JPS60206947A - Vehicle accelerator control device - Google Patents

Abstract

PURPOSE:To prevent the rise of engine rotational speed upon idling, with the use of an accelerator control system in which a throttle valve is remotely controlled by means of a servo-system, by forcing the throttle valve to be fully closed in association with the output of a means for issuing a throttle valve closing signal, when the operated amount of an accelerator is zero but the throttle valve is opened. CONSTITUTION:There is provided a desired value issuing means (c) for issuing a desired value of throttle valve opening degree corresponding to the operated amount of an accelerator in accordance with a characteristic which shows the relationship between the operated amount of an accelerator operating element (b) and the desired value of throttle valve opening degree. Further, a compensation instruction issuing means (h) delivers a compensation instruction to a drive means (i) for a throttle valve (f) through a change-over control means (k) in accordance with the deviation between the desired value of throttle valve opening degree and an actual value of throttle valve opening degree which is detected by a throttle valve opening degree detecting means (c). The change-over control means (k) is so arranged that it changes its connection from the compensation instruction issuing means (h) to a throttle valve closing instruction issuing means (i) to force the throttle valve (f) to be closed only during detection signals are is sued from a means (d) for detecting the zero condition of accelerator operated amount and a means (g) for detecting the opening condition of the throttle valve (f).

Description

Detailed Description of the Invention (Industrial Application Field) The present invention is designed to cut off the mechanical connection between the accelerator operator and the throttle valve, and remotely control the throttle valve via a servo system. The present invention relates to an accelerator control device for a vehicle.

(Prior Art and its Problems) Conventionally, a vehicle accelerator control device that disconnects the mechanical connection between the accelerator pedal and the throttle valve by wires or links, and remotely controls the throttle valve via a servo system, For example, there is one found in Japanese Patent Publication No. 58-25853.

However, in the case of such vehicle accelerator control HA, there is a suspension error due to the digitalization of 1-novo control, and in the case of an analog system, the accelerator is affected by the upper limit of the gain of the amplifier system. If the pedal is depressed or depressed in steps, a steady-state deviation may occur.

Therefore, as shown in Fig. 1, when the accelerator is violently pressed to 11 At in the order of 1 -> open -> closed, the throttle valve should normally return to the fully open state, but the throttle valve stops at 911 with a slight error.
There was a problem in that the minute slo-ramieher level remained as a steady deviation after the end of the engine, and the no-idle rotational speed became high.

(Objective of the Invention) The object of the present invention is to solve the problem of a suspension error when digitalized, or a knob system that occurs when analogized, in a vehicle accelerator control device using this type of servo system. The purpose of this invention is to prevent the idle speed from increasing due to a steady deviation between the throttle valve target value and the actual value due to the upper limit of the gain.

(Structure of the Invention) The present invention will be described in detail with reference to the claim correspondence diagram in FIG.

In the figure, the operation (2) detection means a detects the amount of operation of the accelerator operator.

The target value generating means C has a characteristic indicating the relationship between the operation amount of the accelerator operator and the throttle opening target value set in advance, and generates the throttle opening target value corresponding to the detected accelerator operation amount. arise.

The operation amount zero state detection means d detects that the accelerator operator is in the operation amount zero state.

The throttle opening detection means e detects the actual opening of the throttle valve f.

The inter-throttle state detection means 9 detects the open state of the throttle valve f.

The throttle correction command generation means is 4yA (lt
It generates one correction necessary to make the throttle opening target value given from f generating means C coincide with the throttle opening actual value given from said thrower I/L α detection means C. be.

The throttle opening command generating means i generates an opening command sufficient to forcefully open the throttle valve.

Slowa! - The throttle driving means j opens and closes the throttle valve f according to the contents of the given command.

The OFF+4 control means controls 8 of the commands given to the throttle drive means j to the throttle 1 only during the period when the zero state is detected and the throttle I open state is detected.
This is to switch from the health correction command generation means 11 side to the throttle auxiliary command generation means i side.

(Description of Embodiment) FIG. 3 is a block diagram e showing the configuration of the first embodiment of the present invention.
be. In the figure, the pedal zero position sensor 1 is turned on when the amount of depression of the accelerator pedal is at the zero position.]
- Consists of switches, etc.

The pedal sensor 2 is composed of a potentiometer or the like that generates an analog voltage corresponding to the depression of the accelerator pedal, and the output of the pedal sensor 2 is read into the microcomputer 4 via the A/D converter 3. .

The microcomputer 4 provides the servo motor driver 5 with a throttle target value of 611 degrees.

The V-motor driver 5 outputs an analog voltage corresponding to the opening of the throttle valve 6 so that the actual throttle opening detected by the throttle valve 7 matches the target throttle opening. The throttle valve 8 is driven to open and close as shown in FIG.

