EP0179219A2 - Méthode et appareil pour produire une tension temporisée de commande de position - Google Patents

Méthode et appareil pour produire une tension temporisée de commande de position Download PDF

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Publication number
EP0179219A2
EP0179219A2 EP85110402A EP85110402A EP0179219A2 EP 0179219 A2 EP0179219 A2 EP 0179219A2 EP 85110402 A EP85110402 A EP 85110402A EP 85110402 A EP85110402 A EP 85110402A EP 0179219 A2 EP0179219 A2 EP 0179219A2
Authority
EP
European Patent Office
Prior art keywords
frequency
actuator
clocked
pulse
control voltage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP85110402A
Other languages
German (de)
English (en)
Other versions
EP0179219A3 (fr
Inventor
Andreas Sausner
Gerhard Ruschek
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mannesmann VDO AG
Original Assignee
Mannesmann VDO AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mannesmann VDO AG filed Critical Mannesmann VDO AG
Publication of EP0179219A2 publication Critical patent/EP0179219A2/fr
Publication of EP0179219A3 publication Critical patent/EP0179219A3/fr
Withdrawn legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
    • F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
    • F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/20—Output circuits, e.g. for controlling currents in command coils
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
    • F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
    • F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
    • F02D2011/101—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the means for actuating the throttles
    • F02D2011/102—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type characterised by the means for actuating the throttles at least one throttle being moved only by an electric actuator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/20—Output circuits, e.g. for controlling currents in command coils
    • F02D2041/202—Output circuits, e.g. for controlling currents in command coils characterised by the control of the circuit
    • F02D2041/2024—Output circuits, e.g. for controlling currents in command coils characterised by the control of the circuit the control switching a load after time-on and time-off pulses
    • F02D2041/2027—Control of the current by pulse width modulation or duty cycle control

