KR101534938B1 - Method for checking system error - Google Patents

Method for checking system error Download PDF

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KR101534938B1
KR101534938B1 KR1020130136094A KR20130136094A KR101534938B1 KR 101534938 B1 KR101534938 B1 KR 101534938B1 KR 1020130136094 A KR1020130136094 A KR 1020130136094A KR 20130136094 A KR20130136094 A KR 20130136094A KR 101534938 B1 KR101534938 B1 KR 101534938B1
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value
sensing
sensed
difference
sensor
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KR1020130136094A
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KR20150054109A (en
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안치영
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현대자동차주식회사
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    • 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
    • Y02T10/40—Engine management systems

Abstract

A main object of the present invention is to provide a system error checking method which checks a sensor error, a control error, and the like to a system for controlling an actuator using sensing value data, It is. In order to achieve the above object, the present invention provides a method comprising: obtaining two sensed value data obtained from sensing for a system input variable; Obtaining two sensing value data obtained from sensing for the state value; And comparing the change pattern of the difference between the two sensed values of the input variable with the change pattern of the difference of the two sensed values at the same time with respect to the input variable, Wherein each of the two sensed value data of the input variable and the state value is data of sensing values symmetrical to each other about an axis in the X-axis direction (where the X-axis is a time axis) And a system error check method.

Description

{Method for checking system error}

The present invention relates to a system error checking method, and more particularly, to an error checking method for checking and determining a sensor error, a control error, and the like with respect to a system for controlling an actuator using sensing value data.

Generally, the throttle valve is for controlling the engine output by controlling the amount of intake air while the vehicle is running. When the driver operates the accelerator pedal, the opening rate of the throttle valve is changed and the intake air amount is controlled.

However, when the opening rate of the throttle valve is controlled in accordance with the accelerator pedal operation of the driver, the engine torque suddenly changes when the engine air-fuel ratio is changed due to load variation (change in speed change stage) or the like.

Therefore, an electric throttle system (hereinafter, referred to as 'ETS') that controls the opening ratio of the throttle valve by an electrical signal in accordance with the driver's acceleration will and driving information in order to suppress abrupt fluctuation of the engine torque upon switching of the engine air- ) Was developed.

In ETS, an Accel Position Sensor (APS) capable of sensing an accelerator pedal position (accelerator pedal opening) is mounted on an accelerator pedal and an accelerator pedal position (APS sensing value) is controlled by an electronic control unit , And the control unit controls the throttle valve opening rate by controlling the throttle motor (the actuator for adjusting the opening degree of the throttle valve) to control the vehicle acceleration requested by the driver.

These ETSs are used in many vehicles today because they have several advantages over mechanical cables, such as precision and controllability.

However, since ETS is an electronic system using an electrical signal, it has a disadvantage in that it is inferior in stability to a mechanical cable system, and is dangerous when a failure occurs in the system.

Therefore, the technology for securing the system stability is applied, and the ETS stability securing techniques used are various. However, APS which senses the accelerator pedal position rather than using the control logic, TPS (Throttle) sensing the opening amount of the throttle valve Position sensor, and throttle position sensor) are installed (multiple APS and TPS are applied) to secure system stability.

In addition to this, ETS requires a technology for precisely checking and determining the failure of the sensor in the system, the failure of the control unit, the output error of the sensing value of the APS / TPS, and the control error.

As a prior art reference to the system error determination technique, a method for determining an error in an electronic throttle control system is disclosed in Japanese Laid-Open Patent Application No. 10-2002-0024401 (March 30, 2002).

However, the prior art uses a change in the engine speed and a change in the amount of air sensed by an air flow sensor (AFS) in addition to the APS and TPS, which can be used to detect a TPS circuit fault and a throttle motor circuit fault. There is a limit to finding parts.

In order to solve such a problem, the present applicant and inventor have filed a patent application for an improved ETS failure detection method and a failure detection system (Patent Application No. 10-2012-0156683).

