching function in which the amount of change is set to the second state quantity, the sliding mode control process is executed at a constant time period, and the control amount detected at the current period and the target amount are executed every constant time period. The current deviation amount, which is a deviation, and the current deviation change amount, which is the difference between the current deviation amount and the past deviation amount calculated in the past cycle before the current cycle, are calculated, and the current deviation amount and the current deviation change are calculated. By calculating the value of the switching function by substituting the quantity into the first state quantity and the second state quantity, it is not necessary to calculate the time differential value (deviation change speed) itself of the deviation. Can be simplified Rutotomoni may perform sliding mode control with improved control response of the lamp response, and the like.

Further , in the electronic control device according to the first aspect of the present invention, the switching function includes a coefficient to be multiplied by the deviation change amount, and the first state quantity and the second state quantity are in sliding mode control. And the time characteristic having the same time length as the period length of the constant time period, and the first state quantity and the second state quantity. It is possible to guide the state quantity to the equilibrium state and to divide one of the change amounts of the state quantities by the period length of a certain control period, thereby reliably simplifying the arithmetic processing.

Furthermore , in the electronic control device according to the first aspect of the present invention, the sliding mode controller unit determines the degree of stability of the control amount with respect to the target amount at a certain time period, and the control amount is stable with respect to the target amount. When it is determined that it is in the state, the time interval between the current cycle and the past cycle for calculating the deviation change amount can be extended by the same time length as the cycle length of a certain time cycle, When the control amount with respect to the target amount is stable, the deviation change amount can be reliably calculated in an optimum state.

Further, in the electronic control device according to the second aspect of the present invention, the sliding mode controller unit can change the attenuation characteristic component according to the degree of stability of the control amount with respect to the target amount, thereby multiplying the deviation change amount. The value of the switching function can be calculated in such a manner that the influence of the noise component included in the controlled variable is eliminated and the influence of the disturbance is less likely to be affected.

Further, in the electronic control device according to the third aspect of the present invention, the sliding mode controller unit determines the time interval between the current cycle and the past cycle for calculating the deviation change amount as the operation amount in the control target device. By setting a time longer than the response delay time from when the control is input until the control amount is output, the time interval can be set in consideration of the dead time during which the control amount is not output, and the deviation change amount is calculated reliably. can do.

FIG. 1 is a block diagram showing the configuration of an electronic control device that executes sliding mode control in an embodiment of the present invention. FIG. 2A is a flowchart showing a flow of calculation processing of the sliding mode controller unit of the electronic control device in the present embodiment, and FIG. 2B is switching during calculation processing of the flowchart of FIG. It is a flowchart which shows the flow of a calculation process of a function. FIG. 3 is a timing chart for explaining the calculation process of the switching function during the calculation process of the sliding mode controller unit of the electronic control device according to this embodiment.

  Hereinafter, an electronic control device according to an embodiment of the present invention will be described in detail with reference to the drawings as appropriate.

[Configuration of electronic control unit]
First, with reference to FIG. 1, the configuration of an electronic control device that executes sliding mode control in the present embodiment will be described in detail.

  FIG. 1 is a block diagram illustrating a configuration of an electronic control device that executes sliding mode control in the present embodiment.

  As shown in FIG. 1, the electronic control device 1 according to the present embodiment is mounted on a vehicle (not shown), typically a motorcycle or a four-wheeled vehicle, and uses electric power supplied from a battery mounted on the vehicle. It is a control device that operates by using it and can control various components of the vehicle, and includes a memory (not shown). In addition, the electronic control device 1 includes a target amount calculation unit 10 and a sliding mode controller unit 20. The sliding mode controller unit 20 includes a switching function calculation unit 22, a control input calculation unit 24, and an operation amount processing unit 26. The target amount calculation unit 10, the sliding mode controller unit 20, the switching function calculation unit 22, the control input calculation unit 24, and the operation amount processing unit 26 are all shown as functional blocks of the arithmetic processing device. In addition, the electronic control device 1 is electrically connected to the input detector 40 electrically connected to the input device 30 and the control target device 50 and the control amount detector 60 electrically connected to each other. Has been. The control target device 50 includes an actuator 52 and a control target member 54 driven by the actuator 52. The actuator 52 may be provided separately outside the control target device 50. Further, the control amount detector 60 may be built in the control target device 50.

