JPH07245978A - Method and apparatus for controlling d.c. motor for controlling internal combustion engine - Google Patents

Abstract

PURPOSE:To simply make the rotational angle of a motor agree with a target value by feeding an armature current the polarity of which is in accordance with the sign of a calculated manipulated variable, and the pulse width of which is equal to the absolute value of the manipulated variable. CONSTITUTION:A manipulated variable to output is calculated from the difference between a rotational angle detected by a rotational angle sensor 7 and a target value. The absolute value of the manipulated variable is stored in a register 5n, and a counter 5k is started. Either of ports A1 and A2 is placed in the LOW level depending on whether the manipulated variable is positive or negative. When the port A1 or A2 is placed in the LOW level, the normal or reverse rotation signal is fed to a motor M. The counter 5k is making a clock count. When its count agrees with the value on the register 5n, a comparator 5m generates an interrupt signal INT 3. An interrupt routine triggered by the interrupt signal places both of the ports A1 and A2 in the HIGH level, and output to the motor M is interrupted. This makes it possible to output a driving current the duration of which corresponds to the manipulated variable.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention uses a microcomputer to control a rotation angle of an output shaft of a DC motor for operating an operating portion for adjusting a predetermined control amount of an internal combustion engine so as to match the target value. The present invention relates to a method for controlling a direct-current motor for controlling an internal combustion engine, and a control device used for implementing the method.

[0002]

2. Description of the Related Art In an internal combustion engine, it is necessary to control various control amounts such as a fuel supply amount, an exhaust gas exhaust timing, and a resonance frequency of an exhaust system including a muffler with respect to the rotational speed of the internal combustion engine. May become. When controlling these control amounts with respect to the rotational speed of the engine, etc., a DC motor is used to operate the operation unit for adjusting the control amount, and the rotation angle position of the output shaft of the DC motor is set to the target position. In many cases, the control amount is controlled to match the target value by controlling the control amount to match.

Here, the control portion for adjusting the control amount is a portion that is operated (moved) when the control amount is changed. For example, when controlling the exhaust timing, the exhaust timing is adjusted. Is the operating axis of the valve for
When controlling the supply amount of fuel, it is an operation shaft of a throttle valve, a control rack for adjusting the injection amount of a fuel injection pump, or the like. A motor provided with a brush is used as a DC motor for controlling the internal combustion engine.

In recent years, in an internal combustion engine, in order to purify exhaust gas, improve fuel efficiency, or improve output,
Since it has become necessary to precisely perform various controls of the engine, as a control device for an internal combustion engine, a control device using a microcomputer has come to be widely used.

In the control device for controlling the rotation angle of the output shaft of the DC motor for controlling the internal combustion engine so as to match the target value, the detected value of the rotation angle of the output shaft of the motor and the target value of the rotation angle. A method of detecting the deviation and controlling the duty ratio of the armature current so that the deviation becomes zero is often adopted.

For example, in the control device disclosed in Japanese Patent Laid-Open No. 63-77391, the deviation between the detected value of the rotation angle and the target value is subjected to a predetermined calculation and supplied to the motor in order to reduce the deviation to zero. The operation amount giving the magnitude and polarity of the armature current is calculated by the microcomputer, and this operation amount is D /
By converting the analog signal with the A converter and comparing the analog signal with the sawtooth wave signal, a drive signal having a pulse waveform for determining the duty ratio of the armature current is generated. A switch circuit that can turn on and off the armature currents of both positive and reverse polarities is provided, and a drive signal is supplied to the switch circuit as a trigger signal. The armature current is made to flow.

Further, as disclosed in Japanese Patent Laid-Open No. 1-247737, when the deviation between the detected value of the rotation angle of the motor output shaft and the target value is large, the energization of the motor is maintained. By keeping the armature current flowing, the rotation angle approaches the target value, and when the deviation becomes less than a certain value, the drive pulse generated by the microcomputer with a constant duty ratio turns the switch circuit on and off to keep the constant duty. There is also known a control device that causes an armature current of a waveform intermittently flowing at a ratio to flow, and zeros the armature current when the deviation becomes smaller so that the rotation angle of the motor output shaft converges to a target value. Has been.

[0008]

Problems to be Solved by the Invention JP-A-63-7739
In the conventional control device as shown in No. 1, the operation amount calculated by the microcomputer is converted into an analog signal by the D / A converter, and the analog signal is compared with the sawtooth wave signal, so that the electric machine Since the drive signal for determining the duty ratio of the child current is generated, an extra D / A converter, a sawtooth wave signal generation circuit, etc. are required,
There is a problem that the configuration of the device becomes complicated.

Further, in the device disclosed in Japanese Patent Laid-Open No. 1-247737, since the duty ratio of the armature current is constant, a sawtooth wave signal generating circuit or the like is not required, but when the duty ratio is constant, In some cases, when the load applied to the motor changes, the duty ratio deviates from the optimum value, making it impossible to perform appropriate control. For example,
When controlling an exhaust valve that adjusts the exhaust towing of a two-cycle engine, if carbon is attached to the exhaust valve due to long-term use, the torque required to operate the valve increases and the load on the motor increases. In this case, if the duty ratio remains at the initial setting, the deviation becomes smaller than a certain value, and when the armature current enters the region where it is interrupted at a predetermined duty ratio, the armature current becomes smaller than the load. As a result, the motor stops and the rotation angle of the output shaft cannot match the target value. In order to prevent such a situation from occurring, it is necessary to set the duty ratio of the armature current to be made to flow when the deviation becomes smaller than a certain value to some extent.

Further, when the operating torque of the exhaust valve is lighter than the design value due to variations in machining of the exhaust valve, the deviation becomes smaller than a certain value and the armature current is changed to a predetermined duty ratio. When entering the intermittent connection area, the armature current may become excessive with respect to the load, and the rotation angle of the motor output shaft may exceed the target value. In this case, if the duty ratio of the armature current is set to be large, a hunting phenomenon occurs in which the rotation angle changes before and after the target value, and it is inevitable that the control becomes unstable. In order to perform stable control even in such a case, it is necessary to widen the range of the deviation (dead zone) to make the armature current zero, but if the dead zone is wide, the controlled rotation angle and target value Deviation becomes large, and it becomes impossible to perform highly accurate control.

An object of the present invention is to provide a control method of a direct-current motor for controlling an internal combustion engine, which is capable of performing highly accurate and stable control with a simple structure, and a control device used for implementing the control method. Especially.

[0012]

According to the control method of the present invention, a forward / reverse bipolar armature current flowing to a DC motor for controlling an internal combustion engine for operating an operating portion for adjusting a predetermined control amount of the internal combustion engine is turned on / off. With a switch circuit that can
This is a method for controlling the rotation angle of the output shaft of the motor to match the target value (match the rotation angle position to the target position) by controlling the duty ratio of the armature current by controlling the switch circuit on / off. .

The "normal and reverse bipolar armature current" means a positive current flowing through the armature of the DC motor for forward rotation and a positive current flowing through the armature for reverse rotation of the motor. It means a current of opposite polarity. In the present invention, positive polarity and reverse polarity, and “forward” and “reverse” of forward rotation and reverse rotation are relative, and rotation in any one direction of the output shaft of the motor is defined as forward rotation. , Rotation in the other direction is reverse rotation, in which case the current flowing through the armature to rotate the motor in one direction and the current flowing through the armature to rotate in the other direction are of positive polarity. It becomes an armature current and an armature current of opposite polarity.

In the present invention, the output of the rotation angle detection unit for detecting the rotation angle of the output shaft of the motor is sampled at a predetermined sampling interval, and the deviation between the sampled detection value and the target value is sampled every time sampling is performed. The operation amount is basically calculated on the basis of, and the armature current is controlled so that the energization period of the armature current and the cycle of the armature current are made equal to the absolute value of the operation amount and the sampling interval, respectively.

That is, according to the control method of the present invention, the detection value of the rotation angle detection unit for detecting the rotation angle of the output shaft of the motor is sampled at a predetermined sampling interval Δt, and the target value of the rotation angle and the sampled detection value are sampled. Deviation Xn from
The integral value ΣXn of the deviation Xn and the differential value ΔXn / Δt indicating the temporal change rate of the deviation from the time of the previous sampling to the time of the current sampling are calculated, and at least a predetermined coefficient is set for the integrated value and the differential value. By adding up the values multiplied by, the manipulated variable Y having a magnitude corresponding to the magnitude of the armature current flowing in the DC motor and a sign corresponding to the polarity of the armature current is calculated, and sampling is performed. Each time, the switch circuit is on / off controlled so that the armature current having the polarity corresponding to the sign of the calculated manipulated variable Y flows only during the period equal to the absolute value of the manipulated variable Y.

The arithmetic expression for calculating the manipulated variable Y is, for example, Y = K1.Xn + K2.ΣXn + K3 (ΔXn / Δ
t).

The proportional term (first term) K1 on the right side of the above equation
The magnitude of Xn is proportional to the magnitude of the deviation, and its sign corresponds to the polarity of the armature current passed through the motor to make the deviation zero. That is, the magnitude of the first term shows a larger value as the deviation becomes larger, and becomes smaller as the deviation becomes smaller.

The integral term (second term) K on the right side of the above equation
2∑Xn is the cumulative value of the deviation, the sign of which is the same as the sign of the deviation Xn, and corresponds to the polarity of the armature current flowing to the motor in order to reduce the deviation to zero.

The integration (cumulative) calculation may be continuously performed until the deviation becomes zero, and the integration interval (the number of deviation values to be accumulated) is limited to a predetermined range, and the integration interval is limited. However, when the deviation becomes zero, it is necessary to make the integral term zero at the same time as the deviation becomes zero or within the shortest possible time after the deviation occurs. When the integration calculation is continuously performed, the integral term generally does not become zero at the time when the deviation becomes zero. Therefore, it is necessary to make the integral term zero at the time when the deviation becomes zero. If the integration calculation is performed only during the integration interval limited to a specific range, if the integration interval (the number of deviation values accumulated retroactively) is set appropriately, after the deviation becomes zero Since the integral term can be set to zero, it is not necessary to specifically perform the process of positively setting the integral term to zero when the deviation becomes zero.

If the deviation is very small at the start of control, the motor armature current may be insufficient and the motor may not start. However, an integral term is provided in the equation for calculating the manipulated variable as described above. That is, if the motor does not start, the integral term increases each time sampling is performed, increasing the absolute value of the manipulated variable, and eventually the motor armature current reaches the starting current to start the motor. Can be made. Therefore, by providing this integral term, the control for matching the rotation angle with the target value can be performed without trouble even if the deviation is very small.

