JPH0361639A - Control to aimed opening degree of control valve of automobile - Google Patents

Abstract

PURPOSE:To avoid resonance by monitoring the cycle order of the interruption from the switching of the output port value immediately before the interruption and suspending the switching of the output port value when the accordance with the number in correspondence with the resonance time of a step motor is judged. CONSTITUTION:Judging traction control from the slip of a driving wheel, a microcomputer 104 calculates an aimed opening degree on the basis of the opening degree of a throttle valve which is detected by a detector 46, and a pulse train is outputted in succession into each phase coil 100-103 of a step motor through the transistors 113-116 for drive, and a throttle valve is driven in the closing direction. In this case, interruption processing is executed for each pulse, and the cycle order of the interruption from the switching to the different output value immediately before the interruption is monitored, and in case of accordance with the number in correspondence with the resonance frequency of the step motor, the switching to the output port value is suspended, and the operation with the value at present is carried out in preference. Therefore, resonance is avoided, and slip-off, etc., can be prevented.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a method of controlling a control valve of an automobile to a target opening degree, and can be employed, for example, in so-called traction control, auto cruising control, etc. It is something.

[Conventional technology]

Traction control and auto cruising control have traditionally been used in automobiles, but
For this purpose, it is essential to control a control valve such as a throttle valve of an automobile to a target opening degree.

A method for controlling the control valve of an automobile to a target opening degree uses a step motor that drives the control valve of the automobile, and a microcomputer that determines the excitation state of the step motor according to an output boat value. Interrupt the computer periodically, and for each interrupt,
A conceivable method is to have the microcomputer perform a comparison operation on the detected opening degree data and the target opening degree data of the control valve, and switch the output port value to a value corresponding to the result.

According to this method, if the actual opening of the control valve does not match the target opening, the output port value of the microcomputer is switched to a different value for each interrupt, and the excitation state of the step motor is changed. is switched to a different state, thereby causing the step motor to move one step in the direction in which the opening degrees of the control valves match. On the other hand, if they match, the output port value of the microcomputer remains the same, the excitation state of the step motor is also maintained, and the control valve is controlled to the target opening degree. Therefore, the cycle of the interrupt determines the switching timing of the phase excitation of the step motor, and determines the pulse rate of the step motor.

By the way, resonance occurs in a step motor around a certain pulse rate (for example, 300 pps), and driving the step motor at this pulse rate will cause step-out, etc., so the actual pulse rate is selected to avoid that pulse rate. . In this specification, the pulse rate at which this resonance occurs is converted into a period (for example, 300 pp
3.33 m5) for s is called the resonance time. When adopting the above method, the cycle of the above interrupt is
It is selected to avoid the resonance time of the step motor.

However, in the above method, in order to improve responsiveness, it is necessary to shorten the period of the above interrupt (that is, increase the pulse rate), and in that case, multiplying the period of the above interrupt by several times will match the resonance time. I will do it.

On the other hand, since the above method is actually employed as a part of traction control, auto cruising, etc., the target opening degree data is changed as appropriate. Therefore, if the target opening data is changed after the control valve is controlled to the target opening based on certain target opening data, the actual switching interval of the phase excitation of the step motor will be equal to the period of the above-mentioned interrupt. It may become several times as large as the resonance time, and in this case, loss of synchronization or the like will occur.

Therefore, in the above method, for each interrupt, it is monitored how many cycles the interrupt is from the time when the output port value was switched to a different value immediately before, and the number of cycles is determined by If the number matches the number corresponding to the resonance time of the motor, it is conceivable to stop switching the output port value.

In this case, by counting the number of interrupt cycles, monitor the elapsed time from when the output vote value was switched to a different value immediately before the interrupt, and
If the elapsed time matches the resonance time of the step motor, the switching of the output port value is stopped. Therefore, even if the above-mentioned interrupt period is shortened to improve responsiveness, the actual switching interval of the step motor's phase excitation will never match the resonance time, and resonance of the step motor will always be avoided, resulting in step-out. etc. should be prevented and stable control should be possible.

However, if there is another interrupt that has priority over the above interrupt, the correspondence between the number of cycles of the above interrupt and the elapsed time will be incorrect when multiple interrupts occur, and this will cause phase excitation of the step motor. The actual switching interval of the step motor may coincide with the resonance time, and resonance of the step motor is not always avoided.

[Problem to be solved by the invention]

The present invention has been made in view of the above circumstances, and is an automobile that can improve responsiveness, always avoid resonance of the step motor, prevent step-out, etc., and enable stable control. The present invention aims to provide a method for controlling a control valve to a target opening degree.

