Valve control device, valve control system, and valve control method

Abstract

A valve control device (30) comprising: a target position change quantity calculation unit (31) that calculates a change quantity for a target position of a valve (22) on the basis of said target position and the actual position of the valve; a speed calculation unit (32) that calculates the opening / closing speed on the basis of the actual position; an operation change quantity calculation unit (33) that calculates a change quantity for an opening / closing operation on the basis of the target position, the actual position, the change quantity for the target position, and the opening / closing speed; an operation quantity calculation unit (34) that calculates an opening / closing operation quantity on the basis of the change quantity for the opening / closing operation; a determination unit (35) that, if the target position is a fully open position or a fully closed position, determines whether the actual position is within an abnormality allowance range relative to the target position and whether a prescribed elapsed time has elapsed; a duty calculation unit (36) that calculates a duty ratio corresponding to the opening / closing operation quantity, and on the basis of the determination result from the determination unit (35), treats the calculated duty ratio as a fixed value; and a motor control unit (37) that, on the basis of the duty ratio, controls a voltage applied to a motor (21).

Description

Technical Field

[0001] The present disclosure relates to a valve control device, a valve control system, and a valve control method.

Background Art

[0002] Conventionally, various valves are mounted on vehicles. Some of these valves are used while being exposed to high-temperature gas. When a valve is exposed to high-temperature gas, for example, the dimensions of the valve temporarily change, or foreign substances such as deposits adhere to the valve. When such a situation occurs, there is a risk that the valve cannot reach the fully open position and the fully closed position that are the target positions.

[0003] Therefore, Patent Document 1 discloses a valve control device that corrects the deviation between the target position of a valve and the actual position of the valve using the calculated correction amount.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Here, the deviation between the target position of the valve and the actual position of the valve is caused by the driving state of the vehicle, the temperature of the high-temperature gas, the external environment of the vehicle, and the like. Therefore, in the valve control device disclosed in Patent Document 1, it is necessary to prepare correction amounts corresponding to various situations in advance. At this time, even if the actual position of the valve does not reach the target position, if there is no problem with the fluid flow rate or the like at that time, it is considered unnecessary to correct the deviation between them.

[0006] This disclosure was made to solve the above-mentioned problems and aims to provide a valve control device that can perform valve control without correcting the discrepancy between the target position of the valve and the actual position of the valve, even when the actual position of the valve does not reach the target position. [Means for solving the problem]

[0007] The valve control device according to this disclosure includes: a target position change calculation unit that calculates the amount of change in the target position of the valve based on the target position of the valve and the actual position of the valve; a speed calculation unit that calculates the opening and closing speed of the valve based on the actual position of the valve; an operation change calculation unit that calculates the amount of change in the opening and closing operation for opening and closing the valve based on the target position of the valve, the actual position of the valve, the amount of change in the target position of the valve calculated by the target position change calculation unit, and the opening and closing speed of the valve calculated by the speed calculation unit; and an operation amount calculation unit that calculates the amount of opening and closing operation for opening and closing the valve based on the amount of change in the opening and closing operation calculated by the operation change calculation unit. Whether the target position is the fully open position or the fully closed position, When the target position is the fully open or fully closed position, the determination unit determines whether the actual position of the valve is within a preset abnormal tolerance range relative to the target position and whether a predetermined elapsed time has elapsed. The determination unit calculates the duty cycle for driving the motor that opens and closes the valve, according to the opening and closing operation amount calculated by the operation amount calculation unit. A Duty Calculation Unit, in which, if the determination result of the determination unit is that the target position is not the fully open position or the fully closed position, calculates a Duty ratio corresponding to the amount of opening and closing operation of the valve, which is not a fixed value that changes as the actual position of the valve approaches the fully open position or the fully closed position. The determination result of the determination unit However, if the target position is either fully open or fully closed, and the actual position of the valve is within a preset abnormal tolerance range relative to the target position, and a predetermined elapsed time has elapsed, then a fixed duty cycle ratio is calculated. The system is characterized by comprising a duty calculation unit and a motor control unit that controls the voltage applied to the motor based on the duty ratio calculated by the duty calculation unit. [Effects of the Invention]

[0008] According to this disclosure, even if the actual position of the valve does not reach the target position, valve control can be performed without correcting the discrepancy between the target position of the valve and the actual position of the valve. [Brief explanation of the drawing]