The differential term (third term) K3 on the right side of the above equation
(.DELTA.Xn / .DELTA.t) represents the temporal change rate of the deviation from the time of the previous sampling to the time of the current sampling. When a target value is given and there is a deviation between the rotation angle and the target value, the deviation at the current sampling time is larger than the deviation at the previous sampling time. Therefore, the differential term K3 (ΔXn / Δt) Is the deviation Xn
Is the same as the sign of, and works in the direction of increasing the operation amount Y. When the motor starts to rotate so that the rotation angle approaches the set target value, the deviation becomes smaller with each sampling, so the sign of the differential term K3 (ΔXn / Δt) is opposite to the sign of the deviation Xn, The differential term works in the direction of decreasing the operation amount Y (in the direction of decreasing the rotation speed of the motor).

The coefficients K1, K2 and K3 correspond to the deviation having the dimension of the mechanical displacement and the integral value and the differential value thereof to the pulse width (time) of the armature current, and the desired control characteristics. Deviation, so that
Each of the integrated value and the differential value is for adjusting the ratio occupied in the manipulated variable Y, and the optimum value of each coefficient can be experimentally determined.

According to the above method, the detection value by the rotation angle detecting section is sampled at a constant sampling interval, and every time the detection value of the rotation angle is sampled, the deviation Xn, its integral value .SIGMA.Xn and the differential value .DELTA.Xn / .DELTA.t. Is calculated, and the manipulated variable Y is calculated. The switch circuit configured to turn on and off the armature currents of both the forward and reverse polarities of the motor has the polarity corresponding to the sign of the calculated manipulated variable Y, and the pulse width of the manipulated variable Y calculated. The on / off control is performed so that the armature current equal to the absolute value flows to the motor. This control can be performed by causing the microcomputer to output a pulse signal having a pulse width equal to the calculated manipulated variable Y and giving the pulse signal to the switch circuit as a trigger signal.

Since the target value has changed drastically now,
A large deviation suddenly occurs between the rotation angle of the output shaft of the motor and the target value, and the absolute value of the manipulated variable Y becomes the sampling interval Δt.
It becomes bigger than In this state, the switch circuit that controls the armature current is held in the conductive state, and the armature current is continuously applied. When the motor is started by this, the deviation becomes smaller, so the differential term K3 (ΔX
The sign of (n / Δt) is inverted, but initially the proportional term K1.X
The sum of n and the integral term K2 · ΣXn is the differential term K3 (ΔXn /
Since the operation amount Y is sufficiently larger than Δt), the operation amount Y is maintained larger than the sampling interval. The motor starts to move slowly at first, but gradually accelerates, and at some point, the absolute value of the differential term becomes larger than the absolute value of the sum of the proportional term and the integral term, and the sign of the manipulated variable Y Is reversed.
Therefore, the polarity of the armature current is reversed and the motor is suddenly braked. As a result, the differential term becomes smaller, so that the sign of the manipulated variable Y is reversed again, and the motor continues to rotate in the direction in which the rotation angle approaches the target value. Since the deviation decreases due to this rotation, the manipulated variable Y decreases, and the pulse width of the armature current gradually decreases. When the rotation angle reaches the target value and the deviation Xn becomes zero, the integral term also becomes zero,
Since the motor cannot be stopped immediately, the differential term does not become zero, and the sign of the differential term is inverted and the sign of the manipulated variable Y is inverted when the rotation angle of the motor exceeds the target value. Therefore, when the rotation angle of the motor is about to exceed the target value, the motor can be braked immediately to prevent overrun, and the motor can be stopped at the position where the rotation angle matches the target value.

As described above, according to the method of the present invention, the motor is braked by the function of the differential term of the equation for calculating the manipulated variable Y when the motor is rotating at a high speed, and the overrun of the motor is prevented. Since the rotation angle can be brought close to the target value, when the target value greatly changes, the armature current with a duty ratio of 100% is flown from the time of start up to the time when the deviation decreases to a certain value, and overrun is caused. It is possible to quickly match the rotation angle with the target value without causing it. Therefore, it is possible to improve control responsiveness and to perform accurate rotation angle position control.

Contrary to the above case, if the target value changes slowly and only slightly, at first, only the proportional term K1.Xn of the equation for calculating the manipulated variable Y works effectively, so that the motor has a starting current. But I can't start it, but
As the sampling is repeated, the integral term K2 · ΣX
As the size of n increases, the motor will start soon. When the motor starts, the sign of the differential term is opposite to the sign of the deviation, and the deviation itself becomes smaller.
The amount of operation decreases. The motor is stopped when the rotation angle matches the target value and the manipulated variable Y becomes zero.

As described above, according to the method of the present invention, the motor is rotated at a high speed when the target value greatly changes,
Moreover, the rotation angle can be matched with the target value without causing overrun. When the target value shows a slight change, the motor can be slowly rotated to match the rotation angle with the target value.

In the method of the present invention, since it is not necessary to set a dead zone for the deviation, it is possible to accurately control the rotational angle position of the output shaft of the motor.

In the present invention, the correspondence between the sign of the manipulated variable and the polarity of the armature current is arbitrary, and + of the sign of the manipulated variable may be associated with the armature current of the opposite polarity.

In the above description, the manipulated variable is calculated by adding the deviation and its integral value and differential value at a predetermined ratio, but the deviation Xn is reflected in the integral value of the deviation. , Xn are omitted, and Y = k1 ΣXn +
The manipulated variable may be calculated by k2 (ΔXn / ΔXt) [k1 and k2 are coefficients]. That is, in the present invention, the manipulated variable may be calculated by adding at least the integral value and the differential value of the deviation multiplied by a predetermined coefficient.

When performing on / off control of the switch circuit, for example, the sign of the manipulated variable Y is discriminated, and when the sign of the manipulated variable Y is a sign that a positive armature current is passed through the motor. When a positive armature current is supplied to the motor only during a period equal to the absolute value of the manipulated variable Y, and the sign of the manipulated variable Y is a sign that the opposite polarity armature current is supplied to the motor, Switch so that the armature current of reverse polarity is passed through the motor only during the period equal to the absolute value of the manipulated variable Y, and when the deviation is detected to be zero, the supply of the armature current to the motor is stopped. Control the circuit.

The control device according to the present invention is used for carrying out the above method, and the control device is
While the first trigger signal is being applied and while the second trigger signal is being applied, a switching element is provided that conducts respectively, while the first trigger signal is being applied, and the second
Of the switch circuit configured to flow the positive armature current and the reverse polarity armature current to the DC motor for controlling the internal combustion engine while the trigger signal of A rotation angle detection unit that detects a rotation angle, and a switch circuit that uses a first trigger signal or a second trigger signal to set a deviation between a target value of the rotation angle of the DC motor and a detection value of the rotation angle by the rotation angle detection unit to zero. And a control unit which controls the switch circuit to be turned on and off by applying the trigger signal of.

In the present invention, the above-mentioned control section comprises a target value setting means for giving a target value and a predetermined sampling interval Δ.
Sampling signal generating means for generating a sampling signal at t, and a deviation for calculating a deviation Xn between the target value and the sampled detection value by sampling the detection value of the rotation angle by the rotation angle detection unit every time each sampling signal is generated. The calculation means, the integrated value calculation means for calculating the sum of the deviations ΣXn−1 calculated by the previous sampling and the deviation Xn calculated by the current sampling as the integrated value ΣXn of the deviations, Using the deviation Xn calculated at the time of sampling, the deviation Xn-1 calculated at the time of the previous sampling, and the sampling interval Δt, the time change rate of the deviation from the time of the previous sampling to the time of the present sampling is differentiated by ΔXn / Differential value calculating means for calculating as Δt, and at least the integrated value ΣXn and the differential value ΔXn /
An operation amount Y having a magnitude corresponding to the magnitude of the armature current flowing through the motor and a sign corresponding to the polarity of the armature current is calculated by adding Δt multiplied by a predetermined coefficient. And a sign of the operation amount Y, and when the sign of the operation amount Y is a sign indicating that a positive armature current is supplied to the motor, the first trigger signal is set to the operation amount. When the operation amount Y is generated as a pulse waveform having a pulse width equal to the absolute value of Y, and the sign of the manipulated variable Y is a sign that an armature current of opposite polarity is passed through the motor, the second trigger signal is set to the manipulated variable Y. Generated as a pulse waveform having a pulse width equal to the absolute value of
Is zero, it can be constituted by a trigger signal generating means for stopping the generation of both the first and second trigger signals.

Also in this case, when the deviation becomes zero, it is necessary to make the integral value ΣXn become zero at the same time as the deviation becomes zero or within the shortest possible time after the deviation becomes zero. Various configurations are conceivable for making the integrated value zero when the deviation becomes zero.

For example, in the case where the cumulative total of the deviations is continuously performed from the time when the deviations occur (the integration interval is not limited), it is determined whether or not the deviations are zero, and when the deviations are zero. By providing the integrated value resetting means for making the integrated value zero, the integrated value can be made zero when the deviation becomes zero. Further, by limiting the number of accumulated deviations when calculating the integrated value of the deviations (limiting the integration section), the integrated value can be made zero when the deviations become zero. When limiting the integration interval, there will be some delay between the time when the deviation becomes zero and the time when the integrated value actually becomes zero.However, when the deviation becomes zero, the integrated value has already become sufficiently small. Therefore, if the coefficient K2 (or k1) of the integral term is set appropriately small, it is possible to prevent the integral term from working almost at the time when the deviation becomes zero, which causes a practical problem. Absent.

The rotation angle detecting section for detecting the rotation angle of the motor detects the rotation angle of the output shaft of the motor and outputs the detection output in the form of a digital signal which can be read by a microcomputer. An analog rotary displacement sensor such as a differential transformer, and an A / D for converting an analog output of the rotary displacement sensor into a digital signal
And a converter. Further, the rotation angle detection unit can be configured using a rotary encoder that generates a pulse signal every time the output shaft of the motor rotates by a minute angle.

When an analog type rotary displacement sensor such as a potentiometer is used to detect a rotation angle of the output shaft of the motor over a plurality of rotations, a rotary displacement sensor is used.
The output shaft of the motor may be coupled to the input shaft of the rotational displacement sensor via a speed reducer by using a one-rotational rotational displacement sensor capable of detecting an angle of 60 degrees.