[Means to solve the problem]

In order to solve the above problems, the present invention uses a step motor that drives a control valve of an automobile, and a microcomputer that determines the excitation state of the step motor according to an output port value. An interrupt is generated, and each time the microcomputer performs a comparison operation between the detected opening degree data and the target opening degree data of the control valve, the output port value is switched to a value corresponding to the result. Then, for each of the above interrupts, the number of cycles of the interrupt since the time when the output port value was switched to a different value immediately before the interrupt is monitored, and the number of cycles corresponds to the resonance time of the step motor. If the number matches the number, the switching of the output port value is stopped. Furthermore, the above interrupt is given top priority over other interrupts.

[Effect]

According to the present invention, since the above-mentioned interrupt is given top priority over other interrupts, it is impossible for the actual switching interval of phase excitation of the step motor to coincide with the resonance time.
Resonance of the step motor is always avoided, step-out, etc. are prevented, and stable control is possible.

〔Example〕

An example in which the method of the present invention is applied to the control of a butterfly-type throttle valve 6, which is a control valve in a throttle control device for an automobile shown in FIGS. 1 to 5, will be described below.

First, the throttle control device for an automobile shown in FIGS. 1 to 5 will be explained.

This throttle control device has a butterfly-type throttle valve 6, which is rotatably supported by a support 1, and which is linked to the operation of an accelerator pedal by a throttle shaft 2 that biases a spring in the closing direction of the throttle valve 6. Operation lever 8
is supported so as to be relatively rotatable, and is connected to a control lever 9 which is interlocked and connected to a step motor 52 serving as an actuator. A lost motion spring is interposed between the lost motion lever 7, which is fixed to the throttle shaft 2 so as to be engaged with the operating lever 8, and which exerts a spring force in the direction of engaging the operating lever 8 and the lost motion lever 7. A regulation lever 63 is supported on the support body 1 so as to be rotatable around an axis parallel to the throttle shaft 2. The regulation lever 63 is connected to rotate in one direction in response to the rotation of the lost motion lever 7 in the throttle valve closing direction when the rotation is in the throttle valve closing direction. A dash board 56 that provides damping force is connected to the dash board 56.

The throttle control device shown in FIGS. 1 to 5 will be explained in detail below.

A throttle shaft 2 is rotatably supported on a throttle body 1 as a support via bearings 3 and 4, and an intake passage 5 formed in the throttle body 1 is provided on the throttle shaft 2 to open and close it. A butterfly-type throttle valve 6 is fixed thereto.

Both ends of the throttle shaft 2 project from the throttle body 1 on both sides, and a tenth motion lever 7 is fixed to one end of the throttle shaft 2 projecting from the throttle body 1 (left side in FIG. 3). The operating lever 8 is supported so as to be relatively rotatable. Further, a control lever 9 is fixed to the other end of the throttle shaft 2 protruding from the throttle body 1 (on the right side in FIG. 3).

On one end side of the throttle shaft 2 protruding from the throttle body 1, the outer periphery of the throttle shaft 2 is cut out so as to form a pair of flat surfaces along the axis, and a rectangular portion having a substantially rectangular cross-sectional shape is formed. 2a is provided. Rectangular part 2a
includes, in order from the proximal end to the distal end thereof, a cylindrical collar 10 whose inner end abuts against the bearing 3, and a basically disc-shaped restriction abuts the outer end of the collar 10. a plate 11, a cylindrical collar 12 whose inner end is in contact with the regulation plate 11, and a tenth
A nut 13 is screwed onto the outer end of the throttle shaft 2 which is fitted with the 10th stroke lever 7 and projects from the 10th stroke lever 7, and a collar 10 and a regulating plate 1.
1, a collar 12 and a tenth motion lever 7 are fixed to the throttle shaft 2.

The operating lever 8 consists of a cylindrical portion 8a coaxially surrounding a cylindrical collar 10, and a drum portion 8b fixed to the outer end of the cylindrical portion 8a, with a bearing 14 interposed therebetween. and is attached to the collar 10. Further, the axial position of the cylindrical portion 8a is regulated by a synthetic resin member 15 and a regulating plate 11 that are in contact with the outer surface of the throttle body 1. A throttle wire 16 that is pulled and driven by a throttle operating section (not shown) is wound around the drum section 8b, and an engagement piece 17 provided at one end of the throttle wire 16 is engaged with the drum section 8b. Therefore, the operating lever 8 is moved by the arrow 1 in FIG.
It is rotationally driven in the throttle valve opening direction indicated by 8. Moreover, a coiled first return spring 19 that surrounds the cylindrical portion 8a is interposed between the operating lever 8 and the throttle body 1, and this first return spring 19 moves the operating lever 8 in the opposite direction as indicated by the arrow 18. energize the throttle valve in the direction 20.

