JPH09222903A - Control parameter controller for step motor type actuator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To operate a step motor type actuator exactly as much as possible without seriously damaging the responsiveness of control by controlling the actuator so as to cancel an influence as much as possible when step drift occurs at the actuator. SOLUTION: A device 10 evaluates the operation of the actuator concerning electrification time as a control parameter and the position of a driving command to the actuator while using an evaluation block 14A, changes the control parameter while using a change block 14B and selects any optimum control parameter between the non-changed control parameter and the changed control parameter based on the evaluated result while using a selection block 14C. In this case, it is preferable to operate the respective blocks based on the genetic algorithm.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an actuator control device, and more particularly to a device for driving a damping force control valve or the like of a vehicle shock absorber.

[0002]

2. Description of the Related Art As one of control devices for shock absorbers incorporated in suspensions of vehicles such as automobiles,
For example, as described in Japanese Patent Laid-Open No. 5-294122, the damping coefficient required for the shock absorber is obtained from the sprung speed, the relative speeds of the sprung and unsprung parts, and the skyhook damping coefficient based on the skyhook theory. 2. Description of the Related Art Conventionally, there is known a device for obtaining a target control stage of a shock absorber based on a required damping coefficient and controlling the control stage of the shock absorber to the target control stage via an actuator.

According to such a shock absorber damping force control device, the control stage of the shock absorber is controlled so that the damping coefficient of the shock absorber becomes a value close to a predetermined damping coefficient obtained based on the skyhook theory. The damping force of the shock absorber is controlled better than in the case where the control is not performed, so that the vibration of the vehicle body can be minimized.

[0004]

In order to control the damping force, a rotor connected to the damping force control valve of the shock absorber and a plurality of phase windings for rotating the rotor have generally been provided. When the drive current is selectively applied to a plurality of phase windings for a constant energizing time, the rotor rotates one step at a time. A step motor type actuator is used to drive and position the control valve to the target control stage.

The drive torque of the step motor type actuator is substantially proportional to the voltage of the drive current, and the response speed of the actuator decreases as the drive torque decreases. Therefore, if the drive voltage drops due to a drop in the battery voltage or a malfunction of the alternator, the rotor will not rotate for the desired step that accurately corresponds to the control signal to the actuator, and as a result, the actuator A malfunction (a step shift called "step-out") may occur, and the damping force of the shock absorber may not be normally controlled. This problem is particularly remarkable in the case of an actuator that is not provided with an encoder that detects the rotation angle of the rotor.

Further, as a means for suppressing the step-out of the actuator, it can be considered to lengthen the energization time as the driving voltage decreases. However, since the relationship between the drive voltage and the energization time varies depending on the change over time of the actuator, temperature conditions, etc., it is not always possible to set the optimum energization time according to the drive voltage, and the energization time is too long. The switching speed of the damping force control valve by the actuator and the actuator is significantly reduced, which deteriorates the responsiveness of the damping force control of the shock absorber, and it becomes impossible to control the damping force with good responsiveness according to the situation of the vehicle.

The present invention has been made in view of the above-mentioned problems in the control of a conventional step motor type actuator, and the main problem of the present invention is to determine the energization time and the actuator based on the operation result of the actuator. By optimizing the drive command position, when the actuator is out of step, the actuator is controlled so as to cancel the effect as much as possible, and as a result, the driven member can be moved as accurately as possible without significantly impairing the control response. It is driving and positioning to the target drive position.

Another detailed object of the present invention is to control the damping force control valve of the shock absorber by a step motor type actuator between the drive voltage and the energization time based on the vibration damping degree of the vehicle body. By optimizing the relationship between the actuators and the drive command position for the actuator, the actuator can be controlled as appropriately as possible according to the drive voltage, changes over time in the actuator, temperature conditions, etc. even if the actuator is out of step. The damping force control valve is driven and positioned to its target control stage as accurately as possible without significantly impairing the responsiveness of the damping force control to control the damping force as accurately as possible.

[0009]

According to the present invention, the main problem as described above is achieved by the structure of claim 1, that is, a rotor connected to a driven member and a plurality of phase windings for rotating the rotor. A stator provided with a wire, and a drive current is selectively applied to the plurality of phase windings for a predetermined energizing time to rotate the rotor step by step to move the driven member to its target drive position. In the control parameter control device of the step motor type actuator to be driven, changing means for changing the energization time as a control parameter and the drive command position for the actuator, an evaluating means for evaluating the operation of the actuator for the control parameter, Selection means for selecting the optimum control parameter among the control parameters before and after the change based on the evaluation result by the evaluation means It is achieved by the control parameter control apparatus characterized by having a.

