JPH10238382A - Throttle valve control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a throttle valve control device to always obtain a constant reply to the same deviation during operation regardless of unevenness in a control amount occurring due to frictional resistance during rest. SOLUTION: A throttle valve controlled device is constituted centering around a CPU2 and an ROM and an RAM are arranged in an annex-form manner. The CPU2 comprises a rest detecting part 20 to detect the static state of a throttle valve; an average value operation part 21 to compute an average value of a controlled variable (an integrated item) during the rest of the throttle valve each time a rest state is detected by the detecting part 20; and a controlled variable correction part 22 to correct an integration controlled variable during rest based on an average value. A controlled variable operation part 23 computes a controlled variable, provided for a DC motor 12 to drive a throttle valve, by using the computing result of the controlled variable correction part 22.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a throttle valve of an internal combustion engine which is not operated directly by a driver's accelerator operation, but to a required opening determined in consideration of information other than the accelerator operation amount. The present invention relates to a so-called electronic throttle control that is controlled by a motor or the like. More specifically, the present invention relates to a throttle valve control device that can appropriately drive a throttle valve irrespective of a variation in a control amount when the throttle valve is stationary, which is a problem when a throttle valve is minutely responded.

[0002]

2. Description of the Related Art In recent years, electronic throttle type throttle valve control has been rapidly spreading because it is useful for realizing traction control and other engine controls. An example of a conventionally known electronic throttle technology is disclosed in Japanese Patent Application Laid-Open No. 7-332136. The control device described in this publication basically uses well-known PID control (or PI control) as arithmetic processing for controlling a throttle valve. And
When the deviation is small, control is performed to increase the gain value as compared with when the deviation is large. As a result, even for the operation of the throttle valve with frictional resistance, the drive torque is quickly raised against the frictional resistance,
The responsiveness in subtle control in a region where the deviation of the opening is small is improved.

[0003]

However, the conventional throttle valve control has the following problems.
That is, the throttle valve control is basically performed by controlling the torque generated by a motor (such as a DC motor) connected to the throttle valve with respect to the load and the frictional resistance applied to the throttle valve. The control of the motor is performed by feedback control such that the opening of the throttle valve is detected and the detected opening is made equal to the required opening. Then, in order to stop the throttle valve in a state where the required opening degree is matched, the torque generated by the motor may be balanced to the torque obtained by adding the load applied to the throttle valve and the frictional resistance. Therefore, once it is stationary, while the throttle valve is stationary,
The control amount input to the motor keeps a constant value. However, since the static friction resistance has a certain width and the operation process of the throttle valve is not the same, the control amount in the stationary state of the throttle valve does not always have the same value and has a variation in a certain width. It will be.

Therefore, when the throttle valve is operated with a deviation, the torque actually generated by the motor differs due to the variation in the control amount in the stationary state, and there is a problem that the operation varies. In particular, this poses a problem when a small response is required to enable fine throttle operation.

Here, the actual response will be described with reference to FIG. When the generated torque of the motor when the throttle valve is in a stationary state is in the middle of the variation (the center of the static friction force), if a predetermined control amount corresponding to the deviation is given to the motor, a good response according to the required opening can be obtained (curve a). However, when the torque generated by the motor when the throttle valve is at rest is large (the upper limit of the static friction force),
If a small control amount is added, the throttle valve starts to move. Therefore, when a predetermined control amount corresponding to the deviation is given to the motor, most of the motor-generated torque corresponding to the control amount is used after the motor starts moving ( Since the opening speed of the motor increases), a response with a small deviation causes an overshoot (curve b). Conversely, when the torque generated by the motor in the stationary state of the throttle valve is small (the lower limit of the static friction force), the throttle valve does not start moving unless a large amount of control is added. Most of the motor generated torque corresponding to the control amount is used until the motor starts moving (used to resist static friction force), so that a response with a small deviation causes a noticeable response delay. (Curve c). The response of these curves b and c is the variation in the operation of the throttle valve.

