JPH0972453A - Controller for electromagnetic pressure proportional control valve - Google Patents
Controller for electromagnetic pressure proportional control valveInfo
- Publication number
- JPH0972453A JPH0972453A JP23018795A JP23018795A JPH0972453A JP H0972453 A JPH0972453 A JP H0972453A JP 23018795 A JP23018795 A JP 23018795A JP 23018795 A JP23018795 A JP 23018795A JP H0972453 A JPH0972453 A JP H0972453A
- Authority
- JP
- Japan
- Prior art keywords
- control valve
- duty ratio
- proportional
- electromagnetic pressure
- expression
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Magnetically Actuated Valves (AREA)
- Control Of Fluid Pressure (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、例えば農用トラク
タの変速用クラッチなどの油圧クラッチの圧力を制御す
る場合等に利用する電磁圧力比例制御弁の制御装置に関
する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for an electromagnetic pressure proportional control valve used for controlling the pressure of a hydraulic clutch such as a speed change clutch of an agricultural tractor.
【０００２】[0002]
【従来の技術】この電磁圧力比例制御弁の制御装置で
は、パルス電流によって駆動される電磁圧力比例制御弁
の圧力制御を電流フィードバックによって行っている。
つまり、電磁圧力比例制御弁を一定周期のパルス電流に
よって駆動するとともに、このパルス電流のパルス幅
（デューティ比）を変更することで電磁圧力比例制御弁
に対する平均電流値を制御するとともに、電磁圧力比例
制御弁に対する目標電流と出力電流の偏差を演算し、こ
の電流偏差から比例積分制御（ＰＩ制御）に基いて駆動
パルス電流のデューティ比を所定の演算式に基づいて演
算するのが一般的となっている。2. Description of the Related Art In this control device for an electromagnetic pressure proportional control valve, pressure control of an electromagnetic pressure proportional control valve driven by a pulse current is performed by current feedback.
In other words, the electromagnetic pressure proportional control valve is driven by a pulse current with a constant cycle, and the average current value for the electromagnetic pressure proportional control valve is controlled by changing the pulse width (duty ratio) of this pulse current, and the electromagnetic pressure proportional control valve is controlled. It is common to calculate the deviation between the target current and the output current with respect to the control valve, and calculate the duty ratio of the drive pulse current based on the current deviation based on proportional-plus-integral control (PI control) based on a predetermined calculation formula. ing.
【０００３】[0003]
【数１】ここで、前記デューティ比Ｄは、 Ｄ＝ＫP ΔＩ＋ＫI ∫ΔＩdt＋Ｄ0 ΔＩ：目標電流と出力電流の偏差 ＫP ：比例ゲイン ＫI ：積分ゲイン Ｄ0 ：目標電流に対する基準デューティ比 として演算される。また、目標電流Ｉobj に対する基準
デューティ比Ｄ0 は、Ｄ0 ＝ａＩobj ＋ｂ として演算
される。## EQU1 ## Here, the duty ratio D is D = K P ΔI + K I ∫ ΔIdt + D 0 ΔI: deviation between target current and output current K P : proportional gain K I : integral gain D 0 : reference duty ratio for the target current Is calculated as Further, the reference duty ratio D 0 for the target current I obj is calculated as D 0 = aI obj + b.
【０００４】[0004]
【発明が解決しようとする課題】しかし、上記基準デュ
ーティ比Ｄ0 の演算式における比例係数ａは常温での計
測結果に基づいて割り出されたものであるために、電磁
圧力比例制御弁における励磁部の抵抗値が温度によって
変化し、同一のデューティ比によっても流れる電流が変
化するとともに、電源電圧の変動によっても励磁部に流
れる電流が変化することになり、比例積分制御によって
これらに補正をかけても、出力電流のオーバーシュート
やアンダーシュートが発生して電磁圧力比例制御弁から
の制御圧の精度が低下することがあった。本発明は、こ
のような不具合を解消することを目的としている。However, since the proportional coefficient a in the arithmetic expression of the reference duty ratio D 0 is determined based on the measurement result at room temperature, the excitation in the electromagnetic pressure proportional control valve is suppressed. The resistance value of the part changes with temperature, the current flowing changes with the same duty ratio, and the current flowing in the exciting part also changes with fluctuations in the power supply voltage. However, the output current overshoot or undershoot may occur and the accuracy of the control pressure from the electromagnetic pressure proportional control valve may decrease. The present invention aims to solve such a problem.
【０００５】[0005]
【課題を解決するための手段】本発明の特徴構成は、電
磁圧力比例制御弁に対する目標電流と出力電流の偏差か
ら比例積分制御に基いて駆動パルス電流のデューティ比
を所定の演算式に基づいて演算するよう構成した電磁圧
力比例制御弁の制御装置において、目標電流から基準デ
ューティ比を割り出す演算式における比例係数を、電磁
圧力比例制御弁に設定値の電流が安定して供給される際
の逆算により割り出して更新するように構成してある点
にある。The characteristic structure of the present invention is that the duty ratio of the drive pulse current is based on a predetermined arithmetic expression based on the proportional-integral control from the deviation between the target current and the output current for the electromagnetic pressure proportional control valve. In a control device for an electromagnetic pressure proportional control valve configured to calculate, a proportional coefficient in an arithmetic expression for calculating a reference duty ratio from a target current is calculated backward when the set value current is stably supplied to the electromagnetic pressure proportional control valve. It is configured to be indexed and updated by.
【０００６】〔作用・効果〕上記構成によると、電磁圧
力比例制御弁に設定値の電流が安定して供給される際
に、基準デューティ比割り出し用の演算式における比例
係数が逆算により割り出されて更新されるので、温度条
件や電源電圧の変化が生じても、常に適切な特性でのデ
ューティ比演算を行って、オーバーシュートやアンダー
シュートの少なく精度の高い圧力制御を行うことができ
る。[Operation / Effect] According to the above configuration, when the set value current is stably supplied to the electromagnetic pressure proportional control valve, the proportional coefficient in the arithmetic expression for calculating the reference duty ratio is calculated by back calculation. Therefore, even if the temperature condition or the power supply voltage changes, the duty ratio calculation is always performed with appropriate characteristics, and highly accurate pressure control with less overshoot or undershoot can be performed.
【０００７】[0007]
【発明の実施の形態】図２は、本発明の係る電磁圧力比
例制御弁の制御装置を用いて変速用のクラッチの圧力制
御を行うよう構成した四輪駆動型の農用トラクタにおけ
るミッション構造を示しており、エンジン１からの動力
はミッションケース２の伝動軸３に伝達された後、走行
系とＰＴＯ系に分岐される。FIG. 2 shows a mission structure of a four-wheel drive type agricultural tractor configured to control the pressure of a clutch for speed change using the control device for an electromagnetic pressure proportional control valve according to the present invention. The power from the engine 1 is transmitted to the transmission shaft 3 of the mission case 2 and then branched into a traveling system and a PTO system.
【０００８】走行系では、前記伝動軸３に伝達された動
力が油圧式多板クラッチからなる前進クラッチ４又は後
進クラッチ５を介して正転又は逆転で伝動軸３に外挿し
た筒軸６に伝達された後、主ギヤ変速装置Ａに伝達され
て４段に変速され、その変速動力が油圧式多板クラッチ
からなる変速クラッチ７を介して第１副ギヤ変速装置Ｂ
に伝達されて２段に変速され、その後、更に第２副ギヤ
変速装置Ｃで２段に変速され、その変速出力が後輪デフ
装置８を介して後輪９に伝達される。また、後輪デフ装
置８の直前から分岐した動力が、伝動軸１０、油圧クラ
ッチ型式の前輪変速装置Ｄ、前輪伝動軸１１，１２及び
前輪デフ装置１３を介して前輪１４に伝達される。ま
た、ＰＴＯ系では伝動軸３へ伝達された動力がクラッチ
機構１５を介してＰＴＯ軸１６に伝達されるようになっ
ている。In the traveling system, the power transmitted to the transmission shaft 3 is passed through a forward clutch 4 or a reverse clutch 5 consisting of a hydraulic multi-plate clutch to a cylinder shaft 6 externally inserted to the transmission shaft 3 in forward or reverse rotation. After being transmitted, it is transmitted to the main gear transmission A and is shifted to four gears, and the power of the shift is transmitted to the first sub gear transmission B via the transmission clutch 7 which is a hydraulic multi-disc clutch.
Is transmitted to the rear wheel 9 via the rear wheel differential device 8 and the second auxiliary gear transmission C further shifts to the second stage. Further, the power branched from immediately before the rear wheel differential device 8 is transmitted to the front wheels 14 via the transmission shaft 10, the hydraulic clutch type front wheel transmission device D, the front wheel transmission shafts 11 and 12, and the front wheel differential device 13. Further, in the PTO system, the power transmitted to the transmission shaft 3 is transmitted to the PTO shaft 16 via the clutch mechanism 15.
