JPH10288052A - Throttle valve control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a throttle valve control device capable of improving overshooting and, in addition, reducing a response time. SOLUTION: Based on the position of a throttle valve 10 detected by a potentiometer 50 and the deviation of a target value of the throttle valve 10, a micro computer 100 outputs PWM signals to the drive circuit 70 of a motor 40. Also the micro computer 100 is provided with a PID controller 140 and an ON-OFF controller 150. The ON-OFF controller 150 is provided with an acceleration mode to provide the maximum input of PWM 100% to the drive circuit 70 and a deceleration mode to provide the negative maximum input of PWM 100% to it. When the absolute value of the deviation is larger than a first prescribed value, a control device 18 switched over from the PID controller 140 to the ON-OFF controller 150.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a throttle valve control device for adjusting an intake air flow rate of an internal combustion engine mounted on an automobile or the like.

[0002]

2. Description of the Related Art In a throttle valve control device that controls a throttle valve by a motor, the intake air amount of the engine is controlled in consideration of not only the depression amount of an accelerator pedal but also the state of the engine obtained from each sensor. Therefore, it can be widely used for traction control, idle speed control, auto cruise, air-fuel efficiency control for lean burn, and the like.

[0003] Regarding the position control method of the throttle valve,
Various studies have hitherto been made. For example, Japanese Patent Application Laid-Open No. 7-33
As described in Japanese Patent No. 2136, there is known a throttle valve control device in which PID control is applied to throttle valve position control. In this method, the proportional gain, the integral gain, and the differential gain of the PID control system are changed according to the magnitude of the deviation between the valve position and the target position.

[0004]

In valve position control in a throttle valve control device, it is important to ensure responsiveness while preventing overshoot. In the throttle valve control device, generally, a mechanical stopper is provided to prevent the valve from rotating beyond the fully open or fully closed position. It is not preferable to repeat the collision with the stopper from the viewpoint of the durability of the throttle. Therefore, when the valve position command is almost fully opened or almost fully closed, it is necessary to particularly control the valve position so as not to overshoot. In addition, in order to ensure performance such as air-fuel efficiency control, it is necessary to minimize overshoot. Further, in order to accelerate or decelerate the vehicle or the passenger without giving a feeling of strangeness during traveling, it is necessary to increase the response speed.

A throttle motor is usually driven by a step motor or a DC motor under PWM control. However, there is a limit to the motor torque that can be applied, and there is a region where the motor torque is saturated. When a feedback control such as a PID control is used as a conventional valve positioning control, parameters (proportional, integral and differential gains) can be selected so as to increase the gain of the control system in order to shorten the response time. It is good, but if you increase the gain of the control system,
It becomes unstable in the saturation region and overshoots. If the gain of the control system is reduced to prevent overshooting, the response time becomes longer. That is, improvement of overshoot and reduction of response time generally have a trade-off relationship, and a compromise must be determined by tuning parameters. That is, the conventional throttle valve control device has a problem that it is difficult to improve the overshoot and shorten the response time.

An object of the present invention is to provide a throttle valve control device capable of improving overshoot and reducing response time.

[0007]

[Means for Solving the Problems]

(1) In order to achieve the above object, the present invention provides a valve position detecting means for detecting a position of a throttle valve, a valve driving means for driving a throttle valve, a target value of a throttle valve, and the valve position detecting means. In a throttle valve control device having feedback control means for inputting a signal based on a deviation from the detected throttle valve position to the valve drive means and performing feedback control, an acceleration mode for providing a maximum input to the valve drive means and a negative mode are provided. ON-OFF control means having a deceleration mode that gives the maximum input of the above, and switching means for switching from the feedback control means to the ON-OFF control means when the absolute value of the deviation is greater than a first predetermined value e1. It is prepared for. With this configuration, the response time can be reduced.

(2) In the above (1), preferably,
When the absolute value of the deviation is greater than a first predetermined value e1, the ON-OFF means accelerates the throttle valve in the acceleration mode, determines a braking distance of the throttle valve, and determines the determined braking distance. When the distance becomes equal to the deviation, the throttle valve is decelerated in the deceleration mode. With such a configuration, overshoot can be improved and the response time can be reduced.

(3) In the above (2), preferably,
The switching means sets the absolute value of the deviation to a second predetermined value e2
When it becomes smaller, the ON-OFF control means is switched to the feedback control means. With this configuration, it is possible to perform control to reduce the deviation to 0 by feedback control.