Between the operation lever 8 and the tenth stroke motion lever 7, the tenth stroke motion lever 7 follows the rotational movement of the operation lever 8, and the throttle valve closing direction of the tenth stroke motion lever 7 is provided. A lost motion mechanism 25 is provided that can prevent the rotational movement toward 20 from affecting the operating lever 8 . This lost motion mechanism 25 includes an engaging arm portion 2 that extends toward the tenth motion lever 7 and is provided on the drum portion 8b of the operating lever 8.
1, an engagement arm 22 provided on the tenth stroke motion lever 7 to engage with the engagement arm 21, and an operating lever 8.
and a tenth force motion spring 23 interposed between the tenth force motion lever 7, and the engaging arm portion 21.
The relative positions of the springs 22 are set so that the spring forces of the tenth motion springs 23 act in the direction of mutual engagement.

According to such a lost motion mechanism 25, when the operation lever 8 is rotated in the throttle valve opening direction 18 against the spring force of the first and second return springs 19, 24 by operating the accelerator pedal, the tenth Storm motion spring 23
The spring force causes the tenth motion lever 7 to rotate in the throttle valve opening direction 18, and the throttle shaft 2 to rotate in the throttle valve opening direction 18. Further, when the operating lever 8 is rotated in the throttle valve closing direction 20, the engaging arm 2
1 and 22, the tenth stroke motion lever 7 and the throttle shaft 2 rotate in the throttle closing valve direction 20.

The tenth motion spring 23 also has an operating lever 8.
a second return spring 2 that biases the throttle valve in the throttle valve closing direction 20;
4 is interposed.

The tenth motion spring 23 and the second return spring 24 are formed in a coil shape, and the receiver received by the tenth motion lever 7 is connected to the member 25 and the regulating plate 11.
A receiver received by the collar 12 is disposed coaxially surrounding the collar 12 with the member 26. These receivers are members 25.26
is formed of a synthetic resin into a bottomed double cylindrical shape surrounding the collar 12, the tenth motion spring 23 has both supports on the inner side between the members 25 and 26, and the second return spring 24 has both supports on the inner side between the members 25 and 26. It is arranged on the outer side between members 25,26. 1st
One end 23a of the zero stroke motion spring 23 is engaged with the engagement arm 22 of the tenth stroke motion lever 7, and the other end 23a
b is engaged with the engagement arm portion 21 of the operating lever 8. Further, one end 24a of the second return spring 24 is engaged with the engagement arm portion 21, and the other end 24b is engaged with the throttle body 1.

A bracket 26 is fixed to the throttle body 1, and the bracket 26 is provided with a cylindrical support member 26a having an axis parallel to the throttle shaft 2. The detection shaft 27 is rotatably supported by the cylindrical support member 26a. A 20th stroke motion lever 28 that is interlocked and connected to the operating lever 8 is supported on the detection shaft 27 so as to be relatively rotatable, and a detection lever 29 that can be engaged with the 20th stroke motion lever 28 is supported on the detection shaft 27. Fixed.

At one end of the detection shaft 27 protruding from the cylindrical support member 26a of the bracket 26, a small-diameter male threaded portion 27a with a substantially rectangular cross-sectional shape is coaxially provided via a stepped portion 27b. 27a passes through the detection lever 29, making relative rotation impossible. Moreover, the male threaded portion 27a protrudes from the detection lever 29 in a state in which it is in contact with the stepped portion 27b.
A nut 30 is screwed onto the shaft, and by tightening the nut 30, the detection lever 29 is fixed to the detection shaft 27.

Further, the IN 2 o strike motion lever 28 is attached to the detection shaft 27 so as to be relatively rotatable between the outer end of the cylindrical support member 26a of the bracket 26 and the detection lever 29, and is mounted on the detection shaft 27. A basically disc-shaped disc part 28b and a drum part 8b of the operating lever 8 are interlocked and connected to the cylindrical part 28a which is connected to the cylindrical part 28a through a connecting link 31. The connecting link 31 is configured to rotate the 20th stroke motion: /L//<-28 in the accelerator pedal depression direction indicated by an arrow 32 in response to the rotation of the operating lever 8 in the throttle valve opening direction 18. Both levers 8828 are connected in order to rotate the 20th stroke motion lever 28 in the accelerator pedal return direction 34, which is opposite to the accelerator pedal depression direction 32, in response to the throttle closing leftward direction 20 of the operation lever 8. It is something.

An engagement pin 33 having a sleeve line parallel to the cylindrical support member 26a is implanted in the bracket 26.
A 20th motion spring 35 is interposed between the detecting lever 29 and the detecting lever 29 to rotationally urge the detecting lever 29, that is, the detecting shaft 27 in the return direction 34 of the accelerator pedal. The 20th strike motion spring 35 is formed into a coil shape that surrounds the cylindrical support member 26a. One end 35a of the 20th strike motion spring 35 is engaged with the detection lever 29, and the other end 35b is engaged with the engagement pin 33. engaged.

