JPH0312502A - Output device for manipulated variable information - Google Patents

Abstract

PURPOSE:To eliminate the difference between manipulated variable information on a driven system and an actual manipulated variable by subtracting a variable equivalent to one pulse from the manipulated variable of the driven system and outputting the result by a manipulated variable information calculating means when a pulse signal is inverted to less than specific time width. CONSTITUTION:An electronic controller 7 has its main part composed of a microcomputer. The controller 7 operates as an idling speed controller which controls the opening extent of a valve 9 so as to determine the idling speed according to its operation information and secure the speed. Further, the controller 7 operates as an operation information calculating means which calculates opening extent information on the valve 9 according to rotation information on a rotary shaft and outputs the opening extent information. Specially, this operation information calculating means subtracts a variable equivalent to one pulse from the opening extent of the valve and outputs the result when the pulse signal as opening extent position information on the valve 9 is inverted to less than the specific time width. Consequently, the difference between the manipulated variable information calculated by the operation information calculating means and the actual manipulated variable information on the driven system can be eliminated.

Description

Detailed Description of the Invention (Industrial Application Field) The present invention relates to an operating amount information output device, particularly an operating amount information output device that outputs operating amount information of a driven system that receives the rotation of a DC motor from a rotating shaft and is driven. It relates to an information output device.

(Prior Art) Various actuators are used as drive sources for driven systems. Among these actuators, a driven system is driven according to the rotation of a DC motor.
A predetermined operating amount information output device outputs the operating amount when the driven system operates together with the actuator operation.

For example, as a control method for controlling the idle speed of an engine, a mixing bypass passage that bypasses the throttle valve is provided, and a signal is sent from an electronic control device to an idle speed control valve (5CV) installed in the bypass passage. The opening degree of the engine is controlled to control the idle speed.

The idle speed control valve (ISCV) used here is operated by an ISO actuator,
A DC motor with excellent heat resistance is used as the drive source for the actuator.

For example, as shown in FIG. 12, a worm gear 3 is integrally attached to a rotating shaft 2 that is directly driven by a DC motor 1, a worm wheel 4 is meshed with the worm gear 3, and the rotation of the worm wheel 4 Open and close the idle speed control valve (not shown) according to the
It is configured to control opening and closing of an intake passage of an engine (not shown).

By the way, when the DC motor 1 is used as the ISO actuator, an operating amount information output device is required to detect the operating position of the idle speed control valve operated by the DC motor 1 and input the detected operating position to the electronic control device.

The operating amount information output device here consists of a ring magnet 5 externally fitted on the tip of a rotating shaft 2 to which a worm gear 3 is integrally attached, and a Hall IC placed oppositely to the ring magnet 5 with a slight gap therebetween. The magnetic sensor 6 is composed of a magnetic sensor 6, and an electronic control unit 7 that calculates the motor position, that is, the valve opening information based on the output of the sensor.

The ring magnet 5 is configured to reverse its magnetic pole every half rotation of the rotating shaft 2, and the ring magnet 5 and the magnetic sensor 6 work together to configure a rotation detection sensor that outputs a pulse with a duty ratio of 50%. There is.

The electronic control device 7 used in such an idle speed control valve calculates the optimal valve opening and drives a control signal to make the current actual valve opening match the operating amount corresponding to the target valve opening. Output to circuit 8. In response to this control signal, the drive circuit 8 operates to open the DC motor 1, rotate the rotary shaft 2, and switch the idle speed control valve to the target valve opening.

In this way, the idle speed control valve (I
SCV) is equipped with a rotation detection sensor that outputs the actual valve opening information, and the Hall IC output, which is the output of the magnetic sensor 6, is calculated by the electronic control device 7, and the valve opening is determined according to the rotation speed of the rotating shaft. I'm getting information.

(Problem to be solved by the invention) By the way, the idle speed control valve
When the motor of CV) is driven in response to the drive pulse shown in Fig. 11(a) and its rotating shaft 2 rotates, the rotation information is output as a Hall IC output as shown in Fig. 11(b). It is output to the electronic control device 7. In this case, the electronic control device 7 counts this Hall IC output, and based on the value, determines the motor position (count number) corresponding to the actual valve opening information.

Now, as shown in FIGS. 11(b) and (c), the hole I
Here, since the duty ratio of the output of C is 50%, the time width required for the normal pulses to be sequentially inverted can be approximately estimated.

However, with respect to tl, t3 is an extremely small reversal period, and the reversal is in the direction of rotation that had continued up to that point (
This is considered to have occurred due to rotation in the opposite direction (forward direction).