  Here, when the electronic control device 1 according to the present embodiment is mounted on a vehicle such as a motorcycle or a four-wheeled vehicle, the input device 30 typically includes an accelerator pedal that gives a driver an accelerator operation amount, It is an accelerator grip, and the input detector 40 is a detector that electrically detects an operation position given to the input device 30 and an applied input amount, that is, an accelerator opening of an accelerator pedal or an accelerator grip. In such a case, the control target device 50 is typically an electronically controlled throttle device that controls the amount of air to the internal combustion engine, the actuator 52 is an electric motor, and the control target member 54 is a throttle valve. In such a case, typically, the actuator 52 that is an electric motor makes the operation position, that is, the opening degree of the control target member 54 that is a throttle valve variable. The control amount detector 60 is a detector that detects an operation position such as the opening degree of the control target member 54.

  Specifically, the input device 30 outputs the operation position given thereto and the applied input amount to the input detector 40 as an electric signal, and the input detector 40 inputs the input applied to the input device 30 from the electric signal. The amount is detected, and the detected input detection amount is output to the target amount calculation unit 10 as an electrical signal. In addition, the control amount detector 60 detects the operation position of the control target member 54 and outputs the detected operation position to the target amount calculation unit 10 as an electrical signal.

  The target amount calculation unit 10 is electrically connected to the input detector 40, receives an electric signal from the input detector 40, and calculates a target amount according to the input detection value detected by the input detector 40. Such a target amount is a value for giving a required operation position corresponding to the input amount applied to the input device 30 to the control target member 54 through driving of the actuator 52. The target amount calculation unit 10 outputs the calculated target amount as an electric signal to the switching function calculation unit 22 and the control input calculation unit 24, respectively.

The switching function calculation unit 22 is electrically connected to the target amount calculation unit 10 and the control amount detector 60, receives the electric signals from the target amount calculation unit 10 and the control amount detector 60, and receives the target amount. The switching function σ is specifically defined according to the target amount calculated by the calculation unit 10 and the operation position of the control target member 54 detected by the control amount detector 60, and the value of the switching function σ is calculated. At this time, the operation position of the control target member 54 detected by the control amount detector 60 is handled as a control amount that becomes a control target amount in the sliding mode control.

  Here, the switching function σ is given by the following equation (Equation 1) using the deviation amount e, the deviation change amount Δe, and the coefficient G, each of which is a state quantity. Note that the mathematical expression of the switching function σ and the arithmetic expression related thereto are stored in advance in the memory in the electronic control device 1 as data or a program.

  Specifically, in Equation (Equation 1), the deviation amount e is the difference between the target amount and the control amount in each control cycle (period related to time) of the sliding mode control, that is, in each control cycle of the sliding mode control. This is a value calculated by subtracting the control amount from the target amount. The deviation change amount Δe is the difference between the deviation amount in a specific control cycle of the sliding mode control and the deviation amount in a predetermined past control cycle from the specific cycle, that is, in the specific control cycle of the sliding mode control. It is a value calculated by subtracting the deviation amount calculated at a predetermined past time from the calculated deviation amount. The coefficient G represents the slope of the switching function σ, that is, the switching function σ passes through the origin of the orthogonal coordinate system in an orthogonal coordinate system with the horizontal axis as the deviation amount e and the vertical axis as the deviation change amount Δe. The slope of the switching line is given, and is given by the following equation (Equation 2) obtained by dividing the attenuation characteristic component g by the period length Δt.

