JPH1193746A - Throttle control device for internal combustion engine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the control precision and responsiveness of the opening of a throttle valve in an electronic throttle system. SOLUTION: A controlled variable which is converted into a control current to drive a torque motor 19 for setting a throttle value 5 to a specified opening corresponds to the transition of the throttle opening as a control parameter, e.g. and is learned by an ECU 20 and reflected in controlling the next opening of the throttle valve 5. Even if there is dispersion in the controlled variable resulting from product tolerance, aging change or the like, the optimum controlled variable is learned by changing the opening of the throttle valve 5 corresponding to the transition state of a specified control parameter, so that the control precision and responsiveness of the opening of the throttle valve 5 is improved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a throttle control device for an internal combustion engine that controls an opening degree of a throttle valve by driving an actuator according to an accelerator operation amount or the like.

[0002]

2. Description of the Related Art Conventionally, an internal combustion engine called an "electronic throttle system" for controlling a throttle valve opening (hereinafter also referred to as "throttle opening") by driving a motor as an actuator in accordance with an accelerator operation amount or the like. Throttle control devices are known. In such a throttle control device, for example, a current is supplied to a motor in accordance with a signal from an accelerator opening sensor that detects an opening corresponding to the amount of depression of an accelerator pedal (hereinafter, referred to as “accelerator opening”), When the motor is driven, the throttle valve is opened and closed to control the amount of air supplied to the internal combustion engine.
At this time, a proportional / integral / differential control (Proportional Integral Differential Control) is performed on the motor so that the deviation between the signal from the throttle opening sensor for detecting the opening of the throttle valve and the signal from the accelerator opening sensor is eliminated.
trol; hereinafter, simply referred to as “PID control”).

As a prior art document related to this, there is known one disclosed in Japanese Patent Application Laid-Open No. 3-31529. In this technique, a technique for improving the control accuracy of the opening degree of a throttle valve using a torque motor as an actuator is disclosed.

[0004]

In the above-described throttle control using the torque motor, variations in the control amount due to product tolerances, changes over time, and the like are not taken into consideration, and the throttle control corresponding to a predetermined operating state is not considered. There was a problem that the opening of the throttle valve could not be achieved.

Accordingly, the present invention has been made to solve such a problem, and provides a throttle control device for an internal combustion engine capable of improving control accuracy and responsiveness of a throttle valve opening in an electronic throttle system. Is an issue.

[0006]

According to the throttle control device for an internal combustion engine of the present invention, the control amount for driving the actuator for setting the opening of the throttle valve by the learning value reflecting means is changed to the transition of the control parameter. The learning is performed correspondingly and reflected in the next control of the opening degree of the throttle valve. As a result, even if the control amount varies due to a product tolerance, a change over time, or the like, the control accuracy and responsiveness of the throttle valve opening can be improved by the learned optimal control amount. Is obtained.

In the throttle control apparatus for an internal combustion engine according to the second aspect, the control amount at the start of the movement of the throttle valve from the reference position, that is, the control amount before the internal combustion engine is brought into the operating state, is learned by the learning value reflecting means. This eliminates not only product tolerances but also variations due to aging, improves control accuracy in subsequent throttle control, and achieves high reliability.

In the throttle control device for an internal combustion engine according to the third aspect, the learning value reflecting means learns the control amount according to the opening degree of the throttle valve, so that not only the product tolerance but also the opening of the throttle valve as a control parameter is controlled. Variations due to a temporal change in the range in which the degree transitions are eliminated, control accuracy in throttle control is improved, and high reliability can be obtained.

In the throttle control apparatus for an internal combustion engine according to the fourth aspect, the learning value reflecting means learns the control amount according to the opening degree of the throttle valve and the engine speed of the internal combustion engine, thereby controlling not only the product tolerance but also the control. Variations due to a temporal change in a range in which the opening degree of the throttle valve and the engine speed of the internal combustion engine as the parameters transition are eliminated, and the control accuracy in the throttle control is improved and high reliability can be obtained.

[0010] In the throttle control device for an internal combustion engine according to claim 5, the actuator is a torque motor,
The throttle valve is directly operated without passing through a gear box or the like. In this case, reliability is improved because the configuration is simple, and responsiveness can be improved because friction can be reduced.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below based on examples.