In the patent application, the variation pattern of the APS sensing value according to the operation of the accelerator pedal, the variation pattern of the ETS control value (the control value output by the control unit for controlling the throttle motor) and the variation pattern of the TPS sensing value are compared with each other, In the above-described change pattern, whether the ETS is malfunctioning or not is determined according to whether the sensing value and the control value are increased or decreased.

At this time, the number of inflection points is calculated from the slope of the curve showing the patterns of change of the APS sensing value, the ETS control value, and the TPS sensing value, and the number of inflection points calculated is compared, You can check for errors.

However, the above method has an advantage of using only one sensor at a time, but the algorithm for finding the inflection point is complicated and there is a disadvantage that the calculation amount is too large to find the inflection point.

For example, assuming that 10,000 sensor data (n) are processed, it is necessary to calculate 9999 (n-1) calculations to find how many inflection points there are. Therefore, It is true that the burden is large.

Prior Art Document 1: Open Patent No. 10-2002-0024401 Prior Art Document 2: Patent Application No. 10-2012-0156683

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide an apparatus and method for controlling an actuator using sensing value data, The purpose of the check is to provide.

It is another object of the present invention to provide a more improved method of reducing the amount of calculation in error checking of sensing value data.

According to an aspect of the present invention, there is provided a control method for a system including a first sensor for sensing a system input variable and outputting a sensing value, a controller for calculating and outputting a control value corresponding to a sensing value of the first sensor, And a second sensor for sensing a state value according to a control state of the actuator and outputting a sensing value, the error checking method comprising the steps of: detecting two sensed values Acquiring data; Obtaining two sensing value data obtained from sensing for the state value; And comparing the change pattern of the difference between the two sensed values of the input variable with the change pattern of the difference of the two sensed values at the same time with respect to the input variable, Wherein each of the two sensed value data of the input variable and the state value is data of sensing values symmetrical to each other about an axis in the X-axis direction (where the X-axis is a time axis) And a system error check method.

Accordingly, according to the system error checking method of the present invention, the sensing value difference and the variation pattern of the control value difference are compared and confirmed using the two sensed value data and the control value data having different characteristics at a predetermined time, It is possible to determine the presence or absence of a malfunction or a malfunctioning part. In particular, since it is a method of comparing the increase or decrease of the pattern at a predetermined time, it is advantageous in that the calculation amount can be reduced as compared with the conventional method of finding an inflection point.

1 is a block diagram showing an error checking apparatus according to the present invention.
2 is a diagram illustrating outputs of two sensors having different characteristics in the present invention.
3 is a view for explaining a rescaling method in the present invention.
FIGS. 4 and 5 are graphs showing two sensed value data having different characteristics of APS and TPS in the present invention.
6 and 7 are flowcharts illustrating an error checking process according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains.

The present invention relates to a method for checking and determining a sensor error or a control error in an ETS, and an object of the present invention is to provide an improved method capable of accurately determining the occurrence of an error in the system and reducing the amount of calculation of the error check process.

The present invention can be applied not only to ETS which operates through various steps of APS sensing value output, control unit output value, throttle motor driving, and TPS sensing value output, but also the control unit receives the sensing value of the sensor, The present invention can be applied to a vehicle system that outputs a control value for controlling the driving of the actuator and senses a state value according to the control state of the actuator.

For example, an MDPS (Motor Driven Power Steering) system in which control is performed at a stage of sensor sensing value output, controller control value output, steering motor drive, and sensor sensing value output.

In the patent application of the prior art document 2, a process of processing the sensed value data using sensors of one APS and one TPS and finding the inflection points and comparing the changed patterns is performed. However, in the present invention, Each APS and TPS is used, or each APS and TPS is used. However, two sensed value data having different characteristics for each APS and TPS are obtained and processed.

1 is a block diagram showing an error checking apparatus according to the present invention.

First, as shown in Fig. 1 (a), two first sensors (APS) 10a and 10b for sensing a variable value (an accelerator pedal position) are secured to secure the stability of the system, (TPS) 40a, 40b for sensing a state value (throttle valve position) in accordance with the control state of the throttle valve 30 is applied, a sensor having a different output characteristic is used for each sensor.