  Specifically, in the mathematical expression (Equation 2), the attenuation characteristic component g is a component of a coefficient G that allows the magnitude of the inclination of the switching line to be adjusted, and the deviation amount e and the deviation that are the coordinates of the control amount on the switching line. The convergence rate at which the set of change amounts Δe converges to the origin of the orthogonal coordinate system in which the switching function σ is expressed, that is, the deviation amount e constrained on the switching line and the corresponding deviation change amount Δe It is a coefficient component that defines a convergence characteristic related to a convergence speed that converges to zero, which is a value indicating each equilibrium state. In the mathematical formula (Equation 2), the cycle length Δt is a value of a time cycle of control in which the sliding mode control is executed, and is set as a constant value in the present embodiment. That is, the period length Δt is a component of the coefficient G having the same time length as the period length of a certain time period in which the sliding mode control is executed, and the coefficient G has a dimension of 1 / time. The period length Δt is on the order of several milliseconds.

  Therefore, the switching function calculation unit 22 specifically defines the switching function σ without calculating the deviation change speed, which is the time differential value of the deviation amount e, in each control cycle of the sliding mode control. Is calculated. The switching function calculation unit 22 outputs the calculated value of the switching function σ, the deviation amount e that is each state quantity calculated at the time of calculation, and the deviation change amount Δe corresponding thereto to the control input calculation unit 24 as electric signals. .

  The control input calculation unit 24 is electrically connected to the target amount calculation unit 10 and the switching function calculation unit 22, and receives the respective electrical signals from the target amount calculation unit 10 and the switching function calculation unit 22, and receives the target amount. The control input amount is calculated according to the target amount calculated by the calculation unit 10, the value of the switching function σ calculated by the switching function calculation unit 22, the deviation amount e, and the corresponding deviation change amount Δe.

  Here, the control input amount includes an equivalent law input amount, a reaching law input amount, and a nonlinear law input amount.

  Specifically, the equivalent law input amount is a component of the control input amount for constraining the deviation amount e, each of which is a state quantity, and the corresponding deviation change amount Δe on the switching line. The reaching law input amount is a component of the control input amount for causing the deviation amount e, which is a state amount, and the corresponding deviation change amount Δe to approach the switching line and reach it. The nonlinear law input amount is a component of the control input amount for suppressing a modeling error related to the switching function σ. The control input calculation unit 24 uses the target amount calculated by the target amount calculation unit 10, the value of the switching function σ calculated by the switching function calculation unit 22, the deviation amount e, and the corresponding deviation change amount Δe. The equivalent law input amount, the reaching law input amount, and the nonlinear law input amount are calculated, and the control input amount is calculated using the sum of these. The control input calculation unit 24 outputs the calculated control input amount as an electric signal to the operation amount processing unit 26.

  The operation amount processing unit 26 is electrically connected to the control input calculation unit 24, receives an electric signal from the control input calculation unit 24, drives the actuator 52, and moves the control target member 54. Is calculated. The operation amount is a movement amount by which the actuator 52 moves the control target member 54 so as to converge toward the target position corresponding to the target amount, and is a value corresponding to the control input amount calculated by the control input calculation unit 24. . The operation amount processing unit 26 outputs the calculated operation amount to the actuator 52 as an electrical signal.

  The actuator 52 is electrically connected to the operation amount processing unit 26, receives an electric signal from the operation amount processing unit 26, and moves the control target member 54 to a target position according to the operation amount calculated by the operation amount processing unit 26. Accordingly, the control target member 54 is moved toward the target position. The control amount detector 60 detects the operation position of the control target member 54 moved by the actuator 52 and outputs the detected operation position to the target amount calculation unit 10 as an electric signal.

[Sliding mode control processing]
The electronic control device 1 having the above configuration executes a sliding mode control process that simplifies the calculation process and improves the control responsiveness such as the lamp responsiveness by executing the following sliding mode control process. . Hereinafter, with reference to the flowchart shown in FIG. 2 and the timing chart shown in FIG. 3, the operation of the electronic control device 1 until the calculation of the operation amount when executing the sliding mode control process will be described in detail.

