JP6026198B2 - 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 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. For example, in an electronically controlled throttle device to which sliding mode control is applied, in order to control the throttle opening amount (actual throttle opening amount) of the throttle valve to converge to the target throttle opening amount, the control input amount is set by sliding mode control. And a control amount of the throttle valve actuator is controlled based on the generated control input amount.

  Under such circumstances, Patent Document 1 relates to a drive amount control device, which is a control input amount for converging a deviation between a throttle valve opening and a target opening to zero and constraining a state quantity on a switching plane. A configuration using an equivalent law input amount is disclosed. Specifically, in such a configuration, the equivalent law input amount is calculated as a value corresponding to the opening degree of the throttle valve and the square value of the speed change amount of the target opening degree. In such a configuration, by applying such an equivalent law input amount, in addition to an increase in the throttle valve opening, the control input amount is increased in accordance with the square value of the speed change amount of the target opening. Therefore, it is intended to improve the responsiveness and followability to changes in the target opening of the throttle valve.

JP 2008-255789 A

  However, according to the study by the present inventors, in the electronically controlled throttle device, when the throttle valve collides with the fully open position stopper when the throttle valve is moved to the fully open (mechanism fully open) position, the throttle valve stops suddenly or in the reverse direction. There is a possibility of being moved. At this time, if a DC electric motor is used as the actuator for the throttle valve, the movement of the throttle valve is transmitted to the DC electric motor via the gear, and a back electromotive force is generated inside the DC electric motor and its drive circuit. However, there is a possibility that the back electromotive force may affect the inside of the DC electric motor and its drive circuit. Such a phenomenon may be more apparent depending on the gear ratio. For this reason, in the electronically controlled throttle device, when the throttle valve is moved to the fully open position, it is necessary to avoid the throttle lever from colliding with the fully open position stopper.

  In an electronically controlled throttle device, the throttle valve opening is controlled by balancing the biasing force of the return spring and the driving force of the DC electric motor, and when the throttle valve is moved to the fully open position, the throttle valve is fully opened. It is generally considered that the driving force of the DC electric motor is increased so as to overcome the urging force of the return spring as it approaches the position. In addition, since the region where the throttle valve opening is small has a higher frequency of operation than the other opening regions, it is considered that mechanical degradation tends to occur over time, such as wear, and friction tends to increase.

  Here, considering the configuration of Patent Document 1, since the equivalent law input amount increases as the throttle valve approaches the fully open position, there is a possibility that the throttle lever may collide with the fully open position stopper. In such a configuration, since the equivalent law input amount is small in the low opening region of the throttle valve, there is a possibility that the responsiveness and followability to the change in the target opening may be reduced.

  The present invention has been made through the above-described studies, and an object of the present invention is to provide an electronic control device that can prevent the throttle lever from colliding with the stopper when the throttle valve is moved to the fully open position.

In order to achieve the above object, in the first aspect, the present invention provides an electric motor that drives a throttle valve, and a return spring that urges the throttle valve to rotate toward the fully closed side. by executing the sliding mode control process to the control target device is an electronic control throttle device provided in a predetermined target amount control amount within a predetermined control range of the control target device controlled variable detector detects And a sliding mode control unit that calculates an operation amount to the device to be controlled and outputs the operation amount to the device to be controlled, and the sliding mode control unit performs switching with a plurality of state variables as variables. A switching line or switching plane is defined by a function so that the plurality of state quantities converge to an equilibrium state in the switching line or the switching plane; An equivalent law input amount for constraining a plurality of state quantities on the switching line or the switching plane, a reaching law input quantity for causing the plurality of state quantities to approach the switching line or the switching plane and reach it, and Nonlinear law input amounts for suppressing modeling errors related to the switching function are calculated, and a control input amount is calculated as the sum of them, and the operation amount based on the control input amount is output to the control target device. In the electronic control unit, the sliding mode control unit calculates a value obtained by multiplying a value calculated based on the control amount by a gain as the equivalent law input amount, and the gain is the control amount within the control range. In the first predetermined area between the maximum value side of the control value and the minimum value side of the control amount, a characteristic exhibiting a first constant value is set, and the characteristics within the control range are In the second predetermined region on the maximum value side of the control amount, as the control amount increases, the characteristic value decreases from the first constant value so as to decrease the equivalent law input amount. The electronic control device is set.