The disk portion 28b of the 20th stroke motion lever 28 is provided with an engaging portion 36, and the detection lever 29 is provided with a retaining portion 37 that can be engaged with the engaging portion 36. The relative positions of the two engaging portions 36 and 37 are determined by the spring force of the 20th stroke motion spring 35 interposed between the detection lever 29 and the engagement pin 33, that is, the spring force of the detection lever 29 is biased in the accelerator pedal return direction 34. The spring forces are set to act in mutually engaging directions.

Therefore, when the 20th stroke motion lever 28 rotates in the accelerator pedal depression direction 32 as the operating lever 8 rotates in the throttle valve opening direction 18, the engaging portion 3
6 and 37, the detection lever 29 rotates in the return direction 34 of the accelerator pedal, and as the operating lever 8 rotates in the throttle closing left direction 20, the 20th stroke motion lever 28 rotates in the direction 34 of returning the accelerator pedal. When the detection lever 29 rotates in the return direction 34 of the accelerator pedal, the spring force of the 20th stroke motion spring 35 causes the detection lever 29 to rotate in the return direction 34 of the accelerator pedal, corresponding to the amount of rotation of the operating lever 8, that is, the amount of operation of the accelerator pedal. The detection lever 29, that is, the detection shaft 27 rotates.

Further, an accelerator pedal operation amount detector 38 is fixed to the bracket 26 so as to face the other end of the detection shaft 27, and three levers fixed to the other end of the detection shaft 27 are connected to the accelerator pedal operation amount detector 38. It is connected to 38.

A cylindrical collar 41 is fitted to the base of the other end of the throttle shaft 2 protruding from the throttle body 1 so that its inner end abuts against the bearing 4 .

Furthermore, a control lever 9 is fixed to the other end of the throttle shaft 2 that protrudes from the collar 41. Further, a driven gear 43 is rotatably supported on the collar 41 via a bearing 42, and this driven gear 43 is attached to the throttle body 1.
The throttle valve is rotated in the opening direction 181 by a third return spring 44 interposed between the control lever 9 and the control lever 9 . A bracket 45 fixed to the outer surface of the throttle body 1 supports and fixes a throttle opening detector 46 facing the other end of the throttle shaft 2, and the control lever 9 is connected to the other end of the throttle Idl 2. A lever 47 fixed therewith is connected to a throttle opening detector 46 which is an opening detector. Therefore, the amount of rotation of the throttle shaft 2, that is, the opening degree of the throttle valve 6, which is a control valve, is detected by the throttle opening degree detector 46.

A support shaft 48 having an axis parallel to the throttle shaft 2 is supported between the throttle body 1 and the bracket 45. An intermediate gear 49 that meshes with the driven gear 43 is mounted on this support shaft 48 via a bearing 50. Rotatably supported.

Furthermore, the intermediate gear 49 is biased so as to be supported in the thrust direction by the bracket 45 by a spring 51 interposed between the intermediate gear 49 and the outer surface of the throttle body 1 to regulate its axial position.

A step motor 52 as an actuator is supported on the bracket 45, and a drive gear 54 fixed to an output shaft 53 of the step motor 52 is connected to the intermediate gear 4.
9 is engaged. Therefore, the throttle shaft 2 is rotationally driven by the operation of the step motor 52 via the drive gear 54, the intermediate gear 49, the wave gear 43, and the control lever 9. By operating the step motor 52 when the throttle valve 6 is opened to the desired opening degree by operating the accelerator pedal, the throttle valve 6 is rotationally driven in the closing direction. At this time, the throttle shaft 2 rotates in the throttle closing valve direction 20 while resisting the spring force of the tenth motion spring 23 and separating the retaining arms 21 and 22 from each other, which affects the throttle wire 16. Never.

A dashbot 56 is supported and fixed to the throttle body 1 to slow down the rotational movement of the tenth stroke motion lever 7 supported on the throttle shaft 2 in the throttle valve closing direction 20.

This dashbot 56 is conventionally well-known, and has a housing 57 with a periphery of a diaphragm 60 that divides the inside of the housing 57 into a suction chamber 58 and five atmospheric pressure chambers. One end of a connecting rod 61 that movably passes through the housing 57 and extends outward on the atmospheric pressure chamber 59 side is connected via a retainer 80 .

A suction pipe 81 communicating with the suction chamber 58 is connected to the housing 57, and this suction pipe 81 is opened to the atmosphere via a jet 82 at its tip.

Therefore, when an attempt is made to drive the connecting rod 61 to cause the diaphragm 60 to read in a direction that increases the volume of the suction chamber 58, a force in the opposite direction to the driving direction is applied to the connecting rod 61 due to the action of the jet 82. Become.