[0009] [Figure 1] This block diagram shows the configuration of a valve control system to which the valve control device according to Embodiment 1 is applied. [Figure 2] This figure shows the normal valve control in the valve control device according to Embodiment 1. Figure 2A shows the valve control to the fully open side. Figure 2B shows the valve control to the fully closed side. [Figure 3] This figure shows the valve control in the valve control device according to Embodiment 1 when there is a feedback abnormality. Figure 3A shows the valve control to the fully open side. Figure 3B shows the valve control to the fully closed side. [Figure 4] This is a flowchart showing the valve control method according to Embodiment 1. [Figure 5] Figures 5A and 5B show an example of the hardware configuration of the valve control device according to Embodiment 1. [Modes for carrying out the invention]

[0010] To provide a more detailed explanation of this disclosure, the forms for implementing this disclosure will be described below with reference to the attached drawings.

[0011] Embodiment 1. The valve control device 30 according to Embodiment 1 will be described with reference to Figures 1 to 5.

[0012] First, the valve control system to which the valve control device 30 according to Embodiment 1 is applied will be described using Figure 1. Figure 1 is a block diagram showing the configuration of the valve control system to which the valve control device 30 according to Embodiment 1 is applied.

[0013] The valve control system shown in Figure 1 consists of an input device 11, a motor 21, a valve 22, a rotational position detection unit 23, and a valve control device 30.

[0014] The input device 11 is connected to the valve control device 30. Valve information regarding the valve 22 to be controlled can be input into this input device 11. This valve information is, for example, the dimensions of each part indicating the shape of the valve 22, the fully open position, the fully closed position, which are the valve openings necessary for position control (opening / closing control) of the valve 22, and the target position, etc. The input device 11 outputs, for example, the target position (target valve opening) which is the input valve information to the valve control device 30.

[0015] The motor 21 is connected to the valve control device 30. This motor 21 controls the position (valve opening) of the valve 22 by being driven by the voltage applied by the valve control device 30.

[0016] The valve 22 is mechanically connected to the motor 21, and its position (valve opening) changes by the drive of the motor 21. The valve 22 is, for example, an exhaust throttle valve or an EGR (Exhaust Gas Recirculation) valve mounted on a vehicle (not shown). The exhaust throttle valve is a valve that controls the flow rate of exhaust gas. The EGR valve is a valve that controls the flow rate of EGR gas. Both the exhaust throttle valve and the EGR valve control the flow rate of high-temperature gas.

[0017] The rotational position detection unit 23 detects the rotational position of the motor 21. Also, the rotational position detection unit 23 is connected to the valve control device 30. This rotational position detection unit 23 outputs the detected rotational position of the motor 21 to the valve control device 30. The rotational position detection unit 23 is composed of, for example, three hall ICs (Integrated Circuits) corresponding to each of the U-phase, V-phase, and W-phase of the motor 21. The hall IC is composed of an integrated circuit (IC) incorporating hall elements, detects the magnetic poles of the magnetic pole position detection magnet that rotates integrally with the rotor of the motor 21, and outputs a rotational position signal corresponding to the polarity of the magnetic poles.

[0018] When the valve 22 is a normal open valve such as an exhaust throttle valve, the input device 11 learns the fully open position and the fully closed position of the valve 22 when the engine key of the vehicle is turned ON, and sets the valve opening degree (number of steps) between the fully open position and the fully closed position. Further, when the valve 22 is a normal closed valve such as an EGR valve, the input device 11 learns the fully closed position when the engine key of the vehicle is turned ON. Then, the input device 11 sets the fully open position, for example, at a predetermined valve opening degree (number of steps) from the fully closed position.

[0019] The valve control device 30 executes the control of the valve 22 using feedback control. This valve control device 30 includes a target position change amount calculation unit 31, a speed calculation unit 32, an operation change amount calculation unit 33, an operation amount calculation unit 34, a determination unit 35, a Duty calculation unit 36, a motor control unit 37, a real position calculation unit 38, and a subtracter 39.