According to the present invention, in addition to the first aspect, in the second predetermined region, the gain is gradually reduced in the rate of change of the equivalent law input amount as the control amount increases. The second aspect is that the characteristic is set so as to decrease from the first constant value and exhibit a second constant value so as to be reduced to a constant value .

The present invention, in addition to such a first or second aspect, wherein the gain is a third predetermined region on the side of the minimum value before Symbol control amount within the control range, the control quantity is small Accordingly, a third aspect is that the characteristic is set to increase from the first constant value so as to increase the equivalent law input amount.

In addition to the third aspect of the present invention, the gain may be obtained by gradually reducing the rate of change of the equivalent law input amount as the control amount decreases in the third predetermined region. The fourth aspect is that the characteristic is set so as to increase from the first constant value and exhibit a third constant value so as to increase to a constant value .

In the electronic control device according to the first aspect of the present invention, the sliding mode control unit calculates a value obtained by multiplying the value calculated based on the control amount by the gain as the equivalent law input amount, and the gain is within the control range. In the first predetermined region between the maximum value side of the control amount and the minimum value side of the control amount, a characteristic exhibiting a first constant value is set, and the maximum value of the control amount within the control range is In the second predetermined region on the side, the throttle valve is fully opened because the characteristic is set to decrease from the first constant value so as to decrease the equivalent law input amount as the control amount increases. When moving to the position, the equivalent law input amount in the vicinity of the fully open position is reduced, so that the throttle lever can be prevented from colliding with the stopper.

Further, in the electronic control device according to the second aspect of the present invention, the gain is decreased while the rate of change is gradually reduced as the control amount increases in the second predetermined region. Since it is set to a characteristic that decreases from the first constant value and exhibits the second constant value so as to become a constant value , when the throttle valve is moved to the fully open position, an equivalent law input amount in the vicinity of the fully open position Is reduced in a more accurate manner, so that the throttle lever can be more reliably suppressed from colliding with the stopper.

In the electronic control device according to the third aspect of the present invention, the gain is an equivalent law input as the control amount becomes smaller in the third predetermined region on the side of the minimum value of the control amount within the control range. Since the characteristic is set to increase from the first constant value so as to increase the amount, the equivalent law input amount is increased in the low opening region of the throttle valve. Responsiveness and followability to changes can be improved.

In the electronic control device according to the fourth aspect of the present invention, the gain is increased while the rate of change is gradually decreased as the control amount decreases in the third predetermined region. Since it is set to a characteristic that increases from the first constant value and exhibits the third constant value so as to become a constant value , the equivalent law input amount is more accurate in the low opening region of the throttle valve. Since it is increased, the responsiveness and followability to the change in the target opening of the throttle valve can be improved more reliably.

FIG. 1 is a block diagram showing a configuration of an electronic control device according to an embodiment of the present invention, and also shows a schematic diagram of a throttle valve device. FIG. 2 is a diagram showing gain characteristics used in the equivalent law input amount calculation processing of the electronic control unit in the present embodiment with respect to the actual opening of the throttle valve.

  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, the configuration of the electronic control device in the present embodiment will be described in detail with reference to FIG.

  FIG. 1 is a block diagram showing a configuration of an electronic control device in the present embodiment, and also shows a schematic diagram of a throttle valve device.

  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 sliding mode control unit 10. The sliding mode control unit 10 includes a switching function calculation unit 12, a control input calculation unit 14, and an operation amount processing unit 16. The sliding mode control unit 10, the switching function calculation unit 12, the control input calculation unit 14, and the operation amount processing unit 16 are all shown as functional blocks of the arithmetic processing device.

The electronic control device 1 is electrically connected to an electronic control throttle device S that controls the amount of air with respect to an internal combustion engine mounted on a control target device, typically a vehicle such as a motorcycle or an automobile not shown. Connected. The electronically controlled throttle device S includes an electric motor M that is an actuator that drives the throttle valve 20 to change its opening, and a throttle opening sensor 21 that detects the opening that is the operating position of the throttle valve 20. Prepare. Throttle valve 2
0 is disposed inside the intake pipe 22 that communicates with the combustion chamber of the internal combustion engine, and the throttle shaft 23 connected to the throttle valve 20 has a fully open position stopper 24 and a fully closed position stopper 25 via a throttle lever 23a. The air supplied to the combustion chamber changes in the gap formed between the inner wall surface of the intake pipe 22 and the throttle valve 20 by rotating around its axis within a predetermined control range θ between The flow rate is adjustable. The throttle shaft 23 is connected to an electric motor M through gears G1 and G2, and these are driven by the electric motor M. The throttle lever 23 a is provided with a return spring 26 that urges the throttle valve 20 to rotate toward the fully closed position stopper 25. In FIG. 1, the state in which the throttle lever 23a is in contact with the fully closed position stopper 25 is indicated by a solid line, and the state in which the throttle lever 23a is in contact with the fully open position stopper 24 is indicated by a dotted line.