FIG. 1 is a schematic diagram showing an internal combustion engine to which a throttle control device for an internal combustion engine according to a first embodiment of the present invention is applied, and peripheral devices thereof.

In FIG. 1, an internal combustion engine 1 is configured as a V-type six-cylinder four-cycle engine. Internal combustion engine 1
An air cleaner 3 is provided on the upstream side of the intake passage 2 of
An air flow meter 4 for detecting an intake air amount (intake air amount) is provided downstream of the air cleaner 3. Further, a throttle valve 5 is provided downstream of the air flow meter 4 in the intake passage 2, and the opening degree of the throttle valve 5 (actual throttle) is controlled by the driving force of a torque motor 19 connected to a rotation shaft 5 a of the throttle valve 5. Is controlled, and the amount of intake air supplied to the internal combustion engine 1 is adjusted. The actual throttle opening of the throttle valve 5 is detected by a throttle opening sensor 16. Note that, even during idling, the actual throttle opening is controlled by the driving force of the torque motor 19, whereby the intake air amount GN is controlled, and feedback control is performed so that the engine speed NE matches the target idle speed. . Further, the intake passage 2 is connected to each cylinder of the internal combustion engine 1 via an intake manifold 6, and intake air from the intake passage 2 is distributed and supplied to each cylinder via the inside of the intake manifold 6.

Intake manifold 6 is provided with injectors 7 corresponding to each cylinder, and fuel injected from each injector 7 is mixed with intake air and supplied to each cylinder. This air-fuel mixture is introduced into the combustion chamber 9 of each cylinder as the intake valve 8 opens and closes, is burned by the ignition of a spark plug 10, pushes down a piston 11, and applies torque to a crankshaft 12. The exhaust gas after combustion is discharged to the outside via an exhaust passage 14 with opening and closing of an exhaust valve 13. A crank angle sensor 15 is provided at a position close to the crankshaft 12, and a pulse signal is output from the crank angle sensor 15 at every 30 ° CA (Crank Angle).

Reference numeral 20 denotes an ECU (Electronic Control Unit).
The ECU 20 controls the driving of the injector 7 based on the intake air amount GN signal detected by the air flow meter 4 and the engine speed NE signal detected by the crank angle sensor 15, and controls the throttle opening sensor The CPU controls the opening / closing of the throttle valve 5 based on the throttle opening TA signal detected by the accelerator pedal 16 and the accelerator opening Ap signal detected by the accelerator opening sensor 18 based on the amount of depression of the accelerator pedal 17.
The microcomputer mainly comprises a microcomputer 21, a ROM 22, a RAM 23, and the like.

Next, the configuration of the ECU 20 and its surroundings will be described in more detail with reference to FIG.

In the ECU 20, the CPU 21 reads an intake air amount GN signal, an engine speed NE signal, a throttle opening degree TA signal, an accelerator opening degree Ap signal, and the like, and is requested each time according to the operating state of the internal combustion engine 1. This is a well-known central processing unit that calculates a fuel injection amount of the injector 7, a throttle opening of the throttle valve 5, and the like.

The ROM 22 is a so-called program memory in which various control programs for controlling the operating state of the internal combustion engine 1, that is, a fuel injection control program, a throttle control program, and the like are stored in advance.
The CPU 21 executes various arithmetic processes in accordance with the program stored in the ROM 22. Also, RA
M23 is a so-called data memory that temporarily stores input / output data of various sensors, calculation processing data by the CPU 21, and the like.

The injector drive circuit 24 has an intake air amount GN
This is a circuit for driving the injector 7 by forming a signal of a predetermined pulse width corresponding to the fuel injection amount calculated through the CPU 21 based on the signal and the engine speed NE signal. As a result, an amount of fuel corresponding to the calculated fuel injection amount is injected and supplied from the injector 7 to each cylinder of the internal combustion engine 1.