[0020] The target position change amount calculation unit 31 receives the target position of the valve 22 from the input device 11 moment by moment. Further, the target position change amount calculation unit 31 receives the actual position of the valve 22 from the real position calculation unit 38, which will be described later, moment by moment. Furthermore, the target position change amount calculation unit 31 calculates the change amount of the target position of the valve 22 based on the target position and the actual position of the valve 22. Then, the target position change amount calculation unit 31 outputs the calculated change amount of the target position to the operation change amount calculation unit 33, which will be described later.

[0021] The speed calculation unit 32 receives the actual position of the valve 22 from the real position calculation unit 38, which will be described later, moment by moment. Further, the speed calculation unit 32 calculates the opening / closing speed of the valve 22 based on a plurality of actual positions of the valve 22. Furthermore, the speed calculation unit 32 outputs the calculated opening / closing speed of the valve 22 to the operation change amount calculation unit 33, which will be described later.

[0022] The operation change amount calculation unit 33 receives a subtraction value obtained by subtracting the target position of the valve 22 from the actual position of the valve 22 via the subtractor 39, and this subtraction value is input moment by moment. The operation change amount calculation unit 33 also obtains the change in the target position of the valve 22 from the target position change amount calculation unit 31. Furthermore, the operation change amount calculation unit 33 obtains the opening and closing speed of the valve 22 from the speed calculation unit 32. Then, the operation change amount calculation unit 33 calculates the change in the opening and closing operation to open and close the valve 22 based on the subtraction value, the change in the target position of the valve 22, and the opening and closing speed of the valve 22. Next, the operation change amount calculation unit 33 outputs the calculated change in the opening and closing operation for the valve 22 to the operation amount calculation unit 34.

[0023] The manipulated amount calculation unit 34 obtains the change in the opening / closing operation of the valve 22 from the operation change amount calculation unit 33. The manipulated amount calculation unit 34 also calculates the amount of opening / closing operation required to open or close the valve 22 based on the obtained change in the opening / closing operation. Furthermore, the manipulated amount calculation unit 34 outputs the calculated amount of opening / closing operation for the valve 22 to the duty calculation unit 36.

[0024] The determination unit 35 receives the target position as input from the input device 11. The determination unit 35 also obtains the actual position of the valve 22 from the actual position calculation unit 38, which will be described later. Furthermore, if the target position of the valve 22 input from the input device 11 is the fully open position or the fully closed position, the determination unit 35 determines whether the actual position of the valve 22 is within a preset abnormal tolerance range relative to the target position and whether a predetermined elapsed time (feedback abnormality detection time, which will be described later) has elapsed. The determination unit 35 then outputs the determination result to the duty calculation unit 36. At this time, the determination unit 35 has preset the abnormal tolerance range temperatures for the fully open position and the fully closed position based on the temperature of the high-temperature gas.

[0025] The Duty Calculation Unit 36 ​​obtains the opening / closing operation amount of the valve 22 from the Manipulation Amount Calculation Unit 34. The Duty Calculation Unit 36 ​​also obtains the determination result from the Determination Unit 35. Furthermore, the Duty Calculation Unit 36 ​​calculates the duty cycle for driving the motor 21 that opens and closes the valve 22, according to the opening / closing operation amount of the valve 22 calculated by the Manipulation Amount Calculation Unit 34. The Duty Calculation Unit 36 ​​then outputs the calculated duty cycle to the motor control unit 37, which will be described later.

[0026] At this time, the Duty Calculation Unit 36 ​​sets the calculated Duty Ratio as a fixed value according to the determination result of the Determination Unit 35, and outputs this fixed Duty Ratio to the Motor Control Unit 37.

[0027] Specifically, if the determination unit 35 determines that the target position of the valve 22 is neither fully open nor fully closed, the duty calculation unit 36 ​​calculates a duty cycle ratio corresponding to the amount of opening and closing operation of the valve 22, and outputs this calculated duty cycle ratio to the motor control unit 37 without setting it to a fixed value.

[0028] Furthermore, if the determination unit 35 determines that even if the target position of the valve 22 is the fully open or fully closed position, the actual position of the valve 22 is within a preset abnormal tolerance range relative to the target position, and a predetermined elapsed time has not elapsed, the duty calculation unit 36 ​​calculates a duty ratio corresponding to the opening and closing operation amount of the valve 22, and outputs this calculated duty ratio to the motor control unit 37 without fixing it to a fixed value.