For example, when the first sensor 10a and the third sensor 10b are used as the APS and the second sensor 40a and the fourth sensor 40b are used as the TPS, the first sensor 10a And the third sensor 10b and the second sensor 40a and the fourth sensor 40b are sensors that sense the same variable values and state values. However, when two sensors of the same purpose are mutually symmetrical values, that is, (X-axis direction, where the X-axis is the time axis).

Thus, in the apparatus of the embodiment, two sensors having different output characteristics from APS and TPS can be used.

That is, as shown in FIG. 2, both the first sensor 10a and the third sensor 10b used in the APS sense the accelerator pedal position where the accelerator pedal is changed according to the operation of the accelerator pedal, As the opening degree of the pedal becomes smaller, the first sensor 10a outputs a decreasing sensed value, and the second sensor 10b outputs an increased sensed value.

When the driver steps on the accelerator pedal little by little, if the first sensor 10a is a sensor showing a pattern in which the sensing value increases in the form of 1? 2? 3? 4? 5, 15 → 14 → 13 → 12 → 11.

This is also true of the second sensor 40a and the fourth sensor 40b used as TPS. When two APSs 10a and 10b and TPSs 40a and 40b having different characteristics are used, When monitoring a value, even if one sensor fails, it can be detected immediately.

Instead of using two sensors having different output characteristics as described above, one sensor 10 and one sensor 10 may be used as shown in Fig. 1 (b) It is possible to use the original sensing values of the sensors 10 and 40 and the rescaling sensing values of other characteristics obtained by rescaling each sensing value.

In this case, even though the original sensing value, which is an output value of each of the sensors 10 and 40, and the rescaled sensing value are data obtained by sensing the same variable and state values, It goes through a rescaling process.

Fig. 3 is a view for explaining the rescaling method, which shows the original sensing value, the X-axis symmetric value, and the rescaled final sensing value.

It is possible to use two sensors 10a, 10b, 40a and 40b having different output characteristics as described above (see Fig. 1 (a)) to obtain sensed value data having different characteristics, APS, and TPS) 10 and 20 (see FIG. 1 (b)), a sensor value of each sensor 10 and 20 is rescaled and another sensed value, .

However, in order to obtain sensed value data having different characteristics, rescaling must be performed so as to satisfy the following conditions in order to facilitate comparison of the values described below. First, a change pattern of each sensing value (the original sensing value and the rescaling sensing value) There must be no contact between the displayed graphs and the two graphs must be symmetrical about the axis in the transverse direction (X axis, where the X axis is the time axis).

For this, symmetric values that are symmetric of the original sensing values are obtained on the axis of abscissa having the ordinate axis value of 0 (Y = 0) (i.e., the time axis of the X axis), and then the symmetry values The rescaling sensing values can be finalized to values obtained by adding multiple values corresponding to n times (for example, 2 to 3 times) the maximum value.

For example, if the original sensing value is outputted from the sensors 10, 40 as {1,2,3,4,5,6,7,6,5,4,3,2,1} = 7), and the X axis symmetry value is {-1, -2, -3, -4, -5, -6, -7, -6, -5, -4, -3, -2, -1} (The symmetry value + the maximum value of the one-sensing value x 3, n = 3) is {20,19,18,17,16,15,14,15,16,17 , 18, 19, 20}.

4 and 5 are diagrams showing two sensing value data having different characteristics of the first sensor APS and the second sensor TPS. In this case, two sensing value data having different characteristics have the output characteristics The sensing values of the two sensors 10a, 10b, 40a and 40b for the same purpose may be the original sensing values and the rescaled sensing values of the respective sensors 10 and 40 as described above.

4, in the case of a system in which a first sensor that senses a system input variable value and a second sensor that senses a control state value of an actuator are linked to each other, for example, a system in which APS and TPS are linked , The absolute value of each sensor may be different in the same time zone, but the change pattern of the increase / decrease is the same in APS and TPS.