The target value of the rotation angle of the internal combustion engine control motor is generally changed according to the rotation speed of the engine. In that case, the target value setting means, using the rotation speed detection means for detecting the rotation speed of the internal combustion engine, using a map that gives the relationship between the rotation speed of the internal combustion engine and the target value of the rotation angle of the output shaft of the DC motor It can be constituted by a target value calculating means for calculating a target value with respect to a value detected by the rotation speed detecting means.

The control of the above-mentioned motor can be performed by utilizing the CPU which controls the ignition position of the internal combustion engine. When the ignition position is controlled by the microcomputer, a signal generator is attached to the engine in order to give information about the rotation of the engine (rotation angle and rotation speed) to the microcomputer, and the signal generator has a predetermined rotation angle. The pulse signal generated at the position is given to the CPU as a signal giving rotation information. In this case, the rotation speed can be detected by measuring the time required for the engine to make one rotation using a pulse signal generated by the signal generator at a constant rotation angle position as a timing signal. In this case, the rotation speed detecting means includes, for example, a counter (or a timer) that counts clock pulses, a latch circuit that latches the count value of the counter when the signal generator generates a pulse signal at a fixed position, and the latch. It can be realized by a reset unit that resets the counter immediately after the circuit latches the count value of the counter.

When the CPU for controlling the ignition position of the internal combustion engine and the CPU for controlling the rotation angle of the DC motor for controlling the internal combustion engine are made different, instead of using the output pulse of the signal generator, Even if the pulse voltage induced in the primary coil of the ignition coil of the internal combustion engine ignition device when the ignition operation is performed is used as a pulse for speed detection, the rotation speed is detected from the generation interval of this pulse. Good.

In the present invention, the rotation angle (or rotation angle position) of the output shaft of the motor is controlled so as to match the target value, but the mechanical displacement of the load driven by the motor,
That is, even when detecting the rotation angle, position, displacement amount, etc. and controlling the detected value to match the target value, the result is to control the motor rotation angle to match the target value. To do. Therefore, the present invention detects the rotation angle of the output shaft by the rotation displacement sensor attached to the output shaft of the motor, and controls the detected value to match the target value, as well as the load driven by the motor. It also includes the case where the rotation angle of the output shaft is indirectly detected by the attached displacement sensor and the detected value is controlled to match the target value (for example, set at the load position).

[0042]

As described above, every time the detected value of the rotation angle is sampled, the absolute value of the manipulated variable Y having the polarity corresponding to the sign of the calculated manipulated variable Y and the calculated pulse width is obtained. When the switch circuit is controlled to be turned on and off so as to flow an armature current equal to, a pulse signal having a pulse width equal to the calculated manipulated variable Y is output from the microcomputer, and the pulse signal is used as a trigger signal for the switch circuit. Since the switch circuit can be controlled to be turned on and off simply by giving it, control for matching the rotation angle of the motor to the target value can be performed with a simple configuration without using an extra D / A converter or a sawtooth wave signal generation circuit. be able to.

Further, according to the above method, when the rotation speed of the motor becomes high to some extent, the motor can be braked and its rotation suppressed by the function of the differential term of the equation for calculating the operation amount, so that the deviation is large. Occasionally, an armature current having a duty ratio of 100% is supplied from the time when the motor is started until the deviation reaches a predetermined value, whereby the motor is first rotated at a high speed to reduce the deviation, and the deviation is reduced to some extent. Therefore, it is possible to reduce the duty ratio of the armature current and finally match the rotation angle with the target value. Therefore, when the deviation is large, the response speed can be increased and the control for matching the rotation angle with the target value can be performed with high accuracy without causing overrun. Further, according to the present invention, even if the deviation is small, the motor can be slowly started by the action of the integral term, and the rotation angle can be brought close to the target value while changing the duty ratio of the armature current. On the other hand, highly precise control can be performed without providing a dead zone.

[0044]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows an example of the hardware configuration of a control device for carrying out the control method of the present invention. In FIG. 1, reference numeral 1 is a pulse signal generated at a predetermined rotational angle position of an internal combustion engine. Signal coil 2, a waveform shaping circuit for converting the output waveform of the signal coil 1 into a predetermined waveform, 3 an ignition circuit,
Reference numeral 4 is a switch circuit for turning on / off the armature currents of both direct and reverse polarities of the DC motor M for operating the exhaust valve for adjusting the exhaust timing of the two-cycle internal combustion engine. Position) to control the rotation angle of the motor M to match the target value. Further, 6 is a throttle opening sensor that detects the opening of a throttle valve that adjusts the amount of fuel supplied to the internal combustion engine, and 7 is a rotation angle sensor that detects the rotation angle of the output shaft of the motor M.

The signal coil 1 is provided in a signal generator attached to the internal combustion engine, and generates a pulse-shaped signal at a constant rotational angle position of the internal combustion engine. Wave shaping circuit 2
Converts the pulse signal generated by the signal coil 1 into a predetermined waveform that can be recognized by the computer, and supplies the converted waveform signal to the microcomputer 5 as an external interrupt signal INT1.

The ignition circuit 3 is composed of an ignition coil 301, an ignition plug 302 attached to a cylinder of the engine, and a primary current control circuit 303 for controlling the primary current of the ignition coil. The ignition circuit 3 shown in the figure is a well-known current cut-off type circuit, and includes the primary coils W1 and 2 of the ignition coil 301.
One end of the secondary coil W2 is connected to a power supply line L connected to a non-grounded output terminal of a battery (not shown), and an ignition plug 302 is connected between the other end of the secondary coil W2 and the ground. The primary current control circuit 303 is connected between the other end of the primary coil W1 of the ignition coil and the ground.
A switch element for primary current control such as a transistor (connected in series to the next coil) and a circuit for controlling the on / off of the switch element are provided, and a microswitch is provided at the control signal input terminal 303a. A rectangular wave control signal is applied from the port Ao of the computer 5. In this example, when the potential of the port Ao of the microcomputer 5 becomes zero level (approximately ground level, hereinafter referred to as L level), the primary current control switch element is turned on and a battery (not shown) is connected to the ignition coil 1 A primary current is passed through the secondary coil W1. When the potential of the port Ao becomes a high level (hereinafter referred to as H level), the switch element for controlling the primary current is turned off to cut off the primary current of the ignition coil. At this time, a voltage having a high polarity is induced in the primary coil W1 so as to continue to flow the primary current that has been flowing until then. Since this voltage is boosted by the ignition coil 301, a high voltage for ignition is induced in the secondary coil W2 of the ignition coil, and the high voltage causes a spark in the ignition plug 302 to ignite the engine. In this embodiment, the rise of the control signal input from the port Ao of the microcomputer 5 to the control signal input terminal 303a of the primary current control circuit 303 of the ignition circuit to the H level is an ignition signal (a signal that determines the ignition position). Becomes

The switch circuit 4 has PNP transistors Tr1 and Tr2 whose emitters are commonly connected, and NPN transistors Tr3 and T3 whose collectors are respectively connected to the collectors of the transistors Tr1 and Tr2 and whose emitters are commonly connected.
A bridge type switch circuit composed of r4, resistors R1 to R4 whose one ends are connected to the bases of the transistors Tr1 to Tr4 respectively, and resistors R4 and R3 to the base of the transistor Tr4 and the base of the transistor Tr3, respectively.
NPN transistors Tr5 and Tr6 for triggering a switch circuit, whose collectors are connected via
And resistors R5 and R6, one ends of which are connected to the bases of Tr6 and Tr6.
It consists of The other ends of the resistors R1 and R5 are commonly connected to the port A1 of the microcomputer 5, and the other ends of the resistors R2 and R6 are commonly connected to the port A2 of the microcomputer 5. The armature of the DC motor M is connected between the common connection point of the collectors of the transistors Tr1 and Tr3 and the common connection point of the collectors of the transistors Tr2 and Tr4. Transistor T
The emitters of r1, Tr2, Tr5 and Tr6 are connected to a power supply line L connected to the non-grounded output terminal of the battery.

Microcomputer ports A1 and A
Reference numeral 2 is a terminal for applying the first and second trigger signals to the switch circuit 4, respectively. In the state where the motor M is not rotated, the respective potentials of the ports A1 and A2 are maintained at the H level, and the potential of either the port A1 or A2 is set to the L level only while the armature current is flowing to the motor M. It has become.

In the switch circuit 4, the transistors Tr1 and Tr5 conduct when the potential of the port A1 of the microcomputer 5 becomes L level (ground level), and the transistor Tr4 conducts when the transistor Tr5 conducts. Not from battery to transistor T
An armature current flows through the motor M in the path of r1 emitter-collector circuit → motor M → collector-emitter circuit of transistor Tr4 → ground circuit → battery, and the motor M rotates in one direction. Also, the port A2 of the microcomputer 5
Tr2 and Tr6 become conductive when the potential of the transistor becomes L level (ground potential), and the transistor r3 becomes conductive due to the conduction of the transistor Tr6, so a battery (not shown) between the emitter-collector circuit of the transistor Tr2, the motor M and the transistor. Tr3 collector-emitter circuit →
The armature current in the opposite direction to the above flows through the motor M in the path from the ground circuit to the battery, and the motor M rotates in the other direction.

That is, in this example, the potential of the port A1 is L
The state in which the level is at the level is the state in which the first trigger signal is being generated, and the state in which the potential at the port A2 is at the level L is the state in which the second trigger signal is being generated.

The output shaft of the motor M is connected to an operating shaft of an exhaust valve for adjusting the exhaust timing of the engine via an appropriate power transmission mechanism.

In this embodiment, the current flowing through the motor M when the potential of the port A1 of the microcomputer is at the L level (when the first trigger signal is generated) is the positive armature current. The rotation direction of the motor M at this time is defined as the forward rotation direction. Further, when the potential of the port A2 is at the L level (when the second trigger signal is generated), the current flowing through the motor M is set to the armature current of the opposite polarity, and the rotating direction of the motor M at this time is set. Reverse rotation direction.

The microcomputer 5 includes a CPU 5a,
Interrupt control circuit 5b, random access memory (RA
M) 5c, read only memory (ROM) 5d, sampling signal generating counter 5e, edge detection circuit 5
f, a latch circuit 5g, an ignition position measuring counter 5h, a comparator 5i, a register 5j, a counter 5k, a comparator 5m, a register 5n, an A / D converter 5p, and a flip-flop circuit 5q. Among these, the edge detection circuit 5f, the latch circuit 5g, and the counter 5
h, the comparator 5i, the register 5j and the flip-flop circuit 5q are used to control the ignition position, and the counter 5k, the comparator 5m and the register 5n are used to control the motor M.

