JPH07332148A - Method and equipment for detecting final position of automobile-loaded adjusting device - Google Patents

Abstract

PURPOSE: To precisely decide arrival of an adjusting device at an end position without increasing a cost by detecting and judging arrival of an output value of a position controller at a value specified in advance and correcting the specified value according to an operation amount of an internal combustion engine. CONSTITUTION: An adjusting device 10 for opening and closing a throttle valve 14 with a servomotor 16 is provided with a position sensor 20 for detecting a valve position. An output from the position sensor 20 is inputted to a controller 22 together with output signals from an engine temperature measuring device 40 and measuring devices 46, 48 for detecting other operation amounts of an engine. The position sensor detects a minimum end position of the adjusting device 10 in an initializing phase. At that time, an output value from a position controller 64 increasing according to a closed-loop control deviation is supplied to a threshold element 68. When the output value exceeds a prescribed threshold value, a target value applied to a memory device 60 is stored. The threshold value in the threshold element 68 is read out of a characteristic data map memory 78 on the basis of a battery voltage, an engine temperature or the like.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention, in a first aspect, operates an electrically actuatable adjusting device towards at least one of its end positions in a predetermined operating phase,
The actuation of the adjusting device is carried out by the position controller within the range of the position closed-loop control circuit, detecting that the adjusting device has reached the end position and that the output value of the position controller has reached a predetermined value given in advance. According to a second aspect of the present invention, there is provided an electric operating element for operating an adjusting device, a position closed loop control circuit having a position controller for positioning the adjusting device, and a predetermined operation phase. The present invention relates to an end position detection device for an on-vehicle adjustment device, which comprises a control means for controlling the adjustment device toward at least one end position and a detection means for detecting arrival at the end position based on an output value of the position controller. .

[0002]

2. Description of the Related Art A method of this type or an apparatus of this type is
It is known from DE-A-3909905 (US Pat. No. 5,213,078). In this publication, in connection with a regulation device for an internal combustion engine of a motor vehicle, the regulation device is actuated towards at least one of its end positions during a predetermined operating state, for example during the start of the internal combustion engine. It is described that when the control current exceeds a predetermined threshold value, the position value representing this end position is stored as the end position value. This method guarantees an accurate and reliable learning of the end position and is due to the direct relationship between the control current and the torque acting from the motor of the adjusting device towards the mechanical stop defining the end position. High accuracy is guaranteed when finding the final position. However, at least one current sensing resistor is required with the post-amplifier to implement this method, which adds additional cost.

[0003]

SUMMARY OF THE INVENTION An object of the present invention is to provide a final position detecting method and device which have similar accuracy and which eliminate the above-mentioned additional cost.

[0004]

According to the present invention, the above-mentioned problems can be solved by correcting a predetermined value depending on an operation amount of an internal combustion engine and / or an automobile in the first invention, and in the second invention. It is solved by providing a correction means for correcting the predetermined value depending on the operation amount of the internal combustion engine and / or the automobile.

It is known to use the output voltage or output value of an analog or digital position controller to detect the end position of the adjusting device in a device in which the adjusting device is adjusted by position closed-loop control. In this way, the target value of the position controller is determined in analogy in a predetermined operating phase, as described above, for example, at the start of the internal combustion engine or at the initialization of the internal combustion engine controller, as described above. Changed to be actuated towards one end position. When the adjusting device reaches this end position, the actual value position of the adjusting device can no longer follow the changing target value. The closed-loop control deviation for the position controller increases and thus the position controller changes its output value or its output voltage. When this output voltage reaches a predetermined threshold value, it is estimated that the output voltage has reached the end position, and the target value formed by this or a value derived from this target value is stored as a value representing the end position.

With this method, the element necessary for current detection is certainly unnecessary, but the detection of the final position is
The accuracy is significantly reduced because there is no defined relationship between the position closed loop control output voltage or position closed loop control output value and the torque. The contact of the adjusting device with the end position or the mechanical stop is not accurately detected, because when the position controller reaches the threshold value, the adjusting device is controlled towards the stopper with a different torque. . Therefore, the value stored as the end position on this basis is correspondingly incorrect.

The method of the present invention ensures accurate and reliable detection of at least one of the end positions, without the need for current detection means.

