WO2002014667A1 - Circuit d'attaque pour un actionneur electrique - Google Patents

Circuit d'attaque pour un actionneur electrique Download PDF

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Publication number
WO2002014667A1
WO2002014667A1 PCT/DE2001/002911 DE0102911W WO0214667A1 WO 2002014667 A1 WO2002014667 A1 WO 2002014667A1 DE 0102911 W DE0102911 W DE 0102911W WO 0214667 A1 WO0214667 A1 WO 0214667A1
Authority
WO
WIPO (PCT)
Prior art keywords
control unit
actuator
driver circuit
circuit according
signal
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.)
Ceased
Application number
PCT/DE2001/002911
Other languages
German (de)
English (en)
Inventor
Wolfgang Stadler
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.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=7652217&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=WO2002014667(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Publication of WO2002014667A1 publication Critical patent/WO2002014667A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • 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
    • F02D41/0025—Controlling engines characterised by use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures
    • F02D41/0047—Controlling exhaust gas recirculation [EGR]
    • F02D41/0077—Control of the EGR valve or actuator, e.g. duty cycle, closed loop control of position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
    • F02M26/00—Engine-pertinent apparatus for adding exhaust gases to combustion-air, main fuel or fuel-air mixture, e.g. by exhaust gas recirculation [EGR] systems
    • F02M26/45—Sensors specially adapted for EGR systems
    • F02M26/48—EGR valve position sensors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02M—SUPPLYING COMBUSTION ENGINES IN GENERAL WITH COMBUSTIBLE MIXTURES OR CONSTITUENTS THEREOF
    • F02M26/00—Engine-pertinent apparatus for adding exhaust gases to combustion-air, main fuel or fuel-air mixture, e.g. by exhaust gas recirculation [EGR] systems
    • F02M26/52—Systems for actuating EGR valves
    • F02M26/53—Systems for actuating EGR valves using electric actuators, e.g. solenoids
    • F02M26/54—Rotary actuators, e.g. step motors
    • 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
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D2041/1409—Introducing closed-loop corrections characterised by the control or regulation method using at least a proportional, integral or derivative controller
    • 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
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D2041/141—Introducing closed-loop corrections characterised by the control or regulation method using a feed-forward control element
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