Accordingly, the present invention has been made to solve the above-described problem, and is always applicable to the same deviation even at a minute response regardless of a variation in a control amount generated by a frictional resistance force at rest. An object of the present invention is to provide a throttle valve control device capable of obtaining a constant response.

[0007]

In order to solve the above problems, according to the first aspect of the present invention, the throttle valve of the internal combustion engine is controlled based on a deviation between a required opening degree and an actual opening degree of the throttle valve. A throttle valve control device comprising: a control amount calculating unit that calculates a control amount including an integral term; and a drive signal determining unit that determines a drive signal of the throttle valve based on the control amount. A stationary detecting means for detecting, an average calculating means for calculating an average value of the integral term each time the stationary detecting means detects a stationary state, and a control amount correcting means for correcting the integral term based on the average value. Wherein the control amount calculating means calculates the control amount using a calculation result of the control amount correcting means.

Generally, a throttle valve is provided with a return spring that constantly biases the valve to the closing side, and a motor that opens and closes the valve. Then, the return valve and other resistance force are balanced with the torque generated by the motor, so that the throttle valve is stopped. However, since the static friction resistance has a certain width as described above, the torque generated by the motor at the same opening degree, in other words, the control amount given to the motor varies. In the stationary state, the control amount given to the motor depends only on the integral term (remaining amount) of the control amount because no deviation occurs.

Therefore, according to the first aspect of the present invention, the stationary state detecting means for detecting the stationary state of the throttle valve, and each time the stationary state detecting means detects the stationary state, the average value of the integral term when the throttle valve is stationary ( (Hereinafter, simply referred to as “average value”) and a control amount correction unit that corrects the integral control amount based on the average value to detect that the throttle valve is in a stationary state. Each time the calculation is performed, the average value is calculated, and the integral term can be appropriately corrected based on the average value.

Therefore, by appropriately correcting the integral term, when the deviation generated when the throttle valve is operated is the same, a necessary control amount for the deviation can be given to the motor. Therefore, the same operating torque can always be generated, and it is possible to respond according to the required opening degree, so that the problems of overshoot and response delay can be solved.

According to a second aspect of the present invention, in the throttle valve control device according to the first aspect, the control amount correction means includes a difference between the stationary term integral term and the average value in the stationary term integral term. Is added to perform the correction.

According to the second aspect of the present invention, the control amount correcting means includes:
Since the correction is performed by adding the difference between the stationary integral term and its average value to the integral term, the throttle valve operates even if the control amount (integral term) when the throttle valve is stationary varies. In this case, the control amount given to the motor is a control amount of a size corrected for the deviation from the average value. That is, if the deviation from the average value is large, the control amount is corrected to be small. Conversely, if the deviation from the average value is small, the control amount is corrected to be large. Therefore, when the throttle valve is operating, the operating torque required to obtain the same opening can be generated when the deviation is the same, regardless of the situation at rest, so that the same effect as the invention of claim 1 can be obtained. Is obtained.

According to a third aspect of the present invention, in the throttle valve control apparatus according to the first aspect, the control amount correction means changes the integral term at rest to the average value.

According to a third aspect of the present invention, the control amount correcting means includes:
By changing the stationary integral term to its average value, the stationary integral term is always replaced by its average value even if a different control amount (integral term) is taken each time the throttle valve comes to rest. Therefore, when the throttle valve is operating, the operating torque required to obtain the same opening can be generated when the deviation is the same, regardless of the situation at rest, so that the same effect as the invention of claim 1 can be obtained. Is obtained. Furthermore, in the stationary state, the integral term at the stationary state is always the average value, so that the stationary stability is the best.

According to a fourth aspect of the present invention, in any one of the first to third aspects, the opening area of the throttle valve is divided into two or more areas. The average value is calculated every time.