[0029] Furthermore, if the determination unit 35 determines that the actual position of the valve 22 is within a preset abnormal tolerance range relative to the target position when the target position of the valve 22 is either fully open or fully closed, and a predetermined elapsed time has elapsed, the duty calculation unit 36 ​​calculates a duty ratio corresponding to the amount of opening and closing operation of the valve 22, and outputs this calculated duty ratio as a fixed value to the motor control unit 37.

[0030] The motor control unit 37 controls the voltage applied to the motor 21 based on the duty cycle calculated by the duty calculation unit 36. That is, when the motor control unit 37 applies a voltage to the motor 21 that corresponds to a duty cycle that is not a fixed value, the valve 22 moves either away from the fully closed position (towards opening) or away from the fully open position (towards closing) due to the drive of the motor 21.

[0031] The actual position calculation unit 38 obtains the rotational position of the motor 21 from the rotational position detection unit 23. The actual position calculation unit 38 also calculates the actual position of the valve 22 based on the obtained rotational position of the motor 21. Furthermore, the actual position calculation unit 38 outputs the calculated actual position of the valve 22 to the target position change amount calculation unit 31, the speed calculation unit 32, the determination unit 35, and the subtractor 39.

[0032] Next, the operation of the valve control device 30 according to Embodiment 1 will be explained with reference to Figures 2 and 3.

[0033] First, Figure 2 shows the normal valve control in the valve control device 30 according to Embodiment 1. Figure 2A shows the valve control to the fully open side. Figure 2B shows the valve control to the fully closed side. The vertical axis in Figures 2A and 2B shows the position of the valve 22 and the corresponding duty cycle. The horizontal axis in Figures 2A and 2B shows the passage of time as you move to the right. In Figures 2A and 2B, the actual position of the valve 22 is shown by a solid line, and the target position of the valve 22 is shown by a dotted line.

[0034] As shown in Figure 2A, when the target position is set to the fully open position, the actual position of the valve 22 gradually approaches the fully open position. Correspondingly, the duty cycle also changes.

[0035] Next, when the actual position of valve 22 reaches the fully open position, the valve control switches from normal control to fully open control. Correspondingly, the duty cycle becomes constant. During this period, normal control is the control to bring the actual position of valve 22 closer to the fully open position. Fully open control is the control to keep the actual position of valve 22 at the fully open position.

[0036] At this time, even when exposed to high-temperature gas, valve 22 does not undergo thermal deformation that would cause temporary changes in the dimensions of any part. Therefore, the actual position of valve 22 reaches the fully open position without any problems.

[0037] Then, when the target position is released from the fully open position and the actual position of valve 22 moves from the fully open position toward the fully closed position, the valve control switches from fully open control to normal control. The duty cycle also changes accordingly. During this period, normal control refers to control that moves the actual position of valve 22 away from the fully open position.

[0038] On the other hand, as shown in Figure 2B, when the target position is set to the fully closed position, the actual position of the valve 22 gradually approaches the fully closed position. Correspondingly, the duty cycle also changes.

[0039] Next, when the actual position of valve 22 reaches the fully closed position, the valve control switches from normal control to fully closed control. Correspondingly, the duty cycle becomes constant. During this period, normal control is the control that brings the actual position of valve 22 closer to the fully closed position. Fully closed control is the control that keeps the actual position of valve 22 at the fully closed position.

[0040] At this time, even when exposed to high-temperature gas, valve 22 does not undergo thermal deformation that would cause temporary changes in the dimensions of any part. Furthermore, no foreign matter such as deposits is attached to valve 22 or the valve seat (not shown) on which valve 22 is seated. For this reason, the actual position of valve 22 reaches the fully closed position without any problems.

[0041] Then, as the actual position of valve 22 moves from the fully closed position toward the fully open position, the valve control switches from fully closed control to normal control. The duty cycle also changes accordingly. During this period, normal control refers to control that moves the actual position of valve 22 away from the fully closed position.

[0042] Figure 3 is a diagram showing valve control in the valve control device 30 according to Embodiment 1 when there is a feedback abnormality. Figure 3A is a diagram showing valve control to the fully open side. Figure 2B is a diagram showing valve control to the fully closed side. The vertical axis of Figures 3A and 3B shows the position of the valve 22 and the corresponding duty cycle. The horizontal axis of Figures 3A and 3B shows the passage of time as you move to the right. In Figures 3A and 3B, the actual position of the valve 22 is shown by a solid line, and the target position of the valve 22 is shown by a dotted line.