The accuracy obtained in this case is almost the same as the accuracy when using the current flowing through the adjusting device.

It is advantageous to use the position controller output value as a criterion for determining whether the adjusting device has reached its end position. In this case, the threshold for the position controller output value, which is the threshold that indicates that the end position has been reached when exceeding,
It is corrected depending on the operation amount. This gives a dependency between the controller output value and the torque in the position adjusting device, so that the contact of the adjusting device with the mechanical stop of the adjusting device can be detected accurately and thus the end position itself. Can be detected, which is advantageous.

In one advantageous embodiment, the correction of the threshold value for the position controller output value is dependent on the battery voltage.

In another preferred embodiment, the threshold value correction is dependent on the internal combustion engine temperature.

In another preferred embodiment, the correction of the threshold value depends on the temperature of the adjusting device.

In another advantageous embodiment, the correction is made dependent on the battery voltage and the internal combustion engine temperature (or the regulator temperature instead of the internal combustion engine temperature).

[0014]

1 shows a throttle valve 14 arranged in the intake system of an internal combustion engine 12 and an electric servomotor 16 connected to the throttle valve 14 via a mechanical connecting member 18.
1 shows an electrically actuable adjusting device with a position sensor 20 for detecting the position of the adjusting device 10. Further, the control device 22
At least one output line 2 connecting the
A control unit 22 having 4 is provided. The output stage circuit 26 receives the control device 1 via two control lines 28 and 30.
0 motor 16 is connected.

The controller 22 has a line 32 from the position sensor 20 as an input line and a line 34 for the battery voltage.
And / or measuring device 40 for detecting the temperature of the internal combustion engine 12
The line 38 from is connected. Further, the control device 22
Connected to this are lines 42 to 44 from measuring devices 46 to 48, which detect other operating quantities of the internal combustion engine and / or the motor vehicle. In one advantageous embodiment, the regulating device 10 further comprises a sensor 50 for detecting the temperature of the regulating device 10, the output line 52 of the sensor 50 also forming the input line of the control device 22.

The control device 22 has a setpoint formation device 54 to which the lines 42 to 44 and, in the preferred embodiment, the lines 34 and / or 38 are connected. The output line 56 of the target value forming device 54 is connected to the comparison element 58 and the memory element 60. The line 32 is connected to the comparison element 58. The output line 62 of the comparison element 58 is connected to the position controller 64,
The output line 66 of the position controller 64 forms the output line of the controller 22. The output line 66 of the position controller 64 is connected to the threshold element 68, and the output line 70 of the threshold element 68 is connected to the memory element 60. Threshold element 68 has line 3
Memory element 7 to which 4, 38 and / or 52 are connected
A line 72 from 8 is connected. The memory element 78 is
It has a characteristic curve map memory predetermined by an experiment of the threshold value of the regulator output value depending on the input quantity.

The target value forming device 54 forms a target value αS for the position of the adjusting device 10 depending on, for example, the accelerator pedal position and the operation amount of the internal combustion engine speed and the shift speed, which are input to itself. Supply to the comparison element 58 via line 56. Comparing element 58 to form a closed loop control deviation
And the target value αS is the actual value αI supplied via line 32.
And the difference is provided via line 62 to the position controller 64. In the preferred embodiment, this position controller 64 is a PID.
The controller, which in another advantageous embodiment may operate with another known closed-loop control strategy. Position controller 3
The output value UA of 4 is supplied to the output stage 26 for controlling the current flowing through the motor 16 of the regulating device 10, the output stage circuit 26 actuating the regulating device 10 in both directions of movement, whereby the actual value. Approaches the target value.

Predetermined operating phase, preferably controller 2
In the two initialization phases or the start phase of the internal combustion engine, at least one, preferably minimum, end position of the regulating device 10 is detected. In such an operating state, the target value forming element 54 forms a predetermined target value α0 which is located sufficiently far from the estimated final position. Starting from this value, the setpoint value is set so that the position controller 64 actuates the adjusting device 10 towards its detected end position, independently of the amount of movement defined by the setpoint value. Is changed stepwise according to a predetermined time function. When the adjusting device 10 reaches its end position and reaches the mechanical stop located there, the actual value αI can no longer follow the desired value αS. As a result, the closed loop control deviation formed by the comparison element 58 increases due to the change in the target value. Therefore, the position controller 64 produces an increasing output value depending on the increasing closed-loop control deviation. The output value is provided to threshold element 68 via line 66. When the position controller output value exceeds a predetermined threshold value in the threshold value element 68, the memory element 60 stores, via line 70, the target value just applied or a value calculated on the basis of this target value.