The A / D conversion circuit 27 performs A / D (analog-digital) conversion of the read intake air amount GN signal, throttle opening degree TA signal, accelerator opening degree Ap signal, cooling water temperature THW signal, and the like. This is a circuit for outputting to the CPU 21. Further, the D / A conversion circuit 28 is
The command value TTP of the throttle opening of the throttle valve 5 by the torque motor 19 described later calculated by
/ A (digital-analog) conversion and output to the motor drive circuit 30. Motor drive circuit 30
Is a PID (proportional / integral / differential) control circuit 31, PWM
(Pulse Width Modulation) A command value TTP for driving a motor from the CPU 21 which is constituted by a circuit 32 and a driver 33.
This is a circuit for driving the torque motor 19 according to a signal.

Here, the command value T calculated by the CPU 21
The TP is converted into an analog value by the D / A conversion circuit 28 and input to the PID control circuit 31. PID control circuit 3
In P1, the PID calculation is executed to reduce the deviation based on the deviation between the command value TTP and the throttle opening TA signal from the throttle opening sensor 16, and the torque motor 19
Is calculated. In the PWM circuit 32, the control amount calculated by the PID control circuit 31 is input, and the control amount corresponds to a control current DUTY as a duty ratio signal.
And the driver 3 according to the control current DUTY
3, the torque motor 19 is driven, and the actual throttle opening TA signal detected by the throttle opening sensor 16 is adjusted so that it finally matches the throttle opening command value TTP (throttle target opening). You.

Next, the configuration of the throttle control device for the internal combustion engine will be described with reference to FIGS.

2 and 3, the accelerator pedal 1
An accelerator opening sensor 18 is provided in 7, and the accelerator pedal 17 is connected to an accelerator lever 41. The accelerator lever 41 is connected to the accelerator return spring 4
The accelerator pedal 17 is urged in the return direction (clockwise direction) by the accelerator pedals 2a and 42b. Accelerator pedal 1
7 is not operated (accelerator OFF), the accelerator lever 41 is pressed by the accelerator return springs 42a, 4b.
2b, it is held in a state of contact with the accelerator fully closed stopper 43. While the internal combustion engine 1 is operating, the position of the accelerator lever 41 based on the operation amount of the accelerator pedal 17 is detected by the accelerator opening sensor 18 as the accelerator opening Ap.

On the other hand, a valve lever 44 is connected to the rotation shaft 5a of the throttle valve 5, and this valve lever 44
Is urged in the opening direction of the throttle valve 5 (upward in FIG. 2) by the retreat running spring 45. For this reason, the motor OFF (torque motor 19) shown in FIG.
When the power is turned off, the retreat running spring 45 holds the valve lever 44 at the intermediate stopper position where it contacts the intermediate lever 47. At this time, the intermediate lever 47
Is biased by the valve return spring 48 in the closing direction of the throttle valve 5 (downward in FIG. 2), and is in contact with the intermediate stopper 49.

That is, the pulling force of the valve return spring 48 is set to be larger than the pulling force of the retreat running spring 45. Therefore, when the motor is turned off as shown in FIG. 2B, the pulling force of the valve return spring 48 overcomes the pulling force of the retreat running spring 45, and the intermediate lever 47 abuts and is held on the intermediate stopper 49. The throttle opening of the throttle valve 5 is held at an intermediate stopper position (throttle opening = about 3 °) regulated by the intermediate stopper 49.

On the other hand, during the normal control (motor ON) shown in FIG. 2A, the torque motor 19 rotates forward or backward according to the operation amount of the accelerator pedal 17, and the throttle opening of the throttle valve 5 is adjusted. The throttle opening TA of the throttle valve 5 at that time is detected by the throttle opening sensor 16. At this time, when opening the throttle opening, the torque motor 19 is rotated forward to
As shown in (a), while the valve lever 44 pushes up the intermediate lever 47 against the pulling force of the valve return spring 48, the throttle valve 5 is driven in the opening direction.
Conversely, when closing the throttle opening, the throttle valve 5 is driven in the closing direction while the torque motor 19 is rotated in the reverse direction to lower the valve lever 44, and the throttle valve 5 is moved to the fully closed stopper position (throttle opening position). Degree = 0
When the valve lever 44 is closed to (°), the valve lever 44 comes into contact with the throttle fully closed stopper 46, and further rotation is prevented.