  FIG. 2A is a flowchart showing a flow of calculation processing of the sliding mode controller unit of the electronic control device in the present embodiment, and FIG. 2B is switching during calculation processing of the flowchart of FIG. It is a flowchart which shows the flow of a calculation process of a function. FIG. 3 is a timing chart for explaining the calculation process of the switching function during the calculation process of the sliding mode controller unit of the electronic control device according to this embodiment.

  The flowchart shown in FIG. 2A starts at the timing when the ignition switch of the vehicle is switched from the off state to the on state, and the calculation process of the sliding mode controller unit 20 proceeds to the process of step S1. The sliding mode control process, that is, the calculation process of the sliding mode controller unit 20 is repeatedly executed at regular control periods while the ignition switch is in the ON state.

  In the process of step S1, the switching function calculation unit 22 calculates a mathematical expression (Equation 1) according to the target amount calculated by the target amount calculation unit 10 and the control amount that is the operation position of the control target member 54 detected by the control amount detector 60. ) To specifically define the switching function σ and calculate the value of the switching function σ.

  Specifically, in the process of S10 shown in FIG. 2B, the switching function calculation unit 22 uses the value of the deviation amount e obtained in the control cycle (n−1) before the current control cycle. The deviation amount e obtained in the control cycle nth before the current control cycle is lowered and updated. Here, referring to FIG. 3, if the control cycle K of the calculation process of the current sliding mode controller unit 20 is the kth, the deviation amount e calculated in the kth control cycle K = k is e. The deviation amount e indicated by (k) and calculated in the control cycle K = (k−d) before the kth control cycle K = k is expressed by e (k−d). That is, if the deviation e (k) is calculated in the current control cycle k and stored in the memory as the latest deviation e, the control cycle K = (1) before the current control cycle k. The deviation e (k-1) calculated in k-1) and stored in the memory and each control cycle K = (k-1) immediately before the control cycle K = (k-1) immediately before the current control cycle k = (K−2),..., (K−d),..., Calculated by 1, and the deviation amount e (k) stored in the memory in the control cycle K = (k−1) immediately before the current control cycle k -2), ..., e (k-d), ..., e (1) exist in the memory, so that these values stored in the memory are not unnecessarily overwritten. The number of each control cycle K is decremented by one, and these values are stored in the memory and updated. As a result, the deviation amount e stored in the memory when the process of step S10 is completed becomes e (k−1),..., E (k−d),. Note that k is a positive integer, and d and n are positive integers of 1 to N, and N is typically k−1. Thereby, the process of step S10 is completed, and the calculation process of the switching function during the calculation process of the sliding mode controller unit 20 proceeds to the process of step S11.

  In the process of step S11, the switching function calculation unit 22 subtracts the control amount, which is the operation position of the control target member 54 detected by the control amount detector 60, from the target amount calculated by the target amount calculation unit 10 to change the deviation. Δe is calculated. Here, referring to FIG. 3, if the control cycle K of the calculation process of the current sliding mode controller unit 20 is the kth, the deviation amount e calculated in the kth control cycle K = k is e. It is indicated by (k). That is, the deviation amount e (k) is calculated at the control cycle K = k of the calculation process of the sliding mode controller unit 20 this time, and the calculated deviation amount e (k) is stored in the memory. As a result, the deviation amount e stored in the memory when the process of step S11 is completed becomes e (k), e (k−1),..., E (1). Thereby, the process of step S11 is completed, and the calculation process of the switching function during the calculation process of the sliding mode controller unit 20 proceeds to the process of step S12.