(4) In the above (3), preferably,
The feedback control means includes a stop mode for controlling the speed to be 0 and a steady mode for controlling the deviation to be 0. When switching from the ON-OFF control means to the feedback control means, The mode shifts to the stop mode. With such a configuration, by shifting to the stop mode, overshoot can be prevented.

(5) In the above (4), preferably,
A speed detecting means for detecting a moving speed of the throttle valve, wherein the feedback control means switches the stop mode to the steady state when the speed of the throttle valve detected by the speed detecting means becomes lower than a predetermined speed value v1. The mode is shifted to the mode. With this configuration, the deviation is quickly reduced to 0 by controlling in the steady mode.
It can be done.

(6) In the above (4), preferably,
The feedback control means includes an integral element, and when the feedback control means executes the stop mode, sets an initial value of the integral element so as to be equal to an output in a mode executed before the stop mode. It was made. With such a configuration, control at the time of mode switching can be smoothly performed.

(7) In the above (2), preferably,
When the target value of the throttle valve changes and the deviation increases while the ON-OFF control means is executing the deceleration mode,
The mode shifts to the acceleration mode. With such a configuration, even when the target value changes, the mode is promptly shifted to the acceleration mode, and the response time can be reduced.

(8) In the above (2), preferably,
While the ON-OFF control means is executing the deceleration mode, the target value of the throttle valve is changed and the absolute value of the deviation becomes the second value.
When the value becomes larger than the predetermined value e2, the mode shifts to the reverse acceleration mode. With such a configuration, even when the target value changes, the mode is promptly shifted to the acceleration mode, and the response time can be reduced.

(9) In the above (4), preferably,
If the target value of the throttle valve is changed during execution of the acceleration mode by the ON-OFF control means and the absolute value of the deviation becomes smaller than the second predetermined value e2, the mode shifts to the stop mode. Things. With such a configuration,
Even when the target value changes, the mode quickly shifts to the stop mode so that the speed can be controlled.

(10) In the above (4), preferably, while the feedback control means is in the stop mode, the target value of the throttle valve is changed, and the absolute value of the deviation becomes larger than the first predetermined value e1. Is also reduced, the mode shifts to the steady mode. With this configuration, even when the target value changes, the mode can be promptly shifted to the steady mode, and the deviation can be controlled to be zero.

(11) In the above (1), preferably, the ON-OFF means makes the absolute value of the deviation equal to the first value.
When the predetermined value e1 is larger than the predetermined value e1, the throttle valve is accelerated in the acceleration mode, and when a predetermined time elapses after the shift to the acceleration mode, the throttle valve is decelerated in the deceleration mode. With such a configuration, overshoot can be improved and the response time can be reduced.

(12) In order to achieve the above object, the present invention provides a valve position detecting means for detecting a position of a throttle valve, a valve driving means for driving a throttle valve, a target value of the throttle valve and the valve position. Feedback control means for inputting a signal based on the deviation from the throttle valve position detected by the detection means to the valve drive means and performing feedback control, wherein the maximum input is applied to the valve drive means. ON-OFF control means having a mode and a deceleration mode for giving a negative maximum input; and when the absolute value of the rate of change of the target position is equal to or more than a third predetermined value, the feedback control means sets the ON-OFF control to ON-OFF.
Switching means for switching to the FF control means. With this configuration, the response time can be reduced.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A throttle valve control device according to an embodiment of the present invention will be described below with reference to FIGS. First, a system configuration of a throttle valve control device according to an embodiment of the present invention will be described with reference to FIG. FIG. 1 is a block diagram of an entire system of a throttle valve control device according to an embodiment of the present invention.

The throttle valve 10 is a butterfly valve rotatably mounted in the intake pipe 20. The throttle valve 10 is rotated by a DC motor 40 via a reduction gear 30, and the throttle opening is varied. The opening of the throttle valve 10 is detected by a potentiometer 50 attached to the rotation shaft of the throttle valve 10. The opening signal of the throttle valve 10 detected by the potentiometer 50 is used as an A / D signal in the microcomputer 100.
The signal is converted into a digital signal by the converter 110 and is taken into the microcomputer 100.

The target position setting means 60 calculates the target position of the valve on the basis of information such as the amount of depression of the accelerator, the engine speed, the speed of the vehicle, and the like. The microcomputer 100 performs a PWM corresponding to a control law based on the target position of the valve input from the target position setting means 60 and the position of the throttle valve 10 detected by the potentiometer 50.
The signal is output to the motor drive circuit 70.