According to the structure of claim 1, the operation of the actuator is evaluated by the evaluating means with respect to the energization time as the control parameter and the drive command position for the actuator, the control parameter is changed by the changing means, and the evaluating means by the selecting means. Since the optimum control parameter is selected from the control parameters before and after the change based on the evaluation result, if the actuator goes out of step due to a decrease in the drive voltage, the evaluation of the actuator operation will deteriorate, and this will result in Is optimally set according to the fluctuation of the drive voltage, and the actuator is controlled so that the influence of the step-out is canceled by correcting the drive command position for the actuator according to the step deviation amount of the step-out. Drive as accurately as possible without significantly impairing the responsiveness of Member is positioned is driven to its target drive position.

According to the present invention, in order to effectively achieve the above-mentioned main problems, in the structure of claim 1, the changing means and the selecting means are configured to operate based on a genetic algorithm. (Claim 2). The "genetic algorithm" in the present application (hereinafter referred to as "G
"A" is abbreviated) means that an individual having a control parameter as a gene is crossed to give a new individual, new generation individuals including the new individual are evaluated by a predetermined evaluation function, and the individual with the lowest evaluation is deleted. It is an algorithm that selects the highest evaluated individual if necessary.

According to the structure of claim 2, the change of the control parameter by the changing means and the selection of the optimum control parameter based on the evaluation result by the selecting means are surely and optimally performed. The action and effect of can be surely obtained.

According to the present invention, in order to effectively achieve the above-mentioned main problems and detailed problems, in the vehicle according to the present invention, the driven member has a plurality of control steps. Damping force control valve of the shock absorber of claim 1, wherein the damping force control valve is controlled by a target control stage corresponding to a target damping coefficient specified by a predetermined control law, and the control parameters are energization time and the target control stage. Is a damping coefficient of each control stage for obtaining the value, and the evaluation means is configured to perform the evaluation based on the vibration damping degree of the vehicle body (claim 3).
Configuration).

According to the third aspect of the present invention, as will be described in detail later, when steady out-of-step occurs in the actuator, the damping coefficient of each control stage of the control parameter corresponds to the step deviation of the actuator. By shifting in the opposite direction to the amount step shift, the step shift cancels out, so even if the actuator goes out of step, the shock absorber will move to the target control stage corresponding to the target damping coefficient specified by the prescribed control law. Controlled.

According to the present invention, in order to effectively achieve the above detailed object, in the structure of claim 1 or 2,
The driven member is a damping force control valve for a shock absorber of a vehicle having a plurality of control stages, and is a damping force control valve controlled to a target control stage corresponding to a target damping coefficient designated by a predetermined control law. The control parameters are the relationship between the drive voltage and the energization time and the damping coefficient of each control stage for obtaining the target control stage, and the evaluation means is configured to perform the evaluation based on the vibration damping degree of the vehicle body. (Claim 4).

According to the structure of claim 4, not only the effect of the structure of claim 3 is obtained, but one control parameter is the relationship between the drive voltage and the energization time, and this relationship is also the actuator. Is optimized according to changes over time and temperature conditions, etc., so the energization time is optimally set according to the drive voltage even if changes over time in actuators, temperature conditions, etc. As compared with the case where the relationship between and is constant, the risk of frequent out-of-step of the actuator or the worsening of out-of-step is reduced.

According to the present invention, in order to effectively achieve the detailed object described above, in the structure of claim 1 or 2,
The driven member is a damping force control valve for a shock absorber of a vehicle having a plurality of control stages, and is a damping force control valve controlled to a target control stage corresponding to a target damping coefficient designated by a predetermined control law. The control parameter is a correction value for the reference damping coefficient of each control stage for obtaining the relationship between the drive voltage and the energization time and the target control stage,
The evaluation means is configured to perform an evaluation based on the degree of vibration damping of the vehicle body (configuration of claim 5).

According to the structure of claim 5, the other control parameter is a correction value for the reference damping coefficient of each control stage for obtaining the target control stage, and as will be described later in detail.
When the driving voltage decreases and step-out easily occurs, the difference in the damping coefficient between the control stages adjacent to each other is apparently increased by optimizing the correction value. As a result, the risk of frequent out-of-step of the actuator or the worsening of out-of-step is reduced.

[0019]

According to a preferred embodiment of the present invention, in the structure of claim 1 or 2, means for detecting a driving voltage is provided, and the driving voltage is equal to or higher than a first reference value. When the step-out of the actuator does not occur, the change of the control parameter by the changing unit and the evaluation of the control parameter by the evaluating unit are omitted.

According to another preferred aspect of the present invention, in the structure of claim 1 or 2, means for detecting a driving voltage is provided, and the driving voltage is less than a second reference value, When there is a possibility that step-out frequently occurs, the change of the control parameter by the changing means, the evaluation of the control parameter by the evaluating means, and the selection of the optimum control parameter by the selecting means are omitted, and the drive command position for the actuator is the standard. Is set to the position.

According to another preferred aspect of the present invention, in the structure of claim 5, the correction value is an increase / decrease correction amount for each control stage with respect to the reference damping coefficient.

According to another preferred aspect of the present invention, in the structure of claim 5, the correction value is a correction coefficient for each control stage with respect to the reference damping coefficient.