  In the process of step S <b> 12, the switching function calculation unit 22 determines the degree of stability of the control amount that is the operation position of the control target member 54 detected by the control amount detector 60 with respect to the target amount calculated by the target amount calculation unit 10. Specifically, the switching function calculation unit 22 determines whether or not the absolute value of the value obtained by dividing the control amount by the target amount is less than a predetermined amount. If the absolute value of the value obtained by dividing the control amount by the target amount is less than the predetermined amount as a result of the determination, the switching function calculation unit 22 determines that the control amount with respect to the target amount is stable, and the sliding mode The switching function calculation process during the calculation process of the controller unit 20 proceeds to the process of step S13. On the other hand, as a result of the determination, when the absolute value of the value obtained by dividing the control amount by the target amount is equal to or larger than the predetermined amount, the switching function calculation unit 22 determines that the control amount with respect to the target amount is unstable, The calculation process of the switching function during the calculation process of the sliding mode controller unit 20 proceeds to the process of step S15.

In the process of step S13, the switching function calculation unit 22 uses the deviation amount e (k) in the control cycle K = (k−d) d times before the control cycle K = k of the calculation process of the current sliding mode controller unit 20. D2 is set to the value of d which means the d-th for calculating -d) and stored in the memory. The value of d2 is a positive integer that satisfies 0 <d1 <d2 <N. That is, d2 is larger than d1 set to the value of d in order to calculate the deviation amount e (k−d) in step S15 when it is determined that the control amount with respect to the target amount is unstable. This is because the process of step S13 is executed when it is determined that the control amount with respect to the target amount is stable. Therefore, the time variation of the value of the deviation amount e in each control cycle K is more variable. Considering that it is considered to be small, a relatively large value d2 is set to d, and the control cycle K = k− that goes back from the control cycle K = k of the calculation process of the current sliding mode controller unit 20 is set. By using the deviation amount e (k−d2) at d2, the deviation change amount Δe (k) at the control cycle K = k of the calculation process of the sliding mode controller unit 20 this time is calculated. Further, when setting the value of d, the value of d is set in consideration of the response delay time from when the operation amount is input to the actuator 52 until the control amount detector 60 outputs the control amount. It is preferable. This is because even if an attempt is made to calculate the deviation amount e and the deviation change amount Δe in the current calculation process of the sliding mode controller unit 20 at a time interval shorter than the dead time in which the control amount is not output, the control amount itself cannot be detected. This is because the current calculation process of the sliding mode controller unit 20 is wasted. Thereby, the process of step S13 is completed, and the calculation process of the switching function during the calculation process of the sliding mode controller unit 20 proceeds to the process of step S14.

  In the process of step S14, the switching function calculation unit 22 sets a predetermined gain value G2 to a coefficient G that is used in the mathematical expression (Expression 1) indicating the switching function σ and defined by the mathematical expression (Expression 2). The predetermined gain value G2 is a predetermined gain value in step S16 when it is determined that the control amount for the target amount is unstable in consideration of the case where the control amount for the target amount is determined to be stable. It is possible to set a value different from G1. That is, the coefficient G can be changed according to the degree of stability of the control amount with respect to the target amount. For example, if the control amount includes a noise component at the time of detection by the control amount detector 60 and is not stable, the deviation change amount Δe in the value of the switching function σ can be reduced by reducing the coefficient G relatively. The influence of the fluctuation of the control amount in the term is reduced, and the fluctuation factor in the value of the switching function σ is reduced. On the other hand, when the control amount is stable, the coefficient G may be relatively increased. Here, with respect to the coefficient G, the period length Δt is a constant value because it is equal to a certain time period in which the sliding mode control process is executed. To change the coefficient G, the degree of stability of the control amount with respect to the target amount Considering the above, the value of the attenuation characteristic component g is changed. Thereby, the process of step S14 is completed, and the calculation process of the switching function during the calculation process of the sliding mode controller unit 20 proceeds to the process of step S17.