The throttle opening sensor 6 is composed of, for example, a potentiometer connected to the operation shaft of the throttle valve of the engine, and outputs an analog signal corresponding to the opening of the throttle valve. This analog signal is input to the A / D converter 5p in the microcomputer and converted into a digital signal. Throttle opening sensor 6 and A
The / D converter 5p constitutes a throttle opening detector.

The rotation angle sensor 7 comprises, for example, a potentiometer (variable resistor) connected to the output shaft of the motor, and outputs an analog signal corresponding to the rotation angle of the output shaft of the motor M. As potentiometers used for detecting the rotation angle, there are a potentiometer capable of detecting a rotation angle (360 degrees) of one rotation of the input shaft and a potentiometer capable of detecting a rotation angle of the input shaft over a plurality of rotations. In the present embodiment, an appropriate potentiometer is used according to the rotation speed of the output shaft of the motor required to drive the load.
For example, when it is necessary to rotate the output shaft of the motor 10 times to drive the load, a 10-rotation potentiometer that can detect a rotation angle (3600 degrees) over 10 rotations is used.

The multi-rotation potentiometer has 36
A reduction mechanism is provided between a slider of a variable resistor that can rotate 0 degrees and an input shaft so that the slider of the variable resistor makes one rotation while the input shaft rotates a plurality of times. However, instead of using such a multi-rotation potentiometer, the same effect can be obtained by connecting the input shaft of the one-rotation potentiometer to the output shaft of the motor through a speed reducer having a predetermined reduction ratio. .

The analog output of the rotation angle sensor 7 is input to the A / D converter 5p in the microcomputer and converted into a digital signal. Rotation angle sensor 7 and A / D
The converter 5p constitutes a rotation angle detector.

In the ROM 5d of the microcomputer, a predetermined program for calculating the ignition position and the target position of the rotation angle of the output shaft of the motor, a map used for calculating the ignition position, and the output shaft of the motor. At least a map used for calculating the target position of the rotation angle is stored.

FIG. 4 shows the algorithm of the main routine of the above program. In this main routine, each unit is first initialized after the power is turned on. Next, the ignition position θig is calculated using the data Ne giving the engine speed, the throttle opening Th, and the ignition position calculation map. After the calculated ignition position θig is stored in the register 5j, the target value of the rotation angle of the motor ( In this example, it corresponds to the target opening of the exhaust valve).

In the apparatus of FIG. 1, the external interrupt signal INT1 given from the signal coil 1 to the microcomputer through the waveform shaping circuit 2 is from H level to L level when the signal coil 1 generates a signal at a predetermined rotation angle position. The interrupt signal INT1 is a signal having a waveform falling to the interrupt control circuit 5b of the microcomputer 5. At this time, the interrupt control circuit 5b resets the flip-flop circuit 5q to set the output of its positive logic output terminal Q to "0". As a result, the potential of the port Ao of the microcomputer is set to the L level, the switch element for controlling the primary current of the primary current control circuit 303 is made conductive, and the primary current is supplied to the primary coil W1 of the ignition coil.

When the interrupt signal INT1 is generated,
The edge detection circuit 5f detects the fall and operates the latch circuit 5g to latch the count value of the counter 5h when the interrupt signal INT1 is generated and clear the counter 5h. Since the counter counts clock pulses, the count value latched by the latch circuit 5g corresponds to the time required for the engine to make one revolution.

The interrupt control circuit 5b uses the interrupt signal I
When NT1 is given, the interrupt routine of FIG. 5 is executed, and the value of the latched counter 5h (the time required for the engine to make one revolution) is set to the data Ne which gives the number of revolutions.
After that, it is stored in a predetermined address of the RAM 5c, and then the process returns to the main routine of FIG.

The map stored in the ROM for calculating the ignition position is the relationship between the data giving the rotational speed (in this example, the time required for the engine to make one revolution) Ne, the throttle opening Th, and the ignition position. The ignition position is
Data Ne giving the number of revolutions and throttle opening sensor 6
It is calculated by an interpolation method using the throttle opening Th detected by the above and the map data. The calculated ignition position data is the reference position (in this example, the interrupt signal IN
It is calculated in the form of the time required for the engine to rotate from the T1 generation position) to the ignition position (ignition position measurement time). The data giving this ignition position is transferred to the register 5j.

The comparator 5i constantly compares the count value of the counter 5h with the content of the register 5j. When the count value of the counter 5h matches the content of the register 5j, the comparator 5i sets the set terminal S of the flip-flop circuit 5q. A set signal is given to.

When a set signal is given to the flip-flop circuit 5q, the potential of the port Ao of the microcomputer 5 becomes H level (ignition signal is generated), so that 1
The switch element for controlling the primary current in the secondary current control circuit 303 is turned off, and the primary coil W1 of the ignition coil 301
The primary current flowing through is cut off. As a result, a high voltage is induced in the secondary coil of the ignition coil, and the spark plug 302
A spark is generated.

The map stored in the ROM for calculating the target value of the rotation angle of the output shaft of the motor provides the data Ne for giving the number of rotations and the relationship between the throttle opening Th and the target value of the rotation angle. The target value of the rotation angle is
The calculation is performed by the interpolation method using the data Ne giving the number of revolutions, the throttle opening Th, and the map data, and the calculation result is stored in the RAM 5c.

Counter 5e in the microcomputer 5
Counts clock pulses and outputs an interrupt signal INT2 every time the number of pulses corresponding to a predetermined sampling interval Δt (for example, 2 msec) is counted. When this interrupt signal INT2 is applied to the interrupt control circuit 5b, the interrupt routine of FIG. 6 is executed. In this interrupt routine, the detection value of the rotation angle given from the rotation angle sensor 7 through the A / D converter 5p is sampled, and the detection value of the rotation angle sampled from the target value of the rotation angle of the motor calculated in the main routine is obtained. The calculation is performed and the calculation result is set as the deviation Xn in the RAM.
To memorize. Then, it is determined whether or not the deviation Xn is zero. If the deviation Xn is not zero, the cumulative value ΣXn-1 of the deviation Xn up to the previous sampling (interruption by the previous INT2) is calculated at this sampling. The deviation Xn thus calculated is added to calculate an integral value ΣXn of the deviation. Next, the deviation Xn-1 calculated at the previous sampling is subtracted from the deviation Xn calculated at the current sampling, and the result (Xn-1 −Xn) is divided by the sampling interval Δt. Change rate of deviation until sampling (variation of deviation) ΔXn
/ Δt is calculated, and the calculation result is stored in the RAM.
When it is determined that the deviation Xn is zero after the deviation Xn is calculated, the integral value ΣXn is set to zero and the differential value ΔXn /
The process moves to the process of calculating Δt.

After calculating the integral value and the differential value, the manipulated variable Y is calculated using the following calculation formula (1), and the calculated manipulated variable Y is stored in the RAM.

Y = K1.Xn + K2..SIGMA.Xn + K3 (.DELTA.Xn / .DELTA.t) (1) In the present embodiment, the manipulated variable Y is calculated by the above equation (1), but the proportional term K1.Xn is Integral term K2 · ΣXn
Therefore, the manipulated variable Y may be calculated by the following equation using the coefficients k1 and k2.

Y = k1.SIGMA.Xn + k2 (.DELTA.Xn / .DELTA.t) (1) 'After the operation amount Y is calculated, it is determined whether or not the calculated operation amount Y is zero, and the operation amount Y is not zero. In this case, it is determined whether or not the sign of the manipulated variable is positive (+). As a result, when the sign of the manipulated variable Y is positive, after the absolute value of the manipulated variable Y is stored in the register 5n, the potential of the port A1 is set to the L level (the state in which the first trigger signal is generated) and the port A1 is set.
The potential of 2 is set to H level (state in which the second trigger signal is not generated). Next, after the counter 5k is cleared to start the counting operation, the process returns to the main routine.

The counter 5k counts clock pulses, and the count value is stored in the register 5 by the comparator 5m.
The contents of n are compared. When the count value of the counter 5k matches the content of the register 5n (the absolute value of the manipulated variable Y), the comparator 5m outputs an interrupt signal INT3, and this interrupt signal INT3 is given to the interrupt control circuit 5b. At this time, the interrupt control circuit executes the interrupt routine of FIG. In this interrupt routine, port A
After the potentials of 1 and A2 are set to the H level (the state in which the first trigger signal and the second trigger signal are not generated), the process returns to the main routine. While the potential of the port A1 is held at the L level (the period corresponding to the manipulated variable Y), the transistors Tr1 and Tr5 shown in FIG. A positive armature current flows through Tr1, the motor M, and the transistor Tr4, and the motor M
Rotates forward.

When the sign of the manipulated variable Y is negative,
After inputting the absolute value of the manipulated variable Y into the register 5n,
The potential of 1 is set to the H level (the state in which the first trigger signal is not generated), and the potential of the port A2 is set to the L level (the state in which the second trigger signal is generated). Then, the counter 5k is cleared to start the counting operation, and the process returns to the main routine.

When the count value of the counter 5k matches the absolute value of the manipulated variable Y stored in the register 5n, the comparator 5m sends the interrupt signal INT3 to the interrupt control circuit 5b.
Is given, the interrupt routine of FIG. 7 is executed, and the potentials of the ports A1 and A2 are set to H level. Port A
While the potential of 2 is held at the L level, the transistors Tr2 and Tr6 are rendered conductive, and the transistor Tr6 is rendered conductive by the conduction of the transistor Tr6, so that the transistor Tr2, the motor M, and the transistor T are supplied from a battery (not shown).
A reverse polarity armature current flows through r3 and the motor M rotates in reverse.

When the manipulated variable Y becomes zero, the potentials of the ports A1 and A2 are both set to H level (both the first and second trigger signals are made to disappear), the counting operation of the counter 5k is stopped, and the main routine is stopped. Return to.

When the absolute value of the manipulated variable Y is transferred to the register 5n, the magnitude of the manipulated variable Y is limited to Δt or less. That is, when the magnitude of the operation amount Y is equal to or longer than the sampling interval Δt, the magnitude of the operation amount Y is set to Δt, and when the magnitude of the operation amount Y is less than Δt, the operation amount Y The absolute value of is directly input to the register 5n.