Next, based on a flowchart of FIG. 4 showing a control current learning processing procedure in the CPU 21 in the ECU 20 used in the throttle control device for the internal combustion engine according to the first embodiment of the present invention. explain.
This control current learning routine is repeatedly executed by the CPU 21 in the ECU 20 when the internal combustion engine is started.

Referring to FIG. 4, it is first determined in step S101 whether the ignition switch has been turned ON. When the determination condition of step S101 is satisfied, that is, when the ignition switch is ON, step S101 is executed.
The process proceeds to step 102, where it is determined whether the starter has been turned ON. When the determination condition of step S102 is not satisfied, that is, when the starter is OFF (before cranking) and the process proceeds to step S103, the control current DUTY (duty ratio) for the torque motor 19 is reset to "0". . Next, the process proceeds to step S104, where a predetermined minute control current ΔDUTY is added to the control current DUTY. Next, the process proceeds to step S105, and it is detected whether the throttle valve 5 has been operated after a predetermined time based on a signal change from the throttle opening sensor 16. When the determination condition of step S105 is not satisfied, that is, when the operation of the throttle valve 5 is not detected, step S104 is performed.
And the same processing is repeatedly executed. Then, when the determination condition of step S105 is satisfied, that is, when the operation of the throttle valve 5 is detected, the process proceeds to step S106, and the control current DUTY at that time is set as a positive direction offset control current Ld ⁺ as a learning value. .

Next, the flow shifts to step S107, where the control current DUTY for the torque motor 19 is reset to "0" again. Next, the process proceeds to step S108, where a predetermined minute control current ΔDUTY is subtracted from the control current DUTY. Next, in step S109, whether the throttle valve 5 has been operated in the opposite direction but after a predetermined time has been detected based on a signal change from the throttle opening sensor 16 in the same manner as described above. If the determination condition of step S109 is not satisfied, that is, if the operation of the throttle valve 5 is not detected, the process returns to step S108, and the same processing is repeatedly executed. The determination condition is satisfied in step S109, that is, the process proceeds to step S110 when the operation of the throttle valve 5 is detected, the control current DUTY at that time is the negative direction of the offset control current Ld as learned values ^- is a, This routine ends. On the other hand, when the determination condition of step S101 is not satisfied, that is, when the ignition switch is OFF, or when the determination condition of step S102 is not satisfied, that is, when the starter is ON, the present routine is terminated without any operation. I do.

Next, based on a flowchart of FIG. 5 showing a processing procedure of reflecting a learning value in the CPU 21 in the ECU 20 used in the throttle control device for the internal combustion engine according to the first embodiment of the present invention. explain. This learning value reflection routine is executed every predetermined time by the ECU 20.
The processing is repeatedly executed by the CPU 21 in the inside.

In FIG. 5, first, in step S201, it is determined whether or not the current command value TTPi of the throttle opening is equal to or higher than the intermediate stopper position. When the determination condition of step S201 is satisfied, that is, when the current command value TTPi is equal to or higher than the intermediate stopper position, the process proceeds to step S202, and the previous integral term Iθi-1 corresponding to the control current DUTY for the torque motor 19 is set to “0”. It is determined whether it is less than. Here, the control current DUTY for the torque motor 19 controlled by PID (proportional / integral / derivative) is calculated by the following equation (1). Here, Δθ is a deviation (TTP−
TA), Kp is a proportional gain, Ki is an integral gain,
Kd is the differential gain.

[0032]

DUTY = Kp · Δθ + Ki · ∫Δθ + Kd · (dΔθ / dt) (1) Therefore, the integral term Iθ in the control current DUTY is calculated by the following equation (2).

[0033]

(2) Iθ = K i · ∫Δθ = K i · ∫ (TTP−TA) (2) When the determination condition of step S202 is satisfied, that is, when the previous integral term Iθi-1 is less than “0” Step S20
3 and the previous integral term Iθi-1 is reset to “0”. On the other hand, when the determination condition of step S202 is not satisfied, that is, when the previous integral term Iθi-1 is equal to or greater than “0”, step S203 is skipped. Then, the flow shifts to step S204, where the current integral term Iθi is calculated by the following equation (3), and this routine ends.