On the other hand, a support bolt 62 having an axis parallel to the throttle shaft 2 is screwed onto the outer surface of the throttle body 1, and a regulation lever 63 and a forced activation lever 64 are rotatably attached to the support bolt 62. supported. That is, between the head 62a of the support bolt 62 and the throttle body 1, in order from the head 62a side, there is a cylindrical collar 65 that surrounds the support bolt 62, and a disc that abuts the inner end of the collar 65. a cylindrical collar 67 that surrounds the support bolt 62 with its outer end in contact with the regulation plate 66, and a regulation plate 68 that is interposed between the inner end of the collar 67 and the throttle body 1. are fitted in this order, and by tightening the support bolt 62, the collar 65, regulation plate 66, collar 67, and regulation plate 68 are fixed to the support bolt 62. The regulation lever 63 is rotatably supported by a collar 65 between the head 62a of the support bolt 62 and the regulation plate 66, and the forced activation lever 64 is rotatably supported by a collar 67 between the regulation plates 66 and 68. supported.

The regulation lever 63 includes an adjustment screw 6 whose tip can come into contact with a contact arm 70 provided on the tenth motion lever 7.
9 are screwed together so that the forward and backward positions can be adjusted, and the relative position of the adjustment screw 69 and the contact arm 70 is determined according to the rotation of the tenth stroke motion lever 7 in the throttle closing valve direction 20. are set to abut each other. Further, in the throttle body 1, when the 10th stroke motion lever 7 rotates to the position where the throttle valve 6 is fully closed, an I3 adjustment screw 71 is attached to the abutment arm 70 so that the forward and backward positions can be adjusted. screwed together.

The other end of the connecting rod 61 in the dash bot 56 is connected to the regulating lever 63, and the connecting state of the connecting rod 61 is such that when the adjusting screw 69 is in contact with the abutting arm 70, the tenth motion lever 7 The diaphragm 60 to which the connecting rod 61 is connected is bent to increase the volume of the suction chamber 58 when the valve is rotated in the throttle valve closing direction 20 .

The forced activation lever 64 is provided with an abutment arm 72, and a two-adjustment screw 73 whose tip can abut against the abutment arm 72 is screwed into the regulation lever 63 so that its forward and backward positions can be adjusted. The relative positions of the abutment arm 72 and the adjustment screw 73 are determined in the direction in which the abutment arm 72 abuts the adjustment screw 73 due to the spring force of the spring 74 interposed between the throttle body 1 and the forced activation lever 64. It is set to be energized by This spring 74 has a spring force that urges the tenth stroke engine lever 7 in the throttle valve opening direction 18 via the regulation lever 63 which is in contact with the forced activation lever 64 by the contact arm portion 72 and the adjustment screw 73. When the operating lever 8 rotates in the throttle valve opening direction 18 from the fully closed position of the throttle valve 6, the regulation lever 63 and the forced activation lever 64 follow and rotate due to the spring 74. When the retainer 80 of the dashpot 56 comes into contact with the inner surface of the housing 57 on the suction chamber 58 side, the adjustment screw 69
Then, the contact state of the contact arm portion 70 is released.

In FIG. 5, an operating lever 8 and a forced activation lever 6 are shown.
4, when the operation lever 8 located at the position corresponding to the fully closed position of the throttle valve 6 is rotated in the throttle valve opening direction 18, the forced activation lever 64 is forcibly rotated, and the regulation lever 63 is rotated. A forced activation mechanism 75 is provided which forcibly rotates the tenth motion lever 7, that is, the throttle shaft 2, in the throttle valve opening direction 18 through the 10th motion lever 7, that is, the throttle shaft 2.

The forced activation mechanism 75 includes a pressure receiving surface 76 provided on the side surface of the forced activation lever 64, and a roller that is pivoted on the operating lever 8 and has an axis parallel to the throttle shaft 2 so as to move along the pressure receiving surface 76. It consists of 77. In addition, the pressure receiving surface 76 and the roller 77 are in contact with each other between the position of the operating lever 8 corresponding to the fully closed position of the throttle valve 6 and the position where the operating lever 8 is slightly rotated in the throttle valve opening direction 18 from that position. The pressure receiving surface 76 rotates the forced activation lever 64 in the throttle valve opening direction 18 by a roller 77 in response to rotation of the operating lever 8 in the throttle valve opening direction 18 from the fully closed position. Formed to move.

Next, the operation of the throttle control device shown in FIGS. 1 to 5 will be explained.

When the operation lever 8 is rotated in the throttle valve opening direction 18 by operating the accelerator pedal while the operation of the step motor 52 is fully open and stopped, the engagement of the engagement arms 21 and 22 causes the tenth motion lever to move. 7, the throttle shaft 2 is rotated in the throttle valve opening direction 18, and the throttle valve 6 is rotated in the throttle valve opening direction 1 to the desired opening degree.
It is rotated to 8.