[0043] As shown in Figure 3A, an abnormality tolerance range corresponding to a feedback abnormality on the fully open side is pre-set. This abnormality tolerance range is set, for example, based on the temperature of the high-temperature gas. The abnormality tolerance range corresponding to a feedback abnormality on the fully open side is the range between the fully open position and a position located a predetermined distance away from the fully open position toward the fully closed position. That is, the position located a predetermined distance away from the fully open position toward the fully closed position is the threshold position.

[0044] Therefore, when the target position is set to the fully open position, the actual position of the valve 22 gradually approaches the fully open position. Correspondingly, the duty cycle also changes.

[0045] Next, although normal control continues, if the above-mentioned thermal deformation occurs in valve 22, the actual position of valve 22 may not reach the target position, which is the fully open position. In this case, even though the actual position of valve 22 does not reach the target position, which is the fully open position, the actual position of valve 22 exceeds the threshold position and enters the abnormal tolerance range, and as soon as that value becomes constant, the detection of a feedback abnormality is started.

[0046] If the feedback anomaly detection time is determined to have elapsed for a predetermined period of time, the actual position of valve 22 is considered to have reached the fully open position, and the valve control switches from normal control to fully open control, which is open-loop control. During this fully open control, the duty cycle is fixed to a single value.

[0047] Next, when the target position is released from the fully open position and the actual position of valve 22 moves from the fully open position towards the fully closed side, the valve control switches from fully open control to normal control. The duty cycle also changes accordingly.

[0048] On the other hand, as shown in Figure 3B, an abnormality tolerance range corresponding to feedback abnormalities on the fully closed side is set in advance. This abnormality tolerance range is set, for example, based on the temperature of the high-temperature gas. The abnormality tolerance range corresponding to feedback abnormalities on the fully closed side is the range between the fully closed position and a position located a predetermined distance away from the fully closed position toward the fully open position. That is, the position located a predetermined distance away from the fully closed position toward the fully open position is the threshold position.

[0049] Therefore, when the target position is set to the fully closed position, the actual position of the valve 22 gradually approaches the fully closed position. Correspondingly, the duty cycle also changes.

[0050] Next, although normal control continues, if the above-mentioned thermal deformation occurs in the valve 22, or if foreign matter such as deposits is attached to the valve 22 and valve seat, the actual position of the valve 22 may not reach the target position, which is the fully closed position. In other words, there may be times when the valve 22 does not seat on the valve seat. At this time, although the actual position of the valve 22 does not reach the target position, which is the fully closed position, the actual position of the valve 22 exceeds the threshold position and enters the abnormal tolerance range, and as soon as that value becomes constant, the detection of a feedback abnormality is started.

[0051] If it is determined that a predetermined elapsed time has elapsed since the detection of the feedback anomaly, the actual position of valve 22 is considered to have reached the fully closed position, and the valve control switches from normal control to fully closed control, which is open-loop control. During this fully closed control, the duty cycle is fixed to a single value.

[0052] Next, when the target position is released from the fully closed position and the actual position of valve 22 moves from the fully open position towards the fully closed side, the valve control switches from fully closed control to normal control. The duty cycle also changes accordingly.

[0053] Here, since the EGR valve is typically a normally closed valve, there is no mechanical stopper at its fully open position. Therefore, when using the EGR valve, the fully closed position is learned when the vehicle's engine key is turned ON. The fully open position is then set, for example, by a predetermined valve opening (number of steps) from the fully closed position.

[0054] Furthermore, since the exhaust throttle valve is typically a normally open valve, there are mechanical stoppers at its fully open and fully closed positions. Therefore, when using the exhaust throttle valve, when the vehicle's engine key is turned ON, the fully open and fully closed positions are learned, and the valve opening degree (number of steps) between the fully open and fully closed positions is set.

[0055] When using an EGR valve or exhaust throttle valve, thermal deformation due to high-temperature gas and adhesion of foreign matter may occur, potentially causing a change in the valve opening between the fully open and fully closed positions during vehicle operation. In particular, if the valve opening becomes smaller than the initial learned valve opening, the actual position of the EGR valve or exhaust throttle valve will not reach the target fully open and fully closed positions. As a result, there was a concern that this would be detected as a feedback error, and the motor for opening and closing the EGR valve or exhaust throttle valve would be locked.

[0056] In contrast, the valve control device 30 includes a duty calculation unit 36 ​​that sets the calculated duty ratio to a fixed value according to the determination result of the determination unit. Therefore, even if the actual position of the valve 22 does not reach the target position, which is the fully open position or the fully closed position, feedback errors can be prevented. As a result, the valve control device 30 can prevent the motor 21 from locking up due to feedback errors and reduce damage to the motor 21. Furthermore, the valve control device 30 can cope with thermal deformation of the valve 22 caused by high-temperature gas, thereby improving high-temperature durability.

[0057] Next, the valve control method according to Embodiment 1 will be described using Figure 4. Figure 4 is a flowchart of the valve control method according to Embodiment 1.

[0058] In step ST11, the target position change amount calculation unit 31 calculates the amount of change in the target position of the valve 22 based on the target position of the valve 22 and the actual position of the valve 22.

[0059] In step ST12, the speed calculation unit 32 calculates the opening and closing speed of the valve 22 based on the actual position of the valve 22.

[0060] In step ST13, the operation change calculation unit 33 calculates the change in the opening and closing operation for opening and closing the valve 22 based on the target position of the valve 22, the actual position of the valve 22, the change in the target position of the valve 22 calculated by the target position change calculation unit 31, and the opening and closing speed of the valve 22 calculated by the speed calculation unit 32.

[0061] In step ST14, the operation amount calculation unit 34 calculates the amount of operation required to open or close the valve 22 based on the amount of change in the opening / closing operation calculated by the operation change amount calculation unit 33.

[0062] In step ST15, the determination unit 35 determines whether, when the target position is the fully open or fully closed position, the actual position of the valve 22 is within a preset abnormal tolerance range relative to the target position, and whether a predetermined elapsed time has elapsed. If the determination unit 35 determines YES, the valve control proceeds to step ST16. On the other hand, if the determination unit 35 determines NO, the valve control proceeds to step ST17.

[0063] In step ST16, the Duty calculation unit 36 ​​calculates a duty cycle ratio corresponding to the opening / closing operation amount calculated by the operation amount calculation unit 34, and outputs this calculated duty cycle ratio as a fixed value.

[0064] In step ST17, the Duty calculation unit 36 ​​calculates a duty cycle ratio corresponding to the opening / closing operation amount calculated by the operation amount calculation unit 34, and outputs this calculated duty cycle ratio without fixing it to a fixed value.

[0065] In step ST18, the motor control unit 37 controls the voltage applied to the motor 21 based on the duty cycle calculated by the duty calculation unit 36. Then, the valve control is completed.

[0066] Next, an example of the hardware configuration of the valve control device 30 according to Embodiment 1 will be described with reference to Figure 5. Figures 5A and 5B are diagrams showing an example of the hardware configuration of the valve control device 30 according to Embodiment 1.

[0067] As shown in Figure 5A, the valve control device 30 is composed of a computer, which has a processor 51 and a memory 52. ​​The memory 52 stores a program that causes the computer to function as a target position change amount calculation unit 31, a speed calculation unit 32, an operation change amount calculation unit 33, an operation amount calculation unit 34, a determination unit 35, a duty calculation unit 36, a motor control unit 37, and an actual position calculation unit 38. The processor 51 reads and executes the program stored in the memory 52, thereby realizing the functions of the target position change amount calculation unit 31, the speed calculation unit 32, the operation change amount calculation unit 33, the operation amount calculation unit 34, the determination unit 35, the duty calculation unit 36, the motor control unit 37, and the actual position calculation unit 38.

[0068] Alternatively, as shown in Figure 5B, the valve control device 30 may have a processing circuit 53. In this case, the processing circuit 53 may be implemented by a target position change amount calculation unit 31, a speed calculation unit 32, an operation change amount calculation unit 33, an operation amount calculation unit 34, a determination unit 35, a duty calculation unit 36, a motor control unit 37, and an actual position calculation unit 38.

