JP2505558B2 - Control device for vehicle throttle valve - Google Patents

Description

TECHNICAL FIELD The present invention relates to a throttle valve control device suitable for controlling the slip ratio of drive wheels with high accuracy.

<< Prior Art >> Conventionally, starting and running on a road surface having a low coefficient of friction such as on ice or a snowy road may cause a swing or a vehicle spin due to a slip of a driving wheel or the like.

Therefore, a traction control system that suppresses the slip of the driving wheels has been considered, and the slip ratio [(vehicle speed-driving wheel speed) / driving wheel speed] is optimally controlled so that the road surface friction coefficient becomes maximum. There is.

This tandem-type throttle valve control device for a traction control system electronically opens and closes a second throttle valve that is arranged in series with a first throttle valve that opens and closes in conjunction with the accelerator pedal depression amount of a vehicle. To control the slip ratio optimally.
As shown in the figure, the data detected by various sensors (not shown) are calculated in the second throttle valve command opening calculation unit 301 and output to the second throttle valve control unit 303 as the second throttle valve command opening signal 302. It

On the other hand, in the second throttle valve control unit 303, from the second throttle valve command opening signal 302, which is an input signal from the second throttle valve command opening calculating unit 301, and from the second throttle valve opening sensor 305. The motor drive signal 307 is output based on the second throttle valve opening signal 306, and the motor actuator 308 is driven thereby to open and close the second throttle valve 304.

Further, the electronic control circuit of the second throttle command opening calculation 301 and the second throttle valve control unit is configured by using a microcomputer (not shown), and inputs data detected by various sensors according to the control program and A CPU that performs calculation and performs processing for driving and controlling the motor actuator 308, a ROM that stores data such as a control program and a map, and data from various sensors and calculation control and necessary data are temporarily read and written. RAM
And so on.

<Problems to be Solved by the Invention> However, the above-described throttle valve control device is based on the second throttle valve opening signal 306 from the second throttle valve opening sensor 305. The second throttle valve opening sensor 30 is used to perform opening / closing control.
Assuming that the output characteristic of 5 is the representative value of the sensor specifications,
The throttle valve opening signal 306 is converted into a motor drive signal 307 to control the opening of the second throttle valve 304.

That is, since this type of device controls the second throttle valve 304 according to the reference characteristic determined by the design value of the second throttle valve opening sensor 305, the second throttle valve opening sensor 3
The second throttle valve opening signal 30 detected as the actual second throttle valve opening due to manufacturing error or mounting error of 05.
The relationship with 6, in other words, the second throttle valve opening sensor 305
There are variations in the characteristics of.

For example, although the actual second throttle valve 304 is not fully closed, the second throttle valve opening sensor 305 may output a fully closed opening signal. In such a case, the operating state Therefore, even if it is necessary to fully close the second throttle valve 304, it does not actually close (throttle valve 304
The degree of opening varies by 2 to 3), and the traction performance for preventing slip deteriorates.

Further, although the second throttle valve 304 is actually fully closed, an opening signal indicating that the second throttle valve 304 is still open may be output. In this case, the second throttle valve 304 A situation occurs in which the motor actuator 308 is driven in an attempt to close the throttle valve 304, and the durability of the motor actuator 308 and the second throttle valve 304 deteriorates.

In order to solve such a problem, the applicant of the present application has previously proposed a highly accurate control device for the second throttle valve (Japanese Utility Model Application No. 63-98307).

 This will now be described with reference to FIG.

That is, the opening degree of the second throttle valve 304 immediately after the ignition switch is turned on is determined by the second throttle valve opening sensor 305.
Detected as an opening signal when the second throttle valve is fully opened,
Further, by driving the motor actuator 308, the opening of the second throttle valve 304 when the second throttle valve 304 is fully closed is opened by the second throttle valve opening sensor 305 when the second throttle valve is fully closed. Second throttle valve that detects the signal as a degree signal and corrects the characteristic of the second throttle valve opening sensor 305 based on the second throttle valve fully open opening signal and the second throttle valve fully closed opening signal. A second throttle valve command opening calculation unit is provided with opening sensor correction means.
A second throttle valve control unit 303 is provided which drives the motor actuator 308 based on the input signal 302 from the 301 and the second throttle valve opening signal corrected by the correction means.