Definitions

  • the invention relates to a method for generating a clocked actuating voltage, which is pulse-duration modulated with an electrical control variable, according to the preamble of claim 1.
  • the invention relates to a corresponding device for performing this method according to the preamble of claim 4.
  • Electrically activated actuators in regulating and control systems are often acted upon by a clocked actuating voltage, which is pulse-duration modulated in accordance with the actuating power.
  • the generation of the clocked pulse-duration-modulated actuating voltage has the advantage, for example, over the generation of a continuous DC voltage of adjustable height that the expenditure on equipment and the power loss of the generator can be kept relatively low.
  • the semiconductor elements that are used in the power stage of the generator of a clocked actuating voltage there are practically only short-term power losses during the pulse edges.
  • the clocking of the control voltage according to the status The technology is advantageously used to periodically excite the actuating device mechanically in order to reduce or eliminate the influences of the mechanical hysteresis which impair the accuracy.
  • a clock frequency of 130-160 Hz is customary, especially when using an electromotive actuator to actuate a throttle valve of an internal combustion engine.
  • the clock frequency must not be too high for this, since otherwise it can no longer have a sufficiently stimulating effect due to the mechanical damping of the actuator.
  • the electrical power loss in an actuator whose equivalent circuit diagram can be understood as consisting of an inductor and a resistor, the greater the lower the clock frequency of the clocked control voltage.
  • the power loss increases with the square of the actuating current and that the lower the clock frequency of the actuating voltage, the greater the fluctuations or the ripple of the actuating current, which is smoothed by the inductance of the actuator.
  • a high clock frequency is recommended in order not to exceed the limit value of the power loss.
  • the clock frequency with which a clocked actuating voltage is generated is based on a compromise between contradicting requirements.
  • the control voltage is pulse-duration modulated with the electrical control variable.
  • the pulse duty factor is influenced by the pulse duration modulation of the control voltage, so that a more or less large arithmetic mean value of the control voltage results, which is decisive for the torque generated by the actuator.
  • the present invention is therefore based on the object of further developing the method for generating a clocked actuating voltage of the type mentioned in such a way that the positioning accuracy is improved and the power loss is reduced when the actuator is operated with this actuating voltage.
  • a higher actuating power should be made possible.
  • the solution is based on the principle that the control voltage is no longer modulated with a single frequency (if the clocking of the control voltage is considered as modulation), but with two different, widely spaced frequencies: A relatively high clock frequency is selected with which the control voltage is clocked, but is overlaid with a low basic modulation frequency.
  • the resulting pulse duration modulation can therefore be considered a beat or a superposition of a relative high clock frequency with a low basic modulation frequency.
  • basic modulation frequency was chosen because this frequency influences the pulse duration modulation or the duty cycle of the pulse duration modulated control voltage, in addition to the normal pulse duration modulation of the control voltage by the electrical control variable.
  • the control voltage generated by the method according to the invention has the significant advantages that, due to the high clock frequency, it causes only a relatively low power loss in the actuator, because the control current is smoothed out due to the high frequency by the inductance of the actuator.
  • the maximum values of the instantaneous actuating current are therefore not significantly larger than the mean value of the actuating current, from which the low power loss is derived.
  • a particularly good mechanical excitation of the actuator is achieved by the low-frequency basic modulation frequency with which the control voltage is pulse-duration modulated, since the frequency of this basic modulation can be set lower than the clock frequency otherwise provided for this purpose.
  • the basic modulation frequency is therefore closer to the so-called corner frequency of the mechanical system of the actuator, above which the mechanical transmission behavior is damped. Since the periodic excitation of the mechanical system by the low-frequency basic modulation frequency is particularly effective, the degree of modulation can be kept low. This means that the low-frequency component of the control voltage and thus the control current can be set relatively small for a desired mechanical excitation, so that the power loss accordingly is due to this frequency component remains low.
  • the high clock frequency is preferably set to 10-20 kHz, while the low basic modulation frequency is 10-100 Hz. This frequency range has proven to be particularly advantageous for typical actuators for adjusting throttle valves of internal combustion engines. It is assumed that the mechanical basic frequency of the actuator, above which the transmission behavior is damped, is around 1 - 10 Hz.
  • the clock frequency and the basic modulation frequency according to claim 3 is particularly favorable. With the high clock frequency it is avoided that it has a nuisance effect in the human hearing range. On the other hand, the basic modulation frequency is so low that it is close to the basic frequency and is only weakly damped and can also be generated with little effort.
  • 1 denotes a pulse duration modulator, which is fed by a clock generator 2 with a relatively low-frequency clock frequency f O.
  • the pulse duration modulator generates a voltage u clocked with the clock frequency f O , see FIG. 2, in which the corresponding period is designated T 0 .
  • the pulse width modulator 1 is connected at its modulation input 3 with a fundamental modulation frequency generator 4 in connection, of a basic modulation frequency f m corresponding to the period T m feeds it into the pulse modulator.
  • the control voltage u is therefore pulse-width modulated with the frequency f m . This is also shown in the curve u in FIG. 2, in which the pulse duration-modulated trailing edge of the clocked actuating voltage is drawn with a solid line. The course of the trailing flank is indicated if the reason modulation frequency would not exist.
  • the pulse duration modulator is modulated in the usual way at the modulation input 3a with an electrical control variable, which can in particular be a control voltage.
  • the control voltage is generated with a controller 5, into whose input 6 a control deviation x and a feedback variable x of a control potentiometer 7 are fed.
  • the control voltage generated by the pulse modulator 1 in the specified manner is fed into the electromotive actuator 9 via a line 8.
  • the electromotive actuator actuates a throttle valve 11 via a transmission 10, the position of the transmission being reported back by the setting potentiometer 7.
  • the interrupted current curve shows the 'relatively low-frequency current component which goes back to the basic modulation frequency and shifts the peak values in the manner indicated.
  • the low-frequency component of the current is transmitted to the transmission elements to the throttle valve 11 by mechanical excitation via the mass / spring system with the gear 10 and a spring 12, which can thus be positioned precisely.
  • the so-called cutoff frequency ⁇ E of the mass / spring system is shown in a Bode diagram.
  • the mass / spring system represents a delay of the first order, which means that the transmission factor A drops with increasing excitation frequency above the base frequency. It can be seen from the bottom diagram that the transmission factor drops only slightly at the selected basic modulation frequency f m , so that a relatively low mechanical excitation is sufficient, which is transmitted to the throttle valve. Therefore, the low-frequency component of the control voltage u and thus the control current i is relatively low.
  • the clock frequency f 0 which is chosen to be high at 20 kHz, on the other hand is strongly damped, but is also not required according to the invention for mechanical excitation of the actuator. This allows the selection of a high clock frequency with the described advantageous effect.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
  • Feedback Control In General (AREA)
  • Control Of Direct Current Motors (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
EP85110402A 1984-09-21 1985-08-20 Méthode et appareil pour produire une tension temporisée de commande de position Withdrawn EP0179219A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19843434644 DE3434644A1 (de) 1984-09-21 1984-09-21 Verfahren und einrichtung zur erzeugung einer getakteten stellspannung
DE3434644 1984-09-21