[0034]

(3) Iθi = Iθi−1 + Ki (TTPI−TAi) + Ld ⁺ (3) On the other hand, the determination condition of step S201 is not satisfied, that is,
If the current command value TTPi of the throttle opening is less than the intermediate stopper position, the process shifts to step S205 to determine whether or not the previous integral term Iθi-1 corresponding to the control current DUTY for the torque motor 19 exceeds “0”. Is done. When the determination condition of step S205 is satisfied, that is, when the previous integral term Iθi-1 exceeds “0”, the process proceeds to step S206, and the previous integral term Iθi-1 is reset to “0”. On the other hand, when the determination condition of step S205 is not satisfied, that is, when the previous integral term Iθi-1 is equal to or less than “0”, step S206 is skipped. Then, the flow shifts to step S207, the current integral term Iθi is calculated by the following equation (4), and this routine ends.

[0035]

Equation 4] Iθi = Iθi-1 + Ki ( TTPi -TAi) + Ld - ··· (4) Thus, the throttle control apparatus for an internal combustion engine of this embodiment, the opening degree of the throttle valve 5 in various sensor signals Control current DU to match the target opening set based on
CP in ECU 20 that calculates a control amount converted to TY
Control amount calculation means achieved in U21, and a control current DUT obtained by converting the control amount calculated by the control amount calculation means
Y drives the torque motor 19 as an actuator to control the opening degree of the throttle valve 5, and is converted into a throttle control means achieved by a motor drive circuit 30 and a control current DUTY calculated by the control amount calculation means. The ECU 20 learns the control amount at at least one point where the control parameter transitions and reflects the control amount on the next control of the opening degree of the throttle valve 5 by the throttle control means.
And a learning value reflecting means achieved by the CPU 21.

That is, the control amount converted to the control current DUTY for driving the torque motor 19 for setting the throttle valve 5 to a predetermined opening is learned in accordance with the transition of the control parameter, and the next throttle valve 5 This is reflected in the control of the opening degree. For this reason, even if the control amount varies due to product tolerance, aging, and the like, the throttle valve 5 corresponding to the transition state of the predetermined control parameter can be used.
The control amount and the responsiveness of the opening degree of the throttle valve 5 can be improved by learning the optimal control amount by the change in the opening degree.

In the throttle control device for an internal combustion engine according to the present embodiment, the learning value reflecting means includes a positive offset control current Ld ⁺ and a negative offset control current Ld related to the control amount converted into the control current DUTY. ^- it is to learn the motion beginning from intermediate stop position as the reference position of the throttle valve 5.

That is, when the ignition switch is ON and the starter is not yet turned ON, that is, the control amount at the start of the movement of the throttle valve 5 from the intermediate stopper position is learned. In this way, by learning the control amount before the internal combustion engine is brought into the operating state, the variation caused not only by the product tolerance but also by the aging is eliminated,
Control accuracy in the subsequent throttle control is improved, and high reliability can be obtained.

By the way, in the above embodiment, the motor is turned off.
Although the opening degree of the throttle valve 5 at the time is set by the intermediate stopper position, the present invention is not limited to this, and may be set to the fully closed position. You may. In this case,
It is sufficient to learn the offset control current only in the plus direction.

<Embodiment 2> FIG. 6 is a processing procedure of control current learning and learning value reflection in a CPU 21 in an ECU 20 used in a throttle control device for an internal combustion engine according to a second embodiment of the present invention. FIG. 7 is a flowchart showing the throttle opening TA used in FIG.
Offset control current Ld as a learning value for [°]
FIG. The control current learning / learning value reflection routine is executed by the CPU 2 in the ECU 20 every predetermined time.
1 is repeatedly executed. Further, the configurations of the internal combustion engine to which the throttle control device for an internal combustion engine according to the present embodiment is applied and the peripheral devices thereof are the same as those in FIGS. 1 to 3 in the above-described first embodiment. Omitted.

In FIG. 6, first, in step S301, the current offset control current Ldx corresponding to the current throttle opening TAi is calculated based on TABLE (TA) shown in FIG. That is, T in FIG.
In ABLE (TA), assuming that the current offset control current is Ldx, the throttle opening degree TA of 40 °, 50 °
Based on Ld40 and Ld50 of the offset control current Ld on TABLE (TA) corresponding to °, learning is performed as shown in the following equation (5).