Therefore, since the characteristics of the second throttle valve opening sensor 305 can be corrected based on the second throttle valve fully open opening signal and the second throttle valve fully closed opening signal, the second throttle valve 304 The accurate opening / closing control of the motor actuator 30
It is possible to prevent the durability of the second throttle valve 304 and the second throttle valve 304 from decreasing.

However, in this type of device, immediately after the ignition switch is turned on, the second throttle valve opening sensor 305
Of the second throttle valve opening sensor for storing a second throttle valve opening sensor for storing the second opening value of the second throttle valve 304 by immediately driving the motor actuator 308 to fully close the second throttle valve 304. Since the correction of 305 is performed, when the starter (not shown) rotates due to the switch operation, the battery voltage drop caused by the rotation of the starter causes the second throttle valve 30 to drop.
There is a problem that the motor torque of the motor actuator 308 that drives 4 is decreased, the second throttle valve 304 cannot be fully closed, and the second throttle valve 304 is stopped halfway to detect an incorrect value. It was

The present invention has been made in view of the above circumstances, and an object of the present invention is to control the opening / closing of the second throttle valve with high accuracy to reduce the traction performance, the motor actuator, and the second throttle. It is an object of the present invention to provide a control device for a throttle valve for a vehicle, which is intended to prevent deterioration of valve durability.

<< Means for Solving the Problem >> In order to achieve the above object, the present invention provides a first throttle valve that opens and closes in accordance with a depression amount of an accelerator pedal, and a first throttle valve that detects an opening degree of the first throttle valve. A throttle valve opening sensor is arranged in series with the first throttle valve, and is set to a predetermined opening at least immediately after the ignition switch is turned on and when the motor actuator is not operating, and the slip ratio is optimally controlled. For controlling the second throttle valve based on signals from a second throttle valve for detecting the opening of the second throttle valve, a second throttle valve opening sensor for detecting the opening of the second throttle valve, and various sensors for detecting the operating state of the vehicle. Second to calculate the opening
A throttle valve control device for a vehicle, comprising: a throttle valve command opening calculation means; and a motor actuator for opening and closing the second throttle valve, wherein the second throttle valve opening immediately after an ignition switch is turned on is set to the second Second throttle valve predetermined opening signal detecting means for detecting the second throttle valve predetermined opening signal by the throttle valve opening sensor, and driving the motor actuator when the accelerator pedal is OFF or traction control is performed after the engine is started. A first fully closing means for closing the second throttle valve until the second throttle valve opening sensor signal reaches a maximum value that can be taken when the second throttle valve is fully closed; 2 When the throttle valve is closed to a predetermined position, the second throttle valve is further cycled for a predetermined period. And a second fully closing means for gradually closing the second throttle valve opening sensor signal every time the second throttle valve is closed at a predetermined cycle by the second fully closing means. The second throttle valve opening degree at the time when the throttle valve opening degree sensor signal detecting means and the second throttle valve opening degree sensor signal detected by the second throttle valve opening degree sensor signal detecting means stop changing for a predetermined period. Is determined to be fully closed, and the second
A second throttle valve fully closed opening signal detecting means for detecting the throttle valve opening sensor signal as a second throttle valve fully closed opening signal, and a second throttle valve predetermined opening signal detecting means for detecting the throttle valve opening sensor signal. The characteristic of the second throttle valve opening sensor is determined based on the second throttle valve predetermined opening signal and the second throttle valve fully closing opening signal detected by the second throttle valve fully closing opening signal detecting means. Second throttle valve opening sensor correction means for correcting, an input signal from the second throttle valve command opening calculation means, and a second throttle valve opening signal corrected by the second throttle valve opening sensor correction means Second throttle valve control means for driving the motor actuator based on the above.