That is, as shown in FIG. 10, the DC motor 1 directly connected to the rotating shaft 2 includes a stator 9 within a frame 8, and the rotating shaft 2 is connected to the stator 9. The stator 9 is divided into three parts in the rotational direction and has three protruding iron core parts at each rotational position. Further, a pair of magnets 10 are supported on the inner wall of the frame, and these are mounted at positions facing each other.

In such a DC motor 1, a current is supplied to the coil on the stator 9 side through a brush (not shown), and the stator 9 side is caused by the attraction between the magnetic force of the three iron core parts magnetized by the coil and the magnetic force of the magnet 10. It is configured to continue rotating by continuously receiving rotational force.

When such a motor is stopped, the magnetic attraction forces are balanced and stable at the position shown by the solid line in Figure 1o and at positions PL and P2, which are shifted by 60° from the same position in the rotational direction. Once stopped at the position P1., it is reversed due to the attractive force (coking force) based on the magnetic unbalance, and returns to the magnetically stable position P1. It often returns to P2.

However, if a reversal occurs just before the rotation stops, the ring magnet 5 on the rotating shaft also reverses, and the Hall IC
The output is inverted at a relatively short inversion period t3.

However, at this time, the electronic control unit 7 performs a count in which the amount of movement of the same output in the rotational direction (forward direction) that had continued until just before is further added. As a result, a difference occurs between the motor position information obtained by reversing the motor (the erroneous count value is shown as a solid line) and the actual motor position information (shown as a two-dot chain line), and this erroneous value When the electronic control device 7 performs subsequent control based on this, a step-out occurs in the control,
When the air conditioner is turned on or the power steering is turned on, revs may rev up, which is a sign of good luck.

An object of the present invention is to provide an operating amount information output device that can eliminate errors between operating amount information of a driven system and an actual operating amount.

(Means for Solving the Problems) In order to achieve the above-mentioned object, the present invention includes a DC motor that rotates a driven system via a rotating shaft, and a direct current motor that is fixed to the rotating shaft and that is connected to the rotating shaft. A magnet whose magnetic pole changes every half rotation, a magnetic sensor that detects the magnetism of the magnet and outputs a pulse signal, and an operation information calculation that outputs the operation amount information of the driven system based on the rotation information of the rotating shaft. and the operation information calculation means is characterized in that when the pulse signal inverts to less than RfN at a predetermined time, the operation information calculation means subtracts the operation amount of the driven system by an amount equivalent to one pulse. .

(Function) The operation information calculation means outputs the operation amount information of the driven system based on the rotation information of the rotating shaft, and in particular, when the pulse signal of the magnetic sensor is reversed to less than a predetermined time width, The operating amount of the system can be subtracted by an amount equivalent to one pulse and output, and the error between the calculated operating amount information and the actual operating amount information of the driven system can be eliminated.

(Embodiment) FIG. 1 shows an idle speed control (ISO control) device for an engine E incorporating an operating amount information output device as an embodiment of the present invention.

Here, the operation amount information output device detects the operation position information of the idle speed control valve (ISCV) and provides the same information to the idle speed control (XSC control f#) and other various controls performed by the electronic control device. .

Note that the idle speed control valve (hereinafter simply referred to as valve) 9 shown in FIGS. 1 and 2 has the same configuration as the one shown in FIG. The same reference numerals are given to the overlapping parts, and the redundant explanation thereof will be omitted.

A DC motor 1 as an actuator of the valve 9 is connected to the electronic control unit 7 via a drive circuit @8. Furthermore, a magnetic sensor 6 that detects the operating position of the valve 9 and inputs the detected position to the electronic control device 7 is also connected to the electronic control device 7 .

Here, as shown in FIG. 2, the DC motor 1 has a rotating shaft 2.
And the gear mechanism following it is connected. In other words, the worm gear 3 that is integrated with the rotation shaft 2 includes a worm wheel 4.
are engaged. The rotation of the worm wheel 4 is transmitted to a plunger 11 that is integrated with a threaded portion 10 screwed into a threaded hole in the center of the worm wheel, and is configured to operate the plunger in the axial direction.

The plunger 11 is composed of a threaded portion 10, a shaft portion 12, and a valve body 13, and is integrally formed. Note that the shaft portion 12
is slidable in its longitudinal direction, that is, in the opening/closing direction, and
It is non-rotatably supported by a housing 15 via a bearing 14. Furthermore, the plunger 12 is pressed against a valve seat 17 on the housing 15 by a spring 16.

Reference numeral 18 indicates a plunger full-open stopper, which is supported on the housing side and regulates the full-open position of the plunger 11.

