JPS623151A - Remote operation - Google Patents

Abstract

PURPOSE:To improve the response of remote operation by setting control of driving means corresponding with a setting time when the time necessary for control of driving means to be set with correspondence to the input is longer than said setting time. CONSTITUTION:Stepping motor driver 4 in the throttle valve drive system is connected to the output port P1 of single chip microcomputer (MUP) 1 while A/D converter 2 is connected to I/O port P2. Voltage signal corresponding with stepping of accelerator pedal to be fed from an accelerator pedal sensor 3 is converted through said A/D converter 2 into digital signal and fed to the input port P4. When the time necessary for control of driver 4 to be set with correspondence to the input is longer than a setting time, MPU 1 will set the energizing control of driver 4 on the basis of said setting time. Consequently, the remote control response is improved.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a remote control for sampling an input and setting a control responsive thereto, thereby energizing and controlling a driving means. , relates to a method of controlling a fully automatic gear type transmission.

(Prior Art) Some vehicles utilize a stepping motor to open and close a throttle valve of a carburetor. In this system, the amount of depression of the accelerator pedal is detected, a control parameter for the stepping motor is set in response to the detected amount, and the stepping motor is energized using the parameter to open and close the throttle. A conceptual diagram of this is shown in FIG. This will be explained with reference to FIG.

When it is detected that the accelerator pedal has been depressed and shifted from 0 (state of no depression) to N1, a target value parameter P1 is set and the stepping motor is energized to rotate forward. Due to this bias, the rotation angle of the stepping motor is O.
01, and the opening degree of the throttle valve of the carburetor that is engaged with this changes from 0 to T1. Here, the amount of depression of the accelerator pedal is sampled, and when it is detected that the accelerator pedal has been further depressed and has been displaced to N2, the target value parameter P2 is set, and the stepping motor is further urged in the normal rotation based on the difference between Pl and P2. do. Due to this bias, the rotation angle of the stepping motor changes from θ1 to 02, and the opening degree of the throttle valve of the carburetor that is engaged with it changes from T1 to T2. When it is detected that the amount has been returned to N1, a target value parameter P1 is set, and the stepping motor is reversely energized by the difference between P2 and P1. Due to this bias, the rotation angle of the stepping motor changes from θ2 to 01, and the opening degree of the throttle valve of the carburetor that is engaged with the stepping motor changes from T2 to T1.

Furthermore, when it is detected that the accelerator pedal has been returned to the state of no depression (0), the target value parameter is set to 0, and the stepping motor is reversely energized at Pl. Due to this bias, the rotation angle of the stepping motor changes from θ1 to 0.
Therefore, the opening degree of the throttle valve of the carburetor that is engaged with this changes from T1 to 0.

In this way, the mechanical link mechanism between the accelerator pedal operated by the driver and the throttle valve of the carburetor is eliminated, thereby improving reliability against vibrations, aging, etc.

(Problem to be Solved by the Invention) In the above case, the displacement speed of the accelerator pedal depression is arbitrary because it is controlled by the driver, but the displacement speed of the throttle valve opening of the carburetor is determined by the stepping motor. Limited by performance.

For this reason, there is a delay in the displacement of the throttle valve opening with respect to the displacement of the accelerator pedal depression amount, and the responsiveness is deteriorated. This will be explained with reference to FIG.

Figure 3 shows the displacement of the throttle valve relationship when there is an impactful depression of the accelerator pedal. In this, the solid line L1 is the displacement of the accelerator pedal depression amount shown in the same range as the throttle valve opening. , a broken line L2 indicates the displacement of the throttle valve opening when the stepping motor is energized at the maximum speed in the conventional technique.

The stepping motor is energized in response to the accelerator pedal depression amount (hereinafter referred to as pedal displacement) sampled at A, and the throttle valve opening is displaced to a. At this time, if the sampling pedal displacement is B, the throttle valve opening will be changed to b in response.
Energize the stepping motor to rotate forward. If this control requires 1 hour t1, the pedal displacement at that time is C
It becomes. In this way, pedal displacement C detection → forward rotation energization → t2 time elapse → valve opening C & pedal displacement detection → forward rotation energization → t3 time elapse → valve function d & pedal displacement E detection → forward rotation energization , and so on, the stepping motor continues to be urged to rotate in the normal direction until the time t4 elapses, even though the pedal displacement has descended from the peak at E. In other words, the vehicle is accelerated against the driver's intention, which is not desirable from a safety standpoint.

Such inconveniences can be solved by setting a constant cycle and sampling the degree of depression of the accelerator pedal. However, since the stepping motor cannot be monitored and controlled during sampling, the energization of the stepping motor is stopped, so if the sampling period is shortened, the overall driving speed becomes slower. On the other hand, if the sampling period is lengthened, the same problems as above will occur.

As described above, the conventional technology has a problem of poor responsiveness.

The present invention aims to improve the responsiveness of remote control as much as possible.

[Structure of the invention]

(Means for solving the problem) In order to achieve the above object, in the present invention, the control of the drive means is set in response to an input, and in the remote operation for controlling the energization of the drive means: When the time required to control the driving means set by the setting time is longer than the set time; the control of the driving means corresponding to the set time shall be set.

(Operation) According to this, when the time required for the control set in response to the input is longer than the set time, the control corresponding to the set time is set, so the responsiveness of the remote control is improved.

For example, in FIG. 3, if the sampling value E of the pedal displacement is detected at the time when the throttle valve opening becomes d, the energization control of the Stella pin motor is performed to obtain the valve opening e corresponding to the value E. Since the time t4 required for the predetermined time tM is longer than the predetermined time tM, the predetermined time 1. Set the Stellar pin motor energization control with . As a result, the throttle valve opening is displaced to e', and F' is detected by sampling here. Hereafter, reverse biasing → t6 time elapse → detection of valve opening f'& pedal displacement G →...・This makes it possible to control the throttle valve in response to pedal displacement.

Other objects and features of the invention will become apparent from the following description with reference to the drawings.

(Embodiment) FIG. 1 is a block diagram showing a schematic configuration of an electric circuit of a throttle valve control device implementing one embodiment of the present invention. Referring to FIG. 1, 1 is an 8-bit 1-chip microcomputer (MPU), 2 is an 8-bit A/D converter, 3 is an accelerator pedal sensor, 4 is a stepping motor driver, and 5 is a 4-bit A/D converter. 6 is a gearbox that reduces the speed to 1/6, 7 is a throttle valve sensor, and 8 is a 1/2 frequency divider.

The stepping motor driver 4 is connected to the output port P1 of the MPU 8, and outputs a rotation direction signal dir and an energization/deenergization signal Pu1se.

The rotation direction signal dir indicates forward rotation when it is 1 (H level), and indicates reverse rotation when it is 0 (L level). Energizing/deenergizing signal pu
lse indicates activation when it is 1 (H level) and deactivation when it is 0 (L level).

The A/D converter 2 is connected to the input/output port P2 of the MPU 8, and outputs a conversion start signal 5tart, an output enable signal oan, and a selection signal 5elect.
Input the conversion end signal eoc. Selection signal 5 select
is a signal that instructs to select the input of the A/D converter; when this signal is 1 (H level), it instructs the selection of the input from the throttle valve sensor 7, and when it is O (L level), it instructs the selection of the input from the accelerator pedal sensor 3. Instructs to select inputs such as ′□. The clock input terminal of A/D converter 2 has
The clock pulse clock is 1 through the 1/2 frequency divider 8.
The frequency is divided by /2 and given. The A/D converter 2 is
When a conversion start signal 5tart of 1 clock length is given, the A of the selected input is triggered by the rising edge of the pulse.
/D conversion is started, and when this conversion is completed, a conversion end signal, signal eoc, is output. Output enable signal oen is 1
This is an H pulse with a clock length, and the A/D converter 2 outputs the latched and converted data at the rising edge of this pulse.

MPU1 reads A/D converted data from input port P4.

A host processor is connected to the input port P3 of the MPU1. An 8-bit control signal is given from the host processor, and in this control signal, 0 (decimal number) indicates opening/closing control of the throttle valve in response to the depression input of the accelerator pedal, and 1 (1031 m number) indicates throttle valve closing ( throttle down) control, 2 to 255
(decimal number) indicates the throttle valve opening.

The accelerator pedal sensor 3 is the accelerator pedal for driving.
This is a potentiometer that is engaged with the accelerator pedal Acpdl, and outputs a voltage according to the amount of depression of the accelerator pedal Acpdl.

The throttle valve sensor 7 is a potentiometer J engaged with the throttle valve T rvlv of the carburetor.
F&)J, “O-7h)LiA)blTr“951t”
Outputs a voltage of 4m$tz, :, ;.
...L MPU1 has a pulse rate as shown in Figure 4.
・energize the stepping motor 5. That is,
After sampling the input, the pulse rate is gradually increased to increase the speed of the stepping motor 5, and before performing the first sampling, the pulse rate is gradually lowered to decrease the speed of the stepping motor 5. In this way,
By rapidly changing the pulse rate, the stepping motor may
,・5 is prevented.

The internal ROM of MPU1 contains a table (pulse width) of the pulse rate (pulse width) in the acceleration range shown in Fig.
'□Width table). This table is referenced from the lowest address when the stepping motor starts to be energized, and from the highest address when the stepping motor is de-energized to set a pulse rate that changes into a trapezoidal shape as shown in FIG. Therefore, the acceleration range and the deceleration range are equal.

5a, 5b and 5c show the main routine of the control operation of the MPU 1, and FIGS. 6a, 6b and 6c
6d and 6e are flowcharts showing the subroutine. Description will be given with reference to these drawings.

First, the symbols used in these flowcharts will be explained.

0LDPLS: Indicates the current value of the throttle valve opening.

NEWPLS: Indicates the target value of the throttle valve opening.

LIMPLS: Indicates the maximum number of pulses that can be sent (corresponds to the set time).

OLDMEM: 0LDPLS (i') Evacuation memory.

PLSCTR: Counter that counts the number of pulses being sent.

IDLE: Idle determination level (here 1).

5REV Indicates the number of pulses reaching the Nissru region (acceleration/deceleration region). , 2SL
OP: 5REW (7) maximum value (Kokote is 20).

DSLOP: 2x 5LOP (40 pulses).

Nmax: Maximum value of accelerator pedal depression.

Tmax: Maximum value of throttle valve opening.

δ: Noise level Idle flag: Indicates that idle control has been completed.

See Figure 5a.

When the ignition key is turned on and the power supply line is closed, the input/output ports P1 to P4 are initialized at Sl (first step: the same applies hereafter), and the memory, counter, etc. are reset and initialized.

Steps 82 to S9 are steps for executing throttle down (closing the valve), but since 0LDPLS is set to the value 0 in Sl, the process passes through S8 to S10 and proceeds to the blow in FIG. 5b.

The Sll reads the input of the input port P3, and if this input is a value between 2 and 255 (decimal number), sets that value as the target value NEWPLS (316). When this input is 0 (S12), a pedal position conversion subroutine for reading the accelerator pedal depression amount is executed in S13. The pedal position conversion subroutine is shown in FIG. 6C.

See Figure 6C.

Input/output capo hP2 selection signal 5elect at 5301;
is set to 0 (L level) to instruct selection of the accelerator pedal sensor 3. After this, in 5302, when the conversion start signal 5tart is output, the A/D converter 2 sets the conversion end signal eoc to 0 (L level) and starts A/D conversion of the output of the accelerator pedal sensor 3. . 530
3 and 5304, the conversion end signal eo of the A/D converter 2
c is monitored, and when this signal changes to 1 (H level), an output enable signal oen is output from port P2. As a result, the A/D converted output of the accelerator pedal sensor 3 is transferred from the A/D converter 2, so this is read from the input port P4 and loaded into the A register (S3
06), 5307 converts the value of the A register into 8-bit data. That is, the value obtained by dividing this by the maximum value of the accelerator pedal depression amount and multiplying by 256, and subtracting 1 from this value is set as the new value of the A register.

Referring again to Figure 5b. When returning from the pedal position conversion subroutine, the value of the A register is set as the target value NEWPLS of the throttle valve opening in S14.

In S17, NEWPLS and idle judgment level IDL
Compare with E. In this example, since the value of IDLE is 1, when the value of NEWPLS is O or 1,
Proceed to 818 and below.

If there is no idle flag in step 818, the rotation direction signal dir of the output port P1 is set to 0 in step 519, and the start address of the pulse width table is loaded into the X register.

S21 is a throttle opening conversion subroutine. The throttle opening conversion subroutine is shown in FIG. 6d.
See diagram.

In S401, select signal 5elect of input/output boat P2
is set to 1 (H level) to instruct selection of the throttle valve sensor 7. After this, in step 5402, when the conversion start signal 5tart is output, the A/D converter 2 sets the conversion end signal eoe to O (L level) and starts A/D conversion of the output of the throttle valve sensor 7. . 54
03 and 5404, the conversion end signal s of the A/D converter 2
ac is monitored, and when this signal changes to 1 (H level), an output enable signal oen is output from the boat P2. As a result, the A/D converted output of the throttle valve sensor 7 is transferred from the A/D converter I12, so this is read from the input port P4 and loaded into the A register (8406). In 8407, the value of the A register is Convert to 8-bit data. That is, this value is divided by the maximum value of the throttle opening, multiplied by 256, and the value obtained by subtracting 1 from this value is set as the new value of the A register.

Referring again to Figure 5b. When returning from the throttle opening degree conversion subroutine, the value of the A register is set in the D register at S22, and the first pulse output subroutine is executed at 523. The output subroutine is shown in FIG. 6e. Please refer to FIG. 6e.

5501, the energizing/deactivating signal pulses of the output port P1
Set e to 1. Since the rotation direction signal dir is set to 0, the stepping motor driver 4 energizes the pulse motor in the reverse direction.

At 5502, the data at the address (in this case, the start address) indicated by the contents of the X register is read from the pulse width table and loaded into the B register.

After waiting for the time indicated by the contents of the B register in step 5503, the activation/deactivation signal pu of the output port P1 is activated in step S504.
Set lse to O6. As a result, the stepping motor driver 4 deenergizes the pulse motor.

Thereafter, the value of the counter PLSCTR for counting the number of sent pulses is incremented by 1 at 5507 until the pulse repetition period PT is reached at 5505 and 5506, and this subroutine is exited.

Referring again to Figure 5b. After returning from the pulse output subroutine, the throttle opening degree conversion subroutine is executed again in S24, and the position of the throttle valve displaced by the reverse bias of the stepping motor 5 is detected. This value is A
Since it is loaded into the register, in S25, the value of the A register and the D register (throttle valve opening degree before driving) are compared. At this time, if the value of the D register is larger, the throttle valve was not in the fully closed position, and after this, 522-823-824-325-...
...and repeats the process in a loop.

When the throttle valve reaches the fully closed position where it cannot be driven any further, the value of the A register and the value of the D register become equal, the processing loop exits from 525, and the idle plug is set to indicate the end of idle processing at 826. Sl
Return to l.

In this way, the throttle valve opening degree is initialized.

There is an accelerator pedal depression, or there is a control signal sent from the host processor, and NEWPLS
When is larger than IDLE, the idle flag is reset in S27, and the counter PLSCTR for counting the number of sent pulses is cleared in 828.

In S29, the current value of the throttle valve opening is 0LDPL.
Compare S with the target value NEWPLS.

As a result, if the target value NEWPLS is larger, it means that the accelerator pedal has been depressed (the control signal from the host processor has the same meaning; explanation omitted), and this difference is loaded into the D register. .

In S31, the value of the D register is compared with the noise level δ. If the difference is too small, it is determined that the noise is due to vibration or the like, and the following control is not performed.

If the value of the D register is greater than the noise level.

In S32, the number of pulses to be sent out is compared with the maximum value LIMPLS. In this case, when the value of the D register exceeds LIMPLS, it is the state of the third @d point described above, so in 833, the target value is changed to the current value to the maximum value, .

, and set the D register value to the maximum value LIMP.
Update to LS. ’□ of D register in S32
If the value is less than or equal to LIMPLS, the above processing is not executed.

In S34, the value of the D register is compared with DSLOP, which is twice the maximum number of pulses that reach the through area.

This is because the through areas are in the acceleration area and the deceleration area. At this time, if it is less than DSLOP.

In S35, the value of the D register is halved and updated, and the DSL
If it exceeds OP, the value of the D register is corrected to the maximum value 5LOP at 836.

In S37, the value of the D register is stored in 5REW as the number of pulses reaching the through area.

83B sets the rotational direction signal dir of the output port P1 to 1, and S39 compares the current value of the throttle opening with the target value, and the process continues until they match.
...and executes the forward rotation subroutine. 6b, the forward rotation subroutine is shown in FIG. 6b.

5201, the current value of throttle opening 0LDPLS is set to 1
Increment.

In step 5202, it is checked whether the number of sent pulses indicates a through area. Initial sending pulse number counter PLS
Since CTR is cleared, its value is 0, indicating the through area. Therefore.

At step 5203, the value of P L S CTR is loaded into the value of the D register.

At step 5207, the start address of the pulse width table is loaded into the X register, and at step 820g, the value of the X register is updated by adding the value of the D register. Thereafter, in step 5209, the pulse output subroutine described above is executed and the process returns.

When repeating 539-340-839-..., the number of pulses to be sent is incremented by 1 in the pulse output subroutine, so when this value becomes 5 REV or more, the difference between the target value and the current value is loaded into the D register. . When this difference exceeds 5 REV (S205), 5 REV is loaded into the D register.

That is, if the maximum value 5LOF is set at 336 in FIG. 5b, the stepping motor 5 will now be energized at the maximum pulse rate (IIL high speed).

Further repeating 539-840-839-..., the current value of the throttle opening approaches the target value, and the difference between the target value loaded into the D register at 5204 and the current value is 5R.
When the pulse rate becomes below EV (S205), the through region has been reached, and the pulse rate begins to be lowered.

As described above, the first address of the pulse width table is loaded into the X register in 5207, and the value in the D register is added to the value in the X register in 8208 to update it.

Thereafter, when this subroutine is repeated in the order of 839-540-839--, the value of D decreases by one, so the address of the pulse width table indicated by the X register approaches the top address one by one.

In this way, 839-S40-839-... are repeated, and when the current value of the throttle opening matches the target value, this loop is exited and the process returns to Sll.

When the accelerator pedal is released, the current value of the throttle valve opening ○LDPLS and the target value NEWP are displayed in S29.
As a result of comparing the target value NEWPLS with LS, if the target value NEWPLS is found to be smaller, the process proceeds to the step of FIG. 5c. Hereinafter, reference is made to FIG. 5c.

In S41, the target value is subtracted from the current value of the throttle valve (difference) and loaded into the D register, and in S42, the value of the D register is compared with the noise level δ. If the difference is too small, it is determined that the noise is due to vibration or the like, and the following control is not performed. If the value of the D register is larger than the noise level, it is compared with the maximum value LIMPLS of the number of pulses to be sent out in S43.

In this case, when the value of the D register exceeds LIMPLS, in S44, the target value is corrected to a value obtained by subtracting the maximum value from the current value, and the value of the D register is updated to the maximum value LIMPLS. If the value of the D register is less than or equal to LIMPLS in S43, one or more processes are not executed.

In S45, the value of the D register is compared with DSLOP, which is twice the maximum number of pulses that reach the through area.

At this time, if it is less than DSLOP, the value of the D register is updated to 1/2 in S46, and if it exceeds DSLOP, the value of the D register is corrected to the maximum value 5LOP in S47.

At 848, the value of the D register is stored in 5REW as the number of pulses reaching the through area.

In S49, the rotational direction signal dir of the output port P1 is set to 0, and in S50, the current value and target value of the throttle opening are compared, and 550-851-850-
...and executes the reverse rotation subroutine. 6a, the reverse rotation subroutine is shown in FIG. 6a.