<Operation> With the above configuration, the ignition switch
Immediately after turning on, the second throttle valve predetermined opening signal is detected, and after the engine is started, the accelerator pedal is turned off.
When the throttle valve is fully closed, the second throttle valve is fully closed, or when the motor actuator is driven during traction control to fully close the second throttle valve, the second throttle valve fully closed opening degree Since the signal can be detected and the characteristic of the second throttle valve opening sensor can be corrected from both the opening signal when the second throttle valve is predetermined and when the second throttle valve is fully closed, accurate opening / closing control of the second throttle valve is possible. Therefore, it is possible to prevent deterioration of traction performance and deterioration of durability of the motor actuator and the second throttle valve.

Further, when the battery voltage drops during rotation of the starter, the motor actuator is not driven to open / close the second throttle valve, so the motor actuator may stop midway and detect an incorrect opening signal. It can be prevented.

<< Embodiment >> An embodiment of the present invention will be described below with reference to FIGS.

In FIG. 1, reference numeral 1 is a tandem first throttle valve for a traction control system, which opens and closes in conjunction with an accelerator pedal 2.

However, although the first throttle valve 1 shown here is of a wire type connected to the accelerator pedal 2, the first throttle valve 1 corresponds to the depression amount of the accelerator pedal 2.
It may be a motor type that opens.

A first throttle valve opening sensor 3 is attached to the first throttle valve 1, and the first throttle valve opening sensor 3 outputs a first throttle valve opening signal 4. The first throttle valve opening signal 4 also corresponds to the depression amount of the accelerator pedal 2.

5 is a second that is opened and closed by a motor actuator 6
It is a throttle valve and is set to a predetermined opening at least immediately after the ignition switch is turned on. For example, in this embodiment, the return spring 7 causes the motor actuator 6 to be fully opened when the motor actuator 6 is not driven, for example, immediately after the ignition switch is turned on.

A second throttle valve opening sensor 8 is attached to the second throttle valve 5, and the second throttle valve opening sensor 8 outputs a second throttle valve opening signal 9.

Reference numeral 10 denotes a second throttle valve command opening calculation unit, which is a signal 11 from various sensors (not shown) such as a drive speed sensor and an engine speed sensor for detecting a driving state of the vehicle, and the first
The second throttle valve 5 based on the throttle valve opening signal 4
Command opening of the second throttle valve command opening signal 12
Is output.

Therefore, the control operation accompanying the vehicle start is
It is performed as in the flow chart shown in the figure.

That is, the wheel speed is read by the start (step 701), and it is determined whether or not the drive wheels are slipping (step 702).

If the drive wheels do not slip, the brake is set to the normal state (step 703),
The opening operation of the throttle valve is performed (step 704).

On the other hand, if it is determined in step 702 that the drive wheels are slipping, the control state of the brake is determined (step 705). If the brake is stepped on and the brake control is being performed, Then, in step 703, the brake is set to the normal state as described above, and the opening operation of the throttle valve is performed.

If the brake control is not performed and it is determined to be "NO", the brake amount is adjusted (step 70).
6) The closing operation of the throttle valve is started (step 70).
7).

Further, the second throttle valve control unit 13 outputs the second throttle valve command opening calculation unit 10 so that the second throttle valve opening signal 9 becomes equal to the second throttle valve command opening signal 12. 2 From the throttle valve command opening signal 12
Proportional gain for the value obtained by subtracting the throttle valve opening signal 9
The value obtained by multiplying the value obtained by multiplying KP and the above value by the integral gain Ki, and obtaining the total value thereof,
Further, the value of the second throttle valve opening signal 9 is differentiated with respect to this total value, and the value obtained by multiplying the differential gain KV is subtracted to obtain a correction control value. Based on this correction control value, the drive circuit unit drives the drive current. To drive the motor actuator 6 (see FIG. 7).

The circuit diagram of the drive circuit section is as shown by the one-dot chain line in FIG. 2, and includes AND gates G1 and G2 to which a forward / reverse signal and an ON / OFF signal are respectively input, and these AND gates G1 and G2. Transistors 21 to 24 that perform a switching operation according to the output of these, and diodes 25 to 28 connected to the emitters and collectors of these transistors 21 to 24,
It is composed of a current detection resistor 29 connected in series to the ground side of the motor actuator 6.

When the forward / reverse rotation signal "1" and the on / off signal "1" are input, the output of the AND gate G1 becomes "1" and the output of the AND gate G2 becomes "0". The output of AND gate G1 is transistor 2
4 is turned on and the output of AND gate G2 turns on transistor 21.

