Throttle control device and throttle control method

Abstract

To provide a better throttle control device and throttle control method. [Solution] The throttle control device 80 includes a control value calculation unit 86 that calculates a control value and a drive signal generation unit 90 that generates a drive signal for driving an actuator that opens and closes the throttle valve. The control value calculation unit adjusts the magnitude of the control value using a control gain, and when the opening of the throttle valve is within a predetermined opening range including the default opening, the control gain when the throttle valve is driven in the closing direction is set to be smaller than the control gain when the throttle valve is driven in the opening direction.

Description

Technical Field

[0001] The present disclosure relates to a throttle control device and a throttle control method.

Background Art

[0002] Japanese Patent Application Laid-Open No. 2001-073817 discloses a throttle control device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Recently, there has been a long-felt need for a better throttle control device and a throttle control method.

[0005] The present disclosure aims to solve the above-described problems.

Means for Solving the Problems

[0006] A first aspect of the present disclosure is a throttle control device for controlling the opening degree of a throttle valve biased by a biasing member to a default opening degree which is greater than fully closed and less than fully open, comprising: a control value calculation unit that calculates a control value using a target opening degree of the throttle valve and the actual opening degree of the throttle valve; and a drive signal generation unit that generates a drive signal for driving an actuator that opens and closes the throttle valve using the control value calculated by the control value calculation unit, wherein the control value calculation unit adjusts the magnitude of the control value with a control gain, and when the opening degree of the throttle valve is within a predetermined opening range which includes the default opening degree, the control gain when the throttle valve is driven in the closing direction is set to be smaller than the control gain when the throttle valve is driven in the opening direction.

[0007] A second aspect of the present disclosure is a throttle control method for controlling the opening degree of a throttle valve biased by a biasing member to a default opening degree which is greater than fully closed and less than fully open, comprising: a control value calculation step in which a control value calculation unit calculates a control value using a target opening degree of the throttle valve and the actual opening degree of the throttle valve; and a drive signal generation step in which a drive signal generation unit generates a drive signal for driving an actuator that opens and closes the throttle valve using the control value calculated by the control value calculation unit, wherein the control value calculation step adjusts the magnitude of the control value with a control gain, and when the opening degree of the throttle valve is within a predetermined opening range which includes the default opening degree, the control gain when the throttle valve is driven in the closing direction is set to be smaller than the control gain when the throttle valve is driven in the opening direction. [Effects of the Invention]

[0008] This disclosure provides a better throttle control device and throttle control method. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a schematic diagram of an internal combustion engine in the first embodiment. [Figure 2] Figures 2A to 2C are schematic diagrams of the throttle valve and biasing member in the first embodiment. [Figure 3] Figure 3 is a block diagram showing the configuration of the throttle control device in the first embodiment. [Figure 4] Figure 4 is a diagram illustrating the predetermined opening range in the first embodiment. [Figure 5] Figure 5 illustrates the change threshold in the first embodiment. [Figure 6] Figure 6 shows the control gain map in the first embodiment. [Figure 7] Figure 7 is a flowchart of the throttle control performed by the throttle control device in the first embodiment. [Figure 8] Figure 8 is a time chart of the actual opening degree of the throttle valve when the throttle valve is driven in the opening direction in the first embodiment. [Figure 9] Figure 9 is a time chart of the actual opening degree of the throttle valve when the throttle valve is driven in the closing direction in the first embodiment. [Figure 10] Figure 10 is a block diagram showing the configuration of the throttle control device in the second embodiment. [Figure 11] Figure 11 is a time chart of the actual opening degree of the throttle valve when the throttle valve is driven in the closing direction in the second embodiment. [Figure 12] Figure 12 is a block diagram showing the configuration of the throttle control device in the third embodiment. [Modes for carrying out the invention]

[0010] In electronically controlled throttles, the throttle valve is opened and closed by a drive mechanism including an actuator. The throttle valve is biased by a biasing member to a predetermined default opening that is greater than fully closed. As a result, even if the drive mechanism fails, the throttle valve opening will be at the default opening, allowing the engine to start and continue to run. This ensures that the engine torque necessary to move the vehicle is secured.

[0011] The biasing member includes a first biasing member, which is a return spring, and a second biasing member, which is a default spring. The first biasing member biases the throttle valve in the closing direction when the throttle valve opening is greater than the default opening. The second biasing member biases the throttle valve in the opening direction when the throttle valve opening is less than the default opening.

[0012] When the throttle valve is fully closed, it contacts the stopper, restricting its movement.

[0013] When the throttle valve opening decreases from an opening greater than the default opening to an opening smaller than the default opening, the biasing member that biases the throttle valve switches from the first biasing member to the second biasing member around the time it passes the default opening. Therefore, around the time the throttle valve opening reaches the default opening, the direction in which the throttle valve is biased by the biasing member switches from the direction that closes the throttle valve to the direction that opens the throttle valve.

[0014] Furthermore, when the throttle valve opening changes from a smaller opening than the default opening to a larger opening than the default opening, the biasing member that biases the throttle valve switches from the second biasing member to the first biasing member around the time the throttle valve opening reaches the default opening. As a result, around the time the throttle valve opening reaches the default opening, the direction in which the throttle valve is biased by the biasing member switches from the direction that opens the throttle valve to the direction that closes the throttle valve.

[0015] The actuator of the drive mechanism is controlled by feedback control. As described above, since the direction in which the throttle valve is biased by the biasing member changes before and after the opening degree of the throttle valve becomes the default opening degree, a state similar to the situation where a disturbance acts on the throttle valve occurs near the opening degree of the throttle valve becoming the default opening degree.

[0016] When a disturbance acts on the throttle valve, in feedback control, the electronic control throttle is controlled so as to cancel out the disturbance. Since the output torque of the actuator of the electronic throttle increases according to the magnitude of the disturbance, the rotational speed of the throttle valve increases, and the opening degree of the throttle valve is likely to undershoot or overshoot with respect to the target opening degree. Since the default opening degree is located at a position relatively close to fully closed, when the actuator undershoots, the throttle valve may collide with the stopper.

[0017] In the throttle control device and throttle control method of the present disclosure, collision between the throttle valve and the stopper can be suppressed.

[0018] 〔First Embodiment〕 [Configuration of Internal Combustion Engine] FIG. 1 is a schematic diagram of an internal combustion engine 10 in the first embodiment. The internal combustion engine 10 is an engine mounted on a saddle-type vehicle such as a motorcycle. The internal combustion engine 10 may be mounted on a moving body other than a saddle-type vehicle. The internal combustion engine 10 may be mounted not only on a moving body but also on a device installed on the ground such as a residential generator. The fuel used in the internal combustion engine 10 is, for example, gasoline. The fuel used in the internal combustion engine 10 may be light oil, biomass ethanol, liquefied petroleum gas, or the like

[0019] The internal combustion engine 10 includes an electronic control throttle 14, a fuel injection device 16, an ignition device 18, and an exhaust purification device

[0020] The electronically controlled throttle 14 includes a throttle valve 22, a drive mechanism 24, and a throttle position sensor 26. The throttle valve 22 adjusts the amount of air supplied to the intake port 30 located upstream of the intake valve 28. The throttle valve 22 is, for example, a butterfly throttle. The throttle valve 22 rotates around a rotating shaft 22a. The drive mechanism 24 includes an actuator, gears, etc. The actuator is, for example, a DC motor. The drive mechanism 24 opens and closes the throttle valve 22. The throttle position sensor 26 detects the opening degree of the throttle valve 22.

[0021] The fuel injection system 16 has a fuel injection valve 32. The fuel injection valve 32 is located in the intake port 30. The fuel injection valve 32 injects fuel into the intake port 30. This creates a mixture of fuel and air. If the internal combustion engine 10 is a direct fuel injection engine, the fuel injection valve 32 may be located in the cylinder head 40 and inject fuel directly into the combustion chamber 34.

[0022] The ignition system 18 includes a spark plug 36 and an ignition coil 38. The spark plug 36 and the ignition coil 38 are installed in the cylinder head 40. The spark plug 36 discharges electricity in the combustion chamber 34 to ignite the fuel-air mixture. The ignition coil 38 boosts the voltage of a battery (not shown). The spark plug 36 discharges electricity using the boosted power.

[0023] The exhaust gas purification device 20 has a three-way catalyst 42. The three-way catalyst 42 is installed in the exhaust port 46 downstream of the exhaust valve 44. The three-way catalyst 42 removes harmful substances contained in the gas discharged from the combustion chamber 34 by the catalyst.

[0024] The internal combustion engine 10 is equipped with various sensors for detecting the operating state of the internal combustion engine 10. The internal combustion engine 10 is equipped with an intake air temperature sensor 48, an intake pressure sensor 50, a crank angle sensor 52, a coolant temperature sensor 54, and an oxygen concentration sensor 56.

[0025] The intake air temperature sensor 48 is located in the intake duct 58 upstream of the throttle valve 22. The intake air temperature sensor 48 detects the temperature inside the intake duct 58. The intake pressure sensor 50 is located in the intake port 30. The intake pressure sensor 50 detects the pressure inside the intake port 30. The crank angle sensor 52 detects the rotation angle of the crankshaft 60. The crank angle sensor 52 detects the rotation angle of the crankshaft 60 based on a pulse signal generated by a projection of the signal rotor 62 that rotates together with the crankshaft 60. The coolant temperature sensor 54 is located in the cylinder 64. The coolant temperature sensor 54 detects the temperature of the coolant in the coolant jacket. The oxygen concentration sensor 56 is located in the exhaust port 46 upstream of the three-way catalytic converter 42. The oxygen concentration sensor 56 detects the concentration of oxygen contained in the gas discharged from the combustion chamber 34.

[0026] [Configuration of biasing member] In the electronically controlled throttle 14 of the first embodiment, the biasing member 70 biases the throttle valve 22 so that the opening degree of the throttle valve 22 becomes the default opening degree.

[0027] Figures 2A to 2C are schematic diagrams of the throttle valve 22 and biasing member 70 in the first embodiment. In Figures 2A to 2C, the throttle valve 22 is shown moving in a linear direction, but in reality, as described above, the throttle valve 22 rotates around the rotating shaft 22a. As shown in Figure 2A, the biasing member 70 has a first biasing member 72 which is a return spring and a second biasing member 74 which is a default spring. The first biasing member 72 and the second biasing member 74 are torsion springs and bias the throttle valve 22 in the rotational direction.

[0028] The opening degree of the throttle valve 22 is indicated by the rotation angle of the throttle valve 22, with the opening degree when the throttle valve 22 is fully closed being 0 [deg]. The opening degree of the throttle valve 22 is smallest when it is fully closed, and largest when it is fully open.

[0029] The electronically controlled throttle 14 includes a stopper 76 that contacts the throttle valve 22 when the throttle valve 22 is fully closed, and a stopper 78 that contacts the throttle valve 22 when the throttle valve 22 is fully open.

[0030] As shown in Figure 2B, when the opening of the throttle valve 22 is greater than the default opening, the first biasing member 72 biases the throttle valve 22 in the closing direction. As shown in Figure 2C, when the opening of the throttle valve 22 is less than the default opening, the second biasing member 74 biases the throttle valve 22 in the opening direction. The spring constant of the first biasing member 72 is smaller than the spring constant of the second biasing member 74. The spring constant of the first biasing member 72 may be the same as the spring constant of the second biasing member 74. The difference between the spring constant of the first biasing member 72 and the spring constant of the second biasing member 74 may be less than or equal to a predetermined value.

[0031] When the throttle valve 22 opens from an opening greater than the default opening to an opening smaller than the default opening, the biasing member 70 that biases the throttle valve 22 switches from the first biasing member 72 to the second biasing member 74 around the time it passes the default opening. Therefore, around the time the throttle valve 22 opens to the default opening, the direction in which the throttle valve 22 is biased by the biasing member 70 switches from the direction that closes the throttle valve 22 to the direction that opens the throttle valve 22.

[0032] Furthermore, when the opening of the throttle valve 22 changes from an opening smaller than the default opening to an opening larger than the default opening, the biasing member 70 that biases the throttle valve 22 switches from the second biasing member 74 to the first biasing member 72 around the time the throttle valve 22 reaches its default opening. As a result, around the time the throttle valve 22 reaches its default opening, the direction in which the throttle valve 22 is biased by the biasing member 70 switches from the direction that opens the throttle valve 22 to the direction that closes the throttle valve 22.

[0033] Around the time the throttle valve 22 reaches its default opening, the direction in which the throttle valve 22 is biased by the biasing member 70 switches. As a result, around the time the throttle valve 22 reaches its default opening, it enters a state similar to that of a disturbance acting on the throttle valve 22.

[0034] [Throttle control device] Figure 3 is a block diagram showing the configuration of the throttle control device 80 in the first embodiment. The throttle control device 80 comprises an arithmetic unit 82 and a storage unit 84. The arithmetic unit 82 is, for example, a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). The arithmetic unit 82 has a control value calculation unit 86, a selection unit 88, and a drive signal generation unit 90. The control value calculation unit 86, the selection unit 88, and the drive signal generation unit 90 are realized by the execution of a program stored in the storage unit 84 in the arithmetic unit 82. At least a portion of the control value calculation unit 86, the selection unit 88, and the drive signal generation unit 90 may be realized by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array). At least a portion of the control value calculation unit 86, the selection unit 88, and the drive signal generation unit 90 may be realized by an electronic circuit including discrete devices.

[0035] The storage unit 84 is a computer-readable storage medium. The storage unit 84 is composed of volatile memory (not shown) and non-volatile memory (not shown). The volatile memory is, for example, RAM (Random Access Memory). The non-volatile memory is, for example, ROM (Read Only Memory), flash memory, etc. Data is stored in the volatile memory, for example. Programs, tables, maps, etc. are stored in the non-volatile memory, for example. At least a part of the storage unit 84 may be provided in the processor, integrated circuit, etc. mentioned above.

[0036] The control value calculation unit 86 includes a first calculation unit 92 and a second calculation unit 94. The first calculation unit 92 calculates a first control value dC1 based on the target opening degree θ*[deg] and the actual opening degree θ[deg]. The second calculation unit 94 calculates a second control value dC2 based on the target opening degree θ*[deg] and the actual opening degree θ[deg]. The target opening degree θ*[deg] is set in an engine control unit (not shown) according to the amount of throttle grip operation. The actual opening degree θ[deg] is the opening degree of the throttle valve 22 detected by the throttle position sensor 26.

[0037] The first calculation unit 92 includes a filter processing unit 96, a difference calculation unit 98, and a feedback control value calculation unit 100.

[0038] The filter processing unit 96 applies a first-order low-pass filter to the target opening θ*[deg] to generate the filtered opening θfilt*[deg]. The order of the low-pass filter is not limited to first order. A response delay filter other than a low-pass filter may be used instead. The time constant of the low-pass filter is set independently of the proportional gain Kp, integral gain Ki, and differential gain Kd, which will be described later. By processing the target opening θ*[deg] with a low-pass filter, the first calculation unit 92 realizes control similar to proportional-differential leading type PID control. The difference calculation unit 98 subtracts the actual opening θ[deg] from the filtered opening θfilt*[deg] to calculate the first difference Δθ1[deg].

[0039] The feedback control value calculation unit 100 calculates the proportional control value dC1p by multiplying the derivative of the first difference Δθ1 [deg] by the proportional gain Kp. The feedback control value calculation unit 100 calculates the integral control value dC1i by multiplying the first difference Δθ1 [deg] by the integral gain Ki. The feedback control value calculation unit 100 calculates the differential control value dC1d by multiplying the second derivative of the first difference Δθ1 [deg] by the differential gain Kd. The feedback control value calculation unit 100 calculates the sum of the proportional control value dC1p, the integral control value dC1i, and the differential control value dC1d, and outputs it as the first control value dC1.

[0040] The second calculation unit 94 includes a reference model opening degree calculation unit 102, a difference calculation unit 104, and a feedback control value calculation unit 106.

[0041] The reference model opening calculation unit 102 generates a reference model opening θnom*[deg] by applying a second-order or third-order low-pass filter to the target opening θ*[deg]. The reference model opening θnom*[deg] is the opening that takes into account the design response delay compared to the target opening θ*[deg]. The order of the low-pass filter is not limited to second-order and third-order. A response delay filter other than a low-pass filter may be used instead of a low-pass filter. The difference calculation unit 104 calculates a second difference Δθ2[deg] by subtracting the actual opening θ[deg] from the reference model opening θnom*[deg]. This allows the second difference Δθ2[deg] to be extracted as a disturbance.

[0042] The feedback control value calculation unit 106 multiplies the derivative of the second difference Δθ2 [deg] by the control gain K(Δθ2). The feedback control value calculation unit 106 further differentiates the value obtained by the above multiplication to calculate the second control value dC2. The control gain K(Δθ2) is a variable gain, and the control gain K(Δθ2) will be described in detail later.

[0043] The second control value dC2 includes the differential component of the second difference Δθ2[deg]. Therefore, the responsiveness of the second control value dC2 to the fluctuation of the second difference Δθ2[deg] can be improved.

[0044] The selection unit 88 selects one of the values, the second control value dC2 or 0 (zero), as the value to output to the drive signal generation unit 90.

[0045] The drive signal generation unit 90 generates a drive signal D[%] by integrating the value obtained by adding the value output from the selection unit 88 to the first control value dC1. The drive signal D[%] is a PWM signal, and the actuator of the electronically controlled throttle 14 is driven by the drive signal D[%].

[0046] The selection unit 88 outputs a second control value dC2 to the drive signal generation unit 90 when the opening degree of the throttle valve 22 is near the default opening degree. That is, when the opening degree of the throttle valve 22 is near the default opening degree, the drive signal generation unit 90 generates a drive signal D[%] using the first control value dC1 and the second control value dC2. As a result, a correction control is intervened in which the first control value dC1 is corrected by the second control value dC2.

[0047] As described above, the direction in which the throttle valve 22 is biased by the biasing member 70 switches before and after the throttle valve 22 reaches its default opening, resulting in a state similar to that of a disturbance acting on the throttle valve 22. Correction control, which adds a second control value dC2 having a differential component to the first control value dC1, intervenes to cancel out the disturbance early and suppress the response delay of the actual opening degree θ[deg] of the throttle valve 22 to the target opening degree θ*[deg]. The method of selecting values ​​in the selection unit 88 will be described in detail later.

[0048] In the first embodiment, a filter processing unit 96 is provided in the first calculation unit 92 to suppress kick in the differential term, but the filter processing unit 96 may be omitted. Also, in the first embodiment, speed-type PID control is performed in the first calculation unit 92 to suppress wind-up in the integral term, but position-type PID control may be performed in the first calculation unit 92. When position-type PID control is performed in the first calculation unit 92, integration is not performed in the drive signal generation unit 90. Also, when position-type PID control is performed in the first calculation unit 92, the subsequent differentiation is not performed in the second calculation unit 94.

[0049] [Regarding the selection section] As described above, the selection unit 88 selects one of the values, the second control value dC2 or 0 (zero), as the value to output to the drive signal generation unit 90.

[0050] If the actual opening degree θ[deg] of the throttle valve 22 is within a predetermined opening degree range, and the magnitude of the change in the second difference Δθ2[deg] (dΔθ2 / dt) is greater than or equal to the change threshold, the selection unit 88 outputs the second control value dC2 to the drive signal generation unit 90. As a result, the drive signal generation unit 90 generates a drive signal D[%] using the first control value dC1 and the second control value dC2.

[0051] If the actual opening degree θ[deg] of the throttle valve 22 is outside the predetermined opening degree range, or if the magnitude of the change in the second difference Δθ2[deg] (dΔθ2 / dt) is less than the change threshold, the selection unit 88 outputs 0 (zero) to the drive signal generation unit 90. As a result, the drive signal generation unit 90 generates the drive signal D[%] using the first control value dC1 without using the second control value dC2.

[0052] Figure 4 illustrates the predetermined opening range in the first embodiment. As shown in Figure 4, the predetermined opening range includes the default opening. The default opening is the lowest value within the predetermined opening range. The default opening does not have to be the lowest value within the predetermined opening range. The default opening may be a value located closer to the closed position than the median value of the predetermined opening range. As shown in Figure 4, the default opening is located closer to the fully closed position than to the fully open position. As shown in Figure 4, the predetermined opening range is generally located closer to the fully closed position than to the fully open position.

[0053] When the throttle valve 22 is relatively close to fully closed and relatively close to the stopper 76, corrective control intervention is performed to correct the first control value dC1 with the second control value dC2.

[0054] However, when correction control is applied, the rotational speed of the throttle valve 22 increases compared to when no correction control is applied, making it easier for the throttle valve 22 to undershoot relative to the target opening θ*[deg]. Therefore, if the opening of the throttle valve 22 is smaller than the predetermined opening range, no correction control is applied. If the default opening is the lowest value within the predetermined opening range, no correction control is applied if the opening of the throttle valve 22 is smaller than the default opening. This suppresses undershoot of the throttle valve 22 opening and prevents collision between the throttle valve 22 and the stopper 76.

[0055] Figure 5 illustrates the change threshold in the first embodiment. When the throttle valve 22 is driven in the opening direction, the change threshold is set to threshold a. When the throttle valve 22 is driven in the closing direction, the change threshold is set to threshold b.

[0056] If the magnitude of the change in the second difference Δθ2 [deg] (dΔθ2 / dt) is less than the change threshold, the correction control that corrects the first control value dC1 with the second control value dC2 does not intervene. As a result, the drive signal generation unit 90 generates the drive signal D [%] without using the second control value dC2 which includes the differential component, and thus can suppress hunting of the throttle valve 22 opening when the target opening degree θ* [deg] of the throttle valve 22 fluctuates slightly.

[0057] The change threshold is greater when the magnitude of threshold b is greater than the magnitude of threshold a (|b|>|a|). When the throttle valve 22 is driven in the closing direction than when the throttle valve 22 is driven in the opening direction, the correction control that corrects the first control value dC1 with the second control value dC2 becomes less likely to intervene. When the correction control intervenes, the rotational speed of the throttle valve 22 increases. As mentioned above, the correction control intervenes when the throttle valve 22 is relatively close to the stopper 76. By making it difficult for the correction control to intervene when the throttle valve 22 is driven in the closing direction, the undershoot of the opening degree of the throttle valve 22 can be suppressed, and the collision between the throttle valve 22 and the stopper 76 can be suppressed.

[0058] [Regarding the control gain K(Δθ2)] Figure 6 shows the control gain K(Δθ2) map in the first embodiment. As shown in Figure 6, the control gain K(Δθ2) is set according to the second difference Δθ2[deg].

[0059] If the second difference Δθ2[deg] is greater than 0[deg], the control gain K(Δθ2) is set to gain K1. If the second difference Δθ2[deg] is less than 0[deg], the control gain K(Δθ2) is set to gain K2. The magnitude of gain K2 is smaller than the magnitude of gain K1. If the second difference Δθ2[deg] is 0[deg], the control gain K(Δθ2) is set to gain K1. If the second difference Δθ2[deg] is 0[deg], the control gain K(Δθ2) may be set to gain K2.

[0060] If the second difference Δθ2[deg] is less than 0[deg], the actual opening θ[deg] is greater than the target opening θ*[deg], and the throttle valve 22 is driven in the closing direction. If the second difference Δθ2[deg] is greater than 0[deg], the actual opening θ[deg] is smaller than the target opening θ*[deg], and the throttle valve 22 is driven in the opening direction. In other words, the magnitude of the control gain K(Δθ2) when the throttle valve 22 is driven in the closing direction is smaller than the magnitude of the control gain K(Δθ2) when the throttle valve 22 is driven in the opening direction.

[0061] Therefore, the magnitude of the second control value dC2 when the throttle valve 22 is driven in the closing direction is smaller than the magnitude of the second control value dC2 when the throttle valve 22 is driven in the opening direction. When the throttle valve 22 is driven in the closing direction, the rotational speed of the throttle valve 22 is suppressed by reducing the magnitude of the second control value dC2. This suppresses undershoot of the opening degree of the throttle valve 22 and prevents collision between the throttle valve 22 and the stopper 76.

[0062] Furthermore, instead of the control gain K(Δθ2), or in addition to the control gain K(Δθ2), the proportional gain Kp may be made a variable gain. In this case, the magnitude of the proportional gain Kp when the throttle valve 22 is driven in the closing direction is smaller than the magnitude of the proportional gain Kp when the throttle valve 22 is driven in the opening direction. Also, instead of the control gain K(Δθ2), or in addition to the control gain K(Δθ2), the integral gain Ki may be made a variable gain. In this case, the magnitude of the integral gain Ki when the throttle valve 22 is driven in the closing direction is smaller than the magnitude of the integral gain Ki when the throttle valve 22 is driven in the opening direction. Moreover, instead of the control gain K(Δθ2), or in addition to the control gain K(Δθ2), the differential gain Kd may be made a variable gain. In this case, the magnitude of the differential gain Kd when the throttle valve 22 is driven in the closing direction is smaller than the magnitude of the differential gain Kd when the throttle valve 22 is driven in the opening direction.

[0063] [Throttle control] Figure 7 is a flowchart of the throttle control performed by the throttle control device 80 in the first embodiment. The throttle control is performed repeatedly at a predetermined cycle.

[0064] In step S1, the filter processing unit 96 generates the filter opening θfilt*[deg]. Then, the process proceeds to step S2.

[0065] In step S2, the difference calculation unit 98 calculates the first difference Δθ1 [deg]. Then, the process proceeds to step S3.

[0066] In step S3, the feedback control value calculation unit 100 calculates the first control value dC1. Then, the process proceeds to step S4.

[0067] In step S4, the reference model opening degree calculation unit 102 generates the reference model opening degree θnom*[deg]. Then, the process proceeds to step S5.

[0068] In step S5, the difference calculation unit 104 calculates the second difference Δθ2 [deg]. Then, the process proceeds to step S6.

[0069] In step S6, the feedback control value calculation unit 106 calculates the second control value dC2. Then, the process proceeds to step S7.

[0070] In step S7, the selection unit 88 determines whether the actual opening degree θ [deg] of the throttle valve 22 is within a predetermined opening range. If it is determined that the actual opening degree θ [deg] of the throttle valve 22 is within a predetermined opening range (step S7: YES), the process proceeds to step S8.

[0071] In step S8, the selection unit 88 determines whether the magnitude of the change in the second difference Δθ2 [deg] is greater than or equal to the change threshold. If it is determined that the magnitude of the change in the second difference Δθ2 [deg] is greater than or equal to the change threshold (step S8: YES), the process proceeds to step S9.

[0072] In step S9, the selection unit 88 outputs the second control value dC2 to the drive signal generation unit 90. Then, the process proceeds to step S10.

[0073] In step S10, the drive signal generation unit 90 generates a drive signal D[%] using the first control value dC1 and the second control value dC2. After that, throttle control is terminated.

[0074] If, in step S7, it is determined that the actual opening degree θ [deg] of the throttle valve 22 is outside the predetermined opening degree range (step S7: NO), or if, in step S8, it is determined that the magnitude of the change in the second difference Δθ2 [deg] is less than the change threshold (step S8: NO), the process proceeds to step S11.

[0075] In step S11, the selection unit 88 outputs 0 (zero) to the drive signal generation unit 90. Then, the process proceeds to step S12.

[0076] In step S12, the drive signal generation unit 90 generates a drive signal D[%] using the first control value dC1 without using the second control value dC2. After that, throttle control is terminated.

[0077] [Comparison of responsiveness with and without corrective control intervention] Figure 8 is a time chart of the actual opening degree θ [deg] of the throttle valve 22 when the throttle valve 22 is driven in the opening direction in the first embodiment. Figure 9 is a time chart of the actual opening degree θ [deg] of the throttle valve 22 when the throttle valve 22 is driven in the closing direction in the first embodiment.

[0078] Figures 8 and 9 show that when corrective control is implemented, correcting the first control value dC1 with the second control value dC2, the responsiveness is improved compared to when corrective control is not implemented.

[0079] [Second Embodiment] In the second embodiment, the throttle control device 80 differs in some respects from the throttle control device 80 of the first embodiment.

[0080] [Throttle control device] Figure 10 is a block diagram showing the configuration of the throttle control device 80 in the second embodiment. In the throttle control device 80 in the second embodiment, the method for calculating the second control value dC2 performed by the feedback control value calculation unit 106 of the second calculation unit 94 differs from the method for calculating the second control value dC2 performed by the feedback control value calculation unit 106 of the second calculation unit 94 of the throttle control device 80 in the first embodiment. The other configurations of the throttle control device 80 in the second embodiment are the same as those of the throttle control device 80 in the first embodiment.

[0081] The feedback control value calculation unit 106 of the second calculation unit 94 multiplies the sum of the value obtained by differentiating the second difference Δθ2 [deg] and the value obtained by multiplying the second difference Δθ2 [deg] by the proportional gain P, by the control gain K(Δθ2). The feedback control value calculation unit 106 further differentiates the value obtained by the above multiplication to calculate the second control value dC2.

[0082] The second control value dC2 includes both the differential component of the second difference Δθ2[deg] and the proportional component of the second difference Δθ2[deg]. Therefore, the differential component can improve the responsiveness of the second control value dC2 to fluctuations in the second difference Δθ2[deg]. Furthermore, the proportional component allows the magnitude of the second control value dC2 to be set according to the magnitude of the second difference Δθ2[deg].

[0083] [Comparison of responsiveness with and without corrective control intervention] Figure 11 is a time chart of the actual opening degree θ [deg] of the throttle valve 22 when the throttle valve 22 is driven in the closing direction in the second embodiment.

[0084] Figure 11 shows that when corrective control is implemented, correcting the first control value dC1 with the second control value dC2, the responsiveness is improved compared to when corrective control is not implemented.

[0085] In the first embodiment, the second difference Δθ2[deg] includes only the differential component, while in the second embodiment, the second difference Δθ2[deg] includes both the differential and proportional components. Comparing Figure 9 of the first embodiment with Figure 11 of the second embodiment, it can be seen that the case where the second difference Δθ2[deg] includes both the differential and proportional components (Figure 11) shows improved responsiveness.

[0086] [Third Embodiment] In the third embodiment, the throttle control device 80 differs in some respects from the throttle control device 80 of the first embodiment.

[0087] [Throttle control device] Figure 12 is a block diagram showing the configuration of the throttle control device 80 in the third embodiment. In the throttle control device 80 in the third embodiment, the method for calculating the second control value dC2 performed by the feedback control value calculation unit 106 of the second calculation unit 94 differs from the method for calculating the second control value dC2 performed by the feedback control value calculation unit 106 of the second calculation unit 94 of the throttle control device 80 in the first embodiment. The other configurations of the throttle control device 80 in the third embodiment are the same as those of the throttle control device 80 in the first embodiment.

[0088] The feedback control value calculation unit 106 of the second calculation unit 94 multiplies the value obtained by multiplying the second difference Δθ2 [deg] by the proportional gain P, and then further multiplies the result by the control gain K(Δθ2). The feedback control value calculation unit 106 then differentiates the value obtained by the above multiplication to calculate the second control value dC2.

[0089] The second control value dC2 includes a proportional component of the second difference Δθ2 [deg]. Therefore, the magnitude of the second control value dC2 can be set according to the magnitude of the second difference Δθ2 [deg].