At this time, the step motor 52 is in a freely rotatable state, and in response to the rotational movement of the throttle valve 6 in the opening direction,
Rotational power is also transmitted to the step motor 52 via the control lever 9 and the gears 43, 48.degree. 53, so that the step motor 52 rotates freely.

The rotational movement of the operating lever 8 in response to the accelerator pedal operation is also transmitted to the 20th stroke motion lever 28 via the connecting link 31, and the two detection levers are activated by the engagement of the engaging portions 36 and 37. That is, the detection shaft 27 rotates in the accelerator pedal depression direction 32. Therefore, the rotation of the throttle shaft 2, that is, the throttle opening can be detected by the throttle opening detector 46, and the rotational operation amount of the operating lever 8, that is, the accelerator pedal operation amount can be detected by the accelerator pedal operation amount detector 38.

By the way, at the initial stage of rotating the throttle valve 6 from its fully closed position in the throttle valve opening direction 18,
If only the operating lever 8 and the tenth motion lever 7 are interlocked and connected via the lost motion mechanism 25, the starting force of the throttle shaft 2 will be insufficient, and the initial rotational movement of the throttle shaft 2 will not be smooth. There are cases. However, the initial rotational movement of the throttle shaft 2 is forcibly performed by the action of the strong starting mechanism 75. That is, the operating lever 8 is used to rotate the throttle valve 6 from its fully open position.
When rotates, the lost motion lever 7 moves to the pressure receiving surface 76.
The forced activation lever 64 is rotationally driven by contacting and rolling, and the rotation of the forced activation lever 64 contacts the regulation lever 6 which is in contact with the abutting arm portion 72 via the adjustment screw 73.
3, and further the adjustment screw 69 of the regulation lever 63
The force is transmitted to the tenth motion lever 7, which has an abutment arm 70 that abuts on the 10th motion lever 7. Therefore, during the initial rotation of the operating lever 7, the tenth stroke engine lever 7 is forcibly rotated, and the initial rotation of the throttle shaft 2, that is, the throttle valve 6 from the fully closed position becomes smooth.

Further, when the throttle valve 6 is rotated by the operation lever 8 to the opening degree, the throttle shaft 2, that is, the throttle valve 6 is provided with the first, second, and third return springs 19, 24, .
A spring force of 44 is acting on the closing side. Therefore, by relaxing the pulling force of the throttle wire 16, the operating lever 8 rotates in the throttle valve closing direction 20, and the throttle shaft 2 and the throttle valve 6 also rotate in the closing direction.

At this time, when the throttle valve 6 rotates to the vicinity of its fully closed position, the retainer 80 in the dashpot 56 moves into the suction chamber 5.
Due to the state in which the 8 side is in contact with the housing 57, the :A adjustment screw 69 of the forced activation lever 64 comes into contact with the contact arm 70, and then the dashpot 5 due to the increase in the volume of the suction chamber 58
The damping force of 6 acts on the tenth motion lever 7,
It acts on the throttle shaft 2 and the lost motion lever 7, and the rotation speed of the throttle shaft 2 and the throttle valve 6 toward the closing side is moderately suppressed.

When the operating lever 8 rotates in the throttle valve closing direction 20, the detection shaft 27 connected to the accelerator pedal operation amount detector 38 via the lever 39 activates the accelerator pedal operation amount detector 38. Assume a case where it does not rotate smoothly due to a defect, etc.

In this case, the operating lever 8 rotates the 20th stroke motion lever 28 in the accelerator pedal return direction 34 while resisting the spring force of the 20th stroke motion spring 35 and separating the engaging portions 36 and 37. This allows the throttle valve 6 to be reliably rotated to the closing side.

As described above, when the throttle valve 6 is opened to a certain opening degree by operating the accelerator pedal, and the throttle valve 6 is driven to the closing side for traction control during starting and acceleration, etc., the step motor 52 is operated. Activate it. Due to the operation of the step motor 52, the throttle shaft 2 and the throttle valve 6 are moved by the tenth stroke motion spring 23 so that the engaging portion 21 of the operating lever 8 and the engaging portion 22 of the tenth stroke lever 7 are separated. It can be rotated against the spring force, and the throttle valve 6 can be driven in the closing direction regardless of the operation of the accelerator pedal.

The throttle control device for an automobile shown in FIGS. 1 to 5 has been described above as an example of an object to which the method of the present invention is applied.

Next, an embodiment of the present invention applied to the control of the throttle valve 6, which is the control valve of this throttle control device, will be described.
This will be explained based on FIGS. 8 to 8.