[0023]

BRIEF DESCRIPTION OF THE DRAWINGS The invention will be described in more detail with reference to the accompanying drawings, in which: FIG.

First Embodiment FIG. 1A is a schematic configuration diagram of a first embodiment of a control parameter control device for a step motor type actuator according to the present invention, which is applied to a damping force control device for a shock absorber. FIG. 1B is a block diagram of the GA control device 14 shown in FIG.

In FIG. 1A, the damping force control device 10 has a skyhook control device 12 and a GA control device 14. Further, in FIG. 1, reference numeral 16 denotes a damping force variable type shock absorber known per se having control stages 1 to n. The shock absorber 16 is a step motor type actuator 1 by a skyhook controller 12.
By controlling the control stage via 8, the damping force, strictly speaking, the damping coefficient is controlled. The damping force control device 10 may actually be composed of a microcomputer and a drive circuit.

As shown in FIG. 2, the actuator 18 is connected to the damping force control valve of the shock absorber and is not shown in the figure, but includes a rotor 50 having a plurality of circumferentially spaced permanent magnets. , A stator 52 having a plurality of phase windings 52A to 52D for rotating the rotor by electromagnetic force in cooperation with the permanent magnet, and the drive current is applied to the pair of phase windings for a predetermined conduction time Te. The rotor turns to 1
The rotor is rotated step by step, whereby the rotor is rotated by a desired step to drive and position the damping force control valve.

The actuator 18 has a reset mechanism 58 including a stopper 54 for the rotor 50 and a stopper 56 for the stator 52. When the control is started, the stopper 54 of the rotor 50 contacts the stopper 56 of the stator 52 in the control step reducing direction. The actuator 18 is initialized by resetting the rotor. The skyhook control device 12 determines the current control step based on the history of the number of increase / decrease steps from the reference position determined by the initialization.

In the illustrated embodiment, the skyhook controller 12 differentiates the vehicle height H detected by, for example, the vehicle height sensor 16 and band-pass filtered by a filter (not shown) as will be described later. By doing so, the relative speed between the sprung portion and the unsprung portion, that is, the stroke speed Vp of the shock absorber is calculated, and detected by the vertical acceleration sensor 18 provided on the vehicle body at a position close to the wheels, for example, and shown in the drawing. The sprung speed Vz is calculated by integrating the vertical acceleration Gz of the vehicle body that has been band-pass filtered by a filter that has not been processed.

Further, the skyhook controller 12 requests the shock absorber 16 by calculating the skyhook according to the following equation 1 using Cs as the skyhook damping coefficient based on the speeds Vp and Vz calculated as described above. The damping coefficient Creq is calculated.

## EQU1 ## Creq = Cs × (Vz / Vp)

Further, the skyhook controller 12 has n damping coefficients C input from the GA controller 14 as described later.
Of i (i = 1 to n), the damping coefficient Ca closest to the damping coefficient Creq calculated according to the equation 1 is selected, and the target control stage Sa of the shock absorber 16 is selected as the damping coefficient C.
The control stage corresponding to a is set, and a control signal for controlling the control stage of the shock absorber to the target control stage Sa is output to the actuator 18, thereby controlling the damping force of the shock absorber. In this case, 1 of the drive current of the control signal supplied from the drive power supply 12A to the actuator 18
The energization time Te for each ascending or descending step is GA as described later.
It is set to the instruction value input from the control device 14.

Further, the skyhook controller 12 operates the actuator 1 based on the genetic information of each new generation individual including the new individual input from the GA controller 14 as described later.
By supplying the drive current of the control signal to 8, the control of the shock absorber is tried for a predetermined time for each individual according to the skyhook theory.

As shown in FIG. 1B, the GA control device 14 has an evaluation block 14A, a control parameter change block 14B and a control parameter selection block 14C. The control parameter changing block 14B, as shown in FIG. 3, has m individuals each having a combination of one energization time Te (j) and n attenuation coefficients C1 (j) to Cn (j) as a gene. A group of individuals consisting of I (j) (j = 1 to m) and evaluation values X (j) as m evaluation functions corresponding to each individual are stored in the storage means. Each gene information is represented as an 8-digit number consisting of, for example, "0" and "1", and the initial value of each gene information and evaluation value is set to a predetermined value in advance when the vehicle is shipped.

Further, the control parameter changing block 14B crosses these individuals according to GA to produce one new individual I (m + 1), and based on the gene information of each new generation individual including the new individual, the sky is calculated. An evaluation value X (j) of each individual is calculated based on the vibration damping degree of the vehicle body when the control of the shock absorber 16 is tried by the hook control device 12.

Further, the control parameter selection block 14C deletes the individual having the lowest evaluation value X (j) from the m + 1 individuals including the new individual, moves up each individual as needed, and evaluates from the new m individuals. The individual with the highest value X (j) is selected, and the genetic information of the selected individual,
That is, one skyhook damping coefficient Cs (j) and a combination of n damping coefficients C1 (j) to Cn (j) are combined into the skyhook control device 1.
Output to 2.