As described above, in the control method of the present invention, the detection value of the rotation angle detecting section for detecting the rotation angle of the output shaft of the motor is sampled at a predetermined sampling interval Δt to obtain the target value of the rotation angle. A deviation Xn from the sampled detection value, an integral value ΣXn of the deviation Xn, and a differential value ΔXn / Δt indicating the temporal change rate of the deviation from the previous sampling time to the current sampling time are calculated, and at least An operation having a magnitude corresponding to the magnitude of the armature current flowing in the DC motor and a sign corresponding to the polarity of the armature current by adding a product of the integral value and the derivative value multiplied by a predetermined coefficient An amount Y is calculated, and every time sampling is performed, an armature current having a polarity corresponding to the sign of the calculated operation amount Y and having a pulse width equal to the absolute value of the calculated operation amount Y is flown. The switch circuit 4 is on / off controlled as described above. That is, in the present invention, the sampling interval Δt
Is one cycle of the duty control, and the absolute value of the manipulated variable Y is the energization period (pulse width) of the armature current to control the duty ratio of the armature current. The duty ratio is 100%
Of course, in the case of, the armature current does not have a pulse waveform.

In this embodiment, when the duty ratio is controlled, the sign of the operation amount Y is discriminated and the operation amount Y is determined.
Is a sign that a positive armature current is passed through the motor M (plus in the above embodiment), the positive armature current having a pulse width equal to the absolute value of the manipulated variable Y is applied to the motor. And the sign of the manipulated variable Y is a sign (minus in the above embodiment) meaning that a reverse polarity armature current is passed through the motor, an armature with a reverse polarity equal to the absolute value of the manipulated variable Y in the motor. An electric current is supplied, and when the manipulated variable Y becomes zero, the supply of the armature current to the DC motor is stopped.

When such control is performed, as shown below, an additional value for making the rotation angle of the motor match the target value even when a large deviation suddenly occurs or when the deviation only slightly occurs. Control can be performed accurately.

As shown in FIG. 2A, since the target value drastically changes in the forward rotation direction of the motor at time t0, the value suddenly changes between the rotation angle of the motor output shaft and the target value. It is assumed that a large deviation Xn occurs and the absolute value of the manipulated variable Y exceeds the sampling interval Δt. When this state is detected, the potential of the port A1 of the microcomputer becomes L level and the potential of the port A2 becomes H level as shown in FIG. 2B, so that the transistors Tr1 and Tr4 of the switch circuit 4 are made. Is held in a conductive state, and a positive armature current is continuously applied. When the motor is started by this, the deviation becomes smaller, so the differential term K3 (ΔXn
The sign of / Δt) is inverted, but initially the proportional term K1 · Xn
And the sum of the integral term K2 · ΣXn is the differential term K3 (ΔXn / Δ
Since it is sufficiently larger than t), the manipulated variable Y remains larger than the sampling interval. The motor starts to move slowly at first, but gradually accelerates, and at some point, the absolute value of the differential term becomes larger than the absolute value of the sum of the proportional term and the integral term, and the sign of the manipulated variable Y Is reversed. Therefore, as shown in FIGS. 2 (B) and 2 (C), port A1
Becomes H level, the potential of the port A2 becomes L level, and a period during which the transistors Tr2 and Tr3 become conductive occurs. While the transistors Tr2 and Tr3 are conducting, a reverse polarity armature current flows and the motor is suddenly braked. As a result, the differential term becomes smaller, so that the sign of the manipulated variable Y is inverted again, and there occurs a period in which the potential of the port A1 is at the L level, and a positive polarity armature current flows at a predetermined duty ratio. Continue rotation in the forward rotation direction that brings the rotation angle closer to the target value. Since the deviation decreases due to this rotation, the manipulated variable Y decreases, and the pulse width of the armature current gradually decreases. Time t1
When the rotation angle reaches the target value and the deviation becomes zero, the manipulated variable Y
Is zero, the potentials of ports A1 and A2 are both H
The level is maintained, and all the transistors of the switch circuit 4 maintain the cutoff state. As a result, the armature current becomes zero and the motor stops.

As described above, according to the method of the present invention, the function of the differential term of the equation for calculating the manipulated variable Y when the motor is rotating at a high speed is applied to the motor to prevent the overrun of the motor by braking. Since the rotation angle can be brought close to the target value, when the target value greatly changes, the armature current with a duty ratio of 100% is flown from the time of start up to the time when the deviation decreases to a certain value, and overrun is caused. It is possible to quickly match the rotation angle with the target value without causing it. Therefore, it is possible to improve control responsiveness and to perform accurate rotation angle position control.

Next, as shown in FIG. 3A, time t
Assume that the target value slowly changes from o. In this case, the proportional term K1.X of the equation for calculating the manipulated variable Y is first obtained.
Since only n works effectively, the period when the electric potential of the port A1 of the microcomputer becomes L level is short, and the motor cannot start because the starting current is insufficient. However, as the sampling is repeated, the integral term K2 · ΣXn As the size becomes larger, the period during which the potential of the port A1 becomes L level becomes longer, and the motor M starts at time t1. When the motor is started, the sign of the differential term becomes opposite to the sign of the deviation, and the deviation itself becomes smaller, so the manipulated variable Y decreases and the period in which the potential of port A1 becomes L level becomes shorter. At time t2, when the rotation angle matches the target value, the manipulated variable becomes zero and port A1
Then, the electric potential of the signal H is held at the H level, all the transistors of the switch circuit 4 are held in the cutoff state, and the motor is stopped.

As described above, when the target value changes slowly and slightly, the differential term of the equation for calculating the manipulated variable Y hardly works, so that the sign of the manipulated variable Y is not inverted, and the port of the microcomputer is not inverted. A2 is H as shown in FIG.
Retains the level.

As described above, according to the method of the present invention, the motor is rotated at a high speed when the target value greatly changes,
Moreover, the rotation angle can be matched with the target value without causing overrun. When the target value shows a slight change, the motor can be slowly rotated to match the rotation angle with the target value.

In the above embodiment, the edge detection circuit 5f,
The rotation speed detecting means is realized by the hardware such as the latch circuit 5g, the counter 5h, the comparator 5i, the register 5j and the software for realizing the interrupt routine shown in FIG. 5, and this rotation speed detecting means is shown in FIG. The target value setting means is realized by the process of calculating the target value of the main routine.

Further, the counter 5e constitutes a sampling signal generating means for generating a sampling signal at a predetermined sampling interval .DELTA.t, and in the process of calculating the deviation Xn of the interrupt routine of FIG. Deviation calculation means for sampling the detection value of the rotation angle by the angle detection unit and calculating the deviation Xn between the target value and the sampled detection value is realized.

Further, an integral value calculating means and a differential value calculating means are respectively realized by the process of calculating the integral value ΣXn and the process of calculating the differential value ΔXn / Δt of the interrupt routine shown in FIG. Depending on the calculation process,
A manipulated variable calculating means is realized.

The sign of the manipulated variable Y is discriminated by the portion from the process of determining whether the manipulated variable Y of the interrupt routine of FIG. 6 is zero to the process of starting or stopping the counter 5k. When the sign of Y is a sign meaning that a positive armature current is passed through the motor, the first trigger signal is generated as a pulse waveform having a pulse width equal to the absolute value of the manipulated variable Y, and the manipulated variable Y is generated. When the sign of means a flow of armature current of opposite polarity to the motor, the second trigger signal is generated as a pulse waveform having a pulse width equal to the absolute value of the manipulated variable Y, and the manipulated variable Y is Trigger signal generating means for stopping generation of both the first and second trigger signals when zero is realized.

Further, in this example, it is determined whether or not the deviation Xn is zero. If Xn is zero, the integral value ΣXn is set to zero, and if Xn is not zero, the integral value ΣXn is calculated. By the process of making, the integrated value resetting means that makes the integrated value zero when the deviation is detected to be zero is realized. It should be noted that the reset of the integrated value may be performed before calculating the manipulated variable Y, and need not necessarily be performed immediately after calculating the deviation Xn as shown in the flowchart of FIG.

By the target value setting means, sampling signal generating means, deviation calculating means, integral value calculating means, differential value calculating means, manipulated variable calculating means, and trigger signal generating means, the DC motor M ON / OFF control of the switch circuit 4 by giving a first trigger signal or a second trigger signal so that the deviation between the target value of the rotation angle and the detected value of the rotation angle by the rotation angle detector is zero. The control unit is configured.

In the above embodiment, the integrated value resetting means for resetting the integrated value to zero when the deviation is detected to be zero is provided, but the number of accumulated deviations when performing the integral calculation is If you limit it (if you limit the integration interval),
The means for resetting the integrated value can be omitted. In this case, the integral value calculating means calculates the integral value of the deviation by accumulating the deviation values calculated from the sampling time performed a preset number of times before the current sampling to the current sampling time. To configure.

In the present invention, the provision of the integral value resetting means is not obstructed even when the integral interval is limited.

In the above embodiment, when calculating the deviation,
Although the detected value is subtracted from the target value, conversely, the deviation may be obtained by subtracting the target value from the detected value. In this case, the sign of the deviation is opposite to the sign described in the above embodiment, but the sign of the integrated value ΣXn is the same as the sign of the deviation Xn. Also, when the motor rotates toward the target value and the deviation decreases, the differential value Δ
The sign of Xn / Δt is the opposite sign to the sign of the deviation Xn.

In the present invention, regardless of the method of calculating the deviation, when the sign of the manipulated variable Y is the same as the sign of the deviation Xn, the DC motor is rotated in the direction to make the deviation Xn zero. Is supplied to the DC motor with a pulse width equal to the absolute value of the manipulated variable Y, and when the sign of the manipulated variable Y is different from the sign of the deviation Xn, the deviation Xn is set to zero. It suffices to supply the DC motor with an armature current of a polarity that prevents the DC motor from rotating in the direction with a pulse width equal to the absolute value of the manipulated variable Y.

In the above embodiment, a current cutoff type circuit is used as the ignition circuit for igniting the internal combustion engine. A capacitor discharge type circuit may be used in which a high voltage for ignition is obtained by discharging the primary coil of the ignition coil through a switch for protection.

In the above embodiment, the count value of the counter 5h latched by the latch circuit 5g (corresponding to the time required for the internal combustion engine to make one revolution) is used as the data Ne for giving the number of revolutions of the internal combustion engine. However, the actual rotation speed may be calculated from the count value of the counter latched by the latch circuit 5g, and the calculated rotation speed may be used as the data Ne for giving the rotation speed of the internal combustion engine.

Although the preferred embodiments of the present invention have been described above, the present invention is not limited to the above embodiments, and various modifications may be made to each part within the scope of the concept disclosed in the specification of the present application. Can be added. The main aspects of the invention disclosed in the present specification are listed below.