In particular, the difference between the sensed values (difference between two sensed values at the same time) and the difference between the original sensed value and the scaled sensed value (the difference between the sensed values at the same time) In comparison between the TPSs, the patterns of the sensing value differences between the two sensors (APS and TPS) in the respective time zones ①, ② and ③ are the same.

That is, when the data of (a) and (b) are compared with each other, if the both sensors are normal, a pattern of variation of the sensing value difference in the interval, a pattern of variation of the sensing value difference in the interval, The pattern of variation of sensing value difference should be the same.

Therefore, if the difference between the sensed values (d1, d2, d3) of the APS and the sensed value differences d1 ', d2', d3 'of the TPS are equal to each other in the same time period , The APS, the TPS, and the throttle motor (actuator) can be determined to be in a normal operating state without any abnormality.

On the other hand, if there is a difference between the patterns of the sensed value differences between the data of (a) and (b) as shown in FIG. 5 and there is a difference between them at a specific time, the failure of the system (ETS) (Sensor failure or sensing value output error) or a failure of the throttle motor.

In FIG. 4, the interval ① is the interval in which the difference of the sensing value decreases in both of (a) and (b), the interval ② is the interval in which the difference of the sensing value increases in both of (a) and (b) ) And (b), the both sensors indicate that there is no abnormality.

On the other hand, in the case of FIG. 5, there is a difference in the pattern of change between the APS and the TPS when comparing the variation pattern of the sensing value difference at the same predetermined time, so that a failure of the system, in particular, a failure of the APS or the TPS, Can be judged to be present.

In this way, it is possible to compare the change patterns of the sensing value differences between the first sensor and the second sensor with each other, and to determine whether the system is malfunctioning according to the change pattern.

Next, the first sensors 10a and 10 (for example, APS) for sensing an input variable value (for example, an accelerator pedal position according to the driver's acceleration will) sense the variable value and output the sensed value, The control unit 20 (e.g., ETS control unit) calculates and outputs a control value for controlling the driving of the actuator 30 (e.g., a throttle motor) according to the sensed value of the first sensor 10,10a, A second sensor 40 or 40a (e.g., TPS) that senses a state value according to the control state of the actuator 30 when the driving of the actuator 30 is controlled according to the control value output from the actuator 20, For example, in a vehicle ETS or MDPS system, the control value output from the control unit 20 may be further utilized to determine whether the system is malfunctioning or not. It is also possible to do.

Since the control value is a value that the controller 20 receives from the sensing value of the first sensor and calculates and outputs the sensing value based on the sensed value, the control value is also subjected to the rescaling process described above, That is, when two control value data symmetrical with respect to each other about the transverse axis are obtained, the increase / decrease pattern of the control value difference is also changed or changed in the sensing value difference between the first sensor and the second sensor, It should be the same as the pattern.

Therefore, after two control value data having different characteristics are obtained through the rescaling process on the control value, a change pattern of the difference of two control values having different characteristics is obtained as a change pattern of the sensing value difference of the first sensor APS, And the variation pattern of the sensing value difference of the second sensor (TPS), it is possible to determine the faulty portion in the system.

At this time, comparison is made between the change pattern of the set time zone (the change pattern of the sensed value difference and the change pattern of the control value difference), and the comparison of the change patterns is repeated at a predetermined cycle. It can be set to judge the fault portion.

The apparatus for performing the error checking process receives the sensing values of the APS 10, 10a and 10b, the sensing values of the TPS 40, 40a and 40b, and the control values of the controller 20, And an error judgment part (50) for judging whether the system is faulty or faulty by comparing sensed value data and control value data having different characteristics and the above described change pattern of the set time period with each other.

Hereinafter, an error checking process according to the embodiment will be described as an example of the ETS.

First, the error determination unit 50 determines the APS sensing value transmitted from the APS 10, 10a, 10b (the first sensor, or the first sensor and the third sensor) to the ETS controller 20 as the accelerator pedal is operated And separately receives and stores a control value output from the ETS controller 20 for controlling the operation of the throttle motor 30 according to the APS sensing value at step S1.

