JPH10169470A - Throttle actuator control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To rapidly detect the totally closed end and fully opened end of a throttle valve so as to prevent the damage of a throttle actuator by detecting the contact of the throttle valve with the totally closed end or fully opened end on the basis of the disturbance estimate, and correcting the opening detection value of the throttle valve at the time of detecting this contact. SOLUTION: A throttle actuator 1 with a DC motor M used for a drive source is provided to drive a throttle valve in an intake passage, and the opening angle of the throttle valve is detected by a throttle angle sensor 2. In this case, a throttle valve controller 4 computes the motor current command value so as to make the throttle valve opening detection value follow the opening command value, and detects the contact of the throttle valve with the totally closed end or fully opened end on the basis of the disturbance estimate estimated by a disturbance estimating means. At the time of detecting the contact of the throttle valve with the totally closed end or fully opened end, the opening detection value of the opening sensor 2 is corrected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a throttle actuator which opens and closes a throttle valve without using a mechanical connection mechanism with an accelerator pedal.

[0002]

2. Description of the Related Art A throttle actuator control device that opens and closes a throttle valve by an actuator without using a mechanical coupling mechanism from an accelerator pedal is known (for example, see Japanese Patent Application Laid-Open No. Hei 3-27137).

[0003]

By the way, the throttle valve is driven from the fully closed end to the fully open end by the actuator, and when the throttle valve comes into contact with the fully closed end or the fully open end, the actuator is locked. In the conventional throttle actuator control device, the valve opening is detected by a sensor in order to feedback-control the opening of the throttle valve, but the fully closed position and the fully open position are determined by a sensor mounting error or a throttle actuator operating error. May have different sensor outputs. When the throttle valve abuts on the fully closed end or fully open end during feedback control of the throttle valve opening, the throttle actuator is locked and the load current of the actuator increases, which wastes battery power. become. Therefore, it is necessary to quickly and accurately detect the fully closed position and the fully opened position of the throttle valve.

There are the following methods for detecting the fully closed and fully opened positions of the conventional throttle actuator control device. (1) A method of determining based on a deviation between an opening target value and an opening detection value in opening feedback control. (2) A method of making a determination based on the duty ratio of the drive pulse of the actuator by the opening feedback control. (3) A method of making a determination based on the load current of the actuator by the opening feedback control. (4) A method based on the opening deviation in the opening feedforward control.

According to the method (1), when the throttle valve abuts on the fully closed end or the fully open end and locks, the opening deviation in the opening feedback control increases. It is determined that it is the fully closed or fully open position. However, it is necessary to set a high threshold value in order to prevent erroneous detection in consideration of the delay of the servo system and the steady-state deviation, and the detection takes a long time and the detection is delayed.

According to the method (2), when the throttle valve comes into contact with the fully closed end or the fully open end and locks, the drive duty ratio increases with an increase in the opening deviation, so that the duty ratio becomes the threshold value. Is determined to be the fully closed or fully open position. However, since the drive duty ratio includes the amount that drives the inertia of the throttle valve and its drive mechanism, the threshold value must be set higher to prevent erroneous detection. Detection is delayed.

According to the method (3), the load current of the actuator increases when the throttle valve comes into contact with the fully closed end or the fully open end and locks. Therefore, when the load current exceeds the threshold value, the fully closed or fully open position is reached. Is determined. However, since the load current includes an amount that drives the inertia of the throttle valve and its drive mechanism, the threshold value must be set higher to prevent erroneous detection.
The detection takes a long time and the detection is delayed. Further, a sensor for detecting the load current is required, which increases the cost.

In the learning of the fully closed and fully opened positions by the feed forward in (4), it is necessary to set a large duty ratio which does not lose friction, so that the throttle valve is fully closed or fully opened at a speed higher than the feedback control. It may collide with the end and impair the durability of the throttle actuator.

An object of the present invention is to quickly and accurately detect a fully closed position and a fully opened position of a throttle valve.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described with reference to FIGS. 1 and 2 showing the configuration of an embodiment of the present invention. (1) The invention of claim 1 opens and closes a throttle valve of an internal combustion engine. Actuator 1, driving means 5 for driving the actuator, opening detection means 2, 3 for detecting the opening of the throttle valve, and opening detection value θ as opening command value θ
control means 4 (16 to 19) for calculating a drive command value Ir for following r and controlling the drive means 5, and a disturbance applied to the actuator 1 based on the drive command value Ir and the opening detection value θ. And a disturbance estimating means 4 (11 to 15) for estimating and correcting the drive command value Ir.
5) the open / close end detecting means 4 for detecting that the throttle valve has come into contact with the fully closed end or the fully open end based on the disturbance estimated value u2; And an opening detection value correcting means 4 for correcting the opening detection values of the opening detecting means 2 and 3 when the contact of the opening is detected. A contact with the fully closed end or the fully open end of the throttle valve is detected based on the estimated disturbance value u2, and the detected value of the opening of the throttle valve is corrected when the contact is detected. (2) In the throttle actuator control device of claim 2, the open / close end detecting means 4 determines that the throttle valve is in contact with the fully closed end or the fully open end when the estimated disturbance value exceeds a predetermined value for a predetermined time. It is something to do. (3) In the throttle actuator control device according to the third aspect, even if the open / close end detecting means 4 detects the contact of the throttle valve with the fully closed end or the fully open end, the detected opening degree correction means 4 immediately detects the opening degree. Without correcting the value, the control means 4 (16
19) temporarily suspends the control of the driving means 5;
If the contact with the fully closed end or the fully open end of the throttle valve is detected again by the open / close end detection means 4 after the restart of the control by (16 to 19), the opening detection value correction means 4 sets the opening of the opening detection means 4 The detection value is corrected. (4) In the throttle actuator control device according to the fourth aspect, the open / close end detection means 4 and the opening degree detection value correction means 4
The mode shifts to a position learning mode for the fully closed end and the fully open end of the throttle valve in response to a predetermined operation.

In the section of the means for solving the problems described above, for ease of explanation, reference has been made to the drawings of an embodiment of the present invention, but the present invention is not limited to the embodiment of the invention. .

[0012]

【The invention's effect】

(1) According to the first aspect of the present invention, the contact of the throttle valve with the fully closed end or the fully open end is detected based on the estimated disturbance value, and the detected value of the opening of the throttle valve is corrected when the contact is detected. As a result, the fully closed end and the fully open end of the throttle valve can be quickly and accurately detected, and it is possible to prevent the throttle valve from contacting the open / close end to wastefully consume battery power. Damage can be prevented. (2) According to the second aspect of the invention, if the estimated disturbance value exceeds a predetermined value for a predetermined time, it is determined that the throttle valve is in contact with the fully closed end or the fully open end. Abutment on the open / close end can be reliably detected. (3) According to the third aspect of the invention, even if the contact of the throttle valve with the fully closed end or the fully opened end is detected, the opening detection value is not immediately corrected, and the drive control of the actuator is temporarily stopped. When the contact with the fully closed end or the fully open end of the throttle valve is detected again after the restart of the control, the opening detection value is corrected. As a result, if the throttle valve or its driving mechanism is locked by the foreign matter, the foreign matter may be naturally removed between the stop and the restart of the feedback control. Is more likely to be prevented. (4) According to the invention of claim 4, the mode is shifted to the position learning mode of the fully closed end and the fully open end of the throttle valve in accordance with the predetermined operation. For example, if the mode is shifted to the learning mode of the open / close end when the ignition key is turned off, the open / close end of the throttle valve can be quickly and accurately detected at the next traveling, and the open / close end of the throttle valve can be corrected rationally.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION

-First Embodiment of the Invention- FIG. 1 is a diagram showing a configuration of a first embodiment of the invention.
The throttle actuator 1 drives a butterfly type throttle valve provided in an intake air flow path of an internal combustion engine. A DC motor is used as a drive source, and the output of the motor is reduced by a speed reducer to open / close a throttle valve biased by a spring. The sensor 2 detects the opening angle of the throttle valve. In this embodiment, an inexpensive potentiometer that outputs an analog signal is used, but a high-precision optical encoder may be used. The sensor signal processing circuit 3 has an amplifier and an A / D converter, and amplifies an analog signal from the angle sensor 2 and converts it into a digital signal.