The throttle zero position sensor 9 is composed of a switch that is turned on when the throttle valve 6 is open, and the output of this zero position sensor 9 is as follows.
The data is read into the microcomputer 4.

Next, the configuration of the system program executed by the microcomputer 4 will be explained according to the flowchart shown in FIG. Note that the system program program described below is repeatedly executed at a predetermined period.

First, in step (100), the pedal zero position sensor 1
The output of is determined, and the pedal is not in the zero position.
In other words, when it is determined that a stepping operation is being performed,
Next step (101).

(102) and (103) are executed sequentially.

, J, f, S1 tube (101) reads the output of the pedal stroke sensor 2 via the A/D converter 3, and the following SLA tube (102>) performs a table lookup method based on the read pedal strike 1 cork. By processing 1 and 1, the throttle valve opening is adjusted to 1.

``In the memory of the microcomputer 4, the relationship between the pedal stroke and the throttle distance target value is stored.
1b characteristics are stored in advance in the form of a function table, and by looking up and complementing this table, the target value of the lever opening can be determined by pulling the pedal stroke several times. It will be done.

Next, in step (103), the requested throttle grinding target value is revoked and outputted to the driver 5.
Below, the thrower 1 is controlled by the action of the servo motor driver 5.
- The throttle valve 6 is controlled to the throttle level target value.

The servo motor driver 5 is composed of a 1:1 analog circuit, and has a predetermined gain.
- The motor 8 is also composed of a C motor. Therefore, as described above, there is a possibility that a steady-state deviation may occur between the target value and the actual value of the throttle hearing degree over a long period of time due to the upper limit of the amplifier system or the like.

On the other hand, if it is determined in step (100) that the 7-pedal is in the zero position, then in the following step (104,) it is determined whether the throttle valve is fully open or in the open position based on the output of the throttle zero position sensor +J9. A determination is made as to whether the state is the same or not.

Here, if a steady-state deviation exists based on the upper limit of the gain of the amplifier system of the servo motor driver 5, etc., it is determined that the throttle is being questioned, and the forced full open command output process that goes to step (105) is performed. .

In this process, when the throttle valve 6 is fully open and the outlet of the thrower (-repotency 37) is V., VF-V +
H's (111 is large enough 1111 what kind of target thrower 1 - hear! good voltage VF 1 novo motor driver 5
Nis=l L/T! I can do it.

In the servo motor driver 5, the servo motor 8 is controlled by the throttle valve 6 so that VF-Va becomes small.
The throttle valve 6 is forcibly driven in the closing direction, and as a result, the steady deviation in the throttle opening and valve clearance based on the error of the 1-nervo system is forcibly corrected, and the throttle valve 6 is forced to close. is fully open.

Next, FIG. 5 shows the hard sea urchin 14i of the second embodiment of Kihatsuro,
This is a block diagram showing the I-J3 construction and software drawing at the same time, and shows that the beam system in this embodiment has been digitized.

The accelerator zero stroke switch 10 shown at J3 in the figure is composed of a limit switch or the like that is turned on only when the accelerator pedal depression stone is in the zero state.

The pedal potentiometer 11 is constituted by a potentiometer that operates in conjunction with the depression of the accelerator pedal 12, and the pedal potentiometer 11 outputs an analog voltage V1 corresponding to the depression of the accelerator pedal.

The throttle fully open switch 13 is comprised of a limit switch or the like that is turned on only when the throttle valve 14 is in a fully closed state.

The throttle potentiometer 15 is composed of a potentiometer that operates in conjunction with the opening and closing of the throttle valve 14.
The throttle potentiometer 15 outputs an analog voltage V, .corresponding to the opening degree of the throttle valve.

The opening and closing of the throttle valve 14 is controlled by a step motor 17 driven by the output of a drive circuit 16.

The output V1 of the pedal potentiometer 11 and the output v2 of the throttle potentiometer 15 are respectively taken into the first microcomputer 18.

This first microcomputer 18 executes arithmetic processing, which will be described later, based on the pedal stroke signal V1 and the throttle angle 2, etc., and finally
Rotation direction command for Y17.

A constant cycle is sent to the second microcomputer 19 using the rotation number command and the rotation period command as commands! ＋II T
' Repeatedly send with 0.

On the other hand, the second microcomputer has one μm) 1J
6801 is used in both cases, and by using a known free run counter and output conveyor register, as a result of the processing described later, each phase pulse train for driving the step motor 17 is output to the drive circuit 1G. When this pulse train is received, the step motor 17 is rotated one step at a time in the specified direction by the action of the drive circuit 16.

Next, each process executed by the first microphone 1] computer 18 will be explained in detail.

First, output from pedal potentiometer 11J3 and throttle potentiometer 15 (fi No. V+, V2 are A/
After being digitized via the D converter 20, step (
Normalization processing is performed in step 100).

In this normalization process 1!11, the output range of Vl and V2 and the numerical string 0 to 25 set on the microcomputer side are
5 and ul. This makes Vl and V2 respectively Vl
Convert to R, V21-t.

Next, in step (101), a throttle opening target value V+ SET is determined based on the requested pedal stroke V+R(,:JJ) by a table lookup method and an interpolation calculation process.

However, in the memory of the microcomputer, a characteristic indicating the relationship between the pedal stroke VOR and the thrower 1-ru Ni 1st time 4Ii value V+ SET is stored in advance in the form of a function table, and this function table is stored as VlR. By subtracting the value, the corresponding Vl SET can be found.

Next, in step (102>), the requested throttle opening target value V + 81 3rd slot J revolution V
Actual throttle opening detected via 2 (d1■2R
In the following step (103), calculate the deviation VER from V
Step motor 17 based on whether the value of E R is positive or negative.
The direction of the rotation command to be given to is determined, and at the same time, the rotation period P ER described later is fixed to a constant value 1i11 PL: Ro.

Next, in step (104), the accelerator zero stroke [1-
The output of the accelerator switch 10 is read and it is determined that the accelerator pedal is at the zero stroke position. If the accelerator pedal is not at the zero stroke position, the following steps (105) and (106) are executed.

In step (10!□5), based on the absolute value IVERI of the requested stamp,
Insert the number of rotational steps S T E P into the lookup method and the complementary 31 arithmetic process.

! In other words, in the memory of the microcomputer,
A characteristic indicating the relationship between V IE Rl and S T E I3 is stored in the form of a numerical daple, and 5TEP is determined using the obtained l V I3 Rl as an argument.

Note that here, since a substantially proportional relationship is set between I VERl and 5TEP, as the absolute value of the deviation V E F< increases, the number of steps S −r E l) b
This will result in an increase.

This number of steps, 5 TEP, is calculated as follows:
This corresponds to the total number of rotation steps.

In the following step (106), the rotation direction determined in step (103), the period PERO required for the step motor to advance one step, and the requested Stella 7ell are determined.
S'r-IE P uses the second microphone as a command [
:l :'ml Sent to Npuke 19.

On the other hand, if the accelerator pedal is determined to have zero stroke in step (104''), then step (104'')
In step 7), it is determined whether the throttle is fully open or not based on the output of the switch 13, and if it is determined that the throttle is being heard, the following step ( 108), (109), and (110) are executed sequentially.

First, in step (108), the number of steps S'r E
l-' is fixed at a constant value of 5TEPo, and then in step (109), the rotation command direction is determined to be the direction in which the throttle valve closes.

In the following step (110), the actual value V between the throttles is
2 Rk: Based on the table lookup method a3 and interpolation n1 process, the rotation circle) νIPER is found.

In other words, in the memory of the microcomputer, V2
Characteristics indicating the relationship between R and l) E R are stored in advance in the form of a function table, and by referring to this function table using VzR as an argument, P[1() can be determined.

Also, in this function table, for V2R, P
E R is set in a substantially inversely proportional relationship to +13, so that the larger the value of V2R, the smaller the magnitude of PE1<.

However, due to this characteristic, as will be described later, the response speed of the Revo system becomes faster as the throttle valve opening becomes larger.

Next, steps (108) and (109).

1lfl of the step number STBIPO+rotation direction and rotation circle $111PER determined by (110) is sent in the form of a command to the second microcomputer 19 by step <106).

Next, details of the processing executed by the second microcomputer 19 will be explained.

As mentioned above, the μPU 6801 is used as the second microcomputer 19, and is equipped with a free run counter and an output conveyor register as is well known.

The free run counter consists of an incremental counter that counts up independently or in synchronization with the lock regardless of the software, and when the set value of the output conveyor register and the count value of the free run counter match, it automatically The function is configured so that an interrupt is sent to the microcomputer at any time.

First, from the first microcomputer 18, the rotation direction,
When the number of steps and the rotation circle 111J are sent in the form of a command, the second microcomputer 19 receives them through a known hand-shielding process and stores them in a predetermined memory (steps 200 and 201>).

At this time, the step number 5TEP is stored as an initial value in a predetermined step number counter 5TEPC.

From then on, when an OCR interrupt occurs, step (200) → (
After 202)→(203), pit pattern output processing is executed in step (204>).

The memory of the microcomputer stores in advance the bit patterns of each phase pulse train corresponding to each rotational position of the step motor as a table. Based on the rotation direction information obtained and the bit pattern at that point in time, a new bit pattern is created using a table lookup method and sent to the drive circuit 16.

The drive circuit 16 rotates the step motor 4 by a predetermined angle based on the output pulse train of each phase. J3, this bit pattern creation process, step motor drive process, etc. are all well known in 4 and F, so their explanation will be omitted.

Next, in step (205), the output conveyor register OCR is reset to the current value of the free run counter +PER, and at the same time, the step counter 5IEPC is decremented by 11.

From then on, when the time specified by the rotation period PER arrives, O
A CR interrupt occurs and steps (200) → (202) →
(203) → (204) → (205) are repeatedly executed, and each time a new bit pattern is sent to the drive circuit 16, and the step counter 5
The value of TEPC is repeatedly subtracted by -1, resulting in 5TEPC
When the value of becomes zero, bit pattern output processing is completed and a new - from the first microcomputer 6 is output.
You will have 1 pound; you will have several.

Above is the first part. When the processing of the second microcomputer 18 is executed, as shown in FIGS. 6 and 7, the command output from the first microcomputer 18 is
J3 in Uhei, S'I with period 1-perll interval
-E P times, the step motor 17 will perform 111 steps.

If the J3 digital servo arithmetic processing is normal in the first microcomputer 18, the pedal stroke L1
Since the throat valve is also fully closed almost at the same time when the current becomes zero, as shown in FIG.
The value of 'per o is rotation circle + i1J data P E R.

In the state of Tama J:, the number of steps STE is fixed.
l) /; Injury [1 liter degree fJ+! IIVERI
Changes depending on the The 14 17 tl melons will be controlled to the target opening.

On the other hand, the suspension j' in the C1 digital υ-bo processing system
If a steady deviation occurs between the thrower 1 heel opening target value and the actual value due to a
3, the throttle valve is not fully closed, so as shown in FIG. 7, the number of steps is 5TEP.

While the state remains fixed at -(.), only the rotational circle tllPER decreases in inverse proportion to the thrower 1 opening mark actual value V2R.

Therefore, regardless of the value of the pedal stroke VOR in J3 due to the surface heat of the throttle valve tJ, the throttle valve 14 is driven at a relatively high speed in the closing direction.
It will be closed in a ttl manner.

In addition, at this time, the speed at which the stroke valve 14 closes is as follows:
As a result of the processing in step (110), the actual value of the throttle opening becomes very fast and small, so the speed at which the throttle valve closes completely becomes extremely slow, and the intake air is supplied to the engine. Jj the sudden change in quantity,
There is no need for a running vehicle to suddenly decelerate.

(Effects of the Invention) As is clear from the description of the embodiments above, according to the present invention, the throttle valve can be controlled remotely via this type of servo system.
IJI111# vehicle axle 111+1
In the III loading, it is possible to prevent the dollar rotation speed from increasing during the tour due to the steady deviation of the servo system.
Monkey.

[Brief explanation of drawings]

Fig. 1 is a timing chart explaining the problems to be solved by the present invention, Fig. 2 is a claim correspondence diagram of the present invention, and Fig. aJ3 is a timing chart explaining the problems to be solved by the present invention.
The block diagram showing the hardware configuration of the embodiment, FIG. 4 does not show the software configuration, but
The figure shows the hardware of the ftS 2 embodiment.
Figures 7 and 7 show timer 1 to explain the operation of the device of the second embodiment. il...Operation amount detection means 1)...In the I-khill operator...11 Target price light cow means d...1 Spatula operation zero state detection means C...S1 Kotsuduru interval detection Means [...Throttle valve...S1] Throttle valve status detection means 11...
-) ml -v I, Il->A ;I: j! ?
＼ ＼ ＼ ＼ ＼ 0) i...Throttle close command generating means j...Throttle driving means k...Switching control means Patent applicant: Nissan Self-Support Co., Ltd.

Claims (1)

[Claims] (1) An operation detection means for detecting the operation 1ii of the accelerator operation element; a characteristic indicating a relationship between the operation of the accelerator operation element and the target value of the throttle level is set in advance; Target value generation means for generating a throttle Df1 degree target value corresponding to the detected accelerator operation m; operation m zero state detection means for detecting that the accelerator operator is in the operation ffi zero state; and varnish L1. Throttle open state detection means for detecting the actual opening of the throttle valve; Throttle open state detection means for detecting the throttle valve open state: A throttle valve that issues a correction command necessary to match the throttle distance target value obtained from the above-mentioned 1/4Fi value generation means and the actual throttle distance value given from the throttle mark detection means. Correction command generating means; Throttle closing command generating means for issuing a closing command necessary to forcibly close the throttle valve; Throttle driving means for driving the throttle valve to close according to the content of the given command; Switching control for switching the content of the command to be given to the throttle drive means from the throttle correction command generation means side to the throttle close command generation means side only during a period when the m zero state is detected and the throttle open state is detected. A vehicle axle control device comprising: means.