[0042]

ΔLd = Ldx − {(50 ° −x °) / (50 ° −40 °)} × (Ld40 + Ld50) Ld40 ← Ld40 + ΔLd Ld50 ← Ld50 + ΔLd (5) Next, the process proceeds to step S302. This integral term Iθi
Is calculated by the following equation (6).

[0043]

Iθi = Iθi−1 + Ki (TTPI−TAi) + Ld (6) Next, the process proceeds to step S303 to calculate the difference between the current throttle opening TAi and the previous throttle opening TAi−1. It is determined whether the state in which the absolute value is equal to or smaller than the preset minute throttle opening ΔTA has continued for a predetermined time. When the determination condition of step S303 is satisfied, step S30
4 and the offset control current Ld on TABLE (TA) corresponding to the current throttle opening TAi in the calculation of the current integral term Iθi calculated in step S302.
Is rewritten. In this manner, when the throttle opening TA of the throttle valve 5 by the torque motor 19 is stable, the TA of FIG.
The offset control current Ld on BLE (TA) is sequentially rewritten.

As described above, the throttle control apparatus for an internal combustion engine according to the present embodiment learns the offset control current Ld related to the control amount converted into the control current DUTY according to the throttle opening TA of the throttle valve 5. It is.
That is, the throttle opening T in the operating state of the internal combustion engine 1
In accordance with A, the offset control current Ld on the table is updated. That is, the control amount is learned in accordance with the throttle opening TA in the operating state of the internal combustion engine 1, so that
Variations due to a temporal change in a range in which the throttle opening TA as a control parameter as well as the product tolerance changes are eliminated, and the control accuracy in the throttle control is improved, and high reliability can be obtained. <Embodiment 3> FIG. 8 is a flowchart showing a control current learning / learning value reflection processing procedure in the CPU 21 in the ECU 20 used in the throttle control device for an internal combustion engine according to the third embodiment of the present invention. 9 shows the throttle opening TA [°] and the engine speed [rpm] used in FIG.
5 is a two-dimensional map showing an offset control current Ld as a learning value for. The control current learning / learning value reflection routine is executed by the CPU 21 in the ECU 20 every predetermined time.
Is repeatedly executed. Further, the configurations of the internal combustion engine to which the throttle control device for an internal combustion engine according to the present embodiment is applied and the peripheral devices thereof are the same as those in FIGS. 1 to 3 in the above-described first embodiment. Omitted.

In FIG. 8, first, in step S401, the current offset control current Ldx corresponding to the current throttle opening degree TAi and the current engine speed NEi based on the map MAP (TA, NE) shown in FIG. Is calculated. That is, assuming that the current offset control current is Ldx in MAP (TA, NE) in FIG. 9, MAP (TA, NE) corresponding to TA1, TA2 of the throttle opening TA and NE1, NE2 of the engine speed NE. X
Learning is performed based on 1, x2, x3, and x4 as shown in the following equation (7).

[0046]

X1 ← x1 + (Ldx−x1) / 4 x2 ← x2 + (Ldx−x2) / 4 x3 ← x3 + (Ldx−x3) / 4 x4 ← x4 + (Ldx−x4) / 4 (7) Then, the process proceeds to step S402, where the current integral term Iθi
Is similarly calculated by equation (6) in the second embodiment.

Next, the routine proceeds to step S403, where the current throttle opening TAi and the previous throttle opening TAi-1 are used.
And the absolute value of the difference between the current engine speed NEi and the previous engine speed NEi-1 is equal to or less than the predetermined minute throttle opening .DELTA.TA, and the absolute value of the difference between the current engine speed NEi and the previous engine speed NEi-1 is set in advance. It is determined whether the following state has continued for a predetermined time. When the determination condition of step S403 is satisfied, the process proceeds to step S404, and step S402 is performed.
The offset control current Ld on the MAP (TA, NE) corresponding to the current throttle opening TAi and the current engine speed NEi in the calculation of the current integral term Iθi calculated by
Is rewritten. In this manner, when the throttle opening TA of the throttle valve 5 and the engine speed NE of the internal combustion engine 1 by the torque motor 19 are stable, the MAP (TA, NE) in FIG. The offset control current Ld above is sequentially rewritten.