Definitions

  • the invention relates to a driver circuit for an electric actuator, in particular for an exhaust gas valve of an internal combustion engine operated by an electric motor, according to the preamble of claim 1.
  • EGR valve EGR - Exhaust Gas Recirculation
  • the exhaust valve is controlled by an actuator in the form of an electric motor, which acts on the exhaust valve via a gear.
  • the actuator is in turn controlled by a driver circuit which on the input side records the target value for the position of the exhaust valve and the actual value of the position of the exhaust valve, and the actuator as a function of the deviation between the target
  • the driver circuit having a PI controller in order to set the desired position of the exhaust valve as quickly as possible on the one hand and as precisely as possible on the other hand.
  • a disadvantage of the known driver circuit described above is the fact that the actuator exhibits unsatisfactory dynamic behavior when the PI controller is designed to set the exhaust gas valve as precisely as possible.
  • the invention is therefore based on the object of improving the known driver circuit described above in such a way that on the one hand the actuator assumes the desired position as quickly as possible and on the other hand as precisely as possible.
  • the object is achieved on the basis of the known driver circuit described at the outset according to the preamble of claim 1 by the characterizing features of claim 1.
  • the invention encompasses the general technical teaching of providing, in addition to a control unit, a control unit in the driver circuit for controlling the actuator, which control unit determines the control variable for the actuator as a function of the desired value.
  • the outputs of the control unit and the control unit are preferably brought together, for which purpose an adder can be used, for example.
  • the control unit preferably determines the operating point of the actuator, while the control unit specifies the dynamic behavior, especially in the case of small and medium changes in the target value.
  • the control unit preferably simulates the physical behavior of the controlled system by calculating, for example, the restoring force or the restoring torque, the frictional force or the frictional torque and / or the inertial force or the moment of inertia.
  • control unit can be designed for the small signal behavior, which enables improved dynamic behavior compared to the known driver circuit described at the beginning.
  • the control unit preferably consists of a conventional PI controller and a differential element connected in parallel, which is also referred to as a DT ⁇ element.
  • a DT ⁇ element which is also referred to as a DT ⁇ element.
  • the invention is not restricted to such a structural configuration. Rather, the control unit can also include other types of controllers. ten, such as a P controller, a PID controller or other components.
  • the temperature of the environment, the actuator and / or the exhaust gas flow is also taken into account when determining the control variable for the actuator by the control unit and / or by the control unit.
  • the control unit and / or the control unit therefore preferably have a separate signal input in order to receive a corresponding temperature signal from a temperature sensor, wherein the temperature sensor can consist, for example, of a temperature-dependent resistor.
  • FIG. 1 shows a driver circuit for controlling an actuator in the form of a block diagram
  • FIG. 2 shows the control unit of the driver circuit from FIG. 1
  • FIG. 3 shows the control unit of the driver circuit from FIG. 1.
  • the driver circuit according to the invention is used to control an actuator 1, which essentially consists of an electric motor that actuates an exhaust gas valve of an internal combustion engine via an intermediate gear, the exhaust gas valve also being referred to as EGR valve (exhaust gas recirculation).
  • the actuator 1 is controlled by an electrical converter 2, which specifies the voltage U and the current I for the actuator 1.
  • the actuator 1 is connected to a sensor unit 3 which has a position sensor which determines the position of the exhaust gas valve and emits a corresponding position signal X M ess.
  • the sensor unit 3 also has a temperature sensor, which consists of a temperature-dependent resistor in the actuator 1 and generates a temperature signal T I ⁇ T , which reproduces the temperature of the coil winding of the actuator 1.
  • the driver circuit according to the invention has a control unit 4, which can be a component of the engine electronics of the internal combustion engine, for example, and which specifies a target value X DES for the position of the exhaust gas valve.
  • control unit 4 On the output side, the control unit 4 is connected on the one hand to a control unit 5 and on the other hand to a control unit 6, the control unit 5 being shown in detail in FIG. 2, whereas the circuitry structure of the control unit 6 can be seen in FIG. 3.
  • the control unit 5 is connected on the input side to the control unit 4 and on the other hand to the temperature sensor of the sensor unit 3 and calculates a modulation factor FVOR between -100% and + 100% for the pulse depending on the target value XSOLL and the temperature value T IST Width modulation of the voltage of the actuator 1, the transmission ratio U of the transmission arranged between the actuator 1 and the exhaust valve being taken into account.
  • the control unit 6, on the other hand, is on the input side with the control unit 4 and on the other hand with a characteristic connected member 7, the characteristic member 7 is in turn connected to the position sensor of the sensor unit 3.
  • the characteristic curve element 7 determines the current position X IS of the exhaust valve from the position signal X measurement determined by the sensor unit 3.
  • the control unit 6 receives as input variables the target value X TARGET and the actual value X ACTUAL and, depending on the deviation between the target and actual value, also calculates a modulation factor F CONTROL between -100% and + 100% for modulating the actuator voltage.
  • the adder 8 On the output side, the adder 8 is connected to a limiter 9, which is additionally connected on the input side to the temperature sensor of the sensor unit 3 and limits the modulation factor F G generated by the adder 8 to values between -100% and + 100%, so that at the output of the limiter 9 a correspondingly limited modulation factor F G , LIM appears.
  • a limiter 9 which is additionally connected on the input side to the temperature sensor of the sensor unit 3 and limits the modulation factor F G generated by the adder 8 to values between -100% and + 100%, so that at the output of the limiter 9 a correspondingly limited modulation factor F G , LIM appears.
  • control unit 5 The structure of the control unit 5 is now described below with reference to the detailed block diagram in FIG.
  • control unit 5 has a characteristic element 10 on the input side, which calculates a restoring torque as a function of the target value X SOLL of the position of the exhaust gas valve, the characteristic element 10 being connected on the output side to a multiplier 11 which calculates the one calculated by the characteristic element 10
  • the restoring torque is multiplied by the transmission ratio Ü of the gear arranged between the actuator 1 and the exhaust valve, thereby calculating a restoring torque M RÜCK to be applied by the actuator 1.
  • control unit 5 has a differentiator 12 on the input side, which differentiates the time derivative of the setpoint tes X TARGET calculates what corresponds to the speed of movement of the exhaust valve.
  • the differentiator 12 is connected to a further characteristic element 13, which calculates the friction torque M REIB to be applied by the actuator 1 from the time derivation of the setpoint X SOLL .
  • the control unit 5 also has a further differentiator 14, which forms the second lateral derivative of the target value X TARGET , which corresponds to the acceleration of the exhaust gas valve.
  • the differentiator 14 is connected to a characteristic element 15, which determines the moment of inertia M a to be overcome from the acceleration of the exhaust gas valve.
  • the adder 17 is connected to a characteristic curve element 18, which calculates a current value I from the moment M ⁇ es on the basis of a predetermined actuator-specific characteristic curve, the characteristic curve element 18 being connected on the output side to a multiplier 19 which multiplies the current value I by the output signal of a characteristic curve element 20, that is connected on the input side to the temperature sensor of sensor unit 3 and takes into account the resistance of the coil winding of the electric motor.
  • a characteristic curve element 18 which calculates a current value I from the moment M ⁇ es on the basis of a predetermined actuator-specific characteristic curve
  • the characteristic curve element 18 being connected on the output side to a multiplier 19 which multiplies the current value I by the output signal of a characteristic curve element 20, that is connected on the input side to the temperature sensor of sensor unit 3 and takes into account the resistance of the coil winding of the electric motor.
  • the multiplier 19 calculates a voltage value U, which is fed to a converter 25, in order to calculate the modulation factor F V OR in the range from -100% to + 100%, the value of the modulation factor F VOR being controlled by the target value X TARGET becomes.
  • the adder 21 is connected to a PI controller 22, which is operated mainly as a P controller with regard to the dynamics of the actuating behavior.
  • the PI controller 22 has a small I component in order to achieve a sufficient accuracy of the control unit 6.
  • the adder 21 is connected on the output side to a differential element 23, which is also referred to as a DTi element.
  • the difference element 23 mainly serves to improve the dynamic behavior of the actuator 1 when the exhaust valve is closed, especially in the case of medium and small setpoint jumps.
  • the PI controller 22 and the differential element 23 are connected to an adder 24, which outputs the regulated modulation factor F REGEL on the output side.
  • the control unit 5 essentially has the task of setting the operating point of the driver circuit as a function of the target value X SET .
  • the control unit 5 calculates a modulation factor F VOR as a function of the target value X TARGET and the temperature T IST , which is suitable as an operating point in order to set the desired position of the exhaust gas valve specified by the control unit 4.
  • the control unit 5 thus specifies the stationary behavior of the driver circuit, while the control unit 6 determines the dynamic behavior. This separation of functions between the control unit 5 and the control unit 6 enables the control unit 6 to be optimized in the direction of good dynamic behavior.