As described above, the return spring is provided on the throttle valve. Then, due to the load characteristics of the return spring and the like, as shown in FIG. 7, the load force applied to the throttle valve varies depending on the opening. Therefore, in order to control the throttle valve with higher accuracy, it is difficult to correct the control amount with a single average value. Therefore, in the invention of claim 4, the optimal average value in each region is calculated by dividing the opening region of the throttle valve into two or more regions and calculating the average value of the integral term at rest for each region. Obtainable.
Then, the throttle valve can be controlled with extremely high accuracy by using the average value for each region and performing appropriate correction in accordance with the characteristics of each region. Further, since the average value is updated every time the stop state is detected, it is possible to cope with a change in the load force applied to the throttle valve due to a temporal change of the return spring or the like.

Further, the slot valve control device is provided with an opening sensor for measuring the opening of the throttle valve and a storage unit for storing the result of the control arithmetic processing. And
According to the fourth aspect of the present invention, each area is detected by an opening sensor, and the average value of each area is stored in a storage device, for example, a non-volatile RAM, and read out as necessary to execute arithmetic processing.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a throttle valve control device according to the present invention will be described in detail with reference to the drawings, taking concrete embodiments. This embodiment is a throttle valve controller for controlling a so-called electronic throttle of a gasoline engine for an automobile.

First, the basics of the electronic throttle will be described. As shown in FIG. 2, the electronic throttle includes a throttle valve 11 for adjusting the intake resistance of an intake pipe 14 serving as an intake passage to the engine, a DC motor 12 and an opening sensor 13 provided coaxially with the throttle valve 11. It consists of. The DC motor 12 and the opening sensor 13 are connected to an engine control unit (ECU) 10 having the throttle valve controller 1 and the required opening determining unit 30. DC motor 12
The throttle valve 11 is rotated around an axis in response to a drive signal from the throttle valve controller 1 to change its opening. The opening sensor 13 detects the actual opening of the throttle valve 11 and notifies the throttle valve controller 1 of the actual opening. Although not shown, the throttle valve 11 is configured to be biased toward the closing side by a return spring.

Here, the throttle valve 11 is not connected to the accelerator pedal by mechanical means such as a wire. Instead, it is driven by the DC motor 12 that receives a drive signal from the throttle valve controller 1 so that the required opening determined by the required opening determining unit 30 that receives the accelerator pedal depression amount and other signals is obtained. . The required opening degree determination unit 30 uses a publicly known CP.
A microcomputer constituted by a U or the like calculates a required opening degree of the throttle valve 11 based on various input signals and outputs the calculated opening degree to the throttle valve controller 1. The various signals input to the required opening degree determination unit 30 include the amount of depression of the accelerator pedal, the temperature of the engine coolant, the number of engine revolutions, the shift state of the automatic transmission, and the like. This is because output control that is not necessarily related to the operation of the accelerator pedal, such as first idling at the time of cold, rotation adjustment at the time of shifting, lean burn control at the time of intermediate output, or traction control, can be performed without a bypass.

The throttle valve controller 1 is shown in FIG.
As shown in (1), this is a microcomputer configured by combining a known CPU, ROM, RAM and the like. The CPU 2 calculates a drive signal based on a signal of the actual opening of the throttle valve 11 input from the opening sensor 13 and a signal of the required opening of the throttle valve 11 input from the required opening determining unit 30. And an arithmetic processing unit that outputs the signal to the DC motor 12. Then, as shown in FIG. 1, the configuration is based on a required opening degree and an actual opening degree of the throttle valve 11 and a signal.
A stillness detection unit 20 that detects the stillness of the throttle valve 11, and each time the stillness detection unit 20 detects the stillness,
An average value calculating unit 21 for calculating an average value of the integral control amount when the throttle valve 11 is stationary; a control amount correcting unit 22 for correcting the integral control amount based on the average value; Based on the deviation from the actual opening and the calculation result of the control amount correction unit 22, the throttle valve 1
Control amount calculation unit 2 for calculating a control amount for operating 1
3 and a drive signal determination unit 24 that determines a drive signal for the throttle valve 11 based on the control amount.