As a result, the power supply voltage V _B is applied in the order of the transistor 21, the motor actuator 6, the transistor 24, and the current detection resistor 29. At this time, a current flows in the motor actuator 6 in the direction of arrow F, and is rotationally driven in the forward direction.

Similarly, when the forward / reverse rotation signal “0” and the on / off signal “1” are input, the output of the AND gate G1 becomes “0” and the AND gate G2
Output becomes "1", and transistor 22 and transistor 23
Turns on. As a result, the power supply voltage V _B is
3, the motor actuator 6, the transistor 22, and the current detection resistor 29 are added in this order, and the current direction of the motor actuator 6 becomes an arrow R, which is rotationally driven in the reverse direction.

 The current signal 30 is obtained at point A in FIG.

Then, in the second throttle valve opening sensor 8, the relationship between the second throttle valve opening θ (degrees) and the second throttle valve opening signal V (volts) output in response thereto, that is, The characteristic of the second throttle valve opening sensor 8 is set as the design value shown by the solid line in FIG. 3, but the actual characteristic is CL1 due to manufacturing error or mounting error.
-CL2-OP2-OP1 The characteristics are in a parallelogram that connects them.

Therefore, for example, in the case of the second throttle valve opening sensor 8 having the characteristic of connecting CL2-OP2, the fully closed opening signal of the designed value is obtained at the second throttle valve opening θ ₁ , and the second throttle valve control unit 13 The second throttle valve 5 cannot be closed below the opening θ ₁ by recognizing that the second throttle valve 5 is fully closed.

In this case, the traction performance is deteriorated.

Further, in the case of the second throttle valve opening sensor 8 having the characteristic of connecting CL2-OP2, the second throttle valve control unit 13 causes the second throttle valve 5 to operate even though the second throttle valve 5 is fully closed. opening is recognized as the theta ₂ of, when the second throttle valve command opening is fully close command, so driving the motor actuator 6 in an attempt to close further a second throttle valve 5, the motor actuator 6 and the 2 The situation that the durability of the throttle valve 5 is deteriorated is caused.

Therefore, the characteristic of the second throttle valve opening sensor 8 is corrected by the second throttle valve control unit 13 in order to avoid the situation as described above, and its flowchart is shown in FIG.

The second throttle valve control unit 13 is composed of second throttle valve control means and second throttle valve opening sensor correction means.

In FIG. 4, at 401, the ignition switch is turned on and the initialization is completed.

At this time, since the second throttle valve 5 is fully opened by the return spring 7, the second throttle valve opening sensor 8 detects the second throttle valve opening signal at the second throttle valve opening sensor 8 when the second throttle valve is fully opened. The second throttle valve predetermined opening signal is stored as the second throttle valve fully open opening signal.

After starting the engine at 403, it is determined at 404 whether traction control is in progress.

It is determined that the traction control is in progress if the signal from the second throttle valve command opening calculation unit 10 is other than the fully open command, that is, the fully closed command or a closed command other than the fully closed command.

In 405, if the closing command signal from the second throttle valve command opening calculation unit 10 is the full closing command, the correction control of the second throttle valve opening sensor 8 is started.

Further, in 406, it is determined that the accelerator pedal is in the OFF state (not stepped on), that is, the first throttle valve 1 is fully closed, and if it is determined that it is in the OFF state, the second
Correction control of the throttle valve opening sensor 8 is performed.

At 407, the second throttle valve 5 is closed until the second throttle valve opening signal becomes CL1 in FIG.

Since CL1 is the maximum voltage that can be taken when the second throttle valve 5 is fully closed, the second throttle valve 5 does not correspond to the stopper provided at the fully closed position.

Then, the motor actuator 6 is driven by 408 and 409 to gradually open the second throttle valve 5 by the opening degree Δθ.
To close the second throttle valve 5 so that the impact on the stopper is reduced.

In this case, this is done by gradually subtracting the voltage ΔV with respect to Δθ. The determination in 409 as to whether or not the second throttle valve 5 is fully closed is made as shown in the flowchart of FIG. 6, which will be described later.