A subtractor 120 in the microcomputer 100 calculates a difference (deviation) between the target position and the current position of the valve. The deviation signal is switched and input to the PID controller 140 that performs feedback control and the ON-OFF controller 150 that performs open-loop control via the switch unit 130. The PID controller 140 and the ON-OFF controller 150 are realized by software on the microcomputer 100. The DC motor 40 has an input voltage limitation, and can be considered as an actuator including a saturation element. Under normal operating conditions, the deviation is small and the DC motor 40
Is not saturated, so the output of the PID controller 140 is applied to the drive circuit 70 at this time. Also, the deviation is large and PID
When the output of the controller 140 is saturated, the binary output is turned on.
-Switch to the OFF controller 150.

The switching of the switch means 130 is controlled by a switch 160. The switch 160 includes the subtractor 12
A deviation signal output from 0 is input. Switch 160
Calculates the control law based on the deviation signal by the PID controller 140
And ON-OFF controller 150.

A position signal of the throttle valve 10 detected by the potentiometer 50 is input to the speed detector 170, and a signal of the displacement speed of the throttle valve 10 is output as a differential value of the position signal. Based on the signal of the displacement speed of the throttle valve 10 output by the speed detector 170, the PID controller 140 switches between a stop mode and a steady mode described later.

Next, the relationship between the control cycle for updating the PWM duty and the update cycle for the target position will be described with reference to FIG. FIG. 2 is an explanatory diagram illustrating a relationship between a control cycle for updating the PWM duty and an update cycle of the target position in the throttle valve control device according to the embodiment of the present invention.

As shown in FIG. 2, the target position setting means 60 calculates a target position (target value) of the valve at a predetermined update cycle. In the example shown in FIG. 2, the target value is calculated at the timings of times t0, t1, t2,. Update cycle (t1-t
0) is, for example, 20 ms. On the other hand, as shown in FIG. 2, the microcomputer 100 updates the duty of the PWM signal at a predetermined control cycle. In the example shown in FIG. 2, the duty of the PWM signal is updated at times s0, s1, s2,. Update cycle (s1-s
0) is, for example, 3 ms. In other words, the control cycle for updating the PWM duty is set to about one-several to several tens of times the update cycle of the target position. By selecting each cycle in this way, the target position changes stepwise as viewed from the control system as shown in FIG. In this case, it is possible to perform control focusing on maintaining the target position at a constant value until the next update time. That is, when the target value changes frequently, the PID controller 140 and the ON-
It is necessary to control by switching the OFF controller 150. However, as described above, when the target position holds a constant value until the next update time, it is not necessary to frequently switch. .

In this embodiment, there are four control modes. That is, the steady mode and the stop mode executed by the PID controller 140, and the ON-OFF controller 150
Are the acceleration mode and the deceleration mode to be executed. These control modes are switched based on the deviation signal and the speed signal.

Next, an example of transition of the control mode will be described with reference to FIG. FIG. 3 is an explanatory diagram of transition of a control mode in the throttle valve control device according to one embodiment of the present invention.

In FIG. 3A, it is assumed that the throttle valve is in a fully closed state of the idle opening degree until time ti. The control at the idle opening until time ti is performed by PI
This is control in a steady mode by the D controller 140. Details of the control in the steady mode will be described later.

Then, at time ti (= s0), the target position value of the throttle valve output by the target position setting means 60 changes stepwise from the idle opening to the full opening,
It is assumed that a constant value is held until the next target position update time. At this time, the position target value is fully opened, but the opening of the throttle valve remains fully closed as shown in FIG. Therefore, the difference (positional deviation) between the target position and the current position of the valve output by the subtractor 120 increases as shown in FIG. When the position deviation is larger than the predetermined value e1, the switch 160 is turned on by the ON-OFF controller 150.
Switch to The ON-OFF controller 150 is shown in FIG.
As shown in (b), the throttle valve is accelerated in the acceleration mode in which the PWM duty is + 100%. Thereby, the response time can be shortened. Details of the acceleration mode will be described later with reference to FIG.

Next, the throttle valve is decelerated at an appropriate time so that the throttle valve does not overshoot. Therefore, the ON-OFF controller 150 always calculates the braking distance during acceleration of the valve (acceleration mode). The braking distance is such that the PWM duty is -1 with respect to the rotation direction of the valve.
When a reverse command of 00% is given, the distance (rotation angle) traveled by inertia until the valve stops. The braking distance can be calculated by solving the rotational motion equation from the valve speed at the start of braking. However, in order to prevent overshoot, it is desirable that the calculated value is slightly larger than the actual braking distance. Then, a simplified equation of rotational motion (Equation 1) is used.

