JPH06280657A - Constant speed running control device - Google Patents

Abstract

PURPOSE:To enhance the safety in a constant speed running control device incorporating an actuator without using a limit switch, by detecting an abnormality in the actuator. CONSTITUTION:If a difference between a full close position of an actuator which is read when an ignition switch is turned on, and a final stop position of the actuator at the full close side, or a difference between a full open position of the actuator which is initially set in accordance with the full close position upon turn-on of the ignition switch, and the final stop position of the actuator on the full open side exceeds a predetermined value, it is determined that the actuator is abnormal.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a constant-speed traveling control (cruise control) device, and more particularly to a constant-speed traveling capable of detecting an abnormality of an actuator supplied with a load output for performing the constant-speed traveling control. Regarding the control device.

[0002]

2. Description of the Related Art First, the structure of a conventional constant speed traveling control system, which is the premise of the present invention, will be described with reference to FIG. That is, in FIG. 1, reference numeral 1 denotes a load output for performing the above-mentioned constant speed traveling control (output of an actuator having a motor and a magnet clutch provided in the middle of a transmission portion for transmitting the movement of the motor to a throttle valve of an engine). ) Is sent to the main CPU 1 and sub CPU 2 from the battery power source B via the ignition switch IG and the constant voltage circuit 6 when the ignition switch IG is turned on. (For example, 5V voltage) is supplied,
As a result, the main CPU 1 and the sub CPU 2 are activated.

Next, when the main switch CMS is turned on, the relay output is turned on (that is, the flip-flop becomes a set) via a flip-flop provided in the sub CPU 2 (for example, a 4-bit microcomputer), which causes The relay 32 is turned on via the relay drive circuit 31 in the load output power supply control circuit 3, and the power supply voltage for the load output circuit 4 is turned on (high level) (that is, the load output circuit 4 is a transistor or the like, for example). If the switching element is used, the power supply voltage for the switching element is turned on).

Further, when the main switch CMS is turned on, C to the main CPU 1 is passed through a buffer (for example, an inverter) provided in the sub CPU 2.
The MS monitor signal is turned on, and the main C
The indicator output from PU1 is turned on, the indicator output that has passed through the buffer (eg, inverter) in the sub CPU 2 further passes through the indicator output circuit 5, and the power indicator Pi is turned on (lighting state).

Then, when the set switch (set SW) is turned on, the constant speed traveling control state is set and the main C
The load output from the PU 1 is supplied to the actuator ACT via the load output circuit 4 (for example, by controlling ON / OFF of a switching element forming the load output circuit). That is, the main CPU 1 takes in the vehicle speed when the set switch is pressed, sets the reference throttle opening voltage corresponding to the vehicle speed at that moment, and the throttle opening voltage fed back from the potentiometer in the actuator and the above The set voltage is compared with the load output circuit 4 (specifically, an acceleration and deceleration control circuit to be described later) to determine the optimum value of the throttle valve opening, and the rotation (opening) of the motor or the like in the actuator is thereby determined. Side and closed side rotation) to control the throttle valve opening. A magnet clutch is provided at the final stage of the actuator (the portion that transmits the rotation of the motor to the throttle valve) in order to turn on and off the transmission of the rotation of the motor to the throttle valve. .

The actuator ACT shown in FIG. 1 is composed of the motor, magnet clutch, potentiometer, etc., and the load output circuit 4 operates in accordance with the load output from the main CPU 1. And a deceleration control circuit (for controlling the rotation of the motor in the actuator to the open side and the closed side, respectively, via a speed-up relay and a deceleration relay, for example), and on / off control of the magnet clutch. Compatible with magnet clutch circuits, etc.
When the main switch CMS is turned on, the relay 32ga is turned on in the load output power supply control circuit to turn on the power supply of the load output circuit 4 (that is, the speed increasing / decelerating control circuit, the magnet clutch circuit, etc.). As described above, the power indicator Pi is also turned on (lighted).

When the set switch (set SW) is turned on (the set input is input to the main CPU 1) as described above, the constant speed traveling control state as described above is set or canceled. When the switch (cancel SW) is turned on (the cancel input is input to the main CPU 1), the constant speed traveling control state is released.

FIG. 2 shows the main CPU shown in FIG.
1 shows the input / output relationship between the cruise control computer including the load output circuit 4 and the actuator ACT and the actuator ACT, and the acceleration and deceleration control circuit in the computer while the constant speed traveling control state is set. To the motor in the actuator ACT to the open side output (the output for rotating the arm AM shown in FIG. 4 by the motor to the open side of the actuator (thus the side to open the throttle valve of the engine)),
And a closing side output (output for rotating the arm AM to the actuator closing side (thus, the side for closing the throttle valve of the engine) by the motor).