(1) A switch circuit is provided for turning on / off the armature currents of both polarities of forward and reverse, which are supplied to the direct-current motor for controlling the internal combustion engine, which operates an operating portion for adjusting a predetermined control amount of the internal combustion engine. A method for controlling a direct-current motor for controlling an internal combustion engine, comprising controlling the rotation angle of an output shaft of a motor to match a target value by controlling a duty ratio of an armature current by controlling a circuit on and off, wherein an output shaft of the motor Of the rotation angle detecting unit for detecting the rotation angle of the rotation angle is sampled at a predetermined sampling interval Δt to calculate the deviation Xn between the target value of the rotation angle and the sampled detection value, and the integration of the deviation Xn. Value ΣX
The process of calculating n, the process of calculating the differential value ΔXn / Δt that indicates the temporal change rate of the deviation from the time of the previous sampling to the time of the current sampling, and the process of determining whether the deviation is zero Corresponding to the magnitude of the armature current flowing to the DC motor by performing the process of setting the integrated value to zero when is zero and the process of adding at least the product of the integrated value and the differential value by a predetermined coefficient. And an operation amount Y having a sign corresponding to the polarity of the armature current is calculated, the sign of the operation amount Y is determined, and the sign of the operation amount Y is a positive armature current of the motor. When the sign is that the operation amount Y is passed, a positive armature current is applied to the motor for a period equal to the absolute value of the operation amount Y, and the operation amount Y is applied with a reverse polarity armature current to the motor. If it is a code meaning to flow, the operation An armature current of reverse polarity is passed through the motor only during a period equal to the absolute value of Y, and when it is detected that the manipulated variable becomes zero, the supply of the armature current to the motor is stopped. A method for controlling a direct-current motor for controlling an internal combustion engine, comprising performing on / off control of the switch circuit.

(2) A switch circuit is provided for turning on / off the armature currents of both positive and reverse polarities which are supplied to the internal-combustion-engine controlling DC motor for operating the operating portion for adjusting a predetermined control amount of the internal combustion engine. A method for controlling a direct-current motor for controlling an internal combustion engine, comprising controlling the rotation angle of an output shaft of a motor to match a target value by controlling a duty ratio of an armature current by controlling a circuit on and off, wherein an output shaft of the motor The process of sampling the detection value of the rotation angle detection unit for detecting the rotation angle of No. 2 at a predetermined sampling interval Δt, and calculating the deviation Xn between the target value of the rotation angle and the sampled detection value, and this sampling The deviation is calculated by calculating the cumulative total of the deviations calculated from the time when the sampling was performed a set number of times before to the time of this sampling. The process of calculating the integral value ΣXn of Xn and the process of calculating the differential value ΔXn / Δt indicating the temporal change rate of the deviation from the time of the previous sampling to the time of the present sampling, and at least the predetermined value for the integrated value and the differential value. A step of adding a value obtained by multiplying a coefficient of ## EQU1 ## and an operation amount Y having a magnitude corresponding to the magnitude of the armature current flowing to the DC motor and a sign corresponding to the polarity of the armature current, The sign of the manipulated variable Y is discriminated. When the sign of the manipulated variable Y is a sign meaning that a positive armature current is passed through the motor, the motor is operated for a period equal to the absolute value of the manipulated variable Y. When a positive polarity armature current is applied to the motor and the sign of the manipulated variable Y is a sign that a reverse polarity armature current is allowed to flow to the motor, the motor is operated for a period equal to the absolute value of the manipulated variable Y. Armature current of opposite polarity Of the DC motor for controlling an internal combustion engine, wherein the switch circuit is controlled to be turned on and off so as to stop the supply of the armature current to the motor when it is detected that the manipulated variable has become zero. Control method.

(3) In the control method of the internal-combustion-engine controlling DC motor, in which the rotation angle of the output shaft of the DC motor for operating the operating portion for adjusting the predetermined control amount of the internal combustion engine is controlled to match the target value. A step of calculating a deviation Xn between a target value of the rotation angle and the sampled detection value by sampling a detection value of a rotation angle detection unit that detects a rotation angle of the output shaft of the DC motor at a predetermined sampling interval Δt; , The process of adding the deviation Xn calculated at the time of this sampling to the cumulative value ΣXn-1 of the deviation calculated at the time of the previous sampling to calculate the integrated value ΣXn of the deviation, and the deviation calculated at the time of this sampling Xn, the deviation Xn-1 calculated at the time of the previous sampling, and the sampling interval Δt are used to calculate the deviation from the time of the previous sampling to the time of the current sampling. The time change rate is the differential value ΔX
n / Δt, a step of determining whether or not the deviation is zero and setting the integrated value to zero when the deviation is zero, the deviation Xn, the integrated value ΣXn and the differential value Δ
Xn / Δt and predetermined constants K1, K2 and K3, respectively
The manipulated variable Y = K1.X by adding the product of
n + K2.SIGMA.Xn + K3 (.DELTA.Xn / .DELTA.t) is calculated, and when the sign of the manipulated variable Y is the same as the sign of the deviation Xn, the polarity required to rotate the DC motor in the direction to make the deviation Xn zero. Is supplied to the DC motor with a pulse width equal to the absolute value of the manipulated variable Y, and when the sign of the manipulated variable Y is different from the sign of the deviation Xn, the DC in the direction to make the deviation Xn zero. An armature current having a polarity that hinders rotation of the motor is supplied to the DC motor with a pulse width equal to the absolute value of the manipulated variable Y, and when the manipulated variable Y becomes zero, an armature to the DC motor. A method for controlling a DC motor for controlling an internal combustion engine, characterized in that the supply of electric current is stopped.

(4) In the control method of the internal-combustion-engine controlling DC motor, in which the rotation angle of the output shaft of the DC motor for operating the operating portion for adjusting the predetermined control amount of the internal combustion engine is controlled to match the target value, A step of sampling a detection value of a rotation angle detection unit for detecting a rotation angle of the output shaft of the DC motor at a predetermined sampling interval Δt, and calculating a deviation Xn between a target value of the rotation angle and the sampled detection value; A process of adding the deviation Xn calculated at the time of this sampling to the cumulative value ΣXn-1 of the deviation calculated at the time of the previous sampling to calculate the integrated value ΣXn of the deviation,
Using the deviation Xn calculated at the current sampling time, the deviation Xn-1 calculated at the previous sampling time, and the sampling interval Δt, the temporal change rate of the deviation from the last sampling time to the current sampling time is differentiated by ΔXn. /
The process of calculating as Δt, the process of determining whether or not the deviation Xn is zero and setting the integrated value to zero when the deviation is zero, the integrated value ΣXn and the differential value ΔXn / Δt.
And the multiplication of predetermined constants k1 and k2, respectively, to add the manipulated variable Y = k1.SIGMA.Xn + k2 (.DELTA.X
n / Δt) is calculated, and when the sign of the manipulated variable Y is the same as the sign of the deviation Xn, the armature current of the polarity necessary to rotate the DC motor in the direction to make the deviation Xn zero. Is supplied to the DC motor with a pulse width equal to the absolute value of the manipulated variable Y, and when the sign of the manipulated variable Y is different from the sign of the deviation Xn, the rotation of the DC motor in the direction to make the deviation Xn zero. Is supplied to the DC motor with a pulse width equal to the absolute value of the manipulated variable Y, and when the manipulated variable Y becomes zero, the electric current is supplied to the DC motor. A method for controlling a DC motor for controlling an internal combustion engine, which is characterized by stopping.

(5) Internal combustion engine that controls the duty ratio of the armature current of the motor so that the rotation angle of the output shaft of the DC motor that operates the operation part for adjusting the predetermined control amount of the internal combustion engine matches the target value In a method of controlling a DC motor for engine control, a detection value of a rotation angle detection unit that detects a rotation angle of an output shaft of the DC motor is set to a predetermined sampling interval Δ.
The process of calculating the deviation xn by sampling at t and subtracting the detected value sampled from the target value of the rotation angle, and the cumulative value Σxn-1 of the deviations calculated up to the previous sampling time The process of adding the calculated deviation xn to calculate the integrated value Σxn of the deviation, and the change of the deviation calculated by subtracting the deviation Xn-1 calculated in the previous sampling from the deviation Xn calculated in the current sampling The time change rate of the deviation from the quantity Xn-Xn-1 and the sampling interval Δt is the differential value ΔX.
n / Δt, a step of determining whether the deviation Xn is zero and setting the integrated value to zero when the deviation Xn is zero, the deviation Xn, the integrated value ΣXn, and a differential The manipulated variable y = K1 is obtained by adding the values .DELTA.Xn / .DELTA.t and the predetermined constants K1, K2 and K3, respectively.
.Xn + K2..SIGMA.Xn + K3 (.DELTA.Xn / .DELTA.t) is calculated, and rotation of the output shaft of the motor in one direction is defined as positive rotation. When the sign of the manipulated variable Y is positive, an armature current having a polarity necessary to rotate the DC motor forward is supplied to the DC motor with a pulse width equal to the absolute value of the manipulated variable Y. When the sign of Y is negative, an armature current having a polarity for rotating the DC motor in the reverse direction is supplied to the DC motor with a pulse width equal to the absolute value of the operation amount Y, and the operation amount Y becomes zero. A method of controlling a DC motor for controlling an internal combustion engine, characterized in that the supply of an armature current to the DC motor is stopped at times.

(6) Internal combustion engine for controlling the duty ratio of the armature current of the motor so that the rotation angle of the output shaft of the DC motor for operating the operation part for adjusting a predetermined control amount of the internal combustion engine is made to match the target value. In the engine control DC motor control method, a detection value of a rotation angle detection unit that detects the rotation angle of the output shaft of the DC motor is set to a predetermined sampling interval Δt.
The deviation Xn is calculated by subtracting the sampled detection value from the target value of the rotation angle, and the accumulated deviation ΣXn-1 calculated by the previous sampling is calculated at this sampling. The process of adding the deviation Xn to calculate the integral value ΣXn of the deviation,
Differentiate the time change rate of the deviation from the deviation amount Xn-Xn-1 calculated by subtracting the deviation Xn-1 calculated at the previous sampling from the deviation Xn calculated at this sampling time and the sampling interval Δt. Value ΔXn / Δ
a step of calculating as t, a step of determining whether or not the deviation Xn is zero and setting the integrated value to zero when the deviation Xn is zero, the integrated value ΣXn and the differential value ΔXn / Δt Is multiplied by the predetermined constants k1 and k2, respectively, and the manipulated variable Y = k1.SIGMA.Xn + k2 (.DELTA.Xn
/ Δt) is calculated, the rotation of the output shaft of the motor in one direction is defined as positive rotation, and the sign of the rotation angle on the positive rotation side is positive, and the sign of the manipulated variable Y is positive. Occasionally, an armature current having a polarity necessary to rotate the DC motor forward is supplied to the DC motor with a pulse width equal to the absolute value of the manipulated variable Y. When the sign of the manipulated variable Y is negative, the An armature current of a polarity that causes the DC motor to rotate in the reverse direction is supplied to the DC motor with a pulse width equal to the absolute value of the manipulated variable Y, and when the manipulated variable Y becomes zero, an electric motor for the DC motor is supplied. A control method for a direct-current motor for controlling an internal combustion engine, characterized in that the supply of child current is stopped.