[0032]

(Equation 1)

Where J is the moment of inertia of the throttle, q is the position of the valve, K is the motor torque constant, R is the motor resistance, and V is the value added to the motor when the PWM duty is 100%. Voltage. When the braking distance is obtained by using this equation of rotational motion, (Equation 2)
Can be approximated by

[0034]

(Equation 2)

Therefore, when the determined braking distance becomes equal to the position deviation at time Sj, the ON-OFF controller 150 switches to the deceleration mode. In deceleration mode,
As shown in FIG. 3B, a reverse rotation command (PWM duty is -100%) is issued to decelerate the valve. Details of the deceleration mode will be described later with reference to FIG.

As described above, the ON-OFF controller 1
50 executes the control of the acceleration mode and the deceleration mode to accelerate the valve by first setting the PWM duty to 100%, and then to start the DC motor with the PWM duty at 100% at an appropriate time so as not to overshoot. By reversing the rotation (PWM duty is -100%) and decelerating the valve, the response time can be shortened and the overshoot can be prevented. Here, in the acceleration mode,
The PWM duty is + 100% (ON control), and in the deceleration mode, the PWM duty is -100% (OFF
Therefore, such control is referred to as ON-OFF control.

Next, in the deceleration mode, the position deviation decreases, but the above-mentioned braking distance is a conservative approximation. Therefore, the valve stops before reaching the target position. After sufficiently decelerating nearby, the switch 160
The normal linear feedback control is executed by switching from the N-OFF controller 150 to the PID controller 140. When the position deviation signal becomes smaller than the predetermined value e2 at the time Sk, the switch 160 switches to the PID controller 140, cancels the deceleration mode, and executes the linear feedback control.

Here, in order to reduce the valve speed as quickly as possible, the PID controller 140 executes a stop mode. In the stop mode, a servo system for feedback control regarding speed is realized by an optimal regulator or PID control. In the stop mode, the speed information is acquired and obtained,
Control is performed so that the speed becomes zero. Details of the stop mode will be described with reference to FIG.

Further, the PID controller 140 sets the time Sm
, The throttle valve 1 output by the speed detector 170
When the signal of the displacement speed of 0 becomes smaller than the predetermined value v1, the mode shifts from the stop mode to the steady mode. In the steady mode, the control is performed such that the deviation becomes 0 and the speed and the position also become 0, so that the valve position approaches the target position without a steady deviation. Details of the steady mode will be described later with reference to FIGS. Since the position deviation and the speed of the valve are already sufficiently small, the position deviation can be quickly reduced without saturating the actuator even if the gain is increased.

Next, the state transition of each control mode will be described with reference to FIG. FIG. 4 is a state transition diagram from the steady mode in the throttle valve control device according to the embodiment of the present invention.

In the steady mode, when the target position rises stepwise, the control is switched according to the state transition as shown in FIG. Here, the state transition is performed in synchronization with the control cycle. When the absolute value of the deviation is smaller than the predetermined value e1, the steady mode is repeated. The target position changes,
When the absolute value of the deviation becomes larger than the predetermined value e1, the mode shifts to the acceleration mode. In the acceleration mode, the braking distance is calculated every time, and when the braking distance becomes larger than the deviation, the mode shifts to the deceleration mode. The two modes of the acceleration mode and the deceleration mode are nonlinear ON-OFF control. In the deceleration mode, the throttle valve approaches the target position while decelerating.

When the absolute value of the deviation becomes equal to or less than the predetermined value e2,
Move to stop mode. The predetermined value e1 is larger than the predetermined value e2. In the stop mode, the linear feedback control is applied to further reduce the speed. When the speed becomes equal to or lower than the predetermined value v1, the mode returns to the steady mode, and the position deviation is converged.

Next, the state transition when the position target value changes in a mode other than the steady mode will be described with reference to FIGS. First, the state transition when the position target value changes during the acceleration mode will be described with reference to FIG. FIG. 5 is an explanatory diagram of the state transition when the position target value changes during the acceleration mode in the throttle valve control device according to the embodiment of the present invention.