[0090] The following additional information is disclosed regarding the above embodiment.

[0091] (Note 1) The throttle control device (80) of the present disclosure controls the opening degree of a throttle valve (22) biased by a biasing member (70) to a default opening degree which is greater than fully closed and less than fully open. The control device includes a control value calculation unit (86) that calculates a control value using a target opening degree of the throttle valve and the actual opening degree of the throttle valve, and a drive signal generation unit (90) that generates a drive signal for driving an actuator that opens and closes the throttle valve using the control value calculated by the control value calculation unit. The control value calculation unit adjusts the magnitude of the control value with a control gain, and when the opening degree of the throttle valve is within a predetermined opening range including the default opening degree, the control gain when the throttle valve is driven in the closing direction is set to be smaller than the control gain when the throttle valve is driven in the opening direction. This suppresses undershoot of the throttle valve opening degree and prevents the throttle valve from colliding with a stopper.

[0092] (Note 2) In the throttle control device described in Appendix 1, the control value calculation unit includes a first calculation unit (92) that calculates a first control value using the derivative of a first difference, which is the difference between a value corresponding to the target opening and the actual opening, and a second calculation unit (94) that calculates a second control value using the derivative of a second difference, which is the difference between a reference model opening set according to the target opening and the actual opening. When the opening of the throttle valve is within the predetermined opening range, the drive signal generation unit generates the drive signal using the first control value and the second control value. When the opening of the throttle valve is outside the predetermined opening range, the drive signal generation unit generates the drive signal using the first control value without using the second control value. The fully closed opening when the throttle valve is fully closed may be located on the closed side of the predetermined opening range. This makes it possible to suppress the throttle valve from colliding with the stopper due to an undershoot in the opening of the throttle valve.

[0093] (Note 3) In the throttle control device described in Appendix 1, the biasing member comprises a first biasing member (72) that biases the throttle valve in the closing direction and a second biasing member (74) that biases the throttle valve in the opening direction, and the spring constant of the first biasing member may be smaller than the spring constant of the second biasing member. This suppresses undershoot of the throttle valve opening and prevents the throttle valve from colliding with the stopper.

[0094] (Note 4) In the throttle control device described in Appendix 1, the biasing member comprises a first biasing member that biases the throttle valve in the closing direction and a second biasing member that biases the throttle valve in the opening direction, and the difference between the spring constant of the first biasing member and the spring constant of the second biasing member may be less than or equal to a predetermined value. This suppresses undershoot of the throttle valve opening and prevents the throttle valve from colliding with the stopper.

[0095] (Note 5) In the throttle control device described in Appendix 1, the control value calculation unit may calculate the control value using the derivative of the difference between the value corresponding to the target opening and the actual opening, and the control gain. This makes it possible to suppress the response delay of the actual opening to the target opening of the throttle valve.

[0096] (Note 6) In the throttle control device described in Appendix 1, the control value calculation unit may calculate the control value using a value proportional to the difference between the value corresponding to the target opening and the actual opening, and the control gain. This allows the magnitude of the control value to be set according to the difference between the value corresponding to the target opening of the throttle valve and the actual opening.

[0097] (Note 7) In the throttle control device described in Appendix 1, the control value calculation unit may calculate the control value using the derivative of the difference between the value corresponding to the target opening and the actual opening, a value proportional to the difference between the value corresponding to the target opening and the actual opening, and the control gain. This suppresses the response delay of the actual opening to the target opening of the throttle valve. Furthermore, the magnitude of the control value can be set according to the difference between the value corresponding to the target opening and the actual opening of the throttle valve.

[0098] (Note 8) In the throttle control device described in Appendix 2, if the opening degree of the throttle valve is within the predetermined opening degree range and the magnitude of the second difference change is greater than or equal to the change threshold, the drive signal generation unit generates the drive signal based on the first control value and the second control value. If the opening degree of the throttle valve is outside the predetermined opening degree range, or if the magnitude of the second difference change is less than the change threshold, the drive signal generation unit may generate the drive signal using the first control value without using the second control value. This allows for the intervention of a correction control that corrects the first control value with the second control value when the opening degree of the throttle valve is within the predetermined opening degree range and the magnitude of the second difference change is greater than or equal to the change threshold.

[0099] (Note 9) In the throttle control device described in Appendix 8, the threshold value of the amount of change when the throttle valve is driven in the closing direction may be different from the threshold value of the amount of change when the throttle valve is driven in the opening direction. This makes it possible to change the threshold value of the amount of change depending on whether the throttle valve is driven in the closing direction or the opening direction.

[0100] (Note 10) In the throttle control device described in Appendix 9, the threshold value of the amount of change when the throttle valve is driven in the closing direction may be greater than the threshold value of the amount of change when the throttle valve is driven in the opening direction. This makes it difficult for correction control to intervene when the throttle valve is driven in the closing direction, suppresses undershoot of the throttle valve opening, and prevents the throttle valve from colliding with the stopper.

[0101] (Note 11) The throttle control method of the present disclosure is a throttle control method for controlling the opening degree of a throttle valve biased by a biasing member so that the default opening degree is greater than fully closed and less than fully open, comprising: a control value calculation step in which a control value calculation unit calculates a control value using a target opening degree of the throttle valve and the actual opening degree of the throttle valve; and a drive signal generation step in which a drive signal generation unit generates a drive signal for driving an actuator that opens and closes the throttle valve using the control value calculated by the control value calculation unit, wherein the control value calculation step adjusts the magnitude of the control value with a control gain, and when the opening degree of the throttle valve is within a predetermined opening degree range including the default opening degree, the control gain when the throttle valve is driven in the closing direction is set to be smaller than the control gain when the throttle valve is driven in the opening direction. This suppresses undershoot of the throttle valve opening degree and prevents the throttle valve from colliding with a stopper.