Although not shown in FIG. 3, these signals are transmitted and received through an appropriate interface. The CPU 2 has ROM 3 and R
AM4. In the ROM 3, various programs necessary for execution of the arithmetic processing by the CPU 2, reference data, and the like are prepared and stored in advance. R
The AM 4 is for temporarily storing a numerical value or the like that appears during execution of the arithmetic processing by the CPU 2 and reading it out as needed.
In FIGS. 2 and 3, the throttle valve controller 1 and the required opening degree determination unit 30 are shown as separate microcomputers, but these functions may be combined into one microcomputer.

Subsequently, the throttle valve controller 1
Will be described. In the throttle valve controller 1, the deviation HS between the signal of the input actual opening TA and the signal of the required opening RA is input.
Is calculated (including the sign), and the control amount correction unit 22 corrects the integral control amount VI. Then, based on the deviation HS, the necessary control amount is calculated by the sum of the proportional control amount VP and the integral control amount VI. The calculation is based on the so-called PI control. The cycle time is about 2 milliseconds and the deviation HS
Drive of the throttle valve 11 based on
It is performed about times. In the throttle valve control device of the present embodiment, the PI control is performed. However, it is needless to say that the throttle valve can be PID controlled by using a differential term in the control amount calculation.

The arithmetic processing of this control will be described below with reference to three embodiments, and each arithmetic processing will be described with reference to flowcharts. Each flowchart shows one cycle of processing, and the processing is actually repeated at a predetermined cycle.

First, the first embodiment will be described with reference to the flowchart of FIG. First, in order to determine whether the state of the throttle valve 11 is at rest, it is determined whether the actual opening TA matches the required opening RA (step (hereinafter simply referred to as “S”). .)
1). If the actual opening TA does not match the required opening RA (S1: No), it is not determined that the vehicle is in the stationary state, so that the stationary state determination counter (hereinafter simply referred to as “counter”) is cleared (S11). ), The calculation permission flag of the average value VIG is turned ON (set to “1”) (S12), and the process proceeds to the determination of the change in the required opening RA (S20). Here, the flag is 1-bit data to which a predetermined address is given, and the value of this 1-bit data is defined as either "1" or "0" as "ON", so that the flag is defined in the CPU. Can be given. In the present embodiment, when the permission flag is “1”, “ON” is defined. In this state, the calculation of the average value VIG is permitted.

On the other hand, if the actual opening TA coincides with the required opening RA (S1: Yes), then it is determined whether or not the counter is 40 milliseconds or more (stationary state) ( S2). If the counter has not reached 40 milliseconds (S2: No), it is not determined to be in the stationary state, so the counter continues to be incremented (S10), and the required opening RA
To the determination of the change (S20). If the counter is equal to or longer than 40 milliseconds (S2: Yes), it is determined that the apparatus is in the stationary state, and the permission flag is further determined (S2).
3). As a result of the flag determination in S3, if the flag is “0” (S3: No), a determination of a change in the required opening degree RA (S2)
Go to 0). If the flag is "1" (S3: Y
es) The calculation of the average value VIG is performed (S5). Note that the counter value for determining the stationary state is set to 40 milliseconds in S2, but this can be set arbitrarily.

In S5, the average value VIG is calculated by the following equation. VIG _i = VIG _i−1 + (VI−VIG _i−1 ) / 8 Here, VI is an integral control amount, and VIG is an average value of the integral control amounts. The subscript “i” indicates the current cycle and “i”
-1 "means the previous cycle (the same applies hereinafter). This calculation is performed once each time the operation is determined to be stationary in S2 and the operation is permitted in S3. When the calculation of the average value VIG in S5 is completed, the permission flag is set to "0" (S15), and the process proceeds to the determination of a change in the required opening degree RA (S20).