During the acceleration mode, at time Tj, when the position target value r changes from r3 to r2 and the absolute value of the position deviation becomes equal to or less than the predetermined value e2, the stop mode is directly executed without passing through the deceleration mode. Move to When the position target value r changes to r2 or more or r3 or less and the absolute value of the position deviation is larger than the predetermined value e2, the acceleration mode is maintained. At this time, if the position target value is larger than the valve position as evaluated by the absolute value, the motor is rotated in the current rotation direction. Otherwise, a large overshoot has occurred due to the update of the position target value, so the motor rotation direction is reversed and acceleration is performed in the opposite direction.

Next, a state transition when the position target value changes during the deceleration mode will be described with reference to FIG. FIG. 6 is an explanatory diagram of state transition when the position target value changes during the deceleration mode in the throttle valve control device according to the embodiment of the present invention.

During the deceleration mode, at time Tk, the position target value r changes in a direction in which the position target value r becomes greater than or equal to the position target value r2, and when the absolute value of the position deviation increases, the mode shifts again to the acceleration mode. When the position target value r changes so as to be slightly higher than the position target value r3 but smaller than the position target value r2, deceleration is continued. When the target position value changes to a value equal to or smaller than the target position value r3 or equal to or larger than r4 and the absolute value of the position deviation becomes equal to or smaller than the predetermined value e2, the mode shifts to the stop mode, considering that the target value has approached the target value to some extent. When the absolute value of the position deviation is larger than the predetermined value e2 and changes to the position target value r4 or less so as to cause overshoot, the mode shifts to the acceleration mode, and the motor rotation direction is reversed.

Further, referring to FIG. 7, a state transition when the target position value changes during the deceleration mode in the direction in which the throttle valve closes will be described. FIG. 7 is an explanatory diagram of state transition when the position target value changes during the deceleration mode in the throttle valve control device according to the embodiment of the present invention.

During the deceleration mode, at time Tk, when the position target value r becomes equal to or less than r4, the position target changes in a direction to become larger than the valve position, and when the absolute value of the position deviation increases, the mode shifts to the acceleration mode again. I do. When the position target value r changes so as to be slightly closer to the valve position so that the target position value r becomes equal to or more than r4 and equal to or less than r3, deceleration is continued as it is. Position target value r
Is changed so as to be equal to or less than r2 and equal to or more than r3, and when the absolute value of the positional deviation becomes equal to or less than the predetermined value e2, the mode shifts to the stop mode, considering that the absolute value approaches the target value to some extent. When the absolute value of the position deviation is larger than the predetermined value e2 and the position target value r changes to be equal to or more than r2 so that an overshoot occurs, the mode shifts to the acceleration mode, and the motor rotation direction is reversed.

Finally, the transition from the stop mode will be described. When the target value changes during execution of the stop mode, the absolute value of the position deviation is evaluated. If the target value is equal to or more than the predetermined value e1, the mode shifts to the acceleration mode. When the absolute value of the position deviation is smaller than the predetermined value e1, the operation returns to the steady mode. In the stop mode, the speed is controlled to be 0, and the case where the absolute value of the position deviation does not become larger than the predetermined value e1 is as follows.
Since the target position does not change so much,
By immediately shifting to the steady mode without waiting for the valve to stop (the speed becomes zero), the followability of the valve is improved, the control performance is improved, and the deviation can be quickly reduced to zero. Because.

Here, state transitions in modes other than the steady mode shown in FIGS. 5 to 7 will be collectively described with reference to FIG. FIG. 8 is a state transition diagram when the position target value changes in a mode other than the steady mode in the throttle valve control device according to the embodiment of the present invention.

In the acceleration mode, as described with reference to FIG. 5, when the absolute value of the deviation becomes smaller than the predetermined value e2, the mode shifts to the stop mode. In the deceleration mode, as described in FIGS. 6 and 7, when the absolute value of the deviation becomes smaller than the predetermined value e2, the mode shifts to the stop mode. When the absolute value of the deviation increases or when the condition A is satisfied, the mode shifts to the acceleration mode. When the absolute value of the deviation increases, the mode shifts to the acceleration mode by rotation in the same direction. As shown in FIG. 5, the condition A includes a case where the valve position is changing in the fully open direction, a case where the deviation e is smaller than a predetermined value −e2, and a case where the deviation e is smaller than a predetermined value −e2, as shown in FIG.
When the valve position changes in the fully closed direction, the deviation e becomes larger than the predetermined value e2. When such a condition is satisfied, the mode shifts to the acceleration mode by reverse rotation.