[0069] Alternatively, the valve control device 30 may have a processor 51, a memory 52, and a processing circuit 53 (not shown). In this case, some of the functions of the target position change amount calculation unit 31, speed calculation unit 32, operation change amount calculation unit 33, operation amount calculation unit 34, determination unit 35, duty calculation unit 36, motor control unit 37, and actual position calculation unit 38 may be implemented by the processor 51 and memory 52, and the remaining functions may be implemented by the processing circuit 53.

[0070] The processor 51 uses, for example, at least one of the following: a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a microcontroller, or a DSP (Digital Signal Processor).

[0071] The memory 52 uses, for example, at least one of semiconductor memory or magnetic disk. More specifically, the memory 52 uses at least one of RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), SSD (Solid State Drive), or HDD (Hard Disk Drive).

[0072] The processing circuit 53 uses, for example, at least one of the following: ASIC (Application Specific Integrated Circuit), PLD (Programmable Logic Device), FPGA (Field-Programmable Gate Array), SoC (System-on-a-Chip), or system LSI (Large-Scale Integration).

[0073] As described above, the valve control device 30 according to Embodiment 1 includes: a target position change amount calculation unit 31 that calculates the amount of change in the target position of the valve 22 based on the target position of the valve 22 and the actual position of the valve 22; a speed calculation unit 32 that calculates the opening and closing speed of the valve 22 based on the actual position of the valve 22; an operation change amount calculation unit 33 that calculates the amount of change in the opening and closing operation for opening and closing the valve 22 based on the target position of the valve 22, the actual position of the valve 22, the amount of change in the target position of the valve 22 calculated by the target position change amount calculation unit 31, and the opening and closing speed of the valve 22 calculated by the speed calculation unit 32; and a valve control device 30 that calculates the amount of change in the opening and closing operation for opening and closing the valve 22 based on the amount of change in the opening and closing operation calculated by the operation change amount calculation unit 33. The valve control device 30 includes an operation amount calculation unit 34 that calculates the amount of operation required to open and close the valve 22, a determination unit 35 that determines whether the actual position of the valve 22 is within a preset abnormal tolerance range relative to the target position and whether a predetermined elapsed time has elapsed, when the target position is the fully open or fully closed position, a duty calculation unit 36 ​​that calculates a duty cycle ratio for driving the motor 21 that opens and closes the valve 22 according to the amount of operation calculated by the operation amount calculation unit 34 and sets the calculated duty cycle ratio as a fixed value according to the determination result of the determination unit 35, and a motor control unit 37 that controls the voltage applied to the motor 21 based on the duty cycle ratio calculated by the duty calculation unit 36. Therefore, even if the actual position of the valve 22 does not reach the target position, the valve control device 30 can perform valve control without correcting the discrepancy between the target position of the valve 22 and the actual position of the valve 22.

[0074] Furthermore, the valve control system according to Embodiment 1 includes the valve control device 30 and an input device 11 that inputs the fully open and fully closed positions of the valve 22 to the valve control device 30. The input device 11 learns the fully open and fully closed positions of the valve 22 when the engine key is turned ON. As a result, the valve control system can accurately store the fully open and fully closed positions of the valve 22, enabling the valve control device 30 to perform valve control with high precision.

[0075] Within the scope of this disclosure, any component of the embodiment may be modified or any component of the embodiment may be omitted. [Industrial applicability]

[0076] The device according to this disclosure can perform valve control without correcting the discrepancy between the target position and the actual position of the valve, even if the actual position of the valve does not reach the target position, by fixing the calculated duty cycle according to the determination result. Therefore, it is suitable for use in valve control devices and the like. [Explanation of Symbols]

[0077] 11 Input device, 21 Motor, 22 Valve, 23 Rotation position detection unit, 30 Valve control device, 31 Target position change amount calculation unit, 32 Speed ​​calculation unit, 33 Operation change amount calculation unit, 34 Operation amount calculation unit, 35 Judgment unit, 36 Duty calculation unit, 37 Motor control unit, 38 Actual position calculation unit, 39 Subtractor, 51 Processor, 52 Memory, 53 Processing circuit.