As described above, the throttle control apparatus for an internal combustion engine according to the present embodiment uses the offset control current Ld related to the control amount converted into the control current DUTY as the operating condition of the internal combustion engine 1 and the throttle opening TA and the engine. The learning is performed according to the rotational speed NE. That is, the offset control current Ld on the map is updated according to the throttle opening TA and the engine speed NE in the operating state of the internal combustion engine 1. That is, the control amount is learned in accordance with the throttle opening TA and the engine speed NE in the operating state of the internal combustion engine 1, so that not only the product tolerance but also the throttle opening TA and the engine speed NE as control parameters are adjusted. Variations due to temporal changes in the transition range are eliminated, control accuracy in throttle control is improved, and high reliability can be obtained.

In the above-described embodiment, the torque motor 19 is used as the actuator. However, the present invention is not limited to this.
It can also be configured using a motor or the like. In particular, when the present invention is applied to a throttle control system using a torque motor, the effect that the accuracy and responsiveness to the throttle opening can be improved is remarkable.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing an internal combustion engine to which a throttle control device for an internal combustion engine according to first to third examples of the embodiment of the present invention is applied and peripheral devices thereof.

FIG. 2 is a schematic diagram showing a main configuration of a throttle control device for an internal combustion engine according to first to third examples of the embodiment of the present invention.

FIG. 3 is a perspective view illustrating a main configuration of a throttle control device for an internal combustion engine according to first to third examples of the embodiment of the present invention.

FIG. 4 is a diagram showing E used in a throttle control device for an internal combustion engine according to a first example of the embodiment of the present invention.
9 is a flowchart illustrating a control current learning processing procedure in a CPU in a CU.

FIG. 5 is a diagram showing E used in a throttle control device for an internal combustion engine according to a first example of the embodiment of the present invention.
9 is a flowchart showing a processing procedure for reflecting a learning value in a CPU in a CU.

FIG. 6 is a diagram illustrating an E used in a throttle control device for an internal combustion engine according to a second example of the embodiment of the present invention.
It is a flowchart which shows the processing procedure of control-current learning and learning value reflection in CPU in CU.

FIG. 7 is a table showing an offset control current with respect to a throttle opening used in FIG. 6;

FIG. 8 is a diagram showing E used in a throttle control device for an internal combustion engine according to a third example of the embodiment of the present invention.
It is a flowchart which shows the processing procedure of control-current learning and learning value reflection in CPU in CU.

FIG. 9 is a two-dimensional map showing the offset control current with respect to the throttle opening and the engine speed used in FIG.

[Explanation of symbols]

 Reference Signs List 1 internal combustion engine 5 throttle valve 16 throttle opening sensor 18 accelerator opening sensor 19 torque motor (actuator) 20 ECU (electronic control unit) 30 motor drive circuit

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification code FI G05B 13/02 G05B 13/02 L G05D 3/12 G05D 3/12 S

Claims (5)

[Claims] 1. A control amount calculating means for calculating a control amount for making an opening of a throttle valve coincide with a target opening set based on various sensor signals, and the control amount calculated by the control amount calculating means. A throttle control means for controlling an opening degree of the throttle valve by driving an actuator according to the following: learning the control amount calculated by the control amount calculating means at at least one point where a control parameter transits; A throttle control device for an internal combustion engine, comprising: a learning value reflecting unit that reflects the next control of the opening degree of the throttle valve. 2. The throttle control device for an internal combustion engine according to claim 1, wherein the learning value reflecting means learns the control amount at the start of movement of the throttle valve from a reference position. 3. The throttle control device for an internal combustion engine according to claim 1, wherein the learning value reflecting unit learns the control amount according to an opening degree of the throttle valve. 4. The throttle for an internal combustion engine according to claim 1, wherein the learning value reflecting means learns the control amount in accordance with an operating condition of the internal combustion engine. Control device. 5. The method according to claim 1, wherein the actuator is a torque motor.
7. A throttle control device for an internal combustion engine according to claim 1.