At 410, the second throttle valve opening signal from the second throttle valve opening sensor 8 at the time of fully closing is detected and stored as the second throttle valve fully closing opening signal.

Then, as shown in FIG. 5, the design value of the characteristic of the second throttle valve opening sensor 8 is CLa-OPa shown by the solid line, and the actual second throttle valve 8 detected by 402 and 410.
In the case of CLb-OPb in which the characteristic based on the fully open opening signal and the fully closed opening signal is CLb-OPb, the characteristics obtained from the fully open value OPa and the slope (OPa-CLa) / θ _full in the design value are It can be corrected to a characteristic obtained from the fully opened value OPb and the inclination (OPb−CLb) / θ _full . This correction is done at 411. And 412
Then, the second throttle valve 5 is fully opened and the correction of the characteristic of the second throttle valve opening sensor 8 is completed.

To determine whether or not the accelerator is stepped on, first check the first throttle valve opening sensor 3 immediately after turning on the ignition switch.
The first throttle valve opening signal is detected by and stored as the first throttle valve opening signal.

Since the first throttle valve is pulled in the fully closed direction by the return spring, the first throttle valve 10 is fully closed when the accelerator pedal is not depressed, and the first throttle valve opening sensor 3 The first throttle valve opening signal becomes small.

The first throttle valve opening signal is sampled every control cycle, and when the sampling value becomes smaller than the stored value, the sampling value is stored. Then, when the stored value and the sampled value match, it is determined that the accelerator pedal is not depressed.

The determination as to whether or not the second throttle valve 5 is fully closed at 409 in FIG. 4 is made, for example, as shown in the flowchart in FIG.

That is, in 601 the second detection is performed every control cycle.
It is checked whether or not the second throttle valve opening signal A / D conversion value from the throttle valve opening sensor 8 has changed compared to the previous sampling.

As shown in the figure, if the A / D conversion value of the second throttle valve opening signal changes while the second throttle valve 5 is closed, it becomes "YES" and in this case, it is fully closed. Judge that it is not.

In 602, the number of samplings in which the second throttle valve opening signal does not change is counted. Then, in 603, if the count number in 602 is the specified value N or more, it becomes "YES" and in this case it is determined that the second throttle valve 5 is fully closed,
If it is less than the specified value N, the result is "NO", and in this case it is determined that the valve is not fully closed.

 Also, 601 can be replaced like 610.

The second throttle valve control unit 13 in FIG. 1 outputs the current to the motor actuator 6 in an attempt to close the second throttle valve 5, but when the second throttle valve 5 is fully closed, more current is supplied. The motor actuator 6 is caused to flow to try to close the throttle valve 5.

The current flowing through the motor actuator 6 is converted into a voltage by the current detection resistor 29 shown in FIG. 2, and the current from the motor actuator 6 is sent in the direction of arrow 30 and the value detected by the second throttle valve control unit 13 is defined. If it is equal to or greater than the value, it is determined that the valve is fully closed.

In the above embodiment, the characteristics of the second throttle valve opening sensor 8 are corrected based on the opening signals when the second throttle valve 5 is fully opened and fully closed in an appropriate state. , The opening degree of the second throttle valve 5 and the corresponding second throttle valve opening signal are accurately controlled, resulting in deterioration of traction performance and deterioration of durability of the motor actuator and the second throttle valve as in the prior art. Can be prevented.

Furthermore, since the motor actuator is driven to fully close the second throttle valve when the accelerator pedal is turned off after engine start or during traction control, the motor actuator should not be driven when the battery voltage drops when the starter rotates. Therefore, it is possible to prevent the second throttle valve from stopping midway and detecting an erroneous opening signal.

Further, since the characteristic of the second throttle valve opening sensor 8 is corrected by computer control, the cost can be prevented from being high and the switch error can be prevented as compared with the means using a fully closed switch, a fully opened switch or the like. Therefore, the opening / closing control of the second throttle valve 5 can be performed more accurately.

In the above description of the embodiment, the second throttle valve predetermined opening signal is described as the opening when the second throttle valve is fully opened by the return spring, but the invention is not limited to this. For example, when the predetermined opening is set without driving the motor actuator (when not operating), the opening can be processed as the second throttle valve predetermined opening signal.