The throttle valve controller 4 is composed of a microcomputer and its peripheral parts, and calculates a motor current command value such that the detected throttle valve opening value follows the opening command value. The current control amplifier 5 controls the switching time of the power transistor so that the actual motor current follows the motor current command value.

In this embodiment, a feedback type current control amplifier using a current detection sensor is used, but the current control amplifier is not limited to this embodiment.
For example, based on the throttle opening and the output of a model matching compensator described later, the back electromotive force of the motor is estimated using a dynamic characteristic model of the control target that is stabilized by a disturbance compensator described below,
A feed-forward type current control amplifier may be used which corrects the effective voltage obtained from the current command value with the estimated back electromotive force and arithmetically controls the switching time of the current control power transistor.

FIG. 2 shows a throttle valve controller 4.
FIG. 3 is a control block diagram showing the configuration of FIG. The throttle valve controller 4 includes disturbance compensators (also referred to as robust compensators) 11 to 15 for suppressing undesired disturbances and parameter fluctuations, and a desired response in which the response of the actual throttle opening to the throttle opening command value is set in advance. And model matching compensators 16 to 19 for matching the response characteristics of

The current control amplifier 5, the throttle actuator 1 comprising a motor and a valve movable mechanism, the angle sensor 2, and the sensor signal processing circuit 3 are controlled by the controller 4, and the throttle opening command value θr
Is a throttle valve opening command value (target value), a current command value Ir is a drive command value (operating amount), and the throttle opening θ is a throttle valve opening detection value (control amount).

First, the disturbance compensators 11 to 15 will be described. The continuous system transfer characteristic Gp (s) of the controlled object from the current command value Ir to the throttle opening θ is represented by (K / (as ² + b)
s + c)) (hereinafter referred to as 0th order / 2nd order), and a transfer characteristic obtained by discretizing this is represented by Gp (z ^-1 ).

(Equation 1)

The zero point (-bp0 / bp) of Gp (z ^-1 )
Since 1) converges to −1 as the sampling time becomes shorter, it becomes unstable when the inverse system of Gp (z ⁻¹ ) is used for the compensator. To avoid this, a disturbance compensator is designed as follows. The control block 11 adds Gp to the low-pass filter H0 (z ⁻¹ ) having a steady-state gain of 1.
(Z ^-1) is the filter H obtained by adding the Q (z ^-1) having a zero point (z ^-1). The control block 11 performs a low-pass filter process on the current command value Ir to perform the current command value Ir ′
Is output.

H (z ^-1 ) = H0 (z ^-1 ) · Q (z ^-1 )

The control block 12 has a filter H (z ^-1 ) /
Gp (z ^-1 ). Therefore, the zero points converging to -1 are canceled, and the control block 12 becomes a stable digital filter. The control block 12 controls the current command value I
The current command value is inversely calculated based on the discrete system transfer characteristic Gp (z ^-1 ) of the controlled object from r to the throttle opening θ and the throttle opening θ. Output.

The subtractor 14 subtracts the current command value Ir ′ from the current command value Ir ″, and displaces the current command value Ir due to disturbance of a control target from the current amplifier 5 to the sensor signal processing circuit 3 or a parameter variation. u2 (hereinafter referred to as a disturbance estimation value) Further, the subtractor 15 outputs a current command value u1.
Is corrected by subtracting the disturbance estimated value u2 from the current value, and outputs the current command value Ir excluding the influence of disturbance and parameter fluctuation.

The disturbance estimation value u2 becomes zero when there is no disturbance or parameter fluctuation in the control target. Disturbance d
Or parameter variation Δ,

(Equation 3) In the frequency band where the gain characteristic of H (z ^-1 ) is 1,

４ = Gp (z ⁻¹ ) · u1 That is, the influence of the disturbance and the parameter fluctuation is completely canceled, and the dynamic characteristics of the control target are fixed to the nominal model Gp (z ^-1 ). When the cutoff frequency of H (z ^-1 ) is increased, the same effect can be obtained up to a high frequency range. However, a high gain feedback is obtained, and the stability margin is reduced. Therefore, a trade-off design is required.