Particularly in the illustrated embodiment, the evaluation block 14A of the GA control device 14 includes a bandpass filter 26 which detects a vertical acceleration sensor 24 provided on the vehicle body near the driver's seat and performs a bandpass filter process by a bandpass filter 26. The signal indicating the vertical acceleration Gzp of the vehicle body is input, and the evaluation block 14A integrates the magnitude of the vertical acceleration Gzp of the vehicle body for a predetermined trial time, and calculates the reciprocal of the integrated value or a certain positive constant as the integrated value. The evaluation value X (j) is calculated as the divided value.

The mating of individuals by GA may be performed by an arbitrary operation of recombination of genetic information between individuals, but mainly "crossover by exchanging genetic information" (one of the n genes of one individual is Part is replaced by the corresponding gene of the other individual), "crossover within one gene information" (some of the corresponding gene information of two individuals are replaced by each other), "mutation" ( (A part of the n genes of one individual is replaced with the gene of the information opposite to the corresponding gene information of the other individual). In these crossovers, which gene is to be replaced, which information part of which gene is to be replaced, and which combination of individuals is to be crossed over is determined by a preset probability.

Next, the main routine of the damping force control of the shock absorber in the first embodiment will be described with reference to the general flowchart of FIG.

First, in step 50, the count value T of the timer is reset to 0, and in step 100, the damping force of the shock absorber based on the skyhook theory is controlled according to the routine shown in FIG. Control) is performed, and in step 150, the count value T of the timer is incremented by T1 (a positive constant).

In step 200, it is judged whether or not the count value T of the timer exceeds the reference value Tc1 (a positive constant), and when a negative judgment is made, step 1
00, and when a positive determination is made, step 25
At 0, a calculation is carried out to give birth to a new individual I (m + 1) by mating, the count value of the timer is reset to 0 in step 300, and j is set to 1 and in step 350. The control parameters for controlling the damping force, that is, the energization time and the n damping coefficients are set to the value Te (j) of the individual I (j) and the n damping coefficients C1 (j) to Cn (j). It

In step 400, with the control parameter set to the value of the individual I (j), the damping force control of the shock absorber based on the skyhook theory is performed in accordance with a routine similar to that shown in FIG. A trial is made and in step 420 the count value T of the timer is incremented by T2 (a positive constant).

In step 440, it is determined whether the count value T of the timer exceeds the reference value Tc2 (a positive constant), that is, it is determined whether the trial time has elapsed.
When a negative determination is made, the process returns to step 420, and when an affirmative determination is made, the process proceeds to step 460. In step 460, the absolute value of the vertical acceleration Gzp of the vehicle body after the count value of the timer is reset to 0 in step 300 is integrated, and the reciprocal of the integrated value or a certain positive constant is integrated. The evaluation value X (j) is calculated as a value divided by the value.

In step 480, j is incremented by 1, and in step 500, it is determined whether or not j exceeds m + 1, that is, whether or not trials have been performed for all individuals including new individuals. When the determination is made and the negative determination is made, the process returns to step 350, and when the positive determination is made, the process proceeds to step 550.

At step 550, the individual having the highest evaluation value X (j) is selected from among the m + 1 individuals including the new individual (j is determined), and at step 600 the evaluation value is the lowest. The individual is erased, then step 5
Return to 0.

Next, the routine for controlling the damping force of the shock absorber based on the skyhook theory in step 100 of the flowchart shown in FIG. 4 will be described with reference to FIG. The routine for trial control of the damping force of the shock absorber in step 400 is step 10
5 is the same as the routine of FIG. 5 except that the control parameter of the actuator is sequentially set to the gene information of each of m + 1 individuals in the step corresponding to 2.

In step 102, the control parameters of the actuator are set to the genetic information of the individual selected in step 550, and in step 104, the vehicle detected by the vehicle height sensor 20 and bandpass filtered. The signal indicating the high H and the signal indicating the vertical acceleration Gz of the vehicle body detected by the vertical acceleration sensor 22 and band-pass filtered are read, and step 1 is performed.
In 06, the stroke speed Vp of the shock absorber is calculated by differentiating the vehicle height H, and step 1
At 08, the sprung speed Vz is calculated by integrating the vertical acceleration Gz of the vehicle body.

In step 110, the skyhook calculation is performed according to the above equation 1 on the basis of the stroke speed Vp and the sprung speed Vz to calculate the damping coefficient Creq required for the shock absorber 16. In step 112, it is judged whether or not the damping coefficient Creq is negative. If a negative judgment is made, the routine proceeds to step 116, and if an affirmative judgment is made, the damping coefficient Creq is made in step 114. Is set to 0.

At step 116, the damping coefficient of each control stage for obtaining the target control stage is set to C1 (j) to Cn (j) selected at step 102, and those C1 (j) are set.
The damping coefficient Ca closest to the damping coefficient Creq from (j) to Cn (j)
Is selected, and the control stage of the shock absorber corresponding to the selected damping coefficient is set as the target control stage Sa as shown in FIG. 6 (A). In step 118, the energization time Te of the drive current supplied to the actuator 18 is set to the energization time Te (j) of the individual selected in step 102, and in step 120 the shock absorber control stage. Is output to the actuator 18, and the control stage of the shock absorber is controlled to the target control stage.