  In the process of step S15, the switching function calculation unit 22 determines the deviation amount e (k) in the control cycle K = (k−d) d times before the control cycle K = k of the calculation process of the current sliding mode controller unit 20. -D) is set to the value of d meaning the d-th for calculating -d) and stored in the memory. The value of d1 is a positive integer that satisfies 0 <d1 <d2 <N. That is, d1 is smaller than d2 set to the value of d in order to calculate the deviation amount e (k−d) in step S13 when it is determined that the control amount with respect to the target amount is stable. This is because the process of step S15 is executed when it is determined that the control amount with respect to the target amount is unstable. Therefore, the value of the deviation amount e in each control cycle K itself varies with time. Considering that it is considered to be larger, a relatively small value of d1 is set to d, and the control cycle K = k closer to the control cycle K = k of the calculation processing of the current sliding mode controller unit 20 By using the deviation amount e (k−d1) at −d1, the deviation change amount Δe (k) at the control cycle K = k of the calculation process of the sliding mode controller unit 20 this time is calculated. Thereby, the process of step S15 is completed, and the calculation process of the switching function during the calculation process of the sliding mode controller unit 20 proceeds to the process of step S16.

In the process of step S16, the switching function calculation unit 22 sets a predetermined gain value G1 to a coefficient G that is used in the mathematical expression (Expression 1) indicating the switching function σ and defined by the mathematical expression (Expression 2). The predetermined gain value G1 is the predetermined gain value in step S14 when it is determined that the control amount for the target amount is stable in consideration of the case where the control amount for the target amount is determined to be unstable. It is possible to set a value different from G2. That is, the coefficient G can be changed according to the degree of stability of the control amount with respect to the target amount. Thereby, the process of step S14 is completed, and the calculation process of the switching function during the calculation process of the sliding mode controller unit 20 proceeds to the process of step S17.

  In the process of step S17, the switching function calculation unit 22 calculates the deviation e (k) in the control cycle K = k of the calculation process of the current sliding mode controller unit 20 calculated in the process of step S11. The deviation e (d) in the control cycle K = (k−d2) d2 ahead of the control cycle K = k of the calculation processing of the current sliding mode controller unit 20 using d2 which is the value of d set in the processing. k−d2) or control cycle K = (k) d1 before the control cycle K = k of the calculation process of the sliding mode controller unit 20 this time using d1 which is the value of d set in the process of step S15. −d1) is subtracted the deviation amount e (k−d1), and the deviation change amount in the control cycle K = k of the calculation process of the current sliding mode controller unit 20 is calculated. Calculates e (k), and stores the calculated value in the memory. Thereby, the process of step S17 is completed, and the calculation process of the switching function during the calculation process of the sliding mode controller unit 20 proceeds to the process of step S18.

  In the process of step S18, the switching function calculation unit 22 performs the step for the deviation amount e (k) in the control cycle K = k of the calculation process of the current sliding mode controller unit 20 calculated in the process of step S11. G2 which is the value of the coefficient G set in the process of S14 is multiplied by the deviation change amount Δe (k) in the control cycle K = k of the calculation process of the current sliding mode controller unit 20 calculated in the process of step S17. Or G1 which is the value of the coefficient G set in the process of step S16 is calculated by the deviation change amount Δe () in the control cycle K = k of the calculation process of the current sliding mode controller unit 20 calculated in the process of step S17. The value multiplied by k) is added to specifically define the switching function σ and the value is calculated, and the calculated value of the switching function σ is stored in the memory. Thereby, the process of step S17 is completed and the process of step S1 is also completed, and the calculation process of the sliding mode controller unit 20 proceeds to the process of step S2 shown in FIG.

  In the process of step S2, the control input calculation unit 24 calculates the target amount calculated by the target amount calculation unit 10, and the calculation process of the current sliding mode controller unit 20 calculated by the switching function calculation unit 22 in the process of step S1. Control input amount including equivalent law input amount, reaching law input amount and nonlinear law input amount according to the value of the switching function σ, deviation amount e (k) and deviation change amount Δe (k) in the control cycle K = k Is calculated.