The acceleration mode and the deceleration mode, which are nonlinear processes, do not directly shift to the steady mode. In the acceleration mode and the deceleration mode, the valve speed is often high,
On the other hand, in the steady mode, when the position deviation is small and the speed is small, the gain is increased so that the position matches the target value. Therefore, when the mode directly shifts from the acceleration mode or the deceleration mode to the steady mode, the control input is saturated, which may cause instability or overshoot.
Therefore, from both modes, the stationary mode is reached through the stop mode. The operation shifts from the stop mode when the absolute value of the deviation becomes smaller than the first predetermined value e1.

Next, the processing contents of the four control modes will be described with reference to FIGS. First, the processing content in the steady mode will be described with reference to FIGS. 9 and 10. FIG. 9 is a flowchart of the steady mode in the throttle valve control device according to the embodiment of the present invention, and FIG. 10 is a block diagram of the control law calculation in the steady mode.

In the steady mode, in order to make the valve position asymptotic to the target position value, the calculation is performed by integrating the position deviation. When the power is turned on, the initial value of the integral may be 0, but when the mode transits from another mode to the steady mode, the initial value of the integral is set as the steady mode initializing process so that the PWM duty does not suddenly change. Must be set to an appropriate value.

Therefore, in step 910, the PID
Controller 140 determines whether or not the previous time is the steady mode, that is, whether or not the mode has shifted from another mode.

When the mode has shifted from another mode, in step 920, the PID controller 140 sets an initial value of integration as initialization processing. That is, the initial value of the integral in the PID calculation is set back by calculation so that the PWM duty calculated in the other mode is the same as the PWM duty set for the first time in this mode.

When the steady mode is continued and when the setting of the integral initial value in step 920 is completed, in step 930, the A / D converter 110 converts the position signal of the throttle valve detected by the potentiometer into an A / D signal. D-convert.

In step 940, the speed detector 17
0 calculates the speed from the difference between the positions, and the subtractor 120 calculates the position deviation from the difference between the target position value and the current position.

In step 950, the PID controller 1
40 calculates the control law of the steady mode. Here, FIG.
Using 0, the contents of the control law will be described. For the deviation, it has a proportional gain KP, an integral gain KI, and a differential gain KD. A product obtained by multiplying the deviation by a proportional gain KP, a product obtained by integrating the deviation and then multiplied by an integral gain KI, and a product obtained by differentiating the deviation and multiplied by a differential gain KD are added. Further, the speed has a speed feedback gain f1. For the position, it has a position feedback gain f2. The PWM command value is obtained by adding the product of the speed multiplied by the speed feedback gain f1 and the product of the position multiplied by the position feedback gain f2 to the added value for the deviation. Thus, control is performed so that the steady-state deviation of the position becomes zero.

In step 960, the PID controller 1
Reference numeral 40 converts the calculated control law into a PWM duty and outputs it. The PWM duty is determined by the drive circuit 7 in FIG.
0 is input to drive the motor.

Next, the processing contents of the acceleration mode will be described with reference to FIG. FIG. 11 is a flowchart of an acceleration mode in the throttle valve control device according to one embodiment of the present invention.

In the acceleration mode, when the absolute value of the deviation is equal to or larger than a predetermined value, the valve is accelerated with the maximum torque that can be output by the motor as the actuator.

In step 1110, ON-OFF
The controller 150 determines the sign of the position deviation. When the position deviation is positive, the target position is larger than the current valve position.
50 sets the PWM duty to 100%. When the position deviation is negative, the target position is smaller than the current valve position, so in step 1130, the ON-OFF controller 150 sets the PWM duty to -100%, that is,
Set the reversal. Then, in step 1140,
The ON-OFF controller 150 outputs PWM.

As described above, in this mode, a PWM duty whose rotation direction is opposite to that of the rotation direction is given to the motor according to the sign of the position deviation.

Next, the processing content of the deceleration mode will be described with reference to FIG. FIG. 12 is a flowchart of the deceleration mode in the throttle valve control device according to one embodiment of the present invention.

In the deceleration mode, the valve is decelerated with the maximum torque that can be output from the actuator when the valve position approaches a target position to some extent (position deviation is less than e2) due to acceleration in the acceleration mode.

In step 1210, ON-OFF
The controller 150 determines the sign of the position deviation. When the position deviation is positive, the valve is moving in the positive direction, so in step 1220, the ON-OFF controller 150
The WM duty is set to -100%, that is, reverse rotation.
When the position deviation is negative, the valve is moving in the negative direction, and therefore, in step 1230, the ON-OFF controller 1
50 sets PWM to 100%. Then, in step 1240, the ON-OFF controller 150
Output WM.