  In addition, when the electronic control device 1 is mounted on a vehicle such as a motorcycle or a four-wheeled vehicle, typically, an accelerator grip or an accelerator pedal, which is an input device for the driver to give an accelerator operation amount, is used. The accelerator opening is electrically detected and electrically connected to an input amount detector (not shown). That is, the input amount detector is electrically connected to a target amount calculation unit (not shown) of the electronic control device 1, and the target amount calculation unit is configured to detect an input detection value from the input detector, typically, The target opening amount of the throttle valve 20 is calculated according to the accelerator operation amount applied to the accelerator grip or the accelerator pedal.

  More specifically, in the electronic control unit 1, the switching function calculation unit 12 receives each electrical signal from the target opening calculation unit and the throttle opening sensor 21, and the target of the throttle valve 20 calculated by the target opening calculation unit. The switching function σ is specifically defined according to the opening amount and the opening of the throttle valve 20 detected by the throttle opening sensor 21, and the value of the switching function σ is calculated. At this time, in the sliding mode control, the target opening amount of the throttle valve 20 calculated by the target opening calculation unit is handled as the target amount, and the opening amount of the throttle valve 20 detected by the throttle opening sensor 21 is controlled. It is handled as a control amount that is the target amount. Here, the switching function σ is given by the following equation (Equation 1) using the control deviation amount e and the deviation change speed Δe / Δt of the control deviation amount e, and the coefficient g, each of which is a state quantity. Such control is executed such that the deviation amount e constrained on the switching line defined by the switching function and the corresponding deviation change speed Δe / Δt converge to zero, which is a value indicating the equilibrium state in the sliding mode control. The 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. Further, the mathematical formula (Equation 1) indicates a switching line, but a mathematical formula indicating the switching plane or the like by increasing the number of state quantities may be used.

  Specifically, in Equation (Equation 1), the control 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. The value calculated by subtracting the control amount from the target amount. The deviation change rate Δe / Δt of the control deviation amount e is a value calculated by differentiating the control deviation amount e with respect to time in each control cycle of the sliding mode control. The coefficient g is an inclination of the switching function σ, that is, an orthogonal coordinate system in which the horizontal axis is the control deviation amount e and the vertical axis is the deviation change rate Δe / Δt of the control deviation amount e. It is a coefficient that gives the slope of the switching line that passes through the origin. If necessary, instead of the deviation change rate Δe / Δt of the control deviation amount e, the difference between the control deviation amount in the specific control cycle and the control deviation amount in the predetermined past control cycle from the specific control cycle. The control deviation change amount Δe may be used as the state quantity.

  That is, the switching function calculation unit 12 specifically defines the switching function σ in each control cycle of the sliding mode control, and calculates the value of the switching function σ. The switching function calculation unit 12 outputs the calculated value of the switching function σ and the control deviation amount e, which is a state quantity calculated at the time of calculation, to the control input calculation unit 14 as electric signals.

  The control input calculation unit 14 is electrically connected to the target opening calculation unit, the switching function calculation unit 12, and the throttle opening sensor 21, and receives the respective electric signals from these, and the target opening calculation unit is the accelerator pedal. And the target amount that is the target opening amount of the throttle valve 20 calculated according to the operation amount of the accelerator grip, the value of the switching function σ and the control deviation amount e calculated by the switching function calculation unit 12, and the throttle opening sensor 21 detect The control input amount is calculated according to the control amount that is the opening of the throttle valve 20 that has been performed. Here, the control input amount includes an equivalent law input amount, a reaching law input amount, and a nonlinear law input amount. The control input amount may include an attenuation law input amount as necessary.