Claims

1. A target position change calculation unit calculates the amount of change in the target position of the valve based on the target position of the valve and the actual position of the valve, A speed calculation unit that calculates the opening and closing speed of the valve based on the actual position of the valve, An operation change calculation unit calculates the amount of change in the opening and closing operation for opening and closing the valve based on the target position of the valve, the actual position of the valve, the amount of change in the target position of the valve calculated by the target position change calculation unit, and the opening and closing speed of the valve calculated by the speed calculation unit. An operation amount calculation unit calculates the amount of opening and closing operation required to open and close a valve based on the amount of change in opening and closing operation calculated by the operation change amount calculation unit, Whether the target position is the fully open position or the fully closed position, If the target position is the fully open or fully closed position, the actual position of the valve is within a preset abnormal tolerance range relative to the target position, and a predetermined elapsed time has elapsed. A determination unit that makes a determination, A duty cycle calculation unit calculates a duty cycle for driving a motor that opens and closes a valve, corresponding to the opening and closing operation amount calculated by the operation amount calculation unit, If the determination result of the determination unit is that the target position is not the fully open position or the fully closed position, a duty cycle ratio corresponding to the amount of opening and closing operation of the valve is calculated, which is not a fixed value that changes as the actual position of the valve approaches the fully open position or the fully closed position. If the determination result of the determination unit is that the target position is either the fully open or fully closed position, the actual position of the valve is within a preset abnormal tolerance range relative to the target position, and a predetermined elapsed time has elapsed, then a fixed value duty cycle is calculated. Duty Calculation Unit, The system includes a motor control unit that controls the voltage applied to the motor based on the duty cycle calculated by the duty cycle calculation unit. A valve control device characterized by the following features.

2. The valve is an exhaust throttle valve. The valve control device according to claim 1.

3. The valve is an EGR valve. The valve control device according to claim 1.

4. The duty cycle calculation unit further comprises: If the determination result of the determination unit is that the target position is either the fully open or fully closed position, the actual position of the valve is within a preset abnormal tolerance range relative to the target position, and a predetermined elapsed time has not elapsed, the duty cycle corresponding to the opening / closing operation amount is calculated without being fixed. A valve control device according to any one of claims 1 to 3.

5. The valve control device according to claim 1, The system includes an input device that inputs the fully open and fully closed positions of the valve to the valve control device. The aforementioned input device is When the engine key is turned ON, the fully open position and the fully closed position are learned. A valve control system characterized by the following:

6. The target position change calculation unit calculates the amount of change in the target position of the valve based on the target position of the valve and the actual position of the valve. The speed calculation unit calculates the opening and closing speed of the valve based on the actual position of the valve, The operation change calculation unit calculates the change in the opening and closing operation for opening and closing the valve based on the target position of the valve, the actual position of the valve, the change in the target position of the valve calculated by the target position change calculation unit, and the opening and closing speed of the valve calculated by the speed calculation unit. The operation amount calculation unit calculates the amount of operation required to open or close the valve based on the amount of change in the opening / closing operation calculated by the operation change amount calculation unit. The determination unit determines whether the target position is the fully open position or the fully closed position, and, if the target position is the fully open position or the fully closed position, whether the actual position of the valve is within a preset abnormal tolerance range relative to the target position and whether a predetermined elapsed time has elapsed. The Duty Calculation Unit calculates a Duty Ratio for driving the motor that opens and closes the valve, corresponding to the opening and closing operation amount calculated by the Operation Amount Calculation Unit, The motor control unit includes the step of controlling the voltage applied to the motor based on the duty cycle calculated by the duty calculation unit, The step in which the Duty Calculation Unit calculates the Duty Ratio is: If the determination result of the determination unit is that the target position is not the fully open position or the fully closed position, a duty cycle ratio corresponding to the amount of opening and closing operation of the valve is calculated, which is not a fixed value that changes as the actual position of the valve approaches the fully open position or the fully closed position. If the determination result of the determination unit is that the target position is either the fully open or fully closed position, the actual position of the valve is within a preset abnormal tolerance range relative to the target position, and a predetermined elapsed time has elapsed, then a fixed duty cycle is calculated. A valve control method characterized by the following:

7. The step of the Duty Calculation Unit calculating the Duty Ratio further includes the calculation of the Duty Ratio without fixing it if the determination result of the Determination Unit is that the target position is the fully open position or the fully closed position, the actual position of the valve is within the preset abnormal tolerance range with respect to the target position, and the predetermined elapsed time has not elapsed. The valve control method according to feature 6.

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