Electronic control method of throttle valve and electronic control throttle valve device

Abstract

When rotating speed control is carried out through an electronic control method, control without excessive overshoot can be carried out on the rotating speed instruction, and the rotating speed instruction can be rapidly converged. In the electronic control method of the throttle valve, an electronic control device generates a control signal based on an input data signal and simultaneously performs opening and closing control of the throttle valve, the electronic control device calculates an engine rotation speed deviation according to a difference between an engine rotation speed and an engine rotation speed command. An engine rotational acceleration is calculated on the basis of the engine rotational speed, a proportional torque is obtained from the product of the engine rotational speed deviation and a proportional torque coefficient, the product of the engine rotational speed deviation and an integral torque coefficient is integrated, and an integrated torque is obtained by multiplying the integrated value by a forgetting coefficient. The sum of the proportional torque and the integral torque is set as the value of a torque command, and a control signal for the throttle valve is generated.

Description

Technical Field

[0001] The present invention relates to a control method for opening and closing a throttle valve arranged in an engine intake system through an electronic control system and an electronically controlled throttle valve device for executing the method. Background Art

[0002] In the past, in order to perform engine control with high precision for the purpose of improving the fuel consumption and driving performance of the vehicle, for example, Japanese Patent Gazette No. 5-240073 (Patent Document 1) describes an electronically controlled throttle device, which opens and closes the throttle valve by operating an electronic control unit as an electronic control device, instead of mechanically opening and closing the throttle valve provided in the engine intake system through the driver's accelerator operation.

[0003] In addition, a control method is disclosed in Japanese Patent Laid-Open No. 2008-038872 (Patent Document 2), in which a speed deviation is obtained by calculating the difference between a detected engine speed and an engine speed command (target speed), and a throttle actuator is driven according to the amount of the deviation to achieve a throttle action preset to an appropriate value. The applicant of the present invention also proposed a control method in Japanese Patent Laid-Open No. 2022-148583 (Patent Document 3), in which a speed deviation is obtained by calculating the difference between a detected engine speed and an engine speed command (target speed), and a throttle actuator is driven according to the amount of the deviation to achieve a throttle action preset to an appropriate value.

[0004] It is known that the torque calculation part in the conventional throttle control is as follows: Figure 4 In describing this structure, the engine speed deviation is calculated as a value obtained by subtracting the calculated engine speed from the preset engine speed command and the pulse period input from the crank pulse sensor, the product of the engine speed deviation and the proportional torque coefficient is calculated as the proportional torque required by the engine, and the integral torque is calculated by integrating the product of the engine speed deviation and the integral torque coefficient. Then, the sum of the calculated proportional torque and the integral torque is set as the torque command required by the engine.

[0005] In such a conventional control method, the integral torque is expressed as follows: i ), when the load is applied and the speed deviation is positive (when the engine speed is less than the engine speed command), the integral torque is accumulated according to the engine speed deviation and continues to increase in the positive direction. [Mathematical formula 1] Torq i =Ki ∫{(ω ref -ω)}dt Torq i : Integral torque K i : Integral torque gain ω ref : Engine speed command ω: Engine speed

[0006] In such a control system, Figure 5 As shown, control is performed to keep the engine speed constant when load is applied and load is released. In this case, when load is applied and the engine speed deviation is positive (when the engine speed is less than the engine speed command), the integral torque increases to the torque required to make the engine speed consistent with the engine speed command.

[0007] Thereafter, when the load is released, it takes time for the integral torque to return to the stable state at no-load time, so there is a problem that the engine speed excessively overshoots the engine speed command or takes time to converge to the speed command. Prior art literature Patent Literature

[0008] Patent Document 1: Japanese Patent Laid-Open No. 5-240073 Patent Document 2: Japanese Patent Application Publication No. 2008-038872 Patent Document 3: Japanese Patent Application Publication No. 2022-148583 Summary of the invention Technical problem to be solved by the invention

[0009] The technical problem of the present invention is to control the speed command without excessive overshoot and quickly converge to the speed command when performing speed control. Technical means for solving technical problems

[0010] In order to solve the above technical problems, in the electronic control method of the throttle valve of the present invention, the electronic control device generates a control signal based on an input data signal and performs the opening and closing control of the throttle valve, which is characterized in that: The electronic control device calculates an engine speed deviation according to a difference between an engine speed and an engine speed command, calculates an engine rotational acceleration based on the engine speed, obtains a proportional torque according to a product of the engine speed deviation and a proportional torque coefficient, integrates the product of the engine speed deviation and an integral torque coefficient, obtains an integral torque by multiplying the integrated value by a forgetting coefficient, sets a sum of the proportional torque and the integral torque to a value of a torque command, and generates a control signal for the throttle valve.