Thus, in the illustrated first embodiment, control of the skyhook controller 12 is achieved by steps 100 and 400, and steps 50, 150-3.
The control of the GA control device 14 is achieved by 50 and 420 to 600. The time sequence of control in the skyhook controller 12 and the GA controller 14 is as shown in FIG.

That is, each control is executed in the order of stages 1 to 4, and when stage 4 is completed, stages 1 to 4 are repeatedly executed again. The time of the stage 1 is set to several hours to several tens of hours, the stage 3 is set to about 1 hour, and the stages 2 and 4 are performed substantially instantaneously. Further, the stage 2 may be executed in the process of the stage 1.

As can be seen from the above description, according to the illustrated first embodiment, a new individual is born by mating the individual in step 250, and steps 300-4 are executed.
In step 40, each individual is tried, in step 460 the evaluation value X (j) of each individual is calculated, and in step 550, the individual with the highest evaluation value is selected from the m + 1 individuals including the new individual. Then, in step 600, the individual with the lowest evaluation value is deleted, and steps 50 to 20 are executed.
At 0, the damping force of the shock absorber is controlled by skyhook control based on the genetic information of the individual having the highest evaluation value, that is, the energization time Te and the damping coefficients C1 (j) to Cn (j).

Therefore, when the voltage of the driving power source 12A is lowered and the energization time Te becomes insufficient to cause the step-out of the actuator 16, the mating, trial, and evaluation of steps 250 to 600 are repeated, so that the energization time Te is increased. Is set to a relatively long value suitable for the low drive voltage, the speed of the ascending and descending stages of the actuator is correspondingly reduced, which may cause step out frequently or cause step out to worsen. This is reduced.

If the energization time Te becomes too long, the damping force of the shock absorber will not be controlled with good responsiveness, and the evaluation value will decrease. Therefore, by repeating mating, trial and evaluation, individuals with an excessive energization time will be erased. As a result, it is possible to prevent the energization time from being set to be excessively long, and thereby to prevent the responsiveness of the damping force control of the shock absorber from being significantly impaired.

When the actuator is constantly out of step, the damping coefficient of each control stage of the individual having the highest evaluation value is shifted by a step shift in the direction opposite to the step shift of step out. As a result, the actuator is controlled with the step higher by the step deviation as a target, so that the shock absorber is controlled to the control step corresponding to its original damping coefficient, thereby canceling the influence of step-out.

For example, when the actuator 16 is stepped by n _o steps in the negative direction (direction in which the damping coefficient is small), if the actuator is controlled to a control step that is n _o higher than the target control step, the damping force of the shock absorber is reduced. Is controlled to the original damping force, and the evaluation value becomes high.
As indicated by the broken line in (B), the damping coefficient of each control stage of the individual having the highest evaluation value is n _{o in the} positive direction (the damping coefficient is higher) than the actual damping coefficient of each control stage. It will be shifted by one step.

If such a shift is not performed, n _a is selected according to the solid line in FIG. 6B as the control stage corresponding to the damping coefficient Ca closest to the damping coefficient Creq calculated according to the above equation 2, and this is selected. Although it is set as the target control stage Sa of the shock absorber, the shock absorber is actually set to n _a due to the step deviation of the actuator.
Is controlled by the stage of the -n _o, the damping force is insufficient.

On the other hand, when the damping coefficient of each control stage is shifted as described above, n _b (= n _a + n _o ) is the target control as the control stage corresponding to the damping coefficient Ca according to the broken line in FIG. 6 (B). The shock absorber is set to n
_An appropriate damping force is generated by controlling to _a stage smaller in step number n _o than _b , that is, the original control stage na (= n _b −n _o ).

Further, according to the illustrated embodiment, even if the shock absorber or the like changes over time, the damping coefficient Ci (j) corresponds to the change in the actual damping coefficient of each stage of the shock absorber accompanying the change over time. Is set to the optimum value, the shock absorber control based on the skyhook theory can be optimally executed to optimally control the vibration of the vehicle body regardless of the change with time of the shock absorber and the like.

Second Embodiment As shown in FIG. 8, in this embodiment, a voltmeter 30 for detecting the voltage Vd of the alarm device 28 and the driving power source 12A is provided, and the voltage Vd is detected. The signal shown is GA
It is supplied to the control device 14.

Next, the control of the damping force of the shock absorber in the second embodiment will be described with reference to the general flowchart of FIG. Note that in FIG. 9, steps corresponding to the steps shown in FIG. 4 are given the same step numbers as the step numbers given in FIG.

As shown in the figure, in this embodiment, when step 200 is completed, steps 202 to 206 are executed, and the necessary processing is carried out when the voltage Vd of the driving power supply is lowered.