【０００９】前記主ギヤ変速装置Ａは、２組のシフトギ
ヤＳ１，Ｓ２を油圧シリンダＴ１，Ｔ２でスライド操作
して４段に変速可能に構成されるとともに、第１副ギヤ
変速装置ＢはシフトギヤＳ３を油圧シリンダＴ３でスラ
イド操作するように構成され、かつ、第２副ギヤ変速装
置Ｃは手動シフト操作式に構成されている。つまり、前
後進とも夫々１６段の変速が可能に構成されている。The main gear transmission A is constructed so that two sets of shift gears S1 and S2 can be slid by hydraulic cylinders T1 and T2 so that the gears can be shifted in four stages, and the first sub gear transmission B has a shift gear S3. Is configured to be slid by a hydraulic cylinder T3, and the second auxiliary gear transmission C is configured to be a manual shift operation type. That is, each of the forward and backward movements is configured to be capable of shifting 16 steps.
【００１０】また、前記変速クラッチ７の下手側に位置
する第１副ギヤ変速装置Ｂの伝動軸１７と、主ギヤ変速
装置Ａの上手側に位置する伝動軸１８との間に、「切
り」付勢された油圧式多板クラッチからなる伝動クラッ
チ１９が配備されている。この伝動クラッチ１９は、通
常時には「切り」保持されており、主ギヤ変速装置Ａお
よび第１副ギヤ変速装置Ｂが油圧シリンダＴ１，Ｔ２，
Ｔ３で切換え操作される際の変速クラッチ７の「切り」
制御に関連して伝動クラッチ１９は「入り」制御され、
伝動クラッチ１９を介して適当な動力伝達を確保しなが
ら変速が実行され、主ギヤ変速装置Ａ及び第１副ギヤ変
速装置Ｂの変速が完了すれば伝動クラッチ１９を再び
「切り」状態に戻すようになっている。つまり、変速中
に変速クラッチ７を切って走行系への動力伝達を完全に
断ってしまうと、走行負荷によって機体が急減速してし
まって変速完了後の動力伝達開始に伝動ショックが発生
したり、シンクロ変速が円滑に行われない状態が発生し
たりするが、変速中に伝動クラッチ１９を有する別の伝
動系を介して適当な動力伝達を行うことでこのような不
具合を軽減することができるのである。Further, "disconnection" is provided between the transmission shaft 17 of the first auxiliary gear transmission B located on the lower side of the speed change clutch 7 and the transmission shaft 18 located on the upper side of the main gear transmission A. A transmission clutch 19 including a biased hydraulic multi-plate clutch is provided. This transmission clutch 19 is normally held in the "disengaged" state, and the main gear transmission A and the first sub gear transmission B are connected to the hydraulic cylinders T1, T2.
"Disengagement" of the transmission clutch 7 when switching operation is performed at T3
In connection with the control, the transmission clutch 19 is "engaged" controlled,
When the gear shift is executed while ensuring appropriate power transmission through the transmission clutch 19 and the gear shift of the main gear transmission A and the first sub gear transmission B is completed, the transmission clutch 19 is returned to the "disengaged" state again. It has become. In other words, if the transmission clutch 7 is disengaged during gear shifting to completely discontinue power transmission to the traveling system, the vehicle body will suddenly decelerate due to the traveling load, and a transmission shock will occur at the start of power transmission after the completion of gear shifting. In some cases, the synchronized gear shifting may not be performed smoothly, but such a problem can be mitigated by appropriately transmitting the power through another transmission system having the transmission clutch 19 during the gear shifting. Of.
【００１１】図３に、前記油圧シリンダＴ１，Ｔ２，Ｔ
３、変速クラッチ７及び伝動クラッチ１９の油圧制御系
が示されている。図において、２０は油圧ポンプ２１か
らの作動油を油圧シリンダＴ１，Ｔ２，Ｔ３に選択供給
するロータリ式の変速操作弁、２２は変速クラッチ７へ
の作動油給排を司るパイロット式の切換え弁、２３およ
び２４は前記切換え弁２２を作動制御するパイロット式
の制御弁、２５は前進クラッチ４および後進クラッチ５
を選択的に作動させる前後進切換弁であり、前記制御弁
２３および２４は油圧シリンダＴ１，Ｔ２，Ｔ３の作動
に応じて発生するパイロット圧によって切換え操作され
るようになっている。また、２６は伝動クラッチ１９の
作動を司る電磁圧力比例制御弁であり、マイクロコンピ
ュータを利用した制御装置２７を介して駆動制御するこ
とで伝動クラッチ１９に供給する作動油圧を所定の特性
で制御するように構成されている。FIG. 3 shows the hydraulic cylinders T1, T2, T.