The control block 13 is a limiter corresponding to the upper and lower limits of the motor current, and limits the input of the disturbance compensator when the motor current, which is the actual input of the control target, is saturated, thereby producing an error in the estimated disturbance value u2. To prevent the deterioration of response performance.

Next, the model matching compensators 16 to 19
Will be described. First, a desired response characteristic is given as a continuous system reference model transfer characteristic Gm0 (s) (0th order / 2nd order).
The reference model transfer characteristic obtained by discretizing this is Gm0 (z ^-1 ).
Then, similarly to the transfer characteristic Gp (z ^-1 ) of the controlled object,
When the sampling time is reduced, there is a zero point that converges to -1. Therefore, the zero point of the reference model transfer characteristic Gm0 (z ⁻¹ ) is set to the control target transfer characteristic Gp for the purpose of canceling both at the time of designing the model matching compensator.
(Z ^-1) using Gm is replaced by zero point (z ^-1) as reference model transfer characteristic. If the sampling time is sufficiently short, there is almost no difference between Gm (z ^-1 ) and Gm0 (z ^-1 ), and there is no practical problem.

(Equation 5)

Using the coefficients of Equations 1 and 5, the control block 16 of the model matching compensator uses 1 / R
(Z ^-1 ), the control block 17 is composed of L (z ^-1 ), and the control block 18 is composed of Bmf.

(Equation 6)

FIG. 3 is a flowchart showing a throttle valve opening control program. With reference to this flowchart, the detection and correction processing of the fully closed position and the fully open position of the throttle valve according to the first embodiment will be described. The microcomputer of the controller 4 executes this control program every 2 ms, for example. In step 1, the opening angle θ of the throttle valve output from the sensor 2
Is amplified and A / D converted. In the following step 2, the voltage signal converted into the digital signal is converted into the throttle opening θ. In step 3, the opening command value θr of the actuator is determined based on the operation amount of the accelerator pedal by the occupant.

In step 4, the throttle opening with different precision is switched. Throttle angle sensor 2
Is amplified and A / D-converted, and is used as a throttle opening measurement value in the calculation of the disturbance compensators 11 to 15 and the model matching compensators 16 to 19.
The analog output signal always contains a certain amount of noise, so that the disturbance compensators 11 to 15 may not function sufficiently and may not achieve the target throttle control resolution.

Therefore, as shown in FIG. 4, the analog output signal of the throttle angle sensor 2 is greatly amplified (four times in this example) to relatively reduce high frequency noise exceeding the effective frequency range of the amplifier. A / D
Since the input voltage of the converter naturally has an upper limit, at the time of idle control where a very high throttle control resolution is required,
In other words, this is performed only in the low throttle opening range, and after unit matching, as shown in FIG. 5, interpolation is performed with a normal A / D conversion value that is not amplified and used as a throttle valve opening detection value. In order to smoothly connect both A / D conversion values, an interpolation operation is performed between the two based on a normal A / D conversion value that is not amplified or a value obtained by performing an interpolation operation one sample cycle earlier.

[Mathematical formula-see original document] Interpolation value = k * (A / D conversion value 2) + (1-k)
(A / D conversion value 1), where (A / D conversion value 1) ≦ θ, k = 1, θ2
<(A / D conversion value 1 <θ1 when 0 <k <1, θ2 ≦
In the case of (A / D conversion value 1), k = 0.

In step 5, the frequency characteristics of the disturbance compensators (robust compensators) of the control blocks 11 and 12 shown in FIG. 2 are switched according to the control state of the engine, and the disturbance compensators 11 to 15 shown in FIG. Is calculated to calculate the disturbance estimation value u2. Switching of the frequency characteristic of the disturbance compensator will be described later. In step 6, the model matching compensators 16 to 19 shown in FIG. 2 match the response of the actual throttle opening with respect to the throttle opening command value to a predetermined desired response characteristic.