That is, in step 202, it is judged whether or not the voltage Vd of the driving power source is less than the first reference value Vdc1 (a positive constant), and the process returns to step 50 to make a negative judgment. If step 204 is reached, the voltage V
Whether or not d is less than the second reference value Vdc2 (a positive constant smaller than Vdc1) is determined. Step 20
If a positive determination is made in step 4, step 206
At this time, the control stage of the shock absorber is controlled to the preset standard control stage, the count value T of the timer is reset to 0, the alarm device 28 is activated, and when a negative determination is made, step 250 Go to.

The first reference value Vdc1 is set to a value at which the step-out of the actuator 18 is likely to occur when the voltage Vd of the driving power source becomes lower than that, and the second reference value Vdc2 is set to the value Vd of the driving power source. Below that, the actuator is set to a value that frequently causes step out. Step 206
When the shock absorber is controlled to the standard control stage first from the control stages other than the standard control stage, it is controlled to the standard control stage with the energizing time Te set to its maximum allowable value. To be done. Further, in step 250, a new individual is born and the alarm device 28 is deactivated.

Further, the subroutine of the damping force control of the shock absorber based on the skyhook theory in this embodiment is substantially the same as the subroutine in the above-mentioned second embodiment, and therefore this routine will be described. Is omitted.

Thus, according to the illustrated second embodiment,
When the drive voltage Vd is equal to or higher than the first reference value Vdc1 and there is no risk of step out of the actuator, a negative determination is made in step 202, and step 204
Since steps 50 to 202 are repeatedly executed without executing ~ 600, it is surely prevented that the damping force of the shock absorber is inappropriately controlled in accordance with the trial of each individual.

The drive voltage Vd is the first reference value Vdc.
When the value is less than 1 and equal to or higher than the second reference value Vdc2 and there is a possibility that the actuator may be out of step, an affirmative determination is made in step 202.
By making a negative determination in step 4, step 2
04 to 600 are also executed, and the energization time Te and the damping coefficient of each stage of the shock absorber are optimized according to the drive voltage Vd, so that the same effect as the effect of the first embodiment can be obtained.

Further, the drive voltage Vd is the second reference value Vdc
If it is less than 2, and there is a risk that the actuator will be out-of-step frequently and the damping force of the shock absorber may not be controlled appropriately, affirmative determination is made in steps 202 and 204, and step 206 is executed. By doing so, the shock absorber is fixedly controlled to the standard control stage, and the damping force control of the shock absorber based on the skyhook theory is stopped, so the damping force of the shock absorber is improper due to the step out of the actuator. Is reliably prevented.

Third Embodiment As shown in FIG. 10, the population in this embodiment is one energization time map M (j) and n damping coefficients C.
M individuals I having a gene in combination with 1 (j) to Cn (j)
(j) An individual group consisting of (j = 1 to m). The energization time map M (j) is, as shown in FIG. 11 for the individual I (1) (j = 1), the driving voltage Vd and the energization time Te.
It is a relationship with (j).

The main routine for controlling the damping force of the shock absorber in this embodiment is substantially the same as the main routine in the above-mentioned second embodiment.
In the subroutine of the damping force control of the shock absorber based on the skyhook theory in this embodiment, the energization time Te is calculated in step 118 from the energization time map M (j) of the individual selected in step 102. Except for the points, it is substantially the same as the subroutine in the second embodiment described above.

According to this embodiment, even if the optimum relationship between the drive voltage Vd and the energization time Te changes due to changes over time of the actuator or the like or changes in temperature conditions, etc., the energization time map is changed according to the change. Since M (j) is optimized, the energization time Te is set appropriately in accordance with the change over time of the actuator, temperature conditions, etc., compared to the case where the relationship between the drive voltage and the energization time is constant. As a result, the risk of frequent out-of-step or the worsening of out-of-step is further reduced as compared with the cases of the first and second embodiments.

Fourth Embodiment As shown in FIG. 12, the population in this embodiment is one energization time map M (j) and reference damping coefficients Co1 to Co1 of each control stage of the shock absorber. It is a group of individuals consisting of m individuals I (j) (j = 1 to m) whose genes are combinations with n increase / decrease correction values A1 (j) to An (j) for Con. In particular, in the illustrated embodiment, a standard control stage (n
= X), the increase / decrease correction value of the control stage below is set to negative, and the increase / decrease correction value of the control stage above the standard control stage is set to positive.

The main routine for controlling the damping force of the shock absorber in this embodiment is also substantially the same as the main routine in the above-mentioned second embodiment.
Further, in the subroutine of the damping force control of the shock absorber based on the skyhook theory in this embodiment, if the individual selected in step 550 is I (b),
That is, when j = b, the damping coefficients C1 (b) to Cn (b) of the control stages of the shock absorber are Co1 + A1 (b), Co2 + A2 (b) ... Con-1 + An-1 in step 102.
(b), Con + An (b) is set, and the target control stage Sa of the shock absorber is determined based on the damping coefficients C1 (b) to Cn (b) in step 116, except for the above-mentioned third condition. Substantially the same as the subroutine in the above embodiment.