Specifically, the equivalent law input amount is a component of the control input amount for constraining the control deviation amount e, each of which is a state quantity, and the corresponding deviation change speed Δe / Δt on the switching line. It will be described later. The reaching law input amount is a component of the control input amount for causing the control deviation amount e, each of which is a state quantity, and the corresponding deviation change speed Δe / Δt 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 attenuation law input amount is a component of the control input amount that suppresses, for example, a phenomenon that the control amount exceeds the target amount excessively.

  That is, the control input calculation unit 14 in each control cycle of the sliding mode control, the target amount calculated by the target opening calculation unit, the value of the switching function σ and the control deviation amount e calculated by the switching function calculation unit 12, and the throttle The control amount detected by the opening sensor 21 is used correspondingly to calculate the equivalent law input amount, the reaching law input amount, the nonlinear law input amount, and the attenuation law input amount where applicable, and the sum of these values. To calculate the control input amount. The control input calculation unit 14 outputs the calculated control input amount to the operation amount processing unit 16 as an electrical signal.

  The operation amount processing unit 16 is electrically connected to the control input calculation unit 14, receives an electric signal from the control input calculation unit 14, and operates the throttle valve 20 by driving the electric motor M. Is calculated. This operation amount is a movement amount by which the electric motor M moves the throttle valve 20 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 14. . The operation amount processing unit 16 outputs the calculated operation amount to the electric motor M as an electric signal.

  The electric motor M is electrically connected to the operation amount processing unit 16, receives an electric signal from the operation amount processing unit 16, and sets the throttle valve 20 to a target position according to the operation amount calculated by the operation amount processing unit 16. Correspondingly, the throttle valve 20 is moved toward the target position. The throttle opening sensor 21 detects the control amount of the throttle valve 20 moved by the electric motor M, and outputs the detected control amount to the switching function calculation unit 12 and the control input calculation unit 14 as an electric signal.

  Now, in the electronic control device 1 having the above-described configuration, in particular, the control input calculation unit 14 calculates the equivalent law input amount by the following equivalent law input amount calculation process, so that the throttle valve 20 is fully opened. The throttle lever 23a is prevented from colliding with the fully open position stopper 24 when being moved to the position. Hereinafter, the equivalent law input amount calculation process in the present embodiment will be described in detail with reference to FIG.

[Equivalent law input amount calculation processing]
FIG. 2 is a diagram showing gain characteristics used in the equivalent law input amount calculation processing of the electronic control unit in the present embodiment with respect to the actual opening of the throttle valve.

  The control input calculation unit 14 applies an equivalent law input basic term based on an actual opening of the throttle valve 20 (hereinafter referred to as an actual throttle opening) that is a control amount detected by the throttle opening sensor 21 and other parameters. The equivalent law input amount UE is calculated by multiplying the gain according to the actual throttle opening.

  Specifically, the control input calculation unit 14 calculates the equivalent law input amount UE using the following mathematical expression (Formula 2). In Equation (2), MUE is a gain corresponding to the actual throttle opening, A1, A2, B1 and C1 are model parameters, TH [0] is the actual throttle opening in the current control amount calculation process, TH [1 ] Is the actual throttle opening in the previous control amount calculation process, #SG is the equivalence law calculation gain, and ΔTH is the actual throttle opening TH [0] in the current process from the actual throttle opening TH [1] in the previous process. ] Represents the amount of change in the actual throttle opening. Such arithmetic expressions, various model parameters, and the like are stored in advance as data and programs in the memory in the electronic control unit 1.

  Here, the characteristics indicated by the solid line L1 in FIG. 2 indicate that the fully closed opening where the actual throttle opening TH corresponds to the maximum value of the control range θ and the full throttle opening TH corresponding to the minimum value of the control range θ. The gain MUE is a constant value (typically 1) in the entire region between the opening and closing. On the other hand, in the present embodiment, the gain MUE used when the control input calculation unit 14 calculates the equivalent law input amount UE using the mathematical formula (Equation 2) has a characteristic indicated by a broken line L2 in FIG. That is, the gain MUE is determined so that the actual throttle opening TH is adjacent to the UE reduction correction region R1 and the UE reduction correction region R1, which are regions on the fully opened opening side corresponding to the maximum value of the predetermined control range θ. Normal region R2 which is a middle opening region of degree TH, and UE increase correction in which the actual throttle opening TH is a region on the fully closed opening side corresponding to the minimum value of the predetermined control range θ adjacent to the normal region R2 In the region R3, it has a changing value. Further, each of the UE decrease correction region R1 and the UE increase correction region R3 corresponds to an angle range less than 1/8 of the predetermined control range θ, and the UE decrease correction region R1 is a fully opened opening of the actual throttle opening TH. The UE increase correction region R3 is a region near the fully closed opening of the actual throttle opening TH.