Further, while the constant speed traveling control state is set, a magnet clutch output is supplied from the magnet clutch circuit in the computer to the magnet clutch in the actuator ACT, whereby the clutch is turned on. . In addition, the actuator AC
The actuator opening voltage (throttle opening voltage) variably set according to the opening of the actuator (that is, the rotational position of the motor and the arm AM) from the potentiometer in T to the acceleration and deceleration control circuit in the computer. 2 is fed back (in FIG. 2, VR3 is set to the ground potential, VR1 is set to 5 V, for example, and the actuator opening voltage VR2 is set as a voltage value between the VR1 and VR3. Be done). Then, the fed back actuator opening voltage (throttle opening voltage) VR2 is compared in the computer with the reference throttle opening voltage calculated and set in the computer based on the vehicle speed, and the motor is compared. Open side or closed side output is provided.

In such a constant speed traveling control apparatus, the open side output or the close side output is usually supplied from the computer to the motor in the actuator so that the motor in the actuator causes the motor in the fully open position ( Normally, when the throttle valve is set to a position slightly close to the fully opened state) or to the fully closed position of the actuator (set to a position where the throttle valve is definitely closed), , The corresponding limit switch (the limit switch inserted in the open side output supply circuit or the limit switch inserted in the closed side output supply circuit) is turned off, and the open side output supply circuit or the closed side It is configured to turn off the output supply circuit and stop the motor at the fully open or fully closed position of the actuator. To have. However, when such a limit switch is provided, a surge occurs when the switch is turned off or on, and the generated surge may damage an element inside the computer or malfunction the motor inside the actuator, for example. There is a risk.

Therefore, the limit switch is eliminated,
The feedback voltage value VR2 from the potentiometer when the ignition switch IG is switched from OFF to ON (variable according to the rotational position of the motor and arm AM in the actuator) is stored in the computer. Read as a value corresponding to the fully closed position (initial value) of the actuator, and the voltage value V at this time
A voltage value obtained by increasing the voltage value VR2 by a predetermined voltage based on R2 (as the arm AM rotates to the open side, the voltage value VR2 changes to the maximum voltage VR1 (for example, 5).
It is conceivable to read (increase within the range of V)) as a value corresponding to the fully open position (initial value) of the actuator in the computer. It should be noted that FIG. 4 shows the rotation position of the arm AM when the ignition switch IG is switched from OFF to ON, and the rotation position of the arm AM corresponding to the fully open position (initial value) of the actuator. Shown as a fully closed position and a fully open position.

However, the fully closed position and the fully opened position set as the initial values as described above are the true fully closed or fully opened position of the actuator (the true fully closed and fully opened positions referred to here are the actuator respectively). On the fully closed side and the fully open side, it refers to a position that does not move any further mechanically). Therefore, in order to make full use of the performance of the actuator, it is necessary to know the true fully closed position and the fully open position described above (since the actuator mechanically stops, the voltage value from the potentiometer does not change, and the detection is performed). Yes, it is necessary to correct the fully closed position and the fully open position to that position. In particular, when the fully closed position set as the initial value is deviated from the true fully closed position, unless the fully closed position is corrected as described above, for example, when the cancel switch is turned on, The actuator (thus, the throttle valve) does not return to the true fully closed position, and therefore, there is a possibility that constant speed running (runaway) may be performed at a certain speed even though the cancel switch is turned on. Therefore, there is a great need especially for correction to the true fully closed position as described above.

[0013]

SUMMARY OF THE INVENTION The present invention has been made based on such a technical background, and in a constant speed traveling control device using an actuator without a limit switch as described above, the initial stage is as follows. When the set fully closed position and fully opened position of the actuator are corrected to their mechanical final stop positions (true fully closed position and fully opened position), the corrected value is relative to the initial value. If there is a difference of a certain value or more, it is determined that there is an abnormality in the actuator (for example, there is an abnormality in the potentiometer value, or the actuator is in a mechanically abnormal state), and fail safe (for example, Control is prohibited).

[0014]

In order to solve such a problem, in the present invention, a constant speed running control for sending a load output for performing constant speed running control to an actuator when a constant speed running state is set. Means for reading the fully closed position of the actuator as an initial value when the ignition switch is turned on, and the constant speed traveling control means based on the read fully closed position. Means for setting the fully open position of the actuator as an initial value, means for reading the final stop position on the closed side when the actuator is driven to the closing side, and the opening position when the actuator is driven to the open side. Means for reading the final stop position on the side, and the difference between the read full-closed position as the initial value and the final stop position on the closed side, or the set initial value. The difference between the final stop position in the fully open position and the open side of the constant speed running control apparatus characterized that it contains the abnormality determining means when a predetermined value or more is provided.