Note that this embodiment is an example adopted as a part of the above-mentioned traffic day control.

FIG. 6 is a block diagram showing an example of a device used in the method of the present invention, and FIG. 7 is a time chart showing interrupt timing. Figure 08 is a diagram showing the interrupt processing program.

In FIG. 6, 100, 101, 102 and 103
are phase coils of the step motor 52 that drives the throttle valve 6. Further, 104 is a microcomputer, 105, 106, 107 and 108 are amplifiers respectively connected to the output ports of the microcomputer 104, 109, 110, 111 and 112 are resistors, 113, 114, 115 and 116 are transistors,
Diodes 117, 118, 119 and 120 are connected as shown in FIG. Therefore, depending on the value of the output port of the microcomputer 104, each transistor 113 to 116 is
The FF states are determined, and in turn, the excitation states of the coils 100 to 103 of each phase of the step motor 52 are determined.

Further, in FIG. 6, reference numeral 46 denotes a throttle opening degree detector, which is the same as that shown in FIGS. 1 to 5 above, and is therefore given the same reference numeral. 121 is an A/D converter for A/D converting the detection signal of the throttle opening degree detector 46;
The D converter starts A/D conversion upon receiving the start signal supplied from the microcomputer 104, and when the conversion is completed, supplies the end signal and the A/D conversion value to the microcomputer 104. ing.

Note that when the A/D conversion is completed, the A/D converter 121 latches the A/D converted value in the output section.

Next, it receives a start signal and is held until the next A/D conversion is completed.

The microcomputer is internally equipped with an oscillation circuit and a pulse distribution circuit, and sends pulse signals to the coils 100 to 103 of each phase of the step motor 52. For example, when driving the step motor 52 using the one-phase excitation method,
A pulse signal is sent to coil 1001, coil 101, coil 102, and coil 103 in this order. The pulse train output from the oscillation circuit is as shown in FIG. 7(a).
For example, pulses are formed at intervals of To. These pulses are distributed to desired coils by a circuit. In the example shown in FIG. 7(a), the interrupt period is T. However, the period may be changed as necessary. Further, the period To determines the pulse rate of the step motor 52, so it is determined in consideration of the performance of the step motor 52, and is determined to be a short time in order to improve responsiveness. In the example, the pulse rate of the step motor 52 is 600 pps, and the interrupt period is T. is said to be 1.67m5. In addition, in the case of the embodiment shown in the drawings, the step motor 52 has a pulse rate of 300±
Resonance occurs at 50 pps, and the resonance time T1 is 3,3
3±0.02m5, and there is a Tox2-TI relationship.

In addition, in this embodiment, it is assumed that the A/D converter is used as a part of traction control, etc., so although it is not shown in the drawing, for example, an idle wheel speed detector, a driving wheel speed detector, etc. The microcomputer 104 is connected to the microcomputer 104 via a device, and based on the detected data, the microcomputer 104 determines whether or not to perform traction control. In this case, the target opening data of the throttle valve 6 is calculated by calculation, and when performing traction control etc., the pulses shown in FIG. It is output toward coils 100-103.

When the pulse train shown in FIG. 7(a) is input manually, the microcomputer 103
The process shown in FIG. 8 is executed.

That is, when the pulse shown in FIG. 7(a) is input, interrupt processing is started in step 130, and it is determined in step 131 whether the content of the A register is 2 or not. Step 13
In 2, as will be seen from the description below, it is determined whether the interrupt in question is the second cycle interrupt from when the output port value was switched to a different value immediately before. Become. In other words, in this embodiment, T opening x2-
71, in the end, in step 131, the number of cycles of the interrupt is monitored since the output port value was switched to a different value immediately before, and the number of cycles is determined. This means that it is determined whether or not it matches the resonance time TI.

When it is determined in step 131 that the value is A-2, that is, when it is determined that the number matches the resonance time T1, the value obtained by adding 1 to the original contents of the A register is added to the A register in step 139. In addition to the content of
Cancel coil excitation switching. Next, step 13
At step 8, the interrupt processing ends, and the process returns to the main routine to start other processing. On the other hand, when it is determined in step 131 that it is not A-2, that is, when it is determined that it does not match the number corresponding to the resonance time T1, the process moves to step 132. In step 132, a start signal is sent to the A/D converter 121 to cause the A/D converter 121 to perform A/D conversion.
After receiving the end signal from the /D converter 121, the A/D
Read the converted value as detected opening data. Next, in step 133, the detected opening degree data and the target opening degree data are compared and calculated. Then, the output vote value is switched to a value corresponding to the calculation result of the step. Therefore, at step 134, if the detected opening does not match the target opening, the step motor 52 starts moving one step in the matching direction (throttle valve closing direction in traction control, etc.). If so, the step motor 52 will maintain that position. Then, when step 134 ends, the process moves to step 135. In step 135, it is determined whether the output vote value has been switched to a different value as a result of the processing in step 134. If it is determined that the value has been switched to a different value, the contents of the A register are set to 1 in step 136, and the process ends in step 138. On the other hand, if it is determined in step 135 that the value has not been changed to a different value, step 1
At step 37, the value obtained by adding the original contents of the A register to 1 is set as the contents of the A register, and the process ends at step 138.