Publications (2)

Publication Number Publication Date
EP0179219A2 true EP0179219A2 (fr) 1986-04-30
EP0179219A3 EP0179219A3 (fr) 1988-01-27

Family

ID=6245948

Family Applications (1)

Application Number Title Priority Date Filing Date
EP85110402A Withdrawn EP0179219A3 (fr) 1984-09-21 1985-08-20 Méthode et appareil pour produire une tension temporisée de commande de position

Country Status (4)

Country Link
US (1) US4675589A (fr)
EP (1) EP0179219A3 (fr)
JP (1) JPS6181194A (fr)
DE (1) DE3434644A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0353072A1 (fr) * 1988-07-27 1990-01-31 Honda Giken Kogyo Kabushiki Kaisha Système de commande du papillon du moteur à combustion d'un véhicule automobile
FR2648190A1 (fr) * 1989-06-13 1990-12-14 Lucas Ind Plc Dispositif de pompage pour l'injection de carburant

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USRE35124E (en) * 1974-06-24 1995-12-19 General Electric Company Control system, electronically commutated motor system, draft inducer apparatus and method
US5075608A (en) * 1974-06-24 1991-12-24 Erdman David M Control system, electronically commutated motor system, draft inducer apparatus and method
JP2729296B2 (ja) * 1987-10-07 1998-03-18 京セラ株式会社 等速駆動装置
GB8912537D0 (en) * 1989-06-01 1989-07-19 Lucas Ind Plc Throttle actuator and control system
DE3924353A1 (de) * 1989-07-22 1991-02-14 Prufrex Elektro App Steuerungssystem fuer den vergaser einer brennkraftmaschine
JPH03120873U (fr) * 1990-03-26 1991-12-11
DE4028241A1 (de) * 1990-09-06 1992-03-12 Leica Mikroskopie & Syst Positionssteuerung
US5517099A (en) * 1993-06-15 1996-05-14 International Modern Technologies, Inc. Method and apparatus for robust integral-pulse control of a servodrive of unknown dynamics
JP3275898B2 (ja) * 1999-03-18 2002-04-22 株式会社デンソー モータ駆動装置
US6196205B1 (en) 1999-07-12 2001-03-06 Dana Corporation Fuel control system for gas-operated engines

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1016205A (en) * 1964-02-13 1966-01-05 Vdo Schindling Method of and apparatus for controlling and limiting the speed of travel of automobile vehicles
US3486090A (en) * 1966-04-27 1969-12-23 Carroll K Auvil Remote control and indicator system with control maintained through a remote variable frequency source
US3548865A (en) * 1967-12-08 1970-12-22 Bela P Povinger Pressure control apparatus
US4217867A (en) * 1979-05-29 1980-08-19 General Motors Corporation Low overshoot engine speed governor
JPS5854885A (ja) * 1981-09-25 1983-03-31 Sony Corp 映像信号再生装置
DE3212942A1 (de) * 1982-04-07 1983-10-13 Robert Bosch Gmbh, 7000 Stuttgart Stromtreiberschaltung fuer einen elektromechanischen steller
DE3225157A1 (de) * 1982-07-06 1984-01-12 Robert Bosch Gmbh, 7000 Stuttgart Regelvorrichtung fuer ein elektrisches stellglied
US4453517A (en) * 1983-01-20 1984-06-12 Kasiewicz Stanley Joseph Control circuit for road and engine speed governor

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0353072A1 (fr) * 1988-07-27 1990-01-31 Honda Giken Kogyo Kabushiki Kaisha Système de commande du papillon du moteur à combustion d'un véhicule automobile
FR2648190A1 (fr) * 1989-06-13 1990-12-14 Lucas Ind Plc Dispositif de pompage pour l'injection de carburant

Also Published As

Publication number Publication date
US4675589A (en) 1987-06-23
EP0179219A3 (fr) 1988-01-27
JPS6181194A (ja) 1986-04-24
DE3434644A1 (de) 1986-04-03

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