The stored end position is used to determine the actual position value of the adjusting device 10. For this purpose, in the detected end position, the stored end position value is essentially subtracted from the detected measured value αI, and the position value αI for the adjusting device 10 is based on this one end position. And it can be obtained regardless of the change of the final position. Once both end positions have been obtained as described above, position values are calculated from the measured values with respect to both of these end positions. This is indicated by element 90 and line 92 in FIG.

As mentioned above, there is no predetermined dependency between the torque in the adjusting device 10 and the position controller output value. Among other things, it has been found that the detection of the end position of the error caused thereby has two main factors. The first main factor is that the battery voltage changes, and the second main factor is the temperature of the adjusting device 10. The end position is detected by setting the threshold value in the threshold element 68, the battery voltage, and the adjusting device 1
The accuracy is increased by varying depending on the temperature of the internal combustion engine 12 related to the temperature of zero. For this purpose, a threshold value is read out in the characteristic data map memory 78 depending on the battery voltage and the temperature of the internal combustion engine 12, and this threshold value is loaded into the threshold element 68 via the line 72.

In this case, the temperature of the internal combustion engine 12 is in most cases correlated with the temperature of the regulating device 10 until the cooling water reaches at least about 30 ° C. Above 30 ° C., the temperature of the internal combustion engine 12 does not form a reliable measure for the temperature of the regulating device 10. Therefore, in the preferred embodiment, instead of the internal combustion engine temperature, the temperature TA of the regulating device 10 is supplied via the line 52 to the characteristic data map memory 78. As a result, the characteristic data map memory 78 forms a threshold value depending on the battery voltage and the temperature of the adjusting device 10.

In one advantageous embodiment, essentially the threshold value stored in the characteristic data map memory 78 decreases with increasing battery voltage (ie weakens the control which activates the regulator towards the stop). (Decreasing towards smaller regulator output values) and increasing with increasing temperature of the internal combustion engine 12 or of the regulating device 10. When the internal combustion engine 12 is used for correction, only the battery voltage is corrected when the temperature exceeds 30 ° C. For this reason, it is advantageous to allow the detection of the end position only within a predetermined temperature range below 30 ° C.

In addition to temperature and voltage-dependent correction, a time delay is taken into account by the position controller 64 when detecting the end position. This is done by the timed element when comparing the position controller output value with a threshold value.

Furthermore, in one advantageous embodiment, the elements of the controller 22 shown in FIG. 1 are components of a computing element. In this embodiment, the position controller 64 is provided as a digital position controller that outputs an output value with which a predetermined threshold value is compared. In a further preferred embodiment, only the target value forming device 54, the memory element 60, the threshold value element 68, the characteristic data map memory 78 and the processing element of the threshold value αI in the element 90 are components of the calculation element. is there. The comparison element 58 and the position controller 64 are composed of analog components. The comparison element 58 and the position controller 64 form an analog position controller, in which case the position controller output value is the position controller output voltage UA.

Besides the advantageous use of the method according to the invention in a regulator with a throttle valve, the use in a regulator for a diesel injection pump is also advantageous and is associated with another regulator in a motor vehicle. It is also advantageous to use it.

FIG. 2 shows a flow chart outlining the method of the present invention as a computer program.

After the start of the subprogram, in a first step 100 it is checked whether one of the end positions should be detected, ie learned. This is preferably done in dependence on signals such as the ignition switch and internal combustion engine temperature or gear. The learning process is introduced when the vehicle is in the start phase, the gear is not engaged and the internal combustion engine temperature is below one upper limit. If one of these conditions is no longer satisfied, that is to say no in step 100, the learning process is interrupted and the subprogram ends. If YES is determined in step 100, the start value α0 is started in step 102, and the start target value is changed by the absolute value Δ in the next step 104 (decreased at the minimum end position and increased at the maximum end position). , Whereby the adjusting device is actuated towards its end position. Step 104 of the next program sequence
Then, the actually output target value α _n is formed by the target value α _n -1 which is reduced by the absolute value Δ of the previous program sequence. Step 10 following Step 104
6, the battery voltage U _Batt and the temperature T of the internal combustion engine 12
_Mot is read and in the next step 108 a threshold is determined as a function of the battery voltage and the temperature of the internal combustion engine 12. In the next step 110, the output value UA of the position controller 64 is read, and in the decision step 112, the read position controller output value is compared with a predetermined threshold value. If the output value of the position controller is smaller than the threshold value, step 104 is repeated, and at this time, the learning condition described above must be satisfied in step 100 in order to repeat the partial program. When the position controller output value exceeds the threshold value, in step 114, the actually output target value α _n is stored as the final position target value α _End or is derived from the actually output target value α _n. This value is stored as the final position target value α _End .

In one advantageous embodiment, in addition to the detection of the lower limit minimum stop (end position), the maximum upper limit stop (end position of the adjusting device 10) can alternatively or additionally also be learned. It is possible.

[Brief description of drawings]

FIG. 1 is a block circuit diagram conceptually showing a detection device of a final position of an adjusting device in an automobile.

FIG. 2 is a flow chart for implementing a method for determining an end position.

[Explanation of symbols]

 10 Adjustment Device 12 Internal Combustion Engine 14 Throttle Valve 16 Servo Motor 18 Mechanical Connection Member 20 Position Sensor 22 Control Device 24 Output Line 26 Output Stage Circuit 28 Control Line 30 Control Line 32 Line 34 Line 36 Measuring Device 38 Line 40 Measuring Device 42- 44 lines 46-48 measuring device 50 sensor 52 output line 54 target value forming device 56 output line 58 comparison element 60 memory element 62 output line 64 position controller 66 output line 68 threshold element 70 output line 72 line 78 memory element

 ─────────────────────────────────────────────────── ─── Continued Front Page (72) Inventor Thomas Fry Germany Hasmasheim Industriestraße 7 (72) Inventor Tobias Relais Federal Republic of Germany Leonberg Arnstraße 16

Claims (9)

[Claims] 1. An electrically actuable adjusting device (10) is actuated in a predetermined operating phase towards at least one of its end positions, the actuation of said adjusting device (10) being a position closed loop control circuit. The position controller (64) detects that the adjusting device has reached the end position, and that the output value (UA) of the position controller (64) has reached a predetermined value. In the method for detecting the final position of the vehicle-mounted adjustment device, the predetermined value is corrected depending on the operation amount of the internal combustion engine and / or the vehicle. 2. The method for detecting an end position of a vehicle-mounted adjustment device according to claim 1, wherein the predetermined value depends on a battery voltage. 3. The end position detection method for an on-vehicle adjustment device according to claim 1, wherein the predetermined value depends on the internal combustion engine temperature. 4. The method according to claim 1, wherein the predetermined value depends on the temperature of the adjusting device.
A method for detecting an end position of a vehicle-mounted adjustment device according to one of the claims. 5. The vehicle-mounted system according to claim 1, wherein the correction is performed only depending on an internal combustion engine temperature and below an internal combustion engine temperature limit value. End position detection method of adjusting device. 6. The method for detecting the final position of an on-vehicle adjustment device according to claim 1, wherein the adjustment device is a throttle valve device of an internal combustion engine. 7. The method according to claim 1, wherein when the end position is reached, a value formed on the basis of a target value formed by the end position is stored as the end position value. A method for detecting an end position of a vehicle-mounted adjustment device according to one of the claims. 8. The predetermined operation phase is a start operation of the internal combustion engine, and at least one idle speed stage signal must be arrived.
To a final position detecting method for the vehicle-mounted adjustment device according to any one of claims 7 to 7. 9. An electric operating element (16) for actuating the adjusting device (16), a position closed-loop control circuit having a position controller (64) for positioning the adjusting device, and at least one end position in a predetermined operating phase. A control means (54) for controlling the adjustment device toward the front and a detection means (68) for comparing the output value (UA) of the position controller (64) with a predetermined value to detect the arrival at the final position. An end position detection device for an on-vehicle adjustment device, comprising: a correction means (78) for correcting a predetermined value depending on an operation amount of an internal combustion engine and / or an automobile. .