In step S20, the required opening RA changes, that is, the required opening of the current cycle (hereinafter referred to as "current required opening") RA and the required opening of the previous cycle (hereinafter referred to as "previous required opening"). .) It is determined whether or not RAO is different. If different (S20: Yes), a change in the actual opening TA is further determined (S21). On the other hand, the current required opening R
A is equal to the previous required opening RAO (S20: N
o), and proceeds to S30 to perform PI control.

In step S21, the actual opening degree TA changes, that is, the actual opening degree of the current cycle (hereinafter referred to as "actual opening degree") T.
It is determined whether or not A is equal to the actual opening of the previous cycle (hereinafter, referred to as “preceding actual opening”) TAO, and if they are equal (S21: Yes), the integral control amount VI is corrected (S22). On the other hand, when the actual opening TA and the previous actual opening TAO are different (S22: No), the process proceeds to S30 and performs PI control.

In S22, a correction calculation of the integral control amount VI is performed by the following equation. VI = VI + (VIG-VI) Here, VI is an integral control amount, and VIG is an average value of the integral control amounts. That is, by adding the difference (including the sign) between the integral control amount VI and the average value VIG to the integral control amount VI during operation, the control amount (integral control amount) for stopping the throttle valve varies. In addition, when the throttle valve is operated, the control amount given to the motor is a control amount having a magnitude obtained by correcting the deviation from the average value VIG. That is, if the deviation from the average value VIG is large, the control amount is corrected to be small, and conversely, if the deviation from the average value VIG is small, the control amount is corrected to be large. Therefore, when the throttle valve is operating, it is possible to generate the operating torque necessary to obtain the same opening when the deviation is the same, regardless of the state at rest.

In S30 and thereafter, so-called PI control is performed. In S30, the actual opening degree TA is calculated by the following equation.
Is performed. DA = TA + K × (TA−TAO) Here, DA is the actual opening after phase lead compensation, and K is the compensation gain. Of course, the detection signal of the opening degree sensor 13 may be used as it is without performing the phase lead compensation. In that case, S30 becomes unnecessary.

Subsequently, in S31, the deviation HS is calculated by the following equation. HS = RA-DA Next, in S32, the proportional control amount VP is calculated by the following equation. VP = KP × HS Here, KP is a proportional gain.

Further, in S33, the integral control amount VI is updated by the following equation. VI _i = VI _i-1 + KI × HS where KI is an integral gain. As described above,
A proportional control amount VP and an integral control amount VI are obtained, a control amount of the throttle valve is calculated in S34, and the control amount is further converted into a duty ratio DU. Then, the DC motor 12 generates a necessary torque based on the duty ratio DU, and drives the throttle valve 11. Note that S34
Is performed by the following equation. DU = KB × (VP + VI) Here, KB is a conversion coefficient for converting the control amount into a duty ratio. As for each gain used in the arithmetic processing after S30, a value corresponding to the deviation HS is prepared in advance in the ROM 3 as a map.

By repeating the above-described arithmetic processing in a time cycle of about 2 milliseconds, control for causing the actual opening to follow the change in the required opening of the throttle valve 11 is executed.

An example of the actual operation of the control of the throttle valve 11 according to the above flow is shown in FIG. 5 and will be described with reference to FIG. FIG. 5A shows the DC motor 12 when the throttle valve 11 is stationary.
5B shows the operation when the control amount given to the DC motor 12 is at the average value (curve n), and FIG. 5B shows the operation when the control amount given to the DC motor 12 deviates from the average value (curve m). )
Is shown. In FIG. 5, the DC motor 12
Is represented by a duty ratio DU. Here, the reference numerals in FIG. 5 are defined as follows.
The duty ratio in the stationary state at the center of the frictional resistance width is d ₁ , the duty ratio obtained by adding ΔD to the duty ratio d ₁ is d ₂ , and the duty ratio obtained by adding D to the duty ratio d ₁ is d ₃ (deviation HS Duty ratio corresponding to ₁ ). Note that ΔD is equivalent to a deviation from the average value of the duty ratio generated at rest, and D (= d ₃ −d ₂ ) is the deviation HS.
_This is a duty ratio added to correspond to ₁ . 4 indicates the actual opening degree DA calculated in S30 of FIG.