(7) A switch element is provided that conducts while the first trigger signal is being applied and while the second trigger signal is being applied, and while the first trigger signal is being applied. And a switch circuit configured to flow a positive polarity armature current and a reverse polarity armature current to the internal combustion engine controlling DC motor while the second trigger signal is being applied, respectively, and an output shaft of the DC motor. A rotation angle detecting section for detecting each instantaneous rotation angle of the DC motor, and the switch circuit for setting the deviation between the target value of the rotation angle of the DC motor and the detection value of the rotation angle by the rotation angle detecting section to zero. Of the DC motor for controlling an internal combustion engine, comprising: a control unit for applying ON / OFF control of the switch circuit by applying the trigger signal or the second trigger signal of The instantaneous rotation angle of the output shaft of the DC motor is detected by setting the rotation angle of the output shaft of the DC motor when the child current is applied as the positive rotation direction and the positive sign of the rotation angle on the positive rotation direction side. Rotation angle detector, target value setting means for giving a target value of the rotation angle of the DC motor, sampling signal generating means for generating a sampling signal at a predetermined sampling interval Δt, and the sampling signal generating means for each sampling signal. Deviation calculation means for calculating the deviation Xn by sampling the detection value of the rotation angle by the rotation angle detection unit and subtracting the sampled detection value from the target value, and the accumulated value of the deviations calculated up to the previous sampling time. Integral value calculating means for calculating a sum of deviations Xn calculated at the time of sampling this time as an integrated value ΣXn of deviations, and this sample Difference Xn-Xn-1 calculated by subtracting deviation Xn-1 calculated at the previous sampling from deviation Xn calculated at the time of sampling and sampling rate .DELTA.t to obtain a differential value .DELTA.Xn / Δt, a differential value calculating means, an integrated value resetting means for determining whether or not the deviation Xn is zero and setting the integrated value ΣXn to zero when the deviation Xn is zero, and the deviation Xn. And the integrated value ΣXn and the differential value ΔXn / Δt are respectively set to predetermined constants K1 and K2.
And the manipulated variable Y =
K1.Xn + K2..SIGMA.Xn + K3 (.DELTA.Xn / .DELTA.t), and a pulse width equal to the absolute value of the operation amount Y when the operation amount Y is positive. Occurs when the operation amount Y is negative, the second
Trigger signal generating means for generating a trigger signal having a pulse width equal to the absolute value of the manipulated variable Y, and stopping the generation of both the first and second trigger signals when the manipulated variable Y is zero. A controller for a DC motor for controlling an internal combustion engine, comprising:

(8) A switch element is provided that conducts while the first trigger signal is being applied and while the second trigger signal is being applied, and while the first trigger signal is being applied. And a switch circuit configured to flow a positive polarity armature current and a reverse polarity armature current to the internal combustion engine controlling DC motor while the second trigger signal is being applied, respectively, and an output shaft of the DC motor. A rotation angle detecting unit for detecting each instantaneous rotation angle of the DC motor, and the switch circuit for setting the deviation between the target value of the rotation angle of the DC motor and the detection value of the rotation angle by the rotation angle detecting unit to zero. Of the DC motor for controlling an internal combustion engine, comprising: a control unit for applying the trigger signal or the second trigger signal to ON / OFF control the switch circuit. The instantaneous rotation angle of the output shaft of the DC motor is detected by setting the rotation angle of the output shaft of the DC motor when the child current is applied as the positive rotation direction and the positive sign of the rotation angle on the positive rotation direction side. Rotation angle detector, target value setting means for giving a target value of the rotation angle of the DC motor, sampling signal generating means for generating a sampling signal at a predetermined sampling interval Δt, and the sampling signal generating means for each sampling signal. Deviation calculation means for calculating the deviation Xn by sampling the detection value of the rotation angle by the rotation angle detection unit and subtracting the sampled detection value from the target value, and the accumulated value of the deviations calculated up to the previous sampling time. Integral value calculating means for calculating a sum of deviations Xn calculated at the time of sampling this time as an integrated value ΣXn of deviations, and this sample Difference Xn-Xn-1 calculated by subtracting the deviation Xn-1 calculated at the previous sampling from the deviation Xn calculated at the time of sampling, and the differential rate ΔXn of the time change rate of the deviation from the sampling interval Δt. / Δt, a differential value calculating means, an integrated value resetting means that determines whether or not the deviation Xn is zero and sets the integrated value ΣXn to zero when the deviation Xn is zero, and the integral Value ΣXn and differential value Δ
The manipulated variable Y = k1..SIGMA.Xn + is added by multiplying Xn / .DELTA.t by predetermined constants k1 and k2, respectively.
k2 (.DELTA.Xn / .DELTA.t) operation amount calculation means, and when the operation amount Y is positive, the first trigger signal is generated with a pulse width equal to the absolute value of the operation amount Y to perform the operation. When the amount Y is negative, the second trigger signal is generated with a pulse width equal to the absolute value of the manipulated variable Y, and when the manipulated variable Y is zero, both the first and second trigger signals are generated. And a trigger signal generating means for stopping the generation of the internal combustion engine.

(9) A switch element is provided that conducts while the first trigger signal is being applied and while the second trigger signal is being applied, and while the first trigger signal is being applied. And a switch circuit configured to flow a positive polarity armature current and a reverse polarity armature current to the internal combustion engine controlling DC motor while the second trigger signal is being applied, respectively, and an output shaft of the DC motor. A rotation angle detecting section for detecting each instantaneous rotation angle of the DC motor, and the switch circuit for setting the deviation between the target value of the rotation angle of the DC motor and the detection value of the rotation angle by the rotation angle detecting section to zero. Of the DC motor for controlling an internal combustion engine, comprising: a control unit for applying ON / OFF control of the switch circuit by applying the trigger signal or the second trigger signal of The instantaneous rotation angle of the output shaft of the DC motor is detected by setting the rotation angle of the output shaft of the DC motor when the child current is applied as the positive rotation direction and the positive sign of the rotation angle on the positive rotation direction side. Rotation angle detector, target value setting means for giving a target value of the rotation angle of the DC motor, sampling signal generating means for generating a sampling signal at a predetermined sampling interval Δt, and the sampling signal generating means for each sampling signal. Deviation calculation means for calculating the deviation Xn by sampling the detection value of the rotation angle by the rotation angle detection unit and subtracting the sampled detection value from the target value, and a sampling operation performed a preset number of times before this sampling. The product that calculates the integrated value ΣXn of the deviation by obtaining the cumulative value of the deviation calculated from the sampling time to the current sampling time The deviation time is calculated from the value calculating means and the deviation amount Xn-Xn-1 calculated by subtracting the deviation Xn-1 calculated in the previous sampling from the deviation Xn calculated in the current sampling and the sampling interval .DELTA.t. Differential rate ΔX
differential value computing means for computing as n / Δt, and the deviation X
n, the integrated value ΣXn, and the differential value ΔXn / Δt are multiplied by predetermined constants K1, K2, and K3, respectively, and the manipulated variables Y = K1 · Xn + K2 · ΣXn + K3 are added.
A manipulated variable calculating means for calculating (ΔXn / Δt), and when the manipulated variable Y is positive, the first trigger signal is generated with a pulse width equal to the absolute value of the manipulated variable Y, and the manipulated variable Y is generated. Is negative, a second trigger signal is generated with a pulse width equal to the absolute value of the manipulated variable Y, and when the manipulated variable Y is zero, the generation of both the first and second trigger signals is stopped. And a trigger signal generating means for controlling the internal-combustion-engine direct-current motor.

(10) While the first trigger signal is being applied and while the second trigger signal is being applied, a switch element is provided which conducts respectively and while the first trigger signal is being applied. And a switch circuit configured to flow a positive polarity armature current and a reverse polarity armature current to the internal combustion engine controlling DC motor while the second trigger signal is being applied, respectively, and an output shaft of the DC motor. A rotation angle detecting section for detecting each instantaneous rotation angle of the DC motor, and the switch circuit for setting the deviation between the target value of the rotation angle of the DC motor and the detection value of the rotation angle by the rotation angle detecting section to zero. Of the DC signal for controlling the internal combustion engine, the control unit for controlling the switching circuit to be turned on and off by applying the trigger signal or the second trigger signal. When the armature current is applied, the rotation direction of the output shaft of the DC motor is defined as the positive rotation direction, and the sign of the rotation angle in the direction of the positive rotation direction is defined as positive. A rotation angle detecting section for detecting, a target value setting means for giving a target value of the rotation angle of the DC motor, a sampling signal generating means for generating a sampling signal at a predetermined sampling interval Δt, and each time a sampling signal is generated. Deviation calculation means for calculating the deviation Xn by sampling the detection value of the rotation angle by the rotation angle detection unit and subtracting the sampled detection value from the target value, and the deviation calculation means before the current sampling a preset number of times. The integrated value ΣXn of the deviation is calculated by obtaining the cumulative value of the deviation calculated from the sampling time to the current sampling time. The deviation value is calculated from the deviation value Xn-Xn-1 calculated by subtracting the deviation Xn-1 calculated in the previous sampling from the deviation Xn calculated in the current sampling and the sampling interval .DELTA.t. The time change rate is the differential value ΔX
A differential value computing means for computing as n / Δt, and a predetermined constant k for the integrated value ΣXn and the differential value ΔXn / Δt, respectively.
The manipulated variable Y is calculated by adding the product of 1 and k2.
= K1.SIGMA.Xn + k2 (.DELTA.Xn / .DELTA.t), and an operation amount calculating means for generating the first trigger signal having a pulse width equal to the absolute value of the operation amount Y when the operation amount Y is positive. However, when the manipulated variable Y is negative, a second trigger signal is generated with a pulse width equal to the absolute value of the manipulated variable Y, and when the manipulated variable Y is zero, the first and second trigger signals are generated. A controller for a DC motor for controlling an internal combustion engine, comprising: a trigger signal generating means for stopping the generation of both.