According to this embodiment, when the drive voltage Vd decreases and the actuator is liable to be out of step, the energization time Te is optimized and the shock absorber of the shock absorber of the third embodiment is optimized as in the case of the third embodiment. The increase / decrease correction values A1 (j) to An (j) with respect to the reference damping coefficients Co1 to Con of each control stage are also optimized, whereby the target control stage of the shock absorber as shown by the broken line in FIG. The slope of the line connecting the damping coefficients of the respective control stages for obtaining is large, and the difference in the damping coefficients between the control stages adjacent to each other is apparently large. Therefore, the number of ascending stages and the number of descending stages of the control stages are reduced, whereby the possibility that step-out frequently occurs or the step-out is further deteriorated is further reduced as compared with the cases of the first and second embodiments.

In the illustrated fourth embodiment, the correction values for the reference damping coefficients Co1 to Con of the respective control stages of the shock absorber are the increase / decrease correction values A1 (j) to An (j). The value is the correction coefficient K1 (j) for the reference damping coefficients Co1 to Con.
~ Kn (j) is set to the shock absorber target control stage S
a is the corrected damping coefficient of each control stage K1 (b) ・ Co1, K2 (b)
Co2 ... Kn-1 (b) .Con-1, Kn (b) .Con may be used for the calculation.

Although the present invention has been described in detail above with reference to specific embodiments, the present invention is not limited to the above-described embodiments, and various other embodiments are also possible within the scope of the present invention. It will be apparent to those skilled in the art that

For example, in each of the above-described embodiments, the number of new individuals born by mating is one, but a plurality of individuals may be born, and the evaluation is for all m + 1 individuals including new individuals. It is supposed to be done for the new generation, but M (M
The evaluation may be performed only on the individual of <m), and the change of the control parameter and the selection of the optimum control parameter may be performed by a mode other than the genetic algorithm.

The energization time Te in the first and second embodiments, the energization time map M (j) in the third and fourth embodiments, and the correction value A1 (in the fourth embodiment. j) ~ A
The upper and lower limits are set in n (j), and when the control parameters of a new individual exceed these values, they are corrected to the upper or lower limits so that the control parameters reach their optimum values even earlier. It may be configured.

The evaluation value X in each of the illustrated embodiments
(j) is calculated based on the integrated value of the absolute value of the vertical acceleration Gzp of the vehicle body. The evaluation value for this is the integrated value of the absolute value of the vehicle body roll rate or the absolute value of the vehicle body pitch rate. It may be calculated based on the integrated value of the values, or the linear sum of the integrated value of the absolute value of the vertical acceleration of the vehicle body and the integrated value of the absolute value of the vehicle body roll rate, or the integrated value of the absolute value of the vertical acceleration of the vehicle body. May be calculated based on the linear sum of the absolute value of the vehicle body pitch rate and the integrated value of the absolute value of the vehicle body pitch rate, or may be calculated based on the linear sum of the three integrated values.

In each of the above embodiments, the actuator is an actuator that drives and positions the damping force control valve of the shock absorber. However, the actuator in the device of the present invention drives any driven member. Positioning may be performed, and the control law is the control law of the damping force (control stage) of the shock absorber based on the skyhook theory, but the control law to which the device of the present invention is applied is an arbitrary control law. You may

[0079]

As is apparent from the above description, according to the structure of claim 1 of the present invention, when the step-out of the actuator occurs due to the decrease of the driving voltage, the evaluation of the operation of the actuator is deteriorated. The energization time is optimally set according to the fluctuation of the drive voltage, and the actuator is controlled so that the influence of the step-out is canceled by correcting the drive command position for the actuator according to the step deviation amount of the step-out. Therefore, it is possible to drive and position the driven member to the target driving position as accurately as possible without significantly impairing the control responsiveness.

Further, by increasing the energization time and slowly rotating the actuator, it is possible to reduce the possibility that the actuator may be out of step. However, if the energization time is too long, the rotation speed of the actuator becomes too low.
Claim 1 since the evaluation of the operation of the actuator is reduced.
According to the configuration, it is possible to prevent the energization time from being set excessively long, and thereby to prevent the responsiveness of the actuator from being significantly impaired.

According to the second aspect of the invention, it is possible to surely and optimally change the control parameter by the changing means and select the optimum control parameter based on the evaluation result by the selecting means. It is possible to surely obtain the function and effect by the configuration of Item 1.

According to the third aspect of the invention, when the actuator is steadily out of step, the damping coefficient of each control stage of the control parameter is opposite to the step shift corresponding to the step shift of the actuator. By shifting in the direction, the step deviation is canceled out, so even if the actuator goes out of step, the shock absorber can be controlled to the target control stage corresponding to the target damping coefficient specified by the predetermined control law. This allows the damping force of the shock absorber to be as accurate as possible.