[0015]

According to the above construction, the turning position of the arm AM with respect to the potentiometer voltage value when the ignition switch is turned from OFF to ON is the position shown in FIG. 5 (A), and the position after the correction is made. Assuming that the position (corresponding to the true fully closed position described above at the mechanical final stop position on the fully closed side) is the position shown as “fully closed” in FIG. When the difference from the position indicated by "fully closed" is equal to or greater than a predetermined value, the above position is abnormal as an initial value, and such a case can be detected as an actuator abnormality.

Further, it is assumed that the initially set fully open position (temporary fully open position given as an initial value) is the position shown as "fully open" in FIG. 5B, and the position after the correction (at the fully open side is (The mechanical final stop position) is the position shown by or in FIG. 5 (B), the difference between the position shown by "fully open" and the position shown by or is more than a predetermined value. In this case, the "fully open" position is abnormal as an initial value, and even in such a case, it can be detected as an actuator abnormality.

[0017]

FIG. 3 is a flow chart showing an embodiment of a processing procedure for detecting an actuator abnormality performed by the computer shown in FIG. 2. When the ignition switch is turned on in step 1, step 2 is executed. At that time, the voltage value fed back from the potentiometer is read in the computer as a voltage value corresponding to the fully closed position (closed side initial value) of the actuator. Further, in step 3, the voltage value increased by a predetermined voltage on the basis of the voltage value corresponding to the closing-side initial value read in step 2 corresponds to the voltage value corresponding to the fully open position of the actuator in the computer ( (Open side initial value)
Is set as. Then, in step 4, the set switch is turned on, and in step 5, the constant speed traveling control state is set.

Then, in step 6, the motor in the actuator is supplied with the open-side output (actually, the output with a predetermined duty ratio) shown in FIG. 2 (that is, the motor rotates to the side to open the throttle valve). It is determined whether or not). If YES (outputting on the open side), it is determined whether the motor is locked in step 7 (whether the motor is stopped) (if the motor is stopped, the voltage value from the potentiometer does not change). To be detected. If YES, the voltage value from the potentiometer at that time corresponds to the voltage value corresponding to the final stop position of the actuator on the fully open side (the position corresponding to or in FIG. 5B). Yes, step 8
Then, it is determined whether or not the difference between the opening side initial value set in step 3 and the voltage value (current value) when the motor lock is detected in step 7 is equal to or more than a predetermined value. If so, the actuator is determined to be abnormal, and in step 12, fail safe (for example, control is prohibited) is performed.

On the other hand, if the determination in step 6 is no, the process proceeds to step 9 to determine whether the motor in the actuator is supplied with the closing side output (output with a predetermined duty ratio) shown in FIG. That is, it is determined whether or not the motor is rotating to the side where the throttle valve is closed.
If YES (outputting on the closing side), whether or not the motor is locked in step 10 is detected in the same manner as in step 7 above. If the answer is yes, the voltage value from the potentiometer at that time corresponds to the voltage value corresponding to the final stop position of the actuator on the fully closed side. Therefore, in step 11, it is read in step 2 above. It is determined whether the difference between the closing side initial value and the voltage value (current value) when the motor lock is detected in step 10 is a predetermined value or more. Assuming that there is, fail safe (for example, control prohibition) is made in step 12.

[0020]

According to the present invention, in a constant speed traveling control device using an actuator without a limit switch, by detecting a defect of the actuator (abnormal potentiometer voltage value or mechanical abnormality of the actuator), It is possible to improve safety.

[Brief description of drawings]

FIG. 1 is a diagram illustrating a configuration of a constant speed traveling control device applied to the present invention.

FIG. 2 is a diagram showing an input / output relationship between a cruise control computer including a main CPU and a load output circuit in FIG. 1 and an actuator.

FIG. 3 is a flowchart showing an example of a processing procedure for detecting an actuator abnormality performed by the computer shown in FIG.

FIG. 4 is a diagram showing a part of the actuator shown in FIG. 2 in detail.

FIG. 5 is a diagram showing a relationship between fully closed and fully opened positions (initial values) of actuators and correction values.

[Explanation of symbols]

 1 ... Main CPU 2 ... Sub CPU 3 ... Load output power supply control circuit 4 ... Load output circuit 5 ... Indicator output circuit ACT ... Actuator

Claims (1)

[Claims] 1. A constant speed traveling control means for sending a load output for performing constant speed traveling control to an actuator when a constant speed traveling state is set, and the constant speed traveling control means is provided with an ignition switch. Means for reading the fully closed position of the actuator as an initial value when is turned on, means for setting the fully opened position of the actuator as an initial value based on the read fully closed position, and the actuator Means for reading the final stop position on the closed side when driven to the closed side, means for reading the final stop position on the open side when the actuator is driven to the open side, and the read initial The difference between the fully closed position as a value and the final stop position on the closed side, or the difference between the fully open position as the set initial value and the final stop position on the open side is a predetermined value or more. Cruise control system characterized in that it includes the abnormality determining means when.