阅读说明：本技术 致动器控制装置和致动器控制方法 (Actuator control device and actuator control method ) 是由 中西大介 于 2021-03-25 设计创作，主要内容包括：根据旋转部分(3至6)的角度来控制致动器的致动器控制装置包括：处理器,其被配置为：计算从旋转起始角到目标角的目标相对角(S10)；检测来自传感器(7)的传感器检测角(S20和S30)；在预定计算周期中基于传感器检测角的变化量来计算旋转部分的角速度(S40)；当角速度大于或等于第一阈值或者小于或等于第二阈值时,将角速度校正为接近正常角速度(S50和S60至S64)；通过将角速度和校正后角速度积分来计算实际相对角(S90)；根据目标相对角和实际相对角之间的偏差来反馈控制致动器(S100,S110)。(An actuator control device that controls an actuator according to an angle of a rotating portion (3 to 6) includes: a processor configured to: calculating a target relative angle from the rotation start angle to the target angle (S10); detecting a sensor detection angle (S20 and S30) from the sensor (7); calculating an angular velocity of the rotating portion based on the amount of change in the sensor detection angle in a predetermined calculation period (S40); correcting the angular velocity to be close to a normal angular velocity when the angular velocity is greater than or equal to a first threshold value or less than or equal to a second threshold value (S50 and S60 to S64); calculating an actual relative angle by integrating the angular velocity and the corrected rear angular velocity (S90); the actuator is feedback-controlled according to a deviation between the target relative angle and the actual relative angle (S100, S110).)

1. An actuator control device that controls driving of an actuator according to an angle of a rotating portion (3 to 6) that can rotate 360 degrees or more and is driven by the actuator, the actuator control device comprising:

a processor configured to:

calculating a target relative angle for rotating the rotating part from the rotation start angle to a target angle (S10);

detecting a sensor detection angle, which is an absolute angle of the rotating portion, by signal processing an output value from a sensor (7) that outputs an output signal corresponding to the angle of the rotating portion (S20 and S30);

calculating an angular velocity of the rotating portion based on a variation amount of the sensor detection angle in a predetermined calculation period (S40);

correcting the angular velocity to be closer to a normal angular velocity when the angular velocity is greater than or equal to a first threshold value that is less than 360 degrees/sec and greater than 0 degrees/sec, or when the angular velocity is less than or equal to a second threshold value that is less than 0 degrees/sec and greater than-360 degrees/sec (S50 and S60 to S64);

Calculating an actual relative angle to which the rotating portion rotates from the rotation start angle by integrating the angular velocity calculated in the predetermined calculation period and the corrected angular velocity (S90); and

feedback-controlling the driving of the actuator according to a deviation between a target relative angle and the actual relative angle (S100, S110).

2. The actuator control device of claim 1, wherein the processor is configured to:

correcting the angular velocity by subtracting 360 degrees/sec from the angular velocity when the angular velocity is equal to or greater than the first threshold; and

when the angular velocity is equal to or less than the second threshold value, correcting the angular velocity by increasing the angular velocity by 360 degrees/second (S60).

3. The actuator control device of claim 1, wherein the processor is configured to:

when the angular velocity is equal to or greater than the first threshold value or equal to or less than the second threshold value, the angular velocity is corrected by replacing the angular velocity with another angular velocity that is calculated before one or several calculation cycles in which the angular velocity is less than the first threshold value or greater than the second threshold value (S62).

4. The actuator control device of claim 1, wherein the processor is configured to:

calculating the target relative angle as a deviation between a target angle before the target angle is changed and a target angle after the target angle is changed;

resetting the actual relative angle when the target angle changes; and

in a case where the target angle is changed while the rotating part is rotating toward the target relative angle before the target angle is changed, a value obtained by subtracting the target relative angle before the target angle is changed from the actual relative angle when the target angle is changed is set as an actual relative angle after resetting the actual relative angle (S70, S80).

5. The actuator control device of any of claims 1-4, wherein the processor is configured to:

correcting the angular velocity by subtracting 360 degrees/sec from the angular velocity when the angular velocity is equal to or greater than the first threshold and the sensor detection angle is within a predetermined angular range in which the output value from the sensor does not have continuity;

correcting the angular velocity by increasing the angular velocity by 360 degrees/sec when the angular velocity is equal to or smaller than the second threshold and the sensor detection angle is within a predetermined angular range in which the output value from the sensor does not have continuity (S63); and

When the angular velocity is equal to or greater than the first threshold value or equal to or less than the second threshold value and the sensor detection angle is outside a predetermined angular range in which the output value from the sensor does not have continuity, correcting the angular velocity by replacing the angular velocity with another angular velocity, in which the angular velocity is less than the first threshold value or greater than the second threshold value, calculated before one or several calculation cycles (S64).

6. An actuator control method for controlling driving of an actuator according to an angle of a rotating portion (3 to 6) that can rotate 360 degrees or more and is driven by the actuator, the actuator control method comprising:

calculating a target relative angle for rotating the rotating part from the rotation start angle to a target angle (S10);

detecting a sensor detection angle, which is an absolute angle of the rotating portion, by signal processing an output value from a sensor (7) that outputs an output signal corresponding to the angle of the rotating portion (S20 and S30);

calculating an angular velocity of the rotating portion based on a variation amount of the sensor detection angle in a predetermined calculation period (S40);

Correcting the angular velocity to be closer to a normal angular velocity when the angular velocity is greater than or equal to a first threshold value that is less than 360 degrees/sec and greater than 0 degrees/sec, or when the angular velocity is less than or equal to a second threshold value that is less than 0 degrees/sec and greater than-360 degrees/sec (S50 and S60 to S64);

calculating an actual relative angle to which the rotating portion rotates from the rotation start angle by integrating the angular velocity calculated in the predetermined calculation period and the corrected angular velocity (S90); and

feedback-controlling the driving of the actuator according to a deviation between a target relative