As shown in FIG. 3, the ring magnet 5 at the tip of the rotating shaft 2 is configured to reverse the polarity of its outer periphery from N to S during a rotation angle of 180 degrees. A magnetic sensor 6 made of a Hall IC is provided opposite to the ring magnet I-5 through a small gap, and this magnetic sensor 6 constitutes a rotation detection sensor that outputs a pulse with a duty ratio of 50%. Although the ring magnet 5 here was attached to the rotation @2, it may be attached to another rotating shaft of the gear mechanism.

The detection signal of the magnetic sensor 6 here is configured so that an on signal can be input to the electronic control unit 7 while the Hall IC is facing the north pole, and an off signal can be input to the electronic control unit 7 while the hall IC is facing the south pole. has been done. and.

The output from this magnetic sensor 6 repeats "on" and "off" every time the rotating shaft, that is, the rotation of the motor rotates half a rotation.
During steady rotation, a pulse signal with a duty ratio of 50% is generated.

Note that the inversion period t of the pulse signal becomes smaller as the rotation of the motor becomes more stable, that is, as the time width T of the motor drive pulse becomes larger, and an example of this characteristic is shown in FIG.

The idle speed control (rsc control) device shown in FIG. 1 is installed in the intake passage of engine E. This intake passage sucks air from the air cleaner 19, the amount of air is detected by an air flow sensor 20, and the intake air is guided to a carrot combustion chamber (not shown) via a main passage 21 and a bypass 122. There is a surge tank 23 in the middle of the intake passage, and the main passage 21 and the bypass passage 22 merge upstream of the surge tank 23. On the intake passage downstream of the surge tank 23, fuel is injected from a fuel injection valve 27 supported by the engine body. is being supplied.

The main passage 21 is opened and closed by a throttle valve 24, and the bypass passage 22 is opened and closed by a fast idle air valve 25 and the above-mentioned valve (ISCV) 9.

The first idle air valve 25 in the bypass passage 22 is configured to open and close the valve body according to the warm-up state of the engine by the function of a wax temperature sensing part to automatically increase the rotational speed at the time of starting.

In addition to the magnetic sensor 6, the electronic control device 7 receives output signals from an engine rotation sensor 26, an air flow sensor 20, a throttle sensor (not shown), and the like.

The main part of this electronic control device 7 is composed of a well-known microcomputer, and when viewed functionally, it has the following functions.

That is, the idle speed control (I
SC control) device. Furthermore, it also operates as an operation information calculation means that calculates and outputs the opening degree information of the valve 9 based on the rotation information of the rotating shaft 2. In particular, this operation information calculation means uses a pulse signal S which is the opening degree position information of the valve 9.
When reversed within a predetermined time width, the valve opening is subtracted by h equivalent to one pulse (see No. 41!I (c)) and output.

Here, the flow of control performed by the CPU in the electronic control unit 7 is shown in FIGS. 6(a) and 7(b) and FIG. 7.

The control process will be explained below.

Here, first, the valve 9 is driven to the reference position (in this case, the fully open position), and the data of the actual opening degree Pr is initialized, that is, Pr=Ro (opening information corresponding to the reference position).

Then, current driving state information is taken in from various sensors and input into a predetermined area. Thereafter, the process waits for one control period (here indicated as To in FIG. 4) to elapse, and then proceeds to step a4.

Here, input the initial value of the control cycle (for example, 0.1 seconds), and then determine the conditions for rotation speed feedback control (stable operation is maintained for a predetermined period of time after a sudden change in load) based on the current operating state. judge whether the conditions are met (whether or not).

Here, if the conditions are not met, proceed to step a6,
The basic target opening Po is determined based on the water temperature information, and the compensation valve ΔP LO is determined to cope with the load of the air conditioner, power steering, etc. From these, the target opening Ps is calculated as the basic target opening Po and the compensation valve ΔP Lll. The process proceeds to step a9.

Under conditions of feedback control, step alo
Here, it is checked whether the feedback control period has elapsed or not, and until the feedback control period has elapsed, the process proceeds to step a9, and when it has elapsed, the process proceeds to step all.

In step all, an initial value (for example, 0.1 seconds) is input to the feedback control period timer. Then, the target engine speed Ng is calculated from the current operating information such as the throttle opening, and the current engine speed Nr and the target engine speed Ns are calculated.
The rotational difference ΔNe with respect to the same rotational difference ΔNa is determined, and the number of pulses (ΔP) required to eliminate the same rotational difference ΔNa is determined using, for example, a map as shown in FIG.

Then, in step als, the number of pulses ΔP is added to the current target opening degree Ps to obtain a new target opening degree Ps, and the process proceeds to step a9.