In the conventional throttle valve control device, an appropriate response can be obtained in the case of FIG. However, in the case of FIG. 5B, when the deviation HS ₁ occurs at the time t ₀ , the control amount D corresponding to the deviation HS ₁ is added, so that the duty ratio given to the motor becomes the deviation HS ₁
Is larger by ΔD than the duty ratio d ₃ required to cope with the above. That is, in order to open the throttle valve by _a minute deviation HS is though it is sufficient if you give the duty ratio d ₃ to the motor, giving extra only [Delta] D. Then, due to the extra duty ratio ΔD, the opening speed of the motor is increased, thereby causing overshoot.

On the other hand, in the throttle valve control device according to the present embodiment, the following response is obtained so that the same response as in FIG. Control. That is, as shown in FIG. 5 (b), in the quiescent time t ₀ before each cycle the duty ratio is d _2, is the opening of the throttle valve is constant (deviation is "0" state) Therefore, S in the flow
All is determined Yes in 1～S3, the average value calculation of the duty ratio in S5 (the result is a d ₁₎
Is performed. Here, in S5, the average value of the integral control amount is calculated. However, since the deviation does not occur during the stationary state, the average value of the integral control amount is the average value of the duty ratio because it depends only on the integral control amount. Then, after calculating the average value, the process proceeds to S20, where No is determined, the calculations in S30 to S34 are performed, and the DC motor 12 is driven by the duty ratio obtained as a result of the calculation. In this case, when the duty ratio is d ₂ , the average value is d ₁ , and Δ
A shift of D (= d ₂ −d ₁ ) has occurred. This is due to frictional resistance.

On the other hand, in the first cycle after time t ₀ ,
No is determined in S1 in the flow, and S11, S1
After the processing of No. 2 is performed, the process proceeds to S20. And S2
0, it is determined as Yes in S21, and after the correction of the integral control amount is performed in S22, the calculations in S30 to S34 are performed, and the DC motor is determined by the duty ratio obtained as a result of the calculation. 12
Is driven. In this case, the duty ratio to be added is corrected to (D + (d ₁ -d ₂ )), so that the duty ratio to be added to the DC motor 12 is d ₃ . Thus, the duty ratio applied to the DC motor 12 is a d ₃ is an appropriate duty ratio deviation HS _1. Therefore, the response of the throttle valve 11 is similar to that of FIG. 5A, and an appropriate response can be obtained without causing overshoot.

As described above in detail, according to the arithmetic processing of the first embodiment, the throttle control is corrected by adding the difference between the stationary integral control amount and the average value thereof to correct the additional integral control amount. Even when the control amount for stopping the valve (integral control amount) varies, when the throttle valve operates, the control amount given to the motor is a control amount that is corrected for the deviation from the average value. become. Therefore, during the operation of the throttle valve, the operating torque required to obtain the same opening can be generated when the deviation is the same, regardless of the state at rest, without causing overshoot or response delay. ,
The actual opening can be made to appropriately follow the required opening.

Next, the arithmetic processing of the second embodiment will be described. The feature of this embodiment is that the stillness detection unit 20
Detects the stationary state of the throttle valve 11, calculates the average value VIG in the average value calculation unit 21, and then the control amount correction unit 22 determines the integrated control amount VI at that time as the average value VIG.
The point is to replace it. Hereinafter, the calculation processing will be described with reference to the flowchart of FIG. Note that the same reference numerals are given to the same calculation processing as in the first embodiment, and furthermore, the calculation processing of PI control from S30 onward is the same, and therefore the description is omitted.