  Specifically, the control input calculation unit 24 performs the deviation amount e (k) in the control cycle K = k of the calculation process of the current sliding mode controller unit 20 and the current sliding mode controller in the process of step S21. The equivalent law input amount UE for constraining the deviation change amount Δe (k) in the control cycle K = k of the calculation processing of the unit 20 on the switching line is calculated, and the current sliding mode controller unit 20 is processed in step S22. The deviation amount e (k) in the control cycle K = k of the calculation processing of the current and the deviation change amount Δe (k) in the control cycle K = k of the calculation processing of the current sliding mode controller unit 20 are brought close to the switching line. A non-linear law input amount for calculating a reaching law input amount UR for reaching and suppressing a modeling error related to the switching function σ in the process of step S23 To calculate the N. Then, in the process of step S24, the control input calculation unit 24 adds the equivalent law input amount UE, the reaching law input amount UR, and the nonlinear law input amount UN calculated in this way, and this sliding mode controller unit 20 of this time. The control input amount at the control cycle K = k of the calculation process is calculated, and the calculated value is stored in the memory. Thereby, the process of step S2 is completed, and the calculation process of the sliding mode controller unit 20 proceeds to the process of step S3.

  In the process of step S3, the operation amount processing unit 26 drives the actuator 52 according to the control input amount in the control cycle K = k of the calculation process of the current sliding mode controller unit 20 calculated in the process of step S24. Then, an operation amount for moving the control target member 54 toward the target position corresponding to the target amount is calculated. Thereby, the process of step S3 is completed, and the calculation process of the sliding mode controller unit 20 in the current control cycle K = k ends. Therefore, in the current control cycle K = k, the actuator 52 moves the control target member 54 toward the target position according to the operation amount, and correspondingly, the control target member 54 converges toward the target position. Will be moved to.

  According to the configuration of the present embodiment described above, the sliding mode controller unit 20 sets the deviation amount e, which is the deviation between the control amount and the target amount, as the first state amount, and the deviation change that is the variation amount of the deviation amount. Using the switching function σ in which the amount Δe is set to the second state amount, while executing the sliding mode control process at a constant time cycle, the control amount and the target amount detected at the current cycle for each fixed time cycle Current deviation e (k), which is a deviation of the current deviation, and the current deviation e (k), which is the difference between the current deviation e (k) and the past deviation e (k−d) calculated in a previous cycle prior to the current cycle. The change amount Δe (k) is calculated, and the value of the switching function σ is calculated by substituting the current deviation amount e (k) and the current deviation change amount Δe (k) into the first state amount and the second state amount. To calculate the time derivative of the deviation (change speed of the deviation) itself Therefore, the calculation process can be simplified, and the sliding mode control with improved control responsiveness such as lamp responsiveness can be executed.

  Further, the switching function σ includes a coefficient G to be multiplied by the deviation change amount Δe, and the coefficient G has a convergence characteristic that the first state amount e and the second state amount Δe converge to an equilibrium state in the sliding mode control. The first state quantity e and the second state quantity Δe are balanced by the damping characteristic component g that defines the time constant Δt and the time component Δt having the same time length as the period length of the constant time period. In addition to being guided to the state, one of the deviation amounts Δe of the state quantities e and Δe can be divided by the period length Δt of a constant control period, and the arithmetic processing can be simplified reliably.

  In addition, when the sliding mode controller unit 20 determines the degree of stability of the control amount with respect to the target amount at regular time intervals and determines that the control amount is stable with respect to the target amount, the deviation change amount Δe When the control amount with respect to the target amount is stable because the time interval between the current cycle and the past cycle for calculating the time can be extended by the same time length Δt as the cycle length of the fixed time cycle The deviation change amount Δe can be reliably calculated in an optimal state.