As described above, in this mode, the PWM duty whose rotational direction is opposite to that of the sign of the positional deviation is given to the motor.

Next, the processing contents of the stop mode will be described with reference to FIG. FIG. 13 is a flowchart of a stop mode in the throttle valve control device according to one embodiment of the present invention.

The stop mode is a mode in which the valve approaching the target position is stopped by linear feedback control.
In step 1310, the A / D converter 110 A / D converts the position signal of the throttle valve detected by the potentiometer. In step 1320, the speed detector 170 calculates the speed from the difference between the positions, and the subtractor 120 calculates the position deviation from the difference between the target position value and the current position.

In step 1330, the PID controller 140 obtains a PWM command value such that the speed becomes zero based on the speed control rule in the control rules shown in FIG. Then, in step 1340, the PID
The controller 140 outputs PWM.

As described above, in the present embodiment, when the position deviation is larger than the predetermined value, the ON-OF
The acceleration mode is set by the F control, the response time is shortened, and during acceleration, the braking distance is calculated, and the mode shifts to the deceleration mode based on the braking distance.
The throttle valve will not overshoot.

When the position deviation is small, the control that does not overshoot is executed in the steady mode of the PID control.

Further, control is performed without overshooting from the acceleration mode or the deceleration mode through the stop mode without directly shifting to the steady mode.

Therefore, a sufficient response speed can be obtained, and
Since overshoot can be minimized,
Performances such as idle speed control, auto cruise control, and air-fuel efficiency control can be ensured, and acceleration and deceleration can be realized without giving a driver or passenger a sense of discomfort during normal driving.

Further, by dividing the control method between the saturation region and the linear region of the input gain, it is easy to select parameters (proportional, integral, differential gain, etc.) for achieving the desired control performance, and to obtain the parameter sensitivity. A smaller and more robust control system can be configured.

In the above description, when the position deviation becomes larger than the predetermined value e1, the PWM duty is increased by +10.
The throttle valve is accelerated by setting the acceleration mode to 0%. However, as a condition for shifting to the acceleration mode, the mode may shift to the acceleration mode when the rate of change of the target position output by the target position setting means 70 is equal to or more than a predetermined value. The case where the rate of change of the target position is equal to or more than the predetermined value is a case where the target position is suddenly changed. In such a case, the position deviation is larger than the predetermined value. Therefore, it is also possible to detect that the rate of change of the target position has become equal to or greater than the predetermined value and shift to the acceleration mode.

When the braking distance obtained during the execution of the acceleration mode becomes equal to the position deviation, the mode is switched to the deceleration mode. However, as a condition for shifting to the deceleration mode, a predetermined time after shifting to the acceleration mode,
It is also possible to shift to the deceleration mode. That is, here, a predetermined time is set such that overshoot does not occur even after the mode shifts to the deceleration mode after the acceleration mode.

[0079]

According to the present invention, the overshoot in the throttle valve control device can be improved and the response time can be shortened.

[Brief description of the drawings]

FIG. 1 is a block diagram of an overall system of a throttle valve control device according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram illustrating a relationship between a control cycle for updating a PWM duty and an update cycle of a target position in a throttle valve control device according to an embodiment of the present invention.

FIG. 3 is an explanatory diagram of transition of a control mode in a throttle valve control device according to an embodiment of the present invention.

FIG. 4 is a state transition diagram from a steady mode in the throttle valve control device according to the embodiment of the present invention.

FIG. 5 is an explanatory diagram of state transition when a position target value changes during an acceleration mode in the throttle valve control device according to one embodiment of the present invention.

FIG. 6 is an explanatory diagram of a state transition when a target position value changes during a deceleration mode in the throttle valve control device according to the embodiment of the present invention.

FIG. 7 is an explanatory diagram of state transition when a position target value changes during a deceleration mode in the throttle valve control device according to one embodiment of the present invention.

FIG. 8 is a state transition diagram when the position target value changes in a mode other than the steady mode in the throttle valve control device according to the embodiment of the present invention.

FIG. 9 is a flowchart of a steady mode in the throttle valve control device according to the embodiment of the present invention.

FIG. 10 is a block diagram of a control law calculation in a steady mode according to an embodiment of the present invention.

FIG. 11 is a flowchart of an acceleration mode in the throttle valve control device according to the embodiment of the present invention.

FIG. 12 is a flowchart of a deceleration mode in the throttle valve control device according to one embodiment of the present invention.