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Analytical Chemistry (AREA)
  • Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
  • Feedback Control In General (AREA)

Abstract

L'invention concerne un circuit d'attaque pour un actionneur électrique (1), notamment pour une soupape de gaz d'échappement à actionnement électromoteur d'un moteur à combustion interne. Le circuit d'attaque selon l'invention comprend une première entrée de signaux recevant une valeur de consigne (XCONS) pour la position de l'actionneur, une deuxième entrée de signaux recevant une valeur réelle (XREEL) de la position de l'actionneur, une sortie de signaux délivrant une grandeur de commande (FG) pour l'actionneur (1), ainsi qu'une unité de régulation (6) reliée côté entrée aux deux entrées de signaux et côté sortie à la sortie de signaux et déterminant la grandeur de commande (FG) pour l'actionneur (1) en fonction de l'écart entre la valeur de consigne (XCONS) et la valeur réelle (XREEL). Le circuit d'attaque selon l'invention est caractérisé en ce qu'il comprend une unité de commande (5) qui est reliée côté entrée à la première entrée de signaux et qui détermine la grandeur de commande pour l'actionneur (1) en fonction de la valeur de consigne (XCONS) de la position d'actionneur.
PCT/DE2001/002911 2000-08-11 2001-07-31 Circuit d'attaque pour un actionneur electrique Ceased WO2002014667A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10039428.0 2000-08-11
DE10039428A DE10039428B4 (de) 2000-08-11 2000-08-11 Treiberschaltung

Publications (1)

Publication Number Publication Date
WO2002014667A1 true WO2002014667A1 (fr) 2002-02-21