<Effect> As described above, according to the present invention, the opening degree of the second throttle valve immediately after the ignition switch is turned on is detected as the second throttle valve predetermined opening degree signal, and when the accelerator pedal is turned off after the engine is started. Alternatively, the second throttle valve opening when the motor actuator is driven during traction control to fully close the second throttle valve is detected as the second throttle valve fully closed opening signal, and the predetermined opening signal and Since the characteristic of the second throttle valve opening sensor is corrected based on the fully closed opening signal, it is possible to accurately control the opening and closing of the second throttle valve, which leads to deterioration of traction performance and motor actuator as in the prior art. Further, it is possible to prevent the durability of the second throttle valve from being deteriorated.

[Brief description of drawings]

1 to 8 show an embodiment according to the present invention. FIG. 1 is a block diagram of a basic configuration, FIG. 2 is a drive circuit diagram of a motor actuator, and FIG. 3 is a second throttle valve. A graph showing the characteristics of the opening sensor, FIG. 4 is a flowchart explaining the correction of the characteristics of the second throttle valve opening sensor, FIG. 5 is a graph showing the characteristics of the second throttle valve opening sensor, and FIG. FIG. 7A is a flow chart for explaining the full-closed determination of the second throttle valve, FIG. 7B is a flow chart showing the case where the full-closed determination is performed by a different method, and FIG. 7 is the basic part of the traction control system. Configuration diagram, FIG. 8 is a flow chart for explaining the control logic, and FIG. 9 is a block diagram showing a schematic configuration of a conventional throttle valve control device. 1 ... 1st throttle valve 2 ... accelerator pedal 3 ... 1st throttle valve opening sensor 5 ... 2nd throttle valve 6 ... motor actuator 8 ... 2nd throttle valve opening sensor 10 ... 2nd throttle valve command opening calculation part 13 … Second throttle valve controller

Claims (1)

(57) [Claims] 1. A first throttle valve that opens and closes according to the amount of depression of an accelerator pedal, a first throttle valve opening sensor that detects the opening of the first throttle valve, and a series connection with the first throttle valve. A second throttle valve which is arranged at least immediately after the ignition switch is turned on and when the motor actuator is not operating, and which has a second throttle valve for optimally controlling the slip ratio; and the second throttle valve opening degree. A second throttle valve opening sensor, and second throttle valve command opening calculating means for calculating the command opening of the second throttle valve based on signals from various sensors that detect the operating state of the vehicle. A controller for a vehicle throttle valve having a motor actuator for opening and closing the second throttle valve, which is provided immediately after the ignition switch is turned on. Second throttle valve predetermined opening signal detecting means for detecting the second throttle valve opening as a second throttle valve predetermined opening signal by the second throttle valve opening sensor, and when the accelerator pedal is turned off after engine start or During traction control, the motor actuator is driven to move the second throttle valve to the second throttle valve.
When the throttle valve opening sensor signal reaches a maximum value that can be taken when the second throttle valve is fully closed, first full closing means, and when the first full closing means closes the second throttle valve to a predetermined position. Further, second full closing means for gradually closing the second throttle valve in a predetermined cycle, and every time the second throttle valve is closed in the predetermined cycle by the second full closing means, the second throttle at that time The second throttle valve opening sensor signal detecting means for detecting the valve opening sensor signal and the second throttle valve opening sensor signal detected by the second throttle valve opening sensor signal detecting means do not change over a predetermined period. It is determined that the second throttle valve opening at the time point is fully closed, and the second throttle valve opening sensor signal at that time is set as the second throttle valve fully closed opening signal. The second throttle valve fully closed opening signal detecting means, the second throttle valve predetermined opening signal detected by the second throttle valve predetermined opening signal detecting means, and the second throttle valve fully closed Second throttle valve opening sensor correction means for correcting the characteristics of the second throttle valve opening sensor based on the second throttle valve fully closed opening signal detected by the opening signal detection means; Second throttle valve control means for driving the motor actuator based on the input signal from the throttle valve command opening calculation means and the second throttle valve opening signal corrected by the second throttle valve opening sensor correction means A throttle valve control device for a vehicle, comprising: