JPS61160537A - Internal-combustion engine equipped with supercharger - Google Patents
Internal-combustion engine equipped with superchargerInfo
- Publication number
- JPS61160537A JPS61160537A JP59281050A JP28105084A JPS61160537A JP S61160537 A JPS61160537 A JP S61160537A JP 59281050 A JP59281050 A JP 59281050A JP 28105084 A JP28105084 A JP 28105084A JP S61160537 A JPS61160537 A JP S61160537A
- Authority
- JP
- Japan
- Prior art keywords
- supercharger
- combustion engine
- controller
- internal combustion
- relief valve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D23/00—Controlling engines characterised by their being supercharged
- F02D23/02—Controlling engines characterised by their being supercharged the engines being of fuel-injection type
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
- F02B37/00—Engines characterised by provision of pumps driven at least for part of the time by exhaust
- F02B37/12—Control of the pumps
- F02B37/18—Control of the pumps by bypassing exhaust from the inlet to the outlet of turbine or to the atmosphere
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
- F02B37/00—Engines characterised by provision of pumps driven at least for part of the time by exhaust
- F02B37/12—Control of the pumps
- F02B37/18—Control of the pumps by bypassing exhaust from the inlet to the outlet of turbine or to the atmosphere
- F02B37/183—Arrangements of bypass valves or actuators therefor
- F02B37/186—Arrangements of actuators or linkage for bypass valves
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/12—Improving ICE efficiencies
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Supercharger (AREA)
- Electrical Control Of Ignition Timing (AREA)
- Output Control And Ontrol Of Special Type Engine (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は過給機付内燃機関に関し、特に、過給機選択ス
イッチにより過給圧、噴射タイミング、燃料流量の制御
を行って機関出力を種々選択可能にした過給機付内燃機
関に関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a supercharged internal combustion engine, and in particular, to controlling supercharging pressure, injection timing, and fuel flow rate using a supercharger selection switch to increase engine output. This invention relates to an internal combustion engine with a supercharger that allows various selections.
従来の技術では出力の大きい過給機付内燃機関と、出力
の小さい過給機機なし内燃機関との二種類の内燃機関の
機種設定が必要であり、過給機付内燃機関機関では低速
時の機関特性が良くなく、過給機なし内燃機関では高速
時の機関特性が良くないという問題があった。In conventional technology, it is necessary to set two types of internal combustion engines: a supercharged internal combustion engine with high output and a non-supercharged internal combustion engine with low output. There was a problem that the engine characteristics were not good, and the engine characteristics at high speeds were not good in an internal combustion engine without a supercharger.
本発明の目的は前記従来の過給機付内燃機関の低速時の
機関特性の悪さを解消し、過給機付内燃機関で低速時に
過給機なし内燃機関なみの出力までの範囲を制御するこ
とが可能になり、また合わせて燃料流量を制御すること
によって燃費も過給機なし内燃機関なみのレベルまで向
上させることができる新規で商品力の高い過給機付内燃
機関を提供することである。The purpose of the present invention is to eliminate the poor engine characteristics at low speeds of the conventional internal combustion engine with a supercharger, and to control the range of output of the internal combustion engine with a supercharger to the same level as an internal combustion engine without a supercharger at low speeds. By providing a new and highly competitive internal combustion engine with a supercharger that can improve fuel efficiency to the same level as an internal combustion engine without a supercharger by controlling the fuel flow rate. be.
前記目的を達成する本発明の過給機付内燃機関は、機関
の運転状態に応じて排気逃し弁、点火時期調整装置およ
び燃料噴射装置を制御する制御装置と、この制御装置に
選択信号を入力する選択スイッチとを備え、この選択ス
イッチが作動したとき制御装置は前記排気逃し弁を開き
、点火時期調整装置を遅角して燃料噴射量を減量制御す
ることを特徴としている。A supercharged internal combustion engine of the present invention that achieves the above object includes a control device that controls an exhaust relief valve, an ignition timing adjustment device, and a fuel injection device according to the operating state of the engine, and a selection signal input to this control device. When the selection switch is activated, the control device opens the exhaust relief valve, retards the ignition timing adjustment device, and controls the fuel injection amount to decrease.
以下添付図面を用いて本発明の詳細な説明する。 The present invention will be described in detail below with reference to the accompanying drawings.
第１図は本発明の過給機付内燃機関の一実施例の構成を
示すシステム図である。FIG. 1 is a system diagram showing the configuration of an embodiment of a supercharged internal combustion engine of the present invention.
図において、１１は内燃機関、１２は吸気通路、１３は
排気通路であって、吸気通路１２と排気通路１３との近
接部には排気逃し通路１４付きの過給機９が設けられて
おり、この排気逃し通路１４内には排気逃し弁１５が設
置されている。そして、前記吸気通路１２には、スロッ
トルバルブ１６にアクセル開度センサ５、吸気負圧セン
サ１７、燃料噴射ノズル７が設けられており、内燃機関
１１のシリンダボディにはノックセンサ１８が設けられ
ている。また、前記排気逃し弁１５は吸気通路１２内の
ブースト圧によって作動するアクチュエータ１９に接続
されており、ブースト圧が設定値以上に上昇した時に開
弁するようになっている。In the figure, 11 is an internal combustion engine, 12 is an intake passage, 13 is an exhaust passage, and a supercharger 9 with an exhaust relief passage 14 is provided in the vicinity of the intake passage 12 and the exhaust passage 13. An exhaust relief valve 15 is installed within this exhaust relief passage 14. The intake passage 12 is provided with an accelerator opening sensor 5, an intake negative pressure sensor 17, and a fuel injection nozzle 7 on a throttle valve 16, and a knock sensor 18 is provided on the cylinder body of the internal combustion engine 11. There is. Further, the exhaust relief valve 15 is connected to an actuator 19 operated by the boost pressure in the intake passage 12, and opens when the boost pressure rises above a set value.
本発明の過給機付内燃機関では、前記アクチュエータ１
９と排気逃し弁１５とを結ぶ作動経路に作動補助リンク
２１が設けられており、この作動補助リンク２１は排気
逃し弁制御器であるステップモータ６に接続されている
。また、前記アクセル開度センサ５からのアクセル開度
信号Ｄ、吸気負圧センサ１７からの吸気負圧信号Ｆ、ノ
ックセンサ１８からのノック信号Ｇはノック制御器３に
入力されるようになっている。In the supercharged internal combustion engine of the present invention, the actuator 1
An auxiliary operation link 21 is provided on the operation path connecting the exhaust relief valve 9 and the exhaust relief valve 15, and this auxiliary operation link 21 is connected to the step motor 6, which is an exhaust relief valve controller. Further, the accelerator opening signal D from the accelerator opening sensor 5, the intake negative pressure signal F from the intake negative pressure sensor 17, and the knock signal G from the knock sensor 18 are input to the knock controller 3. There is.
そして、このノック制御器３および前記ステップモータ
６は過給機制御装置２に接続されている。また、前記ノ
ック制御器３は、イグニッションコイル１０からの機関
回転数信号Ｅが入力される電子制御燃料噴射装置４およ
びディストリビュータ８に接続しており、前記機関回転
数信号Ｅがこの電子制御燃料噴射装置４を介して入力さ
れると共に、この電子制御燃料噴射装置４およびディス
トリビュータ８に最大遅角信号Ｃを出力できるようにな
っている。また、前記燃料噴射ノズル７はこの電子制御
燃料噴射装置４に接続されている。This knock controller 3 and the step motor 6 are connected to a supercharger control device 2. Further, the knock controller 3 is connected to an electronically controlled fuel injection device 4 and a distributor 8 to which the engine speed signal E from the ignition coil 10 is input, and the engine speed signal E is connected to the electronically controlled fuel injection device 4. The maximum retard signal C can be inputted via the device 4 and output to the electronically controlled fuel injection device 4 and the distributor 8. Further, the fuel injection nozzle 7 is connected to this electronically controlled fuel injection device 4.
さらに、本発明では前記過給機制御装置２に過給機選択
スイッチ１が設けられており、この選択スイッチ１によ
って過給機制御装置２の作動をオフすることができるよ
うになっている。Furthermore, in the present invention, the supercharger control device 2 is provided with a supercharger selection switch 1, and the operation of the supercharger control device 2 can be turned off by this selection switch 1.
そして、この実施例においては前記吸気負圧センサ１７
からの吸気負圧信号Ｆは、例えば、吸気圧が一２００ｍ
ｍＨｇを下回った時にオフされるようにし、アクセル開
度センサ５からのアクセル開度信号りは、例えば、アク
セルが一杯に踏まれた時にオフするように設定しておく
。In this embodiment, the intake negative pressure sensor 17
For example, the intake negative pressure signal F from
The accelerator opening signal from the accelerator opening sensor 5 is set to be turned off when the accelerator opening is below mHg, and the accelerator opening signal from the accelerator opening sensor 5 is set to be turned off when the accelerator is fully depressed, for example.
以上のように構成された本発明の過給機付内燃機関では
前記選択スイッチ１のオン、オフによって、過給機９を
機能させたり、機能させなかったりして、内燃機関１１
を過給機付内燃機関として作動させたり、過給機なし内
燃機関として作動させたりすることができるようになっ
ている。これを第２図に示すフローチャートおよび第３
図、第４図に示す波形図を用いて説明する。In the supercharged internal combustion engine of the present invention configured as described above, the supercharger 9 is made to function or not by turning the selection switch 1 on or off, and the internal combustion engine 11
It is now possible to operate the engine as an internal combustion engine with a supercharger or as an internal combustion engine without a supercharger. This is shown in the flowchart shown in Figure 2 and the flowchart shown in Figure 3.
This will be explained using the waveform diagrams shown in FIGS.
本発明の過給機付内燃機関ではまず、ステップ■で過給
機制御装置２に過給機選択スイッチ１からの信号Ａ、吸
気負圧センサ１７からの吸気負圧信号Ｆ１アクセル開度
センサ５からのアクセル開度信号Ｄ、イグニッションコ
イル１０からのエンジン回転側る信号Ｅが読み込まれ、
続いてステップ■で過給機選択スイッチ１がオンかオフ
かを判定される。In the internal combustion engine with a supercharger of the present invention, first, in step (3), the supercharger control device 2 receives a signal A from the supercharger selection switch 1, an intake negative pressure signal F1 from the intake negative pressure sensor 17, an accelerator opening sensor 5 The accelerator opening signal D from the ignition coil 10 and the engine rotation signal E from the ignition coil 10 are read,
Subsequently, in step (2), it is determined whether the supercharger selection switch 1 is on or off.
過給機選択スイッチ１がオンの場合（ＹＥＳ）は、過給
機制御装置２はステップ■で排気逃し弁１５を通常状態
に保持し、排気逃し通路１４が正常動作をするようにす
る。そして、ステップ■で吸気負圧センサ１７からの吸
気負圧信号Ｆによってエンジンの負荷の高低を判定し、
吸気負圧が一２００ｍｍＨｇ以上の場合（ＹＥＳ）はス
テップ■に移行してノックコントロールせず、点火時期
を最大進角、例えば＋７°とするが、吸気負圧が一２０
０ｍｍＨｇを下回った場合（Ｎｏ）はステップ■に移行
する。If the supercharger selection switch 1 is on (YES), the supercharger control device 2 maintains the exhaust relief valve 15 in the normal state in step (2) so that the exhaust relief passage 14 operates normally. Then, in step (2), the level of the engine load is determined based on the intake negative pressure signal F from the intake negative pressure sensor 17,
If the intake negative pressure is 1200 mmHg or more (YES), proceed to step 2, do not perform knock control, and advance the ignition timing to the maximum, for example +7°, but if the intake negative pressure
If it is below 0 mmHg (No), proceed to step (2).
ステップ■ではノックセンサ１８からのノック信号Ｇを
読み込み、ステップ■に移行して内燃機関１１がノック
状態であるか否かを判定する。そして、ステップ■で内
燃機関１１のノック状態が検出された時（ＹＥＳ）はス
テップ■に移行して点火時期を最大遅角にするが、ノッ
ク状態が検出されない時（Ｎｏ）はステップ■に移行し
てノックコントロールせず、前記同様に点火時期を最大
進角、例えば＋７″とする。In step (2), the knock signal G from the knock sensor 18 is read, and the process proceeds to step (2) to determine whether or not the internal combustion engine 11 is in a knocking state. Then, when a knock condition of the internal combustion engine 11 is detected in step ■ (YES), the process moves to step ■ and the ignition timing is retarded to the maximum, but when a knock condition is not detected (No), the process moves to step ■. As described above, the ignition timing is set to the maximum advance angle, for example, +7'', without performing knock control.
この状態の過給機制御装置２による制御は第３図に示す
波形に示されており、過給機選択スイッチ１がオンの場
合は、アクセル開度信号Ｇや機関回転数信号Ｅは過給機
制御装置２の制御に関与しない。The control by the supercharger control device 2 in this state is shown in the waveform shown in FIG. 3, and when the supercharger selection switch 1 is on, the accelerator opening signal G and engine speed signal E are It is not involved in the control of the machine control device 2.
一方、過給機選択スイッチ１がオフの場合（Ｎｏ）はス
テップ■に移行し、アクセル開度信号りのオン、オフを
判定し、アクセル開度信号がオン（アクセルが一杯に踏
み込まれていない状態）の時はステップ［株］に移行し
てエンジン回転数が設定値、例えば４５００ｒｐｍ以下
か否かを判定する。On the other hand, if the supercharger selection switch 1 is off (No), the process moves to step ■, where it is determined whether the accelerator opening signal is on or off. In the case of the state), the process moves to step [share], and it is determined whether the engine speed is less than a set value, for example, 4500 rpm.
前記ステップ■、＠ｌでＮｏとなった場合（アクセルが
一杯に踏み込まれている場合、またはエンジン回転数が
４５０Ｏｒｐｍを越える場合）は、ステップ■に移行し
て前述の手順同様に制御されるが、ステップ■、＠ｌで
共にＹＥＳとなった時（アクセルが一杯に踏み込まれて
おらず、がつエンジン回転数が４５０Ｏｒｐｍ以下の場
合）はステップ■に移行し、点火時期を最大遅角に保持
し、続いてステップ＠で排気逃し弁１５を開弁させて排
気逃し通路１４を連通させ、更にステップ＠に移行して
噴射量を一定割合で減量させる。If the result in step ① or @l is No (if the accelerator is fully depressed or if the engine speed exceeds 450 rpm), the process moves to step ① and is controlled in the same manner as described above. , Step ■, @l are both YES (if the accelerator is not fully depressed and the engine speed is below 450 Orpm), move to Step ■ and keep the ignition timing at the maximum retard. Then, in step @, the exhaust gas relief valve 15 is opened to communicate the exhaust gas relief passage 14, and the process further advances to step @, where the injection amount is reduced at a constant rate.
この状態の過給機制御装置２による制御は第４図に示す
波形に示されている。The control by the supercharger control device 2 in this state is shown in the waveforms shown in FIG.
このように、本発明の過給機付内燃機関では過給機選択
スイッチｌがオフの時であって、かつ低負荷、低回転の
時には過給機の機能を排気逃し通路１４を連通させるこ
とによってキャンセルすることができるので、過給機付
内燃機関の出力の制御範囲を拡げることができ、このた
め、過給機選択スイッチ１のオン、オフによるトルク差
を充分に体感させ得るレベルに設定することが可能にな
り、また、同時に過給機選択スイッチ１をオフした時の
燃費を向上させることができるようになって、過給機選
択スィッチ１自体の商品力を高めることができる。As described above, in the supercharged internal combustion engine of the present invention, when the supercharger selection switch l is off and the load and rotation are low, the supercharger function is communicated with the exhaust relief passage 14. Since it can be canceled by At the same time, it becomes possible to improve the fuel efficiency when the supercharger selection switch 1 is turned off, thereby increasing the commercial appeal of the supercharger selection switch 1 itself.
以上説明したように本発明の過給機付内燃機関は、機関
の運転状態に応じて排気逃し弁、点火時期調整装置およ
び燃料噴射装置を制御する制御装置と、この制御装置に
選択信号を入力する選択スイッチとを備え、この選択ス
イッチが作動したとき制御装置は前記排気逃し弁を開き
、点火時期調整装置を遅角して燃料噴射量を減量制御す
るので、過給機付内燃機関の出力の制御範囲を拡げるこ
とができるという効果がある。As explained above, the supercharged internal combustion engine of the present invention includes a control device that controls an exhaust relief valve, an ignition timing adjustment device, and a fuel injection device according to the operating state of the engine, and a selection signal input to this control device. When the selection switch is activated, the control device opens the exhaust relief valve and retards the ignition timing adjustment device to reduce the fuel injection amount, thereby reducing the output of the supercharged internal combustion engine. This has the effect of expanding the control range.
この結果、過給機選択スイッチのオン、オフによる内燃
機関のトルク差を充分に運転者に体感させ得るレベルに
設定することが可能になり、また、同時に過給機選択ス
イッチをオフした時の燃費を向上させることができるよ
うになって、過給機選択スイッチ自体の商品力を高める
ことができるという効果がある。As a result, it is possible to set the torque difference in the internal combustion engine when the supercharger selection switch is on and off to a level that allows the driver to fully experience it, and at the same time, when the supercharger selection switch is turned off, This has the effect of improving fuel efficiency and increasing the commercial appeal of the supercharger selection switch itself.
第１図は本発明の過給機付内燃機関の一実施例の構成を
示すシステム図、第２図は第１図の過給機付内燃機関の
制御手順を示すフローチャート図、第３図は過給機選択
スイッチがオンの時の各構成部品の作動を示す波形図、
第４図は過給機選択スイッチがオフの時の各構成部品の
作動を示す波形図である。
１・・・過給機選択スイッチ、２・・・過給機制御装置
、３・・・ノック制御器、４・・・電子制御燃料噴射装
置、５・・・アクセル開度センサ、７・・・燃料噴射ノ
ズル、９・・・過給機、１１・・・内燃機関、１２・・
・吸気通路、１３・・・排気通路、１４・・・排気逃し
通路、１５・・・排気逃し弁、１７・・・吸気負圧セン
サ、１８・・・ノックセンサ。FIG. 1 is a system diagram showing the configuration of an embodiment of the supercharged internal combustion engine of the present invention, FIG. 2 is a flowchart showing the control procedure of the supercharged internal combustion engine of FIG. 1, and FIG. Waveform diagram showing the operation of each component when the turbocharger selection switch is on,
FIG. 4 is a waveform diagram showing the operation of each component when the supercharger selection switch is off. DESCRIPTION OF SYMBOLS 1...Supercharger selection switch, 2...Supercharger control device, 3...Knock controller, 4...Electronic control fuel injection device, 5...Accelerator opening sensor, 7...・Fuel injection nozzle, 9...supercharger, 11...internal combustion engine, 12...
- Intake passage, 13...Exhaust passage, 14...Exhaust relief passage, 15...Exhaust relief valve, 17...Intake negative pressure sensor, 18...Knock sensor.
Claims (1)
および燃料噴射装置を制御する制御装置と、この制御装
置に選択信号を入力する選択スイッチとを備え、この選
択スイッチが作動したとき制御装置は前記排気逃し弁を
開き、点火時期調整装置を遅角して燃料噴射量を減量制
御する過給機付内燃機関機関。The control device includes a control device that controls an exhaust relief valve, an ignition timing adjustment device, and a fuel injection device according to the operating state of the engine, and a selection switch that inputs a selection signal to this control device, and when the selection switch is activated, the control device The internal combustion engine with a supercharger opens the exhaust relief valve and retards the ignition timing adjustment device to control the amount of fuel injection to be reduced.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59281050A JPS61160537A (en) | 1984-12-30 | 1984-12-30 | Internal-combustion engine equipped with supercharger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59281050A JPS61160537A (en) | 1984-12-30 | 1984-12-30 | Internal-combustion engine equipped with supercharger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61160537A true JPS61160537A (en) | 1986-07-21 |
Family
ID=17633605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59281050A Pending JPS61160537A (en) | 1984-12-30 | 1984-12-30 | Internal-combustion engine equipped with supercharger |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61160537A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6327856B1 (en) * | 1999-02-26 | 2001-12-11 | Mitsubishi Jidosha Kogyo Kabushiki Kaisha | Control apparatus and method for premixed compression ignition type internal combustion engines |
| WO2002016739A3 (en) * | 2000-08-21 | 2002-06-27 | Bombardier Rotax Gmbh | Turbocharger control system and propeller control system by stepper motor |
| US7086230B2 (en) | 2000-08-21 | 2006-08-08 | Brp-Rotax Gmbh & Co. Kg | Pop-off valve for an aircraft engine having a turbocharger control system and propeller control system by stepper motor |
-
1984
- 1984-12-30 JP JP59281050A patent/JPS61160537A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6327856B1 (en) * | 1999-02-26 | 2001-12-11 | Mitsubishi Jidosha Kogyo Kabushiki Kaisha | Control apparatus and method for premixed compression ignition type internal combustion engines |
| WO2002016739A3 (en) * | 2000-08-21 | 2002-06-27 | Bombardier Rotax Gmbh | Turbocharger control system and propeller control system by stepper motor |
| US6637202B2 (en) | 2000-08-21 | 2003-10-28 | Bombardier-Rotax Gmbh & Co. Kg | Turbocharger control system and propeller control system by stepper motor |
| US6938418B2 (en) | 2000-08-21 | 2005-09-06 | Brp-Rotax Gmbh & Co. Kg | Turbocharger control system and propeller control system by stepper motor |
| US7086230B2 (en) | 2000-08-21 | 2006-08-08 | Brp-Rotax Gmbh & Co. Kg | Pop-off valve for an aircraft engine having a turbocharger control system and propeller control system by stepper motor |
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