In addition, the error determining unit 50 determines whether the throttle body is operated by the throttle motor 30, which is controlled according to the control value output from the controller 20, 40a, and 40b (second sensor, second sensor, and fourth sensor) separately receives and stores the TPS sensing value transmitted to the ETS controller 20 (S1).

Next, the error judging unit 50 compares the change pattern of the APS sensing value difference, the change pattern of the TPS sensing value difference, and the control unit control value difference with each other, and determines whether the change pattern is the same at a predetermined time zone And judges whether the ETS is faulty or faulty according to the judgment result.

6, the APS sensing value pattern (APS sensing value pattern) and the TPS sensing value difference pattern (TPS sensing value pattern) are compared with each other (S2) If there is no difference (both an increase pattern or a decrease pattern), it is determined that the system is in a normal operation state without any abnormality (S3).

On the other hand, when there is a difference between the change pattern of the APS sensing value difference and the change pattern of the TPS sensing value difference (when the one shows an increasing pattern and the other shows a decreasing pattern), the system is judged as an abnormal operation and a failure (S4).

(APS sensing value pattern) of the APS sensing value difference and a variation pattern (ETS control value pattern) of the difference of the control value of the control part are compared with each other (S5) It is determined that there is an error in the TPS sensing value (S6). Therefore, it is determined that the failure of the throttle motor 30 or the failure of the TPS 40, 40a, 40b is a failure.

On the other hand, when there is a difference between the change pattern of the APS sensing value difference and the change pattern of the control portion control difference (one of the increase pattern and the other decrease pattern), it is determined that the ETS control unit 20 has failed S7).

As another example, as shown in FIG. 7, after the abnormal operation of the system is determined (S4) because there is a difference between the change pattern of the PS sensing value difference and the change pattern of the TPS sensing value difference, A method of comparing a change pattern of a difference ('ETS control value pattern') with a change pattern of a difference in TPS sensing value (TPS sensing value pattern ') is applicable (S5').

At this time, if the change pattern ('ETS control value pattern') of the control unit control value difference and the change pattern (TPS sensing value pattern ') of the TPS sensing value difference are identical (both of the increase pattern and the decrease pattern) 20) (S6 ').

On the other hand, when there is a difference between the change pattern of the control part difference value and the change pattern of the APS sensing value difference (one of the increase pattern and the other decrease pattern), there is an error in the TPS sensing value. 30 or a failure of the TPSs 40, 40a, 40b (S7 ').

Thus, in the present invention, by comparing two sensed value data and control value data having different characteristics and comparing and discriminating the sensing value difference and the control value difference pattern at a predetermined time, In particular, since it is a method of comparing the increase or decrease of the pattern at a predetermined time, it is advantageous in that the amount of calculation can be reduced as compared with the conventional method of finding the inflection point.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the scope of the present invention is not limited to the disclosed exemplary embodiments. Forms are also included within the scope of the present invention.

10, 10a: first sensor (APS) 10b: third sensor (APS)
20: control unit 30: actuator (throttle motor)
40, 40a: second sensor 40b: fourth sensor
50: error judgment section

Claims (14)