First, as in the first embodiment, S
At 1 and S2, it is determined whether or not the vehicle is in a stationary state. If the stationary state is determined (Yes in both S1 and S2), the flag is determined (S3). On the other hand, if No is determined in S1, the counter is cleared (S11) and the flag is turned on.
Then, the process proceeds to S30. Further, if No is determined in S2, the counter is kept incremented (S10),
Proceeding to S30, the arithmetic processing of PI control is performed.

If Yes is determined in S3, after the average value VIG is calculated in S5, the flag is turned off (S15), and the integral control amount VI is changed to the average value VIG (S16). That is, regardless of the value of the integral control amount VI when the throttle valve is at rest, the average value VIG is always obtained. Therefore, the operation of the throttle valve thereafter becomes the required opening degree as shown in FIG. Satisfactorily can be followed. On the other hand, when No is determined in S3, the process directly proceeds to S30 to perform the arithmetic processing of the PI control.

As described above, according to the calculation processing of the second embodiment, by changing the integral control amount at rest to its average value, the integral control amount differs every time the throttle valve comes to rest. Also, the integral control amount at rest is always replaced by its average value. Therefore, during the operation of the throttle valve, the operating torque required to obtain the same opening can be generated when the deviation is the same, regardless of the state at rest, without causing overshoot or response delay. The actual opening can be made to appropriately follow the required opening. Further, in the stationary state of the throttle valve, the control amount given to the motor has the average value, and therefore, the stationary stability of the throttle valve in the stationary state is very good.

Finally, the calculation processing of the third embodiment will be described. As described above, the slot valve is provided with the return spring, and the load force applied to the throttle valve varies depending on the opening degree as shown in FIG. 7 depending on the load characteristics and the like. Therefore, it is difficult to control the throttle valve with higher accuracy only by correcting the control amount with a single average value. Therefore, in the present embodiment, the opening degree region of the throttle valve 11 is divided into n regions, and the average value calculation unit 21 calculates the average value of the integral control amount at rest for each region, thereby achieving high precision. Control is secured. Hereinafter, the calculation processing will be described with reference to the flowchart of FIG. Note that the same reference numerals are given to the same calculation processes as those in the first and second embodiments, and the description of the PI control calculation processes in S30 and thereafter is omitted.

First, as in the first embodiment, S
At 1 and S2, it is determined whether or not the vehicle is in a stationary state. If the stationary state is determined (Yes in both S1 and S2), the flag is determined (S3). On the other hand, if No is determined in S1, the counter is cleared (S11) and the flag is turned on.
Then, the process proceeds to S30. Further, if No is determined in S2, the counter is kept incremented (S10),
Proceeding to S30, the arithmetic processing of PI control is performed.

If Yes in S3, the average value VIGn of the area n corresponding to the actual opening TA in the stationary state is searched (S4), and based on the searched average value VIGn, S5 is determined.
The calculation (update) of the average value VIG is performed. Where S
The average value VIGn searched in 4 is calculated and stored in the RAM 4 up to the previous cycle.
Further, the average value calculation in S5 is the same calculation as in the first embodiment. Then, the calculation result is stored as a new average value VIGn in the RAM 4 (S6), and is used in the calculation processing in S15 and thereafter.

After S15, the flag is turned off (S15) after the average value VIG is calculated in S5, as in the calculation process of the second embodiment, and the integral control amount VI is set.
Is changed to the average value VIG (S16). That is, regardless of the value of the integral control amount VI when the throttle valve is stationary, an appropriate average value VIG in each region is obtained.
As shown in (a), it is possible to favorably follow the required opening degree. On the other hand, when No is determined in S3, the process directly proceeds to S30 to perform the arithmetic processing of the PI control.