As can be seen from the above explanation, while traction control etc. are being performed, the process shown in FIG. 8 is performed for each pulse manual force shown in FIG. The method is executed, and the throttle valve 6 is controlled to the target opening degree required for traction control etc., and the actual switching interval of the phase excitation of the step motor 52 does not coincide with the resonance time. Resonance of the step motor 52 is always avoided, step-out, etc. are prevented, and stable control is realized.

In particular, since the interrupt processing shown in Figure 8 above is given top priority over other interrupts, even if multiple interrupts are attempted, the actual switching interval of the step motor's phase excitation will match the resonance time. There is nothing to do.

Next, an example of the operation of the throttle valve 6 in the case of the above-mentioned embodiment is shown in FIG. 7(b), so this will be explained. The vertical axis in FIG. 7(b) indicates the opening degree of the throttle valve 6. Note that in FIG. 7(b), the processing time of the interrupt processing shown in FIG. 8 is ignored.

First, before the tl interrupt occurs, the throttle valve 6
The actual opening degree is θ1, and the target opening degree according to the target opening degree data is θ2 from before the interruption of tl to a point in time between t4 and t5.

Therefore, tl.

The phase excitation state of the step motor 52 is switched at the interrupts of t and ta, and the opening of the throttle valve 6 approaches the target opening θ2 with each step, and is made to match the target opening θ2 after ta. ing. When the interrupt at t4 occurs, the target opening data has not yet been changed and the target opening is θ2, so the phase excitation state of the step motor 52 is not switched at the interrupt at t4, and the throttle valve 6 is not switched. The opening degree remains at θ2.

Assuming that the target opening data is changed between t and t5 and the target opening is changed to 03,
If 131°139.135,136 in the above figure 8
．． ．． If the process 137 were not performed, the opening degree of the throttle valve 6 would change as shown by the imaginary line. In that case, the switching interval t3 to t5 of the phase excitation state of the step motor 52 will coincide with the resonance time T1, and resonance will occur, resulting in step-out and the like. However, in the above-described embodiments of the present invention, when ta is switched immediately before
. If the elapsed time from Tt matches the resonance time Tt, the switching is canceled, so at the interrupt at t5, the output boat value is not switched and the phase excitation state is not switched.
As shown by the solid line in FIG. 7(b), the opening degree of the throttle valve 6 changes, and the opening degree of the throttle valve 6 is made to match the target opening degree θ3 after t7.

〔Effect of the invention〕

INDUSTRIAL APPLICABILITY The present invention has the effect of improving responsiveness, always avoiding resonance of the step motor to prevent step-out, etc., and enabling stable control.

[Brief explanation of drawings]

1 to 5 show a throttle control device for an automobile having a throttle valve, which is an example of the controlled object of the present invention. FIG. 1 is a front view, and FIG. figure,
Figure 3 is a sectional view taken along the line ■-■ in Figure 2, and Figure 4 is a cross-sectional view taken along the line ■ in Figure 2.
The arrow diagram and FIG. 5 are cross-sectional views taken along the line V-V in FIG. 3. Also,
Fig. m6 is an electric circuit diagram showing an example of the device used in the present invention, Fig. 7 (a) is a time chart showing interrupt timing, Fig. 7 (b) is an operation explanatory diagram, and Fig. 8 is an illustration of interrupt processing. It is a flowchart showing a program. 6... Throttle valve as a control valve, 46... Throttle opening detector as an opening detector, 52... Step motor, 04... Microcomputer, 21... A/D converter.

Claims (1)

[Claims] Using a step motor that drives a control valve of an automobile, and a microcomputer that determines the excitation state of the step motor according to an output port value, an interrupt is periodically applied to the microcomputer, and each interrupt causes the microcomputer to A method for controlling a control valve of an automobile to a target opening degree, wherein the detected opening degree data and the target opening degree data of the control valve are compared and calculated, and the output port value is switched to a value according to the result, For each of the above interrupts, monitor the number of cycles of the interrupt since the time when the output port value was switched to a different value immediately before, and check that the number of cycles corresponds to the resonance time of the step motor. A method for controlling a control valve of an automobile to a target opening degree, characterized in that when the number matches the number of openings, the switching of the output port value is stopped, and the interrupt is given top priority over other interrupts.