A controller for calculating and outputting a control value corresponding to a sensed value of the first sensor, an actuator controlled according to a control value output by the controller, and a controller for controlling the control state of the actuator And a second sensor which senses a state value according to the sensing value and outputs a sensing value, the method comprising:
Obtaining two sensing value data obtained from sensing for a system input variable;
Obtaining two sensing value data obtained from sensing for the state value; And
And comparing the change pattern of the difference between the two sensed values of the input variable with the change pattern of the difference of the two sensed values at the same time with respect to the input variable, Determining whether a failure occurs;
Wherein each of the two sensed value data for the input variable and the state value is data of sensing values symmetrical to each other about an axis in the X-axis direction (where the X-axis is a time axis) Way.
The method according to claim 1,
Wherein the two sensed value data for the input variable are sensed value data of the first sensor and the third sensor, respectively, which have different sensed value output characteristics while sensing the same system input variable.
The method according to claim 1,
Wherein the two sensed value data of the state value are sensed value data of the second sensor and the fourth sensor, respectively, which have different sensed value output characteristics while sensing the same state value.
The method according to claim 1,
The two sensed value data for the input variable are data of a source sensing value input from one sensor for sensing the system input variable and a rescaling sensing value obtained by rescaling the original sensing value. How to check for system errors.
The method according to claim 1,
Wherein the two sensed value data for the state value are data of a source sensing value input from one sensor for sensing the state value and a rescaling sensing value obtained by rescaling the original sensing value, How to check for system errors.
The method according to claim 4 or 5,
The rescaling sensing values may include,
Wherein the symmetric values are symmetric about the X axis, which is a time axis, and the symmetric values are calculated by multiplying the symmetric values by a multiple of a maximum value among the original sensed values. .
The method according to claim 1,
Comparing the change pattern of the sensed value difference of the input variable with the change pattern of the sensed value difference of the state value and determining that there is an abnormality in the system when the change state of the two change patterns is different at a predetermined time period, How to check for errors.
The method according to claim 1,
The control value data output from the control unit is received, control value data having different characteristics are acquired from the input control value data, and the change patterns of the time control value differences are compared together to obtain the same And determining whether the system is faulty or faulty depending on whether the system is faulty or not.
The method of claim 8,
Comparing the change pattern of the sensed value difference with the input variable and the change pattern of the sensed value difference with respect to the state value to determine that there is an abnormality in the system when the change state of the two change patterns is different at a predetermined time, How to check.
The method of claim 9,
When it is determined that there is an abnormality in the system, a change pattern of a sensing value difference with respect to the input variable is compared with a change pattern of a difference between a control value and a control unit control value, and a failure or a state value of the actuator is sensed And a failure of the sensor is determined.
The method according to claim 9 or 10,
The controller determines that there is an abnormality in the system, and then compares the change pattern of the sensed value difference with the input variable and the change pattern of the control unit control value difference, and determines that the controller is in failure if the change states of the two change patterns are different. How to check for system errors.
The method of claim 9,
The controller determines that there is an abnormality in the control unit and compares the change pattern of the control value difference with the change pattern of the sensing value difference with respect to the state value and determines that the controller is in failure if the change states of the two change patterns are the same How to check for system errors.
The method according to claim 9 or 12,
A sensor for detecting a failure or a state value of the actuator when the change pattern of the change pattern of the control value difference is compared with the change pattern of the difference of the sensing value for the state value, The system error checking method comprising:
The method of claim 8,
The control values having different characteristics are,
The symmetry values of the control values output from the control unit are calculated with respect to the X axis which is the time axis and then the symmetric values are multiplied by a multiple of the maximum value among the control values output from the control unit A system error checking method characterized by.
KR1020130136094A 2013-11-11 2013-11-11 Method for checking system error KR101534938B1 (en)

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Citations (4)

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Publication number Priority date Publication date Assignee Title
JPH0642396A (en) * 1992-07-22 1994-02-15 Nissan Motor Co Ltd Output control device for internal combustion engine for vehicle
KR100369158B1 (en) * 2000-09-25 2003-01-24 현대자동차주식회사 A method for judging error on a electronic throttle control system
JP2006350707A (en) * 2005-06-16 2006-12-28 Hitachi Ltd Fault diagnosis device for detection means
KR20120045271A (en) * 2010-10-29 2012-05-09 현대자동차주식회사 Appratus and method for detecting automobile failure

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0642396A (en) * 1992-07-22 1994-02-15 Nissan Motor Co Ltd Output control device for internal combustion engine for vehicle
KR100369158B1 (en) * 2000-09-25 2003-01-24 현대자동차주식회사 A method for judging error on a electronic throttle control system
JP2006350707A (en) * 2005-06-16 2006-12-28 Hitachi Ltd Fault diagnosis device for detection means
KR20120045271A (en) * 2010-10-29 2012-05-09 현대자동차주식회사 Appratus and method for detecting automobile failure

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