[0102] While this disclosure has been described in detail, it is not limited to the individual embodiments described above. These embodiments can be added, replaced, modified, partially deleted, etc., in any way that does not depart from the gist of this disclosure or from the intent of this disclosure derived from the claims and their equivalents. These embodiments can also be implemented in combination. For example, the order of operations and processes in the embodiments described above are given as examples only and are not limited thereto. The same applies when numerical values ​​or mathematical formulas are used in the description of the embodiments described above. [Explanation of Symbols]

[0103] 22…Throttle valve 70…Biasing member 72…First biasing member 74…Second biasing member 80…Throttle control device 86…Control value calculation unit 90…Drive signal generation unit 92…First calculation unit 94…Second calculation unit

Claims

1. A throttle control device that controls the opening degree of a throttle valve biased by a biasing member so that the default opening degree is greater than fully closed and less than fully open, A control value calculation unit that calculates a control value using the target opening degree of the throttle valve and the actual opening degree of the throttle valve, A drive signal generation unit generates a drive signal for driving an actuator that opens and closes the throttle valve using the control value calculated by the control value calculation unit, It has, The control value calculation unit adjusts the magnitude of the control value using a control gain. A throttle control device wherein, when the opening degree of the throttle valve is within a predetermined opening degree range including the default opening degree, the control gain when the throttle valve is driven in the closing direction is set to be smaller than the control gain when the throttle valve is driven in the opening direction.

2. In the throttle control device according to claim 1, The control value calculation unit is: A first calculation unit calculates a first control value using the derivative of a first difference, which is the difference between a value corresponding to the target opening and the actual opening. A second calculation unit calculates a second control value using the derivative of a second difference, which is the difference between a reference model opening set according to the target opening and the actual opening. It has, If the opening of the throttle valve is within the predetermined opening range, the drive signal generation unit generates the drive signal using the first control value and the second control value. If the opening of the throttle valve is outside the predetermined opening range, the drive signal generation unit generates the drive signal using the first control value without using the second control value. A throttle control device wherein the fully closed opening of the throttle valve when it is fully closed is located on the closed side of the predetermined opening range.

3. In the throttle control device according to claim 1, The biasing member comprises a first biasing member that biases the throttle valve in the closing direction and a second biasing member that biases the throttle valve in the opening direction. A throttle control device wherein the spring constant of the first biasing member is smaller than the spring constant of the second biasing member.

4. In the throttle control device according to claim 1, The biasing member comprises a first biasing member that biases the throttle valve in the closing direction and a second biasing member that biases the throttle valve in the opening direction. A throttle control device in which the difference between the spring constant of the first biasing member and the spring constant of the second biasing member is less than or equal to a predetermined value.

5. In the throttle control device according to claim 1, The throttle control device is a throttle control device in which the control value calculation unit calculates the control value using the derivative of the difference between the value corresponding to the target opening and the actual opening, and the control gain.

6. In the throttle control device according to claim 1, The throttle control device includes a control value calculation unit which calculates the control value using a value proportional to the difference between the target opening and the actual opening, and the control gain.

7. In the throttle control device according to claim 1, The throttle control device is a throttle control device in which the control value calculation unit calculates the control value using the derivative of the difference between the value corresponding to the target opening and the actual opening, a value proportional to the difference between the value corresponding to the target opening and the actual opening, and the control gain.

8. In the throttle control device according to claim 2, If the opening degree of the throttle valve is within the predetermined opening degree range and the magnitude of the change amount of the second difference is greater than or equal to the change amount threshold, the drive signal generation unit generates the drive signal based on the first control value and the second control value. A throttle control device in which, when the opening degree of the throttle valve is outside the predetermined opening degree range, or when the magnitude of the change amount of the second difference is less than the change amount threshold, the drive signal generation unit generates the drive signal using the first control value without using the second control value.

9. In the throttle control device according to claim 8, A throttle control device wherein the threshold value of the amount of change when the throttle valve is driven in the closing direction is different from the threshold value of the amount of change when the throttle valve is driven in the opening direction.

10. In the throttle control device according to claim 9, A throttle control device wherein the threshold value of the amount of change when the throttle valve is driven in the closing direction is greater than the threshold value of the amount of change when the throttle valve is driven in the opening direction.

11. A throttle control method for controlling the opening degree of a throttle valve biased by a biasing member so that the default opening degree is greater than fully closed and less than fully open, A control value calculation step in which a control value calculation unit calculates a control value using the target opening degree of the throttle valve and the actual opening degree of the throttle valve, A drive signal generation step in which a drive signal generation unit generates a drive signal for driving an actuator that opens and closes the throttle valve using the control value calculated by the control value calculation unit, It has, The control value calculation step involves adjusting the magnitude of the control value using a control gain. A throttle control method in which, when the opening degree of the throttle valve is within a predetermined opening degree range including the default opening degree, the control gain when the throttle valve is driven in the closing direction is set to be smaller than the control gain when the throttle valve is driven in the opening direction.

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