FIG. 13 is a flowchart of a stop mode in the throttle valve control device according to one embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 ... Throttle valve 20 ... Intake pipe 30 ... Reduction gear 40 ... DC motor 50 ... Potentiometer 60 ... Target position setting means 70 ... Motor drive circuit 100 ... Microcomputer 110 ... A / D converter 120 ... Subtractor 130 ... Switch means 140 ... PID controller 150 ... ON-OFF controller 160 ... switch 170 ... speed detector

Continued on the front page (51) Int.Cl. ⁶ Identification code FI F02D 45/00364 F02D 45 / 00364G 364H

Claims (12)

[Claims] 1. A valve position detecting means for detecting a position of a throttle valve, a valve driving means for driving a throttle valve, and a deviation between a target value of the throttle valve and a throttle valve position detected by the valve position detecting means. A feedback control means for inputting a signal based on the signal to the valve drive means and performing feedback control, wherein an ON mode having an acceleration mode for giving a maximum input to the valve drive means and a deceleration mode for giving a negative maximum input to the valve drive means -OFF control means, and when the absolute value of the deviation is larger than a first predetermined value e1, the feedback control means sets the ON-OFF
A throttle valve control device, comprising: switching means for switching to control means. 2. The throttle valve control device according to claim 1, wherein the ON-OFF means accelerates the throttle valve in the acceleration mode when an absolute value of the deviation is larger than a first predetermined value e1. A throttle valve control device, wherein a braking distance of the throttle valve is obtained, and when the obtained braking distance becomes equal to the deviation, the throttle valve is decelerated in the deceleration mode. 3. The throttle valve control device according to claim 2, wherein said switching means sets the absolute value of said deviation to a second predetermined value e2.
A throttle valve control device that switches from the ON-OFF control means to the feedback control means when the value becomes smaller. 4. The throttle valve control device according to claim 3, wherein the feedback control means includes a stop mode for controlling the speed to be zero, and a steady mode for controlling the deviation to be zero. When switching from ON-OFF control means to said feedback control means, a transition is made to said stop mode. 5. The throttle valve control device according to claim 4, further comprising speed detecting means for detecting a moving speed of the throttle valve, wherein the feedback control means detects a speed of the throttle valve detected by the speed detecting means. When the speed becomes lower than a predetermined speed value v1, the mode shifts from the stop mode to the steady mode. 6. The throttle valve control device according to claim 4, wherein said feedback control means includes an integral element, and said feedback control means outputs an output in a mode executed prior to executing said stop mode. A throttle valve control device, wherein an initial value of the integral element is set to be equal to: 7. The throttle valve control device according to claim 2, wherein the target value of the throttle valve is changed and the deviation increases while the ON-OFF control means is executing the deceleration mode.
A throttle valve control device for shifting to an acceleration mode. 8. The throttle valve control device according to claim 2, wherein the target value of the throttle valve is changed while the ON-OFF control means is executing the deceleration mode, and the absolute value of the deviation is set to the second value.
A throttle valve control device which shifts to a reverse acceleration mode when the value exceeds a predetermined value e2. 9. The throttle valve control device according to claim 4, wherein the target value of the throttle valve is changed while the ON-OFF control means is executing the acceleration mode, and the absolute value of the deviation is set to the second predetermined value. The throttle valve control device according to claim 1, wherein the mode shifts to the stop mode when the value becomes smaller than the value e2. 10. The throttle valve control device according to claim 4, wherein the target value of the throttle valve is changed while the feedback control means is executing the stop mode, and the absolute value of the deviation is set to the first predetermined value e1. A throttle valve control device that shifts to the above-mentioned steady mode when it becomes smaller. 11. The throttle valve control device according to claim 1, wherein the ON-OFF means accelerates the throttle valve in the acceleration mode when an absolute value of the deviation is larger than a first predetermined value e1. A throttle valve control device that decelerates the throttle valve in the deceleration mode when a predetermined time elapses after shifting to the acceleration mode. 12. A valve position detecting means for detecting a position of a throttle valve, a valve driving means for driving a throttle valve, and a difference between a target value of the throttle valve and a throttle valve position detected by the valve position detecting means. A feedback control means for inputting a signal based on the signal to the valve drive means and performing feedback control, wherein an ON mode having an acceleration mode for giving a maximum input to the valve drive means and a deceleration mode for giving a negative maximum input to the valve drive means And an on-off control unit, wherein when the absolute value of the rate of change of the target position is equal to or greater than a third predetermined value,
A throttle valve control device, comprising: switching means for switching to control means.