(11) A switch element is provided that conducts while the first trigger signal is being applied and while the second trigger signal is being applied, and while the first trigger signal is being applied. And a switch circuit configured to flow a positive polarity armature current and a reverse polarity armature current to the internal combustion engine controlling DC motor while the second trigger signal is being applied, respectively, and an output shaft of the DC motor. A rotation angle detecting section for detecting each instantaneous rotation angle of the DC motor, and the switch circuit for setting the deviation between the target value of the rotation angle of the DC motor and the detection value of the rotation angle by the rotation angle detecting section to zero. Of the DC signal for controlling the internal combustion engine, the control unit applying the target signal and the second trigger signal to control ON / OFF of the switch circuit. Target value setting means, a sampling signal generating means for generating a sampling signal at a predetermined sampling interval Δt, and a detection value of the rotation angle detected by the rotation angle detection section for each generation of the sampling signal. Deviation calculation means for calculating a deviation Xn between the sampled detection value and the sampled detection value, and a cumulative total of deviation values calculated between the sampling times performed this time before the current sampling and the sampling times performed this time. And the deviation X calculated at the time of sampling this time.
Differential value calculation using n, the deviation Xn-1 calculated at the time of the previous sampling, and the sampling interval Δt to calculate the temporal change rate of the deviation from the time of the previous sampling to the time of this sampling as a differential value ΔXn / Δt. Means and at least the integral value .SIGMA.Xn and the differential value .DELTA.Xn / .DELTA.t multiplied by predetermined coefficients, respectively,
A size corresponding to the size of the armature current flowing to the motor,
A manipulated variable Y having a sign corresponding to the polarity of the armature current
And the sign of the manipulated variable Y, and when the sign of the manipulated variable Y is a sign that a positive armature current is passed through the motor, the first
Is generated as a pulse waveform having a pulse width equal to the absolute value of the manipulated variable Y, and the sign of the manipulated variable Y is a sign meaning that an armature current of opposite polarity is passed through the motor, 2 trigger signal is generated as a pulse waveform having a pulse width equal to the absolute value of the manipulated variable Y, and when it is detected that the manipulated variable is zero, both of the first and second trigger signals are generated. A control device for a DC motor for controlling an internal combustion engine, comprising: a trigger signal generating means for stopping the generation.

[0108]

As described above, according to the present invention, every time the detection value of the rotation angle is sampled, it has a polarity corresponding to the sign of the calculated manipulated variable Y and the pulse width is calculated. Since the switch circuit is controlled to be turned on and off so that an armature current equal to the absolute value of the manipulated variable Y thus calculated is supplied, a pulse signal having a pulse width equal to the computed manipulated variable Y is output from the microcomputer, The switch circuit can be turned on and off simply by giving a pulse signal to the switch circuit as a trigger signal, and the motor can be rotated with a simple configuration without using an extra D / A converter or a sawtooth wave signal generation circuit. There is an advantage that the angle can be controlled to match the target value.

According to the method of the present invention, when the rotation speed of the motor is increased to some extent, the rotation of the motor can be braked by the function of the differential term of the equation for calculating the manipulated variable, so that the rotation can be suppressed. When the value is large, the armature current having a duty ratio of 100% is supplied from the time when the motor is started until the deviation reaches a predetermined value, whereby the motor is first rotated at a high speed to reduce the deviation, and the deviation is reduced to some extent. From the point of view, the duty ratio of the armature current can be reduced to finally match the rotation angle with the target value. Therefore, when the deviation is large, it is possible to highly accurately control the rotation angle to match the target value without increasing the response speed and causing overrun.

Further, according to the present invention, even if the deviation is small, the motor can be slowly started by the action of the integral term to bring the rotation angle close to the target value while changing the duty ratio of the armature current. It is possible to perform highly accurate control without providing a dead zone for the deviation.

[Brief description of drawings]

FIG. 1 is a block diagram showing a hardware configuration of an exemplary embodiment of the present invention.

FIG. 2 is a diagram for explaining the operation when the target value changes abruptly and greatly in the embodiment of the present invention.

FIG. 3 is a diagram for explaining the operation when the target value slightly changes in the embodiment of the present invention.

FIG. 4 is a flowchart showing an algorithm of a main routine executed by a microcomputer in the embodiment of the present invention.

FIG. 5 is a flowchart showing an interrupt routine executed every time an external interrupt signal is applied in the embodiment of the present invention.

FIG. 6 is a flow chart showing an algorithm of an interrupt routine executed every time the detection value of the rotation angle is sampled in the embodiment of the present invention.

FIG. 7 is a flowchart showing an interrupt routine executed when stopping energization of an armature current in the embodiment of the invention.

[Explanation of symbols]

 1 signal coil 2 waveform shaping circuit 3 ignition circuit 4 switch circuit M DC motor 5 microcomputer 6 throttle opening sensor 7 rotation angle sensor

Claims (4)

[Claims] 1. A switch circuit is provided for turning on / off each of armature currents of both positive and reverse polarities to be fed to a direct-current motor for controlling an internal combustion engine, which operates an operating portion for adjusting a predetermined control amount of the internal combustion engine. A method for controlling a direct-current motor for controlling an internal combustion engine, wherein the rotation angle of an output shaft of a motor is controlled to match a target value by controlling a duty ratio of an armature current by controlling a circuit on / off, wherein the output shaft of the motor is A detection value of a rotation angle detection unit that detects the rotation angle of the sampled data at a predetermined sampling interval Δt, a deviation Xn between the target value of the rotation angle and the sampled detection value, and an integral value ΣXn of the deviation Xn, The differential value ΔXn / Δt indicating the temporal change rate of the deviation from the time of the previous sampling to the time of the current sampling is calculated, and at least the integrated value and the differential value are calculated. An operation amount Y having a magnitude corresponding to the magnitude of the armature current flowing through the DC motor and a sign corresponding to the polarity of the armature current is calculated by adding the values multiplied by a predetermined coefficient, and sampling is performed. The switch circuit is ON / OFF-controlled so that an armature current having a polarity corresponding to the sign of the calculated manipulated variable Y is flowed only during a period equal to the absolute value of the manipulated variable Y each time. Method for controlling a DC motor for controlling an internal combustion engine. 2. A switch circuit capable of turning on and off each of armature currents of positive and reverse polarities flowing to a DC motor for controlling an internal combustion engine for operating an operating portion for adjusting a predetermined control amount of the internal combustion engine, and the switch is provided. A method for controlling a direct-current motor for controlling an internal combustion engine, wherein the rotation angle of an output shaft of a motor is controlled to match a target value by controlling a duty ratio of an armature current by controlling a circuit on / off, wherein the output shaft of the motor is A detection value of a rotation angle detection unit that detects the rotation angle of the sampled data at a predetermined sampling interval Δt, a deviation Xn between the target value of the rotation angle and the sampled detection value, and an integral value ΣXn of the deviation Xn, The differential value ΔXn / Δt indicating the temporal change rate of the deviation from the time of the previous sampling to the time of the current sampling is calculated, and at least the integrated value and the differential value are calculated. The manipulated variable Y having a magnitude corresponding to the magnitude of the armature current flowing to the DC motor and a sign corresponding to the polarity of the armature current is calculated by adding the values multiplied by a predetermined coefficient, and the deviation When the zero is detected, the integrated value is set to zero, the sign of the manipulated variable Y is determined, and the sign of the manipulated variable Y indicates a positive polarity armature current to the motor. When the sign is that the operation amount Y is applied, a positive armature current is applied to the motor for a period equal to the absolute value of the operation amount Y, and the operation amount Y is applied to the motor with an opposite polarity armature current. When it is a code that means to flow, an armature current of opposite polarity is flown through the motor only during a period equal to the absolute value of the operation amount Y, and when it is detected that the operation amount becomes zero, the motor To stop the supply of armature current to the A method for controlling a direct-current motor for controlling an internal combustion engine, characterized in that the switch circuit is turned on and off. 3. A switch element which conducts while a first trigger signal is being applied and while a second trigger signal is being applied, and which is provided with a switch element, and while a first trigger signal is being applied. A switch circuit configured to flow a positive polarity armature current and a reverse polarity armature current to the internal combustion engine controlling DC motor while the second trigger signal is applied, and an output shaft of the DC motor. A rotation angle detecting section for detecting each instantaneous rotation angle, and a first switch circuit for setting the deviation between the target value of the rotation angle of the DC motor and the detection value of the rotation angle by the rotation angle detecting section to zero. A controller for a DC motor for controlling an internal combustion engine, comprising: a control unit that applies a trigger signal or a second trigger signal to control ON / OFF of the switch circuit, wherein the control unit is an eye that provides the target value. A value setting means, a sampling signal generating means for generating a sampling signal at a predetermined sampling interval Δt, and a detected value of the rotation angle by the rotation angle detection section is sampled every time each sampling signal is generated to sample the target value and the sampling value. Deviation calculating means for calculating a deviation Xn from the detected value, and a cumulative value Σ of deviations calculated up to the previous sampling
Integral value calculating means for calculating Xn-1 plus deviation Xn calculated at this sampling as integrated value ΣXn of deviation, deviation Xn calculated at this sampling and deviation calculated at previous sampling Xn-1 and the sampling interval Δt are used to calculate the time change rate of the deviation from the time of the previous sampling to the time of the current sampling as the differential value ΔXn /
A differential value calculating means for calculating as Δt, and at least a value corresponding to the magnitude of the armature current flowing to the motor by adding at least the integral value ΣXn and the differential value ΔXn / Δt multiplied by a predetermined coefficient. And a sign corresponding to the polarity of the armature current for calculating a manipulated variable Y, and a sign of the manipulated variable Y is discriminated so that the sign of the manipulated variable Y is positive to the motor. When the sign is a sign that an armature current is passed, the first trigger signal is generated as a pulse waveform having a pulse width equal to the absolute value of the manipulated variable Y, and the sign of the manipulated variable Y has a reverse polarity to the motor. Of the sign that the armature current is passed, the second trigger signal is generated as a pulse waveform having a pulse width equal to the absolute value of the manipulated variable Y, and it is detected that the manipulated variable is zero. By the first and second trigger signals both control apparatus for an internal combustion engine control DC motor, characterized in that it comprises a trigger signal generating means stops generating the when the. 4. The target value setting means is a rotation speed detecting means for detecting the rotation speed of the internal combustion engine, and a map giving a relationship between the rotation speed of the internal combustion engine and the target value of the rotation angle of the output shaft of the DC motor. 4. The control device for the internal-combustion-engine controlling DC motor according to claim 3, further comprising: target value calculating means for calculating the target value based on a value detected by the rotational speed detecting means. .