Specifically, the gain MUE used when the control input calculation unit 14 calculates the equivalent law input amount UE using the mathematical formula (Equation 2) is as follows in the UE reduction correction region R1, as indicated by a broken line L2 in FIG. The normal region R2 is set to be smaller than a certain value (typically 1). That is, when the actual throttle opening is increased and enters the UE decrease correction region R1 (actual throttle opening TH = opening TH4), the gain MUE changes according to the increase in the actual throttle opening (for convenience, V3 and V3). And starts to decrease from the constant value 1 in the normal region R2. Further, when the actual throttle opening TH is further increased to become greater than the opening TH5 that is larger than the actual opening TH4, the gain MUE changes with a change speed smaller than the change speed V3 according to the increase in the actual throttle opening TH (for convenience, V5 and V5). Decrease). When the actual throttle opening TH is further increased and becomes greater than the opening TH6 that is larger than the opening TH5, the gain MUE is fixed to a predetermined constant value. In this way, in the UE decrease correction region R1, the actual throttle opening is likely to overshoot the target opening, so that by further reducing the gain MUE and reducing the equivalent law input amount UE, By fixing to a constant value on the fully open position side, the actual throttle opening is prevented from overshooting the target opening, and the throttle lever 23
It is avoided that a collides with the fully open position stopper 24 unnecessarily.

  Further, the gain MUE used when the control input calculation unit 14 calculates the equivalent law input amount UE using the mathematical formula (Equation 2) is as follows in the UE increase correction region R3 as indicated by a broken line L2 in FIG. In addition, it is preferably set to be larger than a certain value (typically 1) in the normal region R2. That is, when the actual throttle opening TH is decreased and enters the UE increase correction region R3 (actual throttle opening TH = opening TH3), the gain MUE changes according to the decrease in the actual throttle opening TH (V1 for convenience). And starts to increase from a constant value in the normal region R2. Further, when the actual throttle opening TH is further decreased to be less than the opening TH2 smaller than the opening TH3, the gain MUE is a predetermined speed faster than the predetermined speed V1 according to the decrease of the actual throttle opening TH (referred to as V2 for convenience). Increase with. When the actual throttle opening TH is further reduced to be less than the opening TH1 that is smaller than the opening TH2, the non-modeling error that cannot be corrected by the equivalent law increases, so the gain MUE is fixed to a predetermined constant value. As described above, in the UE increase correction region R3, the friction during the rotation of the throttle valve 20 is likely to increase. Therefore, by increasing the gain MUE quickly and increasing the equivalent law input amount UE, the fully closed state is further increased. By fixing to a constant value on the opening side, responsiveness and followability to changes in the target opening of the throttle valve 20 are improved.

  In the normal region R2, which is the middle opening region of the actual throttle opening TH, the value of the gain MUE is set to 1 because there is no particular need to adjust the equivalent law input basic term.

  As is clear from the above description, in the electronic control device 1 according to the present embodiment, the control input calculation unit 14 sets an equivalent law to a value obtained by multiplying the value calculated based on the actual opening of the throttle valve 20 by the gain MUE. The gain MUE is set so as to reduce the equivalent law input amount UE in the region R1 near the full opening angle where the actual opening of the throttle valve 20 is the maximum value (full opening position) within the control range θ, calculated as the input amount UE. To do. Thus, when the throttle valve 20 is moved to the fully open position, the equivalent law input amount UE near the fully open position is reduced, so that the throttle lever 23a can be prevented from unnecessarily colliding with the fully open position stopper 24. .

  Further, in the electronic control apparatus 1 according to the present embodiment, the control input calculation unit 14 determines that the equivalent law input amount UE decreases in a region R1 near the full opening angle of the throttle valve 20 while the rate of change is gradually decreased to a constant value. The gain MUE is set so that Thus, when the throttle valve 20 is moved to the fully open position, the equivalent law input amount UE in the vicinity of the fully open position is reduced in a more accurate manner, so that the throttle lever 23a collides with the fully open position stopper 24 unnecessarily. Can be more reliably suppressed.

  Further, in the electronic control apparatus 1 according to the present embodiment, the control input calculating unit 14 is in the region R3 in the vicinity of the fully closed angle where the actual throttle opening of the throttle valve 20 is the minimum value (fully closed position) within the control range θ. The gain MUE is set so as to increase the equivalent law input amount UE. Thereby, since the equivalent law input amount UE is increased in the low opening region R3 of the throttle valve 20, it is possible to improve the responsiveness and followability to the change in the target opening of the throttle valve 20.

  Further, in the electronic control apparatus 1 according to the present embodiment, the control input calculation unit 14 determines that the equivalent law input amount UE is increased while gradually decreasing the rate of change in the vicinity region R3 of the fully closed angle of the throttle valve 20. The gain MUE is set to be a value. As a result, the equivalent law input amount UE is increased in a more appropriate manner in the low opening region R3 of the throttle valve 20, so that the responsiveness and followability to the change in the target opening of the throttle valve 20 are more reliably improved. Can be made.

  In the present invention, the type, arrangement, number, and the like of the constituent elements are not limited to the above-described embodiment, and the gist of the invention is appropriately substituted 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, the present invention can provide an electronic control device capable of suppressing the throttle lever from colliding with the stopper when the throttle valve is moved to the fully open position. It is expected to be widely applicable to electronic control devices that perform sliding mode control in vehicles such as motorcycles.

DESCRIPTION OF SYMBOLS 1 ... Electronic control apparatus 10 ... Sliding mode control part 12 ... Switching function calculation part 14 ... Control input calculation part 16 ... Operation amount process part 20 ... Throttle valve 21 ... Throttle opening sensor 22 ... Intake pipe 23 ... Throttle shaft 23a ... Throttle Lever 24 ... Fully open position stopper 25 ... Fully closed position stopper 26 ... Return springs G1, G2 ... Gear M ... Electric motor S ... Electronic control throttle device θ ... Control range

Claims (4)

A sliding mode control process for a device to be controlled that is an electronically controlled throttle device comprising an electric motor that drives the throttle valve and a return spring that urges the throttle valve to rotate toward the fully closed side. by the execution, so that the control amount of the control target device controlled variable detector detects reaches a predetermined target amount within a predetermined control range, calculates and the control amount of the operation to the control target device A sliding mode control unit that outputs the operation amount to the target device;
The sliding mode control unit defines a switching line or a switching plane by a switching function having a plurality of state quantities as variables, so that the plurality of state quantities converge on an equilibrium state in the switching line or the switching plane. Equivalent law input amount for constraining the plurality of state quantities on the switching line or the switching plane, reaching law input quantity for causing the plurality of state quantities to approach the switching line or the switching plane and reach it, And calculating a non-linear law input amount for suppressing a modeling error related to the switching function, and calculating a control input amount as a sum of them, and outputting the operation amount based on the control input amount to the control target device In the electronic control device
The sliding mode control unit calculates a value obtained by multiplying a value calculated based on the control amount by a gain as the equivalent law input amount, and the gain is on the side of the maximum value of the control amount within the control range. Is set to a characteristic exhibiting a first constant value in a first predetermined region between the control value and the minimum value side of the control amount, and a second value on the maximum value side of the control amount within the control range. In the predetermined region, the electronic control is set to a characteristic that decreases from the first constant value so as to decrease the equivalent law input amount as the control amount increases. apparatus. In the second predetermined region, the gain is set to the first constant value so that the equivalent law input amount decreases to a constant value as the change amount gradually decreases as the control amount increases. The electronic control device according to claim 1, wherein the electronic control device is set to a characteristic that decreases from a value and exhibits a second constant value . The gain is a third predetermined region on the side of the minimum value before Symbol control amount within the control range, said control amount with the smaller, to increase the equivalent control law input amount, the first The electronic control device according to claim 1, wherein the electronic control device is set to a characteristic that increases from a constant value of 1. In the third predetermined region, the gain is set to the first constant value so that the equivalent law input amount is increased while the rate of change is gradually decreased and becomes a constant value as the control amount decreases. The electronic control device according to claim 3, wherein the electronic control device is set to a characteristic that increases from a value and exhibits a third constant value .

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