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ID=7652217

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PCT/DE2001/002911 Ceased WO2002014667A1 (fr) 2000-08-11 2001-07-31 Circuit d'attaque pour un actionneur electrique

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DE (1) DE10039428B4 (fr)
WO (1) WO2002014667A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011131884A1 (fr) * 2010-04-23 2011-10-27 Peugeot Citroën Automobiles SA Procede de commande d'une vanne egr, robuste contre les dispersions

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6698408B2 (en) * 2002-07-10 2004-03-02 Eaton Corporation Position control strategy EGR valve actuator
JP5364610B2 (ja) * 2010-02-09 2013-12-11 三菱重工業株式会社 内燃機関の排ガス再循環制御装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3937102A1 (de) * 1988-11-07 1990-05-10 Hitachi Ltd Verfahren und vorrichtung zur elektronischen steuerung der drosselklappenoeffnung
EP0604149A2 (fr) * 1992-12-21 1994-06-29 Honda Giken Kogyo Kabushiki Kaisha Dispositif pour commander le positionnement d'un organe de commande
JPH08326608A (ja) * 1995-06-05 1996-12-10 Nissan Motor Co Ltd 内燃機関の排気還流制御装置
JPH10122059A (ja) * 1996-10-25 1998-05-12 Unisia Jecs Corp Ｅｇｒバルブの制御装置
JP2000054917A (ja) * 1998-08-07 2000-02-22 Fuji Heavy Ind Ltd Ｅｇｒバルブの制御装置

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3775655A (en) * 1972-09-15 1973-11-27 Xerox Corp Method and apparatus for transducer temperature compensation
DE3043474A1 (de) * 1980-11-18 1982-07-08 Vereinigte Flugtechnische Werke Gmbh, 2800 Bremen Servoregelanordnung fuer eine messmaschine
US4690120A (en) * 1986-02-25 1987-09-01 Eaton Corporation Exhaust gas recirculation control system
DE3817408A1 (de) * 1988-05-21 1989-11-30 Elmeg Vorrichtung zur regelung der bewegung eines mit einem stellantrieb verbundenen mechanischen stellelements
DE4025847A1 (de) * 1990-08-16 1992-02-20 Bosch Gmbh Robert System zur regelung eines stellwerks in einem kraftfahrzeug
JP2954378B2 (ja) * 1991-04-25 1999-09-27 三菱電機株式会社 電動機サーボ系の制御装置
DE4441620A1 (de) * 1994-11-23 1996-05-30 Bosch Gmbh Robert Verfahren zur Steuerung eines Servoantriebs
DE19647219C2 (de) * 1996-11-15 2002-07-18 Hella Kg Hueck & Co Verfahren zur Reibungskompensation an einem reibungsbehafteten, lagegeregelten System

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3937102A1 (de) * 1988-11-07 1990-05-10 Hitachi Ltd Verfahren und vorrichtung zur elektronischen steuerung der drosselklappenoeffnung
EP0604149A2 (fr) * 1992-12-21 1994-06-29 Honda Giken Kogyo Kabushiki Kaisha Dispositif pour commander le positionnement d'un organe de commande
JPH08326608A (ja) * 1995-06-05 1996-12-10 Nissan Motor Co Ltd 内燃機関の排気還流制御装置
JPH10122059A (ja) * 1996-10-25 1998-05-12 Unisia Jecs Corp Ｅｇｒバルブの制御装置
JP2000054917A (ja) * 1998-08-07 2000-02-22 Fuji Heavy Ind Ltd Ｅｇｒバルブの制御装置

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 1997, no. 04 30 April 1997 (1997-04-30) *
PATENT ABSTRACTS OF JAPAN vol. 1998, no. 10 31 August 1998 (1998-08-31) *
PATENT ABSTRACTS OF JAPAN vol. 2000, no. 05 14 September 2000 (2000-09-14) *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011131884A1 (fr) * 2010-04-23 2011-10-27 Peugeot Citroën Automobiles SA Procede de commande d'une vanne egr, robuste contre les dispersions
FR2959276A1 (fr) * 2010-04-23 2011-10-28 Peugeot Citroen Automobiles Sa Procede de commande d'une vanne egr, robuste contre les dispersions

Also Published As

Publication number Publication date
DE10039428A1 (de) 2002-02-28
DE10039428B4 (de) 2004-07-15

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