3, the hydraulic control system of the speed change clutch 7 and the transmission clutch 19 is shown. In the figure, 20 is a rotary type speed change operation valve for selectively supplying hydraulic oil from a hydraulic pump 21 to the hydraulic cylinders T1, T2, T3, and 22 is a pilot type changeover valve for supplying and discharging hydraulic oil to the speed change clutch 7. Reference numerals 23 and 24 are pilot type control valves for controlling the operation of the switching valve 22, 25 is a forward clutch 4 and a reverse clutch 5.
Is a forward / reverse switching valve for selectively operating the control valves 23 and 24, and the control valves 23 and 24 are switched by pilot pressure generated in response to the operation of the hydraulic cylinders T1, T2, T3. Further, reference numeral 26 is an electromagnetic pressure proportional control valve for controlling the operation of the transmission clutch 19, which is drive-controlled via a control device 27 using a microcomputer to control the operating hydraulic pressure supplied to the transmission clutch 19 with a predetermined characteristic. Is configured.
【００１２】図１に、前記電磁圧力比例制御弁２６の制
御系のブロック図が示されている。この電磁比例制御弁
２６はパルス電流によって間欠駆動（Ｐ．Ｗ．Ｍ）さ
れ、その圧力制御を電流フィードバックによって行って
いる。つまり、電磁圧力比例制御弁２６を一定周期のパ
ルス電流によって駆動するとともに、このパルス電流の
パルス幅（デューティ比）を変更することで電磁圧力比
例制御弁２６に対する平均電流値を制御するとともに、
制御装置２７から指令された電磁圧力比例制御弁２６に
対する目標電流Ｉobj と検出された出力電流Ｉの偏差Δ
Ｉを演算し、この電流偏差ΔＩから比例積分制御（ＰＩ
制御）に基いて駆動パルス電流のデューティ比を所定の
演算式に基づいて演算しており、そのデューティ比Ｄ
は、FIG. 1 shows a block diagram of a control system of the electromagnetic pressure proportional control valve 26. The electromagnetic proportional control valve 26 is intermittently driven (PWM) by a pulse current, and its pressure is controlled by current feedback. That is, the electromagnetic pressure proportional control valve 26 is driven by the pulse current of a constant cycle, and the average current value for the electromagnetic pressure proportional control valve 26 is controlled by changing the pulse width (duty ratio) of this pulse current.
Deviation Δ between the target current I obj and the detected output current I for the electromagnetic pressure proportional control valve 26 instructed by the controller 27
I is calculated, and proportional-integral control (PI
Control), the duty ratio of the drive pulse current is calculated based on a predetermined calculation formula, and the duty ratio D
Is
【００１３】[0013]
【数２】Ｄ＝ＫP ΔＩ＋ＫI ∫ΔＩdt＋Ｄ0 ΔＩ：目標電流と実電流の偏差 ＫP ：比例ゲイン ＫI ：積分ゲイン Ｄ0 ：目標電流に対する基準デューティ比 として演算される。また、目標電流Ｉobj に対する基準
デューティ比Ｄ0 は、Ｄ0 ＝ａＩobj ＋ｂ として演算
される。## EQU2 ## D = K P ΔI + K I ∫ ΔIdt + D 0 ΔI: Deviation between target current and actual current K P : Proportional gain K I : Integral gain D 0 : Calculated as a reference duty ratio to the target current. Further, the reference duty ratio D 0 for the target current I obj is calculated as D 0 = aI obj + b.
【００１４】ここで、上記演算式の比例係数ａおよび定
数ｂは、或る温度条件のもとでの実際の計測結果に基づ
いて割り出された値であり、電磁圧力比例制御弁２６の
励磁部の温度変化等による特性変化に対応するために、
前記比例係数ａを以下のようにして逐次更新する。Here, the proportional coefficient a and the constant b in the above equation are values calculated based on the actual measurement result under a certain temperature condition, and the electromagnetic pressure proportional control valve 26 is excited. In order to respond to changes in characteristics due to temperature changes in parts,
The proportional coefficient a is sequentially updated as follows.
【００１５】つまり、電磁圧力比例制御弁２６に予め設
定された値の電流が設定時間に亘って供給される際に、
その間の平均的な比例係数ａを逆算して上記演算式の比
例係数ａと更新することによって、経時的に変化する温
度条件等に対応した特性の演算式で基準デューティ比演
算を実行させるのである。That is, when a current having a preset value is supplied to the electromagnetic pressure proportional control valve 26 for a set time,
The average proportional coefficient a during that time is back-calculated and updated to the proportional coefficient a of the above-mentioned arithmetic expression, so that the reference duty ratio calculation is executed by the arithmetic expression having the characteristic corresponding to the temperature condition which changes with time. .