5101, the current value of throttle opening 0LDPLS is set to 1
Decrement.

In step 5102, it is checked whether the number of sent pulses indicates a through area. Initial sending pulse number counter PLS
Since CTR was cleared in S28, its value is 0, indicating the through area.

Therefore, in step 8103, the value of PLSCTR is loaded into the value of the D register.

At step 5107, the start address of the pulse width table is loaded into the X register, and at step 810g, the value of the X register is updated by adding the value of the D register. Thereafter, in S109, the pulse output subroutine described above is executed and the process returns.

If you repeat 550-851-550-...

The number of sent pulses is sequentially incremented by 1 in the pulse output subroutine, so when this value becomes 5 REV or more,
Load the difference between the target value and the current value into the D register. When this difference exceeds 5 REV (S105), 5 REV is loaded into the D register.

That is, if the maximum value 5LOP is set at 347 in FIG. 5c, stepping motor t5 will now be energized at the maximum pulse rate (maximum speed).

Further repeating 539-840-S39-..., the current value of the throttle opening approaches the target value, and the difference between the target value loaded into the D register in 5104 and the current value is 5R.
When the pulse rate becomes lower than EV (S105), the through region is reached, and the pulse rate starts to be lowered.

As described above, the first address of the pulse width table is loaded into the X register in 5107, and the value in the D register is added to the value in the X register in 8108 to update it.

Thereafter, when this subroutine is repeated in the order of 550-851-850--, the value of D decreases by one, so the address of the pulse width table indicated by the X register approaches the top address one by one.

In this way, 550-551-350-... are repeated, and when the current value of the throttle opening matches the target value, this loop is exited and the process returns to Sll.

If there is a signal to throttle down from the host processor, the process proceeds from S15 in FIG. 5b to 82 in FIG. 5a.

In this case, clear the sending pulse number counter in S2,
Set the throttle opening target value NEWPLS to 0.

Thereafter, in S4, the current throttle opening value 0LDPLS is compared with the maximum value LIMPLS of the number of pulses to be sent. In this case, when oLDPLS exceeds LIMPLS, S5
Save the amount exceeding the maximum value of 0LDPLS in memory ○L
Save to DMEM and set 0LDPLS to maximum LI in S6
Set to MPLS. oLDPLS LIMP on S4
If it is less than or equal to LS, one or more processes are not executed.

Next, in S7, the rotation direction signal of output port P1 is set to 0, and in S8, oLDPLS becomes 0.
2], repeat the above-mentioned reverse rotation subroutine.

When oLDPLS becomes O in S8, the evacuation memory
I.

○The difference from the maximum value saved in LDMEM is 0LDP
Set to LS.

After this, the control signal from the host is
1. If it indicates 'n', repeat the above.' [Effects of the Invention] As stated above, 1. According to the present invention, if the time required for the set control in response to the input is longer than the set time, the set Since time-based control is set, the responsiveness of remote control is improved. ,5

[Brief explanation of the drawing]

FIG. 1 shows a slot embodying one aspect of the present invention.
, is a block diagram showing the configuration of a valve control device. FIG. 2 is a conceptual diagram showing an outline of control executed by the apparatus shown in FIG. 1. FIG. 3 is a graph showing the drawbacks of the prior art and the effects of the present invention. FIG. 4 is a graph showing the pulse rate of stepping motor energization executed by the microcomputer 1 shown in FIG. 5a, 5b and 5c are flowcharts showing the main routine of the microcomputer 1 shown in FIG.
FIG. d and FIG. 6e are flowcharts showing the subroutine. 1: Microcomputer 2: A/D converter 3: Accelerator pedal sensor 4 Nischipping motor driver 5 Nischipping motor 6: Gearbogges 7: Throttle valve sensor 8: Frequency divider

Claims (2)

[Claims] (1) In a remote operation that sets the control of the drive means in response to an input and energizes the drive means; when the time required to control the drive means that is set in response to the input is longer than the set time; Setting the control of the drive means corresponding to the set time; remote control method. (2) The remote control method according to claim (1), wherein the input is sampled every time the energization control of the drive means is completed.