In step a9, the actual opening degree Pr and the target opening degree Ps of the valve are determined.
If the target opening degree Ps is large, the process proceeds to step a16, sets the valve opening flag, and compares the actual opening degree Pr with the target opening degree Ps.
According to the absolute value of the difference in s, the drive pulse time #iD to be output to the motor is calculated based on the control map shown in FIG. Thereafter, the process proceeds to step a20, where a time-spanned pulse output is output to the motor drive circuit 8, and the opening degree of the valve 9 is switched to an appropriate position.

Step a9 advances to the NO side, and if it is determined that the actual opening Pr is larger than the target opening Ps, step a
If this is not the case, that is, if the actual opening degree Pr matches the target opening degree Ps, the process directly returns to step a2.

When step a19 is reached, the valve opening flag is reset,
Proceeding to step a17, the actual space 11. A pulse of time 1[D is calculated according to the absolute value of the difference between Pr and the target opening Pq, and the process proceeds to step a208.

For such control, the MR3 interrupt routine is executed at every predetermined control cycle. When the routine is entered here, the process proceeds to step b3 if the valve open flag is set, and to step b4 if it is not set.

In step b3, the reversal period t1 is obtained from the output from the magnetic sensor 6, and if this is smaller than the threshold value L*w of the reversal period, the process proceeds to step b6, and if it is larger, the process proceeds to step b5.

Here, the threshold value T of the inversion period. S is calculated based on the map shown in FIG. 5 in accordance with the current motor disengagement pulse T1.

If the valve open flag is not set in step b2,
Proceeding to step b4, the inversion period t1 is determined from the eight signals from the magnetic sensor 6, and if this is smaller than the threshold value T of the inversion period, the process proceeds to step b6.

If it is larger, proceed to step b5. Note that step b3,
Although the threshold value T14□ of b4 was the same, it is also possible to make them different from each other.

When step b5 is reached, l is added to the actual opening degree Pr data to obtain a new actual opening degree Pr, the MR8 output is confirmed in step b7, flag cellar 1- is performed by this routine processing, and the process returns to the main routine. On the other hand, when step b6 is reached because the reversal period is extremely short, it is assumed that the motor has reversed, and 1 is subtracted from the actual opening Pr data to obtain the new actual opening Pr, and the process proceeds to step b7. move on.

In the above description, it is assumed that the DC motor is magnetically stabilized in its attractive force every 60'' rotation angle.

This stable position varies depending on the configuration of the motor.

(Effects of the Invention) As described above, according to the present invention, when the pulse signal of the magnetic sensor is reversed to less than a predetermined time width, the operating amount of the driven system can be subtracted by an amount equivalent to one pulse and output. , it is possible to eliminate the error between the operating amount information calculated by the operating information calculating means and the actual operating amount information of the driven system.For example, when the vehicle's air conditioner is turned on, power steering is controlled by this operating amount information. It is possible to prevent control out-of-steps such as when the rotation speed increases.

[Brief explanation of the drawing]

FIG. 1 shows an engine idle speed control system equipped with an operating amount information output device as an embodiment of the present invention.
FIG. 2 is a cross-sectional view of the main part of the gear mechanism in the same device, FIG. 3 is an enlarged plan view of the ring magnet, and FIG. 4 is a diagram of the operating amount information output device in FIG. 1. FIG. 5 is a waveform diagram explaining the operation, and FIG.
), (b) and FIG. 7 are flowcharts showing the flow of each control performed in the device shown in FIG. 1, FIG. 8 is a characteristic diagram of the rotation difference-pulse number map used in the device shown in FIG. 1, and FIG. The figure shows the opening deviation amount IPs-Prl-motor driving pulse width used in the device shown in Fig. 1. The driving pulse width characteristic map is shown in Fig. 10. c)
is a waveform diagram illustrating the operation performed in the conventional device, No. 12
The figure is a schematic configuration diagram of a conventional device. 9...Valve. S...Pulse signal. Agent Toru Kabayama, ↓ Fig. 4 Fig. 4 Fig. ε-tadando time [@s1 Fig. (b) Fig. Fig. (L) Fig. Fig. B-F ￥1

Claims (1)

[Claims] A DC motor rotates a driven system via a rotating shaft, a magnet is fixed to the rotating shaft and whose magnetic pole changes every half rotation of the rotating shaft, and a pulse signal is generated by detecting the magnetism of the magnet. a magnetic sensor that outputs, and an operation information calculation means that outputs operation amount information of the driven system based on rotation information of the rotating shaft, and the operation information calculation means is configured to invert the pulse signal within a predetermined time width. When you do,
An operating amount information output device characterized in that the operating amount of the driven system is subtracted by an amount equivalent to one pulse and output.