【００１６】例えば、電磁圧力比例制御弁２６に９００
ｍＡの電流を４００ｍ秒間通電する際に、その目標電流
を出力するのにデューティ比が安定する間（例えば４０
０ｍ秒の内の最初の１００ｍ秒を除く３００ｍ秒〜４０
０ｍ秒の間）に１０ｍ秒毎の比例係数ａを逆算し、その
平均値を以降の演算式の比例係数ａとしてに使用するよ
う学習機能を与えてあるのである。For example, the electromagnetic pressure proportional control valve 26 has 900
When a current of mA is applied for 400 msec, while the duty ratio is stable for outputting the target current (for example, 40
300 msec to 40 excluding the first 100 msec in 0 msec
The learning function is provided such that the proportional coefficient a every 10 ms is back-calculated for 0 ms) and the average value thereof is used as the proportional coefficient a of the following arithmetic expressions.
【００１７】尚、特許請求の範囲の項に図面との対照を
便利にする為に符号を記すが、該記入により本発明は添
付図面の構成に限定されるものではない。It should be noted that reference numerals are added to the claims for convenience of comparison with the drawings, but the present invention is not limited to the configurations of the accompanying drawings by the entry.
【図１】電流制御のブロック線図FIG. 1 is a block diagram of current control.
【図２】農用トラクタにおけるミッション構造を示す概
略図FIG. 2 is a schematic diagram showing a mission structure of an agricultural tractor.
【図３】油圧回路図FIG. 3 is a hydraulic circuit diagram
Ｉobj 目標電流 Ｉ 出力電流 ΔＩ 偏差 Ｄ デューティ比 Ｄ0 基準デューティ比 ａ 比例係数I obj Target current I Output current ΔI Deviation D Duty ratio D 0 Reference duty ratio a Proportional coefficient
Claims (1)
出力電流の偏差から比例積分制御に基いて駆動パルス電
流のデューティ比を所定の演算式に基づいて演算するよ
う構成した電磁圧力比例制御弁の制御装置において、 目標電流から基準デューティ比を割り出す演算式におけ
る比例係数を、電磁圧力比例制御弁に設定値の電流が安
定して供給される際の逆算により割り出して更新するよ
うに構成してあることを特徴とする電磁圧力比例制御弁
の制御装置。1. A solenoid pressure proportional control valve configured to calculate a duty ratio of a drive pulse current based on a proportional integral control from a deviation between a target current and an output current for the solenoid pressure proportional control valve based on a predetermined arithmetic expression. In the control device, the proportional coefficient in the arithmetic expression for calculating the reference duty ratio from the target current is calculated and updated by back calculation when the current of the set value is stably supplied to the electromagnetic pressure proportional control valve. A control device for an electromagnetic pressure proportional control valve, which is characterized in that
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23018795A JP3258540B2 (en) | 1995-09-07 | 1995-09-07 | Control device for electromagnetic pressure proportional control valve |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23018795A JP3258540B2 (en) | 1995-09-07 | 1995-09-07 | Control device for electromagnetic pressure proportional control valve |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0972453A true JPH0972453A (en) | 1997-03-18 |
| JP3258540B2 JP3258540B2 (en) | 2002-02-18 |
Family
ID=16903962
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP23018795A Expired - Fee Related JP3258540B2 (en) | 1995-09-07 | 1995-09-07 | Control device for electromagnetic pressure proportional control valve |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3258540B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009075276A1 (en) | 2007-12-11 | 2009-06-18 | Bosch Corporation | Method for controlling drive of flow control valve of common-rail fuel injection controller and common-rail fuel injection controller |
| JP2015010630A (en) * | 2013-06-27 | 2015-01-19 | トヨタ自動車株式会社 | Pressure control device |
| JP2018189230A (en) * | 2017-03-07 | 2018-11-29 | バット ホールディング アーゲー | Optimized pressure regulation for and with vacuum valve |
-
1995
- 1995-09-07 JP JP23018795A patent/JP3258540B2/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2009075276A1 (en) | 2007-12-11 | 2009-06-18 | Bosch Corporation | Method for controlling drive of flow control valve of common-rail fuel injection controller and common-rail fuel injection controller |
| JP2015010630A (en) * | 2013-06-27 | 2015-01-19 | トヨタ自動車株式会社 | Pressure control device |
| JP2018189230A (en) * | 2017-03-07 | 2018-11-29 | バット ホールディング アーゲー | Optimized pressure regulation for and with vacuum valve |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3258540B2 (en) | 2002-02-18 |
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