[0011] In addition, the electronically controlled throttle device of the present invention includes a throttle with an actuator and an electronic control device, wherein the electronic control device generates a control signal based on an input data signal and controls the opening and closing of the throttle through the actuator, and is characterized in that: The electronic control device includes: a speed deviation calculation device, the speed deviation calculation device calculates the engine speed deviation according to the difference between the engine speed and the engine speed command; a rotational angular acceleration calculation device, the rotational acceleration calculation device calculates the engine rotational angular acceleration based on the engine speed; a proportional torque calculation device for calculating a proportional torque based on a product of the engine speed deviation and a proportional torque coefficient; and An integral torque calculation device calculates an integral torque by integrating the product of the engine speed deviation and the integral torque coefficient and multiplying the integrated value by a forgetting coefficient.

[0012] In the present invention, the forgetting coefficient is set to a value greater than 0 and less than 1 when the engine speed is greater than the engine speed command and the engine rotational acceleration is greater than a set acceleration, and is set to 1 otherwise. Effects of the Invention

[0013] According to the present invention, the engine speed increase when the load is released is detected based on the engine speed and the engine rotational acceleration, and the integral torque is obtained by multiplying it by the forgetting coefficient, so that control can be performed without excessive overshoot and convergence can be achieved quickly to the speed command. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a simplified structural diagram of an electronically controlled throttle device according to an embodiment of the present invention. Figure 2 is shown as Figure 1 A functional block diagram showing the control contents of the electronically controlled throttle device according to the embodiment shown. Figure 3 It is shown in Figure 1 A graph showing changes in the integral torque when a load is applied and when a load is released when the engine speed is controlled to match the engine speed command in a control example of an electronically controlled throttle device. Figure 4 This is a functional block diagram showing the control contents of a conventional electronically controlled throttle device. Figure 5The graph shows changes in the integral torque when a load is applied and when a load is released when the engine speed is controlled to match an engine speed command in a control example of a conventional electronically controlled throttle device. DETAILED DESCRIPTION

[0015] Hereinafter, embodiments of the present invention will be described based on the drawings.

[0016] Figure 1 It is a simplified structural diagram of an electronically controlled throttle device according to an embodiment of the present invention. As shown in the figure, the electronically controlled throttle device 1 includes a throttle valve 20 provided with an actuator not shown in the figure and an electronic control unit (ECU) 10. The electronic control unit (ECU) 10 is an electronic control device for performing opening and closing control of the throttle valve 20. The electronic control unit 10 generates a control signal through a prescribed calculation method based on various input data signals, and automatically performs opening and closing control of the throttle valve 20.

[0017] In addition, the above-mentioned electronic control unit 10 includes a speed calculation device 11 for calculating the engine speed, a speed deviation calculation device 12 for calculating the engine speed deviation, a rotational acceleration calculation device 13 for calculating the engine rotational acceleration, a proportional torque calculation device 14 for calculating the proportional torque, and an integral torque calculation device 15 for calculating the integral torque, as a device functionally constructed by software stored in a storage device not shown in the figure.

[0018] Next, in the reference Figure 2 Functional block diagram and Figure 3 The control performed by the above-mentioned electronic control unit 10 is described in detail while showing the curve graph.

[0019] First, in this embodiment, the speed calculation device 11 calculates the engine speed based on the period of the pulse signal input from the crank pulse sensor not shown in the figure, the speed deviation calculation device 12 calculates the engine speed deviation based on the difference between the engine speed and the commanded engine speed command (target speed), and the rotational acceleration calculation device 13 calculates the engine rotational acceleration based on the engine speed.

[0020] In addition, the proportional torque and the integral torque are calculated by the proportional torque calculation device 14 and the integral torque calculation device 15, and the sum of the proportional torque and the integral torque is set as the value of the torque command to generate a control signal for the throttle valve 20. However, in the calculation of the integral torque shown in the following mathematical formula (1), in addition to the integral torque coefficient (integral torque gain K i ), a forgetting coefficient is also used, which is a feature of the present invention.

[0021] [Mathematical formula 2] Torq i =K i ∫{(ω ref -ω)}dt×K FG ···(1) Torq i : Integral torque K i : Integral torque gain ω ref : Engine speed command ω: Engine speed K FG : Forgetting coefficient

[0022] Forgetting coefficient K FG Calculate based on the following conditions A and B. Condition A: When the engine speed is higher than the engine speed command and the engine rotation acceleration is higher than the set acceleration, the above forgetting coefficient K FG = a value greater than 0 and less than 1. Condition B: In other cases, the forgetting coefficient K FG =1.

[0023] As described above, when the engine speed is higher than the engine speed command and the engine rotation acceleration is equal to or higher than the set acceleration, that is, when accelerating, the forgetting coefficient is set to a value greater than 0 and less than 1.

[0024] Thus, when the control is performed to make the engine speed consistent with the engine speed command, since the increase in engine speed due to load release is detected, and the forgetting coefficient K FG It is set to a value greater than 0 and less than 1, so the time for the above-mentioned integral torque to return from the value when load is applied to the state when no load is shortened, the overshoot of the engine speed relative to the engine speed command becomes smaller, and the convergence time of the engine speed to the engine speed command is also shortened.

[0025] As described above, according to the present invention, by detecting the engine speed increase when the load is released based on the engine speed and the engine speed acceleration and multiplying it by the forgetting coefficient to obtain the integral torque, control can be performed without excessive overshoot and can quickly converge to the engine speed command. Description of symbols

[0026] 1 electronically controlled throttle device, 10 electronic control unit (ECU), 11 rotation speed calculation device, 12 rotation speed deviation calculation device, 13 rotation acceleration calculation device, 14 proportional torque calculation device, 15 integral torque calculation device, 20 throttle valve.

Claims

1. A method for electronically controlling a throttle valve, The electronic control device generates a control signal based on the input data signal and controls the opening and closing of the throttle valve, wherein: The electronic control device calculates the engine speed deviation according to the difference between the engine speed and the engine speed command. calculating the engine rotational acceleration based on the engine speed, The proportional torque is obtained by multiplying the engine speed deviation and the proportional torque coefficient. The product of the engine speed deviation and the integral torque coefficient is integrated, and the integrated value is multiplied by the forgetting coefficient to obtain the integral torque. The sum of the proportional torque and the integral torque is set as a value of a torque command, and a control signal for the throttle valve is generated.

2. The electronic control method of the throttle valve according to claim 1, characterized in that: Regarding the forgetting coefficient, when the engine speed is greater than the engine speed command and the engine rotation acceleration is greater than a set acceleration, the forgetting coefficient is set to a value greater than 0 and less than 1. In other cases, the forgetting coefficient is assumed to be 1.

3. An electronically controlled throttle device, The invention comprises a throttle valve with an actuator and an electronic control device, wherein the electronic control device generates a control signal based on an input data signal and controls the opening and closing of the throttle valve through the actuator, and is characterized in that: The electronic control device comprises: a speed deviation calculation device, the speed deviation calculation device calculating the engine speed deviation based on the difference between the engine speed and the engine speed command; a rotational acceleration calculation device for calculating engine rotational acceleration based on the engine speed; a proportional torque calculation device for calculating a proportional torque based on a product of the engine speed deviation and a proportional torque coefficient; and The integral torque calculation device integrates the product of the engine speed deviation and the integral torque coefficient and multiplies the integrated value by a forgetting coefficient to obtain the integral torque.

4. The electronically controlled throttle device according to claim 3, characterized in that: Regarding the forgetting coefficient, when the engine speed is greater than the engine speed command and the engine rotation acceleration is greater than a set acceleration, the forgetting coefficient is set to a value greater than 0 and less than 1. In other cases, the forgetting coefficient is assumed to be 1.

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