In steps 7 to 12, the fully closed and fully opened positions of the throttle valve are detected to correct the position. In step 7, it is determined whether or not the absolute value of the disturbance estimation value u2 exceeds a threshold value α described later. | U2 |
Is greater than the threshold value α, the process proceeds to step 9 where the counter CONT is incremented.
It is determined whether the time measured by the counter exceeds a predetermined time t. If | u2 | does not exceed the threshold value α, the counter is cleared in step 8.

The absolute value | u2 |
If the time exceeding the predetermined time t is longer than the predetermined time t, it is determined in step 11 that the throttle valve is in contact with the fully closed end or the fully open end and is locked. Correct the relationship between the position and the fully open position. Whether the throttle valve has contacted the fully closed end or the fully open end can be easily determined by the driving direction of the throttle valve at that time, that is, whether the throttle valve is driven in the closing direction or in the opening direction. I can judge.

In step 8, the current command value u calculated by the model matching compensators 16 to 19 shown in FIG.
1 is corrected by subtracting the disturbance estimated value u2 calculated by the disturbance compensators 11 to 14 to obtain a current command value Ir excluding the influence of disturbance and parameter fluctuation.
Output to

FIG. 6 is a flowchart showing the switching process of the frequency characteristic of the robust compensator in step 5 of FIG. In steps 51 and 52, the robust compensator 1 (cutoff frequency f1 [H
z]) and the robust compensator 2 (cutoff frequency f2 [H
z]), the disturbance estimation value 1 and the disturbance estimation value 2 are calculated. In the following step 53, the disturbance estimation value 1 or the disturbance estimation value 2 is selected according to the actual throttle opening degree θ which is the control state amount of the engine.

When θ> θo, the disturbance estimation value 1 is selected, and when θ <θo, the disturbance estimation value 2 is selected. The plurality of disturbance estimation values calculated by the plurality of disturbance compensators are used to calculate the throttle opening. Thus, the characteristics of the disturbance compensator can be largely changed in real time, and the step of the actual throttle opening can be minimized and made continuous.

As described above, the contact of the throttle valve with the fully closed end or the fully opened end is detected based on the estimated disturbance value, and the detected value of the throttle valve opening is corrected when the contact is detected. Fully closed and fully open ends of the valve can be detected quickly and accurately, so that the throttle valve does not contact the open / closed end to waste battery power and prevent mechanical damage to the throttle actuator. Can be. In addition, when the estimated disturbance value exceeds a predetermined value for a predetermined time, it is determined that the throttle valve is in contact with the fully closed end or the fully open end. Can be detected.

In the above-described first embodiment, the output of the throttle valve angle sensor is corrected by detecting that the throttle valve abuts on the fully closed end or the fully open end and locks. However, a foreign substance may be caught in the throttle valve or its driving mechanism, and the throttle valve may lock at a position other than the fully closed end and the fully opened end.
In such a case, if it is determined that the throttle valve is in contact with the fully closed end or the fully open end and the output of the angle sensor is corrected, the detection error will be rather increased.

Therefore, when the locked state of the throttle valve is detected, the angle sensor is not immediately corrected,
Stop the feedback control once. At this time, when the control is stopped, the throttle valve is configured to be held at an intermediate opening degree between the fully closed state and the fully opened state by a spring, and returns to the intermediate position which is the initial position. Thereafter, feedback control is started again, and if the locked state of the throttle valve is detected again, it is determined that the throttle valve is in contact with the fully closed end or the fully open end, and the position of the sensor output is corrected. On the other hand, if the throttle valve or its driving mechanism is locked by a foreign object, the foreign object may be naturally removed between the stop and the restart of the feedback control. The probability of prevention can be increased.

Second Embodiment of the Invention During the feedback control of the throttle valve opening, the operation shifts to the learning mode of the fully closed position and the fully opened position by a predetermined operation such as an operation of turning off the ignition key, and the fully closed position is changed. A second embodiment for correcting the fully open position will be described.
FIG. 7 shows a throttle valve opening control program according to the second embodiment. The configuration of the second embodiment is the same as the configuration of the first embodiment shown in FIGS. 1 and 2, and a description thereof will be omitted. Steps that perform the same processing as in the program shown in FIG. 3 will be assigned the same step numbers, and differences will be mainly described. Further, in this embodiment, the fully closed position learning mode will be described, and the description of the fully opened position learning mode will be omitted.