According to the fourth aspect of the present invention, the relationship between the drive voltage and the energization time is also optimized in accordance with the change over time of the actuator and the temperature conditions, so that the change over time and the temperature conditions of the actuator and the like. Even if the above changes, the energization time can be optimally set according to the drive voltage, and therefore, compared to the case where the relationship between the drive voltage and the energization time is constant,
It is possible to reduce the possibility that the step-out of the actuator frequently occurs or the step-out is further deteriorated, and thereby it is possible to suppress the deterioration of the damping force control state of the shock absorber.

According to the fifth aspect of the invention, when the driving voltage is lowered and the step-out is apt to occur, the correction value is optimized so that the difference in the damping coefficient between the control stages adjacent to each other is apparent. Since it becomes large, the number of ascending stages and the number of descending stages of the control stage can be reduced, thereby reducing the possibility that the out-of-step of the actuator frequently occurs or the out-of-step is further deteriorated.
As a result, it is possible to prevent the damping force control state of the shock absorber from deteriorating.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a first embodiment of a control parameter control device for a step motor type actuator according to the present invention applied to a damping force control device for a shock absorber, and GA control shown in FIGS. It is a block diagram (B) of an apparatus.

FIG. 2 is a schematic plan sectional view of an actuator.

FIG. 3 is an explanatory diagram showing an individual group in the first embodiment.

FIG. 4 is a general flow chart showing a main routine of damping force control in the first embodiment.

5 is a flowchart showing a subroutine of damping force control based on the skyhook theory in step 100 of FIG.

FIG. 6 is a graph showing the relationship between the control stage of the shock absorber and the damping coefficient in the case where no step-out has occurred (A) and the case where the step-out has occurred (B).

FIG. 7: Skyhook controller 12 and GA controller 1
4 is a time chart showing control in No. 4.

8A and 8B are schematic block diagrams of a second embodiment of a control parameter control device for a step motor type actuator according to the present invention, and FIG. 8B is a block diagram of the GA control device shown in FIG.

FIG. 9 is a flowchart showing a main routine of damping force control in the second embodiment.

FIG. 10 is an explanatory diagram showing an individual group according to a third embodiment.

FIG. 11 is a graph showing an energization time map of an individual I (1) in the third embodiment.

FIG. 12 is an explanatory diagram showing an individual group according to a fourth embodiment.

FIG. 13 is a graph showing the relationship between the control stage of the shock absorber and the damping coefficient in the fourth embodiment.

[Explanation of symbols]

 10 ... Damping force control device 12 ... Skyhook control device 14 ... GA control device 14A ... Evaluation block 14B ... Control parameter change block 14C ... Control parameter selection block 16 ... Shock absorber 18 ... Actuator 20 ... Vehicle height sensor 22, 24 ... Horizontal Acceleration sensor

Continuation of the front page (51) Int.Cl. ⁶ Identification code Office reference number FI Technical display location H02P 8/12 H02P 8/00 K 8/38 R

Claims (5)

[Claims] 1. A rotor having a rotor connected to a driven member and a stator having a plurality of phase windings for rotating the rotor, wherein a drive current is selectively predetermined to the plurality of phase windings. Energizing time A rotor is rotated step by step when energized to drive the driven member to its target driving position. Changing means for changing the commanded position, evaluating means for evaluating the operation of the actuator with respect to the control parameter, and selecting an optimum control parameter from the control parameters before and after the change based on the evaluation result by the evaluating means. A control parameter control device comprising a selecting means. 2. The control parameter control device according to claim 1, wherein the changing means and the selecting means operate based on a genetic algorithm. 3. The control parameter control device according to claim 1 or 2, wherein the driven member is a damping force control valve for a shock absorber of a vehicle having a plurality of control stages and is designated by a predetermined control rule. A damping force control valve controlled by a target control stage corresponding to a target damping coefficient, the control parameter is a damping coefficient of each control stage for obtaining an energization time and the target control stage, and the evaluation means is a vehicle body. A control parameter control device characterized by performing an evaluation based on a vibration damping degree. 4. The control parameter control device according to claim 1 or 2, wherein the driven member is a damping force control valve of a shock absorber of a vehicle having a plurality of control stages and is designated by a predetermined control law. A damping force control valve controlled by a target control stage corresponding to a target damping factor, wherein the control parameter is a relationship between a driving voltage and a conduction time and a damping factor of each control stage for obtaining the target control stage. The control parameter control device is characterized in that the evaluation means performs the evaluation based on a vibration damping degree of the vehicle body. 5. The control parameter control device according to claim 1 or 2, wherein the driven member is a damping force control valve of a shock absorber of a vehicle having a plurality of control stages and is designated by a predetermined control rule. A damping force control valve controlled by a target control stage corresponding to a target damping factor, wherein the control parameter is a reference damping factor of each control stage for determining the relationship between the driving voltage and the energization time and the target control stage. The control parameter control device is characterized in that the evaluation means evaluates based on the degree of vibration damping of the vehicle body.