As described above, according to the calculation processing of the third embodiment, the opening region of the throttle valve is divided into n regions, and the average value of the integral control amount at rest is calculated for each region. By doing so, even when the load force applied to the throttle valve changes depending on the opening degree of the throttle valve, an optimum average value can be obtained for each region. Therefore, it is possible to control the throttle valve with high accuracy according to the opening degree of the throttle valve. Furthermore, the average value is updated every time a stop condition is detected,
High-precision control can be maintained even if the load force applied to the throttle valve changes due to a temporal change such as a return spring or contamination in the intake pipe. Note that the number of divisions n of the opening region of the throttle valve can be arbitrarily determined according to required accuracy.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various improvements and modifications can be made without departing from the gist of the present invention. Of course. For example, in the third embodiment, the arithmetic processing for correcting the average value of the integrated control amount of the throttle valve at rest is the same as the arithmetic processing of the second embodiment. Arithmetic processing is also possible. That is, in the flowchart of FIG. 4, between S3 and S5, S in FIG.
The processing in S4 in FIG. 8 may be performed between S5 and S15.

[0050]

As is apparent from the above description, according to the throttle valve control apparatus of the present invention, the stationary state detecting means for detecting the stationary state of the throttle valve, and each time the stationary state detecting means detects the stationary state, An average value calculating means for calculating an average value of the integral term when the throttle valve is stationary; and a control amount correcting means for correcting the integral term when the throttle valve is stationary based on the average value. By calculating the control amount given to the motor by using, it is possible to calculate the control amount necessary to respond to the required opening regardless of the variation of the control amount generated by the frictional resistance force at rest. . Therefore, when the throttle valve operates, if the deviation is the same, the drive signal is always the same, so that it is possible to respond according to the required opening degree,
The problems of overshoot and response delay can be solved.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a characteristic portion of a throttle valve control device of the present invention.

FIG. 2 is a diagram illustrating the basics of an electronic throttle.

FIG. 3 is a diagram illustrating a schematic configuration of a throttle valve controller.

FIG. 4 is a flowchart illustrating a first control process by a throttle valve controller according to the embodiment.

FIG. 5 is a graph illustrating the operation of a throttle valve.

FIG. 6 is a flowchart illustrating a second control process performed by the throttle valve controller according to the embodiment.

FIG. 7 is a graph showing a relationship between an opening degree of a throttle valve and a load force.

FIG. 8 is a flowchart illustrating a third control process by the throttle valve controller according to the embodiment.

FIG. 9 is a diagram illustrating the operation of a throttle valve by a conventional throttle valve control device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Throttle valve controller 2 CPU 3 ROM (medium) 4 RAM 11 Throttle valve 12 DC motor 13 Opening sensor 20 Stillness detection unit 21 Average value calculation unit 22 Control amount correction unit 23 Control amount calculation unit 24 Throttle valve drive unit 30 Request opening Degree determination unit

Claims (4)

[Claims] A control amount calculating means for calculating a control amount including an integral term of the throttle valve based on a deviation between a required opening degree and an actual opening degree of the throttle valve of the internal combustion engine; A throttle valve control device comprising: a drive signal determining unit that determines a drive signal of a throttle valve; a stationary detecting unit that detects a stationary state of the throttle valve; and the integral term each time the stationary detecting unit detects a stationary state. Average value calculating means for calculating an average value of the following, and control amount correcting means for correcting the integral term based on the average value, wherein the control amount calculating means uses a calculation result of the control amount correcting means. A throttle valve control device, wherein the control amount is calculated. 2. The throttle valve control device according to claim 1, wherein the control amount correction unit performs correction by adding a difference between an integral term at rest and the average value to the control term. Throttle valve control device. 3. The throttle valve control device according to claim 1, wherein said control amount correction means changes said integral term at rest to said average value. 4. The throttle valve control device according to claim 1, wherein an opening area of the throttle valve is divided into two or more areas, and the average value is calculated for each area. A throttle valve control device.