If the fully closed position learning mode is set in step 21 after the calculation of the actual throttle opening, step 22
Then, the throttle opening command value θr is decreased in the closing direction. In the following steps 4 to 6, the interpolation and the unit change of the throttle opening are performed as described above, and the calculation of the disturbance compensator (robust compensator) and the model matching compensator is performed.
The disturbance estimation value u2 is monitored while decreasing the throttle opening command value θr in the closing direction, and it is determined in step 23 whether the absolute value | u2 | of the disturbance estimation value exceeds the threshold α. When | u2 | exceeds the threshold value α, the routine proceeds to step 24, where the counter is incremented. In addition,
If the estimated disturbance value | u2 | does not exceed the threshold value α, the counter is cleared in step 25. Step 2
If the measured time of the counter exceeds the predetermined time t in step 6, it is determined that the throttle valve is in contact with the fully closed end, and the output of the angle sensor 2 is corrected in step 27, and step 28
Completes learning of the fully closed position.

In the learning mode of the fully open position, the same processing as described above may be performed by increasing the throttle opening command value θr and bringing the throttle valve into contact with the fully open end.

Next, the results of detecting the fully closed and fully opened positions of the conventional throttle actuator control device described above are compared with the results of detecting the fully closed and fully opened positions according to the first and second embodiments described above. Here, the detection result of the conventional throttle actuator control device is determined based on a deviation between an opening target value and an opening detection value in the opening feedback control of the above-described detection method (1), and a detection method ( The method of determining based on the duty ratio of the driving pulse of the actuator by the opening feedback control of 2) will be described as an example.

First, the thresholds for determining the fully closed and fully open positions in each detection method are determined. The threshold value is the drive control state where the maximum load is applied to the throttle actuator,
That is, when the opening command value θr is changed stepwise from fully closed to fully opened to fully closed by preventing the throttle valve from contacting the fully closed end and the fully open end, a duty ratio equivalent value (by a predetermined constant) (The value before conversion into the actual duty ratio) and the maximum value of the disturbance estimation value u2 are 110% of the maximum value. However, the opening deviation Δθ (= θr−θ) is the maximum value.

FIG. 8 shows the opening command value θr [degree] when the opening command value θr is changed stepwise from 0 ° to 75 °,
The opening detection value θ [degree] and the duty ratio equivalent value (dut)
y, no unit), the opening deviation Δθ (= θr−θ), and the estimated disturbance value u2 [degree]. Since the maximum value of the duty ratio equivalent value is 60, 66 of 110% thereof is set as the threshold value. Since the maximum value of the opening deviation Δθ is 75, the threshold value is set to 75. Since the maximum value of the disturbance estimation value u2 is 9, the threshold value is set to 10.

FIG. 9 shows a simulation result of the detection operation according to the conventional apparatus and the above embodiment. This simulation uses a throttle valve configured to be held at an intermediate opening by a spring when the power is turned off.
This is when the angle is reduced from 0 degrees to a ramp shape (-200 degrees / 1 second). In the figure, the opening command value θ is
r, the opening detection value θ by the angle sensor 2, the duty ratio equivalent value (conventional detection method (2)), the opening deviation Δθ (conventional detection method (1)), the disturbance estimation value u2 (first and 2 shows a change of the second embodiment). The detection delay time from when each parameter exceeds the threshold value to when the detection result of the fully closed position is actually obtained is set to 100 ms.

In the conventional detection method (2) based on the duty ratio of the drive pulse of the actuator, after the throttle valve abuts on the fully closed position (point x in the drawing), the duty ratio equivalent value thresholds at point a. Over value -66, 100m
The fully closed position is detected at point b after the detection delay time of s. That is, the detection time by this conventional detection method is 455 ms from the point x to the point b.