  Further, the sliding mode controller unit 20 can change the attenuation characteristic component g in accordance with the degree of stability of the control amount with respect to the target amount, whereby the value of the coefficient G multiplied by the deviation change amount Δe can be changed. The value of the switching function σ can be calculated in a manner that eliminates the influence of noise components contained in the signal and is less susceptible to disturbance.

  Further, the sliding mode controller unit 20 determines the time interval between the current cycle and the past cycle for calculating the deviation change amount Δe from when the operation amount in the control target device 50 is input until the control amount is output. By setting the response delay time or longer, it is possible to set the time interval in consideration of the dead time during which the control amount is not output, and the deviation change amount Δe can be calculated reliably.

  In the above embodiment, in order to determine the degree of stability of the control amount with respect to the target amount, it is determined whether or not the absolute value of the value obtained by dividing the control amount by the target amount is less than the predetermined amount. The determination may be based on the ratio between the amount and the control amount, or depending on the case, whether the value of the switching function is maintained near zero.

  Further, in the present invention, the type, arrangement, number, etc. of the constituent elements are not limited to the above-described embodiments, and the gist of the invention is appropriately replaced such that the constituent elements are appropriately replaced with those having the same operational effects. Of course, it can be changed as appropriate without departing from the scope.

  As described above, according to the present invention, it is possible to provide an electronic control device capable of simplifying arithmetic processing and performing sliding mode control with improved control responsiveness such as lamp responsiveness. Therefore, it is expected that it can be widely applied to electronic control devices that perform sliding mode control in vehicles such as motorcycles because of its universality.

DESCRIPTION OF SYMBOLS 1 ... Electronic control apparatus 10 ... Target amount calculation part 20 ... Sliding mode controller part 22 ... Switching function calculation part 24 ... Control input calculation part 26 ... Operation amount processing part 30 ... Input apparatus 40 ... Input detector 50 ... Control object apparatus 52 ... Actuator 54 ... Control target member 60 ... Control amount detector

Claims (3)

A sliding mode controller unit that outputs an operation amount to the control target device so that a control amount from the control target device becomes a target amount by executing a sliding mode control process,
The sliding mode controller unit defines a switching line or a switching plane by a switching function having a plurality of state variables as variables, and controls the plurality of state quantities to converge to an equilibrium state on the switching line or the switching plane. In an electronic control device that calculates an input and outputs the operation amount based on the control input to the control target device.
The plurality of state quantities includes a first state quantity and a second state quantity, and the sliding mode controller unit determines a deviation amount, which is a deviation between the control quantity and the target quantity, as the first state quantity. And performing the sliding mode control process at a constant time period using the switching function in which a deviation change amount that is a change amount of the deviation amount is set as the second state quantity. For each cycle, a current deviation amount that is a deviation between the control amount detected in the current cycle and the target amount, a current deviation amount and a past deviation amount calculated in a past cycle before the current cycle, And calculating the value of the switching function by substituting the current deviation amount and the current deviation change amount into the first state amount and the second state amount. And
The switching function includes a coefficient to be multiplied by the deviation change amount, and the coefficient defines a convergence characteristic in which the first state quantity and the second state quantity converge to an equilibrium state in the sliding mode control. An attenuation characteristic component, and a time component having the same time length as the period length of the fixed time period,
The sliding mode controller unit determines the degree of stability of the control amount with respect to the target amount for each predetermined time period, and determines that the control amount is in a stable state with respect to the target amount. wherein the time interval between the current period and the previous period, the electronic control device according to claim extension freely der Rukoto by the time length of the same cycle length of the predetermined time period for calculating the deviation change amount . The electronic control device according to claim 1 , wherein the sliding mode controller unit can change the attenuation characteristic component in accordance with the degree of stability of the control amount with respect to the target amount. The sliding mode controller unit calculates a time interval between the current cycle and the past cycle for calculating the deviation change amount until the control amount is output after the operation amount in the control target device is input. electronic control device according to claim 1 or 2, characterized in that set in the response or lag hours.

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