In the conventional detection method (1) based on the opening deviation Δθ, after the throttle valve abuts on the fully closed position (point x in the drawing), the opening deviation Δθ becomes a threshold value at point c. -7
The fully closed position is detected at a point d exceeding 5 and after a detection delay time of 100 ms. That is, the detection time by this conventional detection method is 455 ms from the point x to the point d.

On the other hand, in the detection method according to the above embodiment, the throttle valve abuts on the fully closed position (x in the drawing).
), The disturbance estimation value u2 exceeds the threshold value 10 at the point e, and the fully closed position is detected at the point f after a detection delay time of 100 ms. That is, the detection time according to the above embodiment is x
It is 105 ms from the point to the point f. Thus, the fully closed position can be detected about 350 ms earlier in the detection time according to the above-described embodiment than in the detection method using the conventional device.

In the configuration of the above embodiment, the actuator 1 controls the actuator, the current control amplifier 5 controls the driving means, the throttle angle sensor 2 and the sensor signal processing circuit 3 control the opening detection means, and the throttle valve controller 4 controls the actuator. Blocks 16 to 19 serve as control means, and control blocks 11 to 1 of the throttle valve controller 4.
5 is a disturbance estimating means, and the throttle valve controller 4
Constitute open / close end detection means and opening degree detection value correction means, respectively.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a first embodiment.

FIG. 2 is a control block diagram illustrating a configuration of a throttle valve controller.

FIG. 3 is a flowchart illustrating a throttle valve opening control program according to the first embodiment;

FIG. 4 is a diagram illustrating a method of processing a throttle opening detection value.

FIG. 5 is a diagram illustrating a method of processing a throttle opening detection value.

FIG. 6 is a flowchart illustrating a frequency characteristic switching process of a disturbance compensator (robust compensator).

FIG. 7 is a flowchart illustrating a throttle valve opening control program according to the second embodiment;

FIG. 8 is a diagram illustrating a method of determining a threshold value for determining a fully closed position and a fully opened position.

FIG. 9 is a diagram illustrating a simulation result of a fully closed position detection operation.

[Explanation of symbols]

 Reference Signs List 1 throttle actuator 2 throttle angle sensor 3 sensor signal processing circuit 4 throttle valve controller 5 current control amplifier 11-15 disturbance compensator (robust compensator) 16-19 model matching compensator

Claims (4)

[Claims] An actuator for opening and closing a throttle valve of an internal combustion engine, a driving unit for driving the actuator, an opening detection unit for detecting an opening of the throttle valve, and an opening command value for the opening detection value Control means for calculating a drive command value for causing the actuator to follow, controlling the drive means, and estimating a disturbance applied to the actuator based on the drive command value and the opening detection value, and calculating the drive command value. A throttle actuator control device comprising a disturbance estimating means for correcting, wherein an open / close end detecting means for detecting that the throttle valve abuts on a fully closed end or a fully open end based on a disturbance estimated value by the disturbance estimating means. When the contact of the throttle valve with the fully closed end or the fully open end is detected by the open / close end detecting means, the opening degree of the opening degree detecting means is detected. A throttle actuator control device, comprising: an opening detection value correction means for correcting an output value. 2. The throttle actuator control device according to claim 1, wherein the opening / closing end detecting means sets the throttle valve to a fully closed end or a fully open end when the state in which the estimated disturbance value exceeds a predetermined value continues for a predetermined time. A throttle actuator control device, which determines that it is in contact. 3. The throttle actuator control device according to claim 1, wherein the opening degree is detected even when the opening / closing end detecting means detects contact with the fully closed end or the fully opened end of the throttle valve. The value correction means does not immediately correct the opening detection value, the control means temporarily suspends the control of the drive means, and after the control is resumed by the control means, the throttle valve is fully closed again by the open / close end detection means. The throttle actuator control device according to claim 1, wherein, when contact with the end or the fully open end is detected, the opening detection value correction means corrects the opening detection value of the opening detection means. 4. The throttle actuator control device according to claim 1, wherein the opening / closing end detection unit and the opening detection value correction unit include:
A throttle actuator control device for shifting to a position learning mode of a fully closed end and a fully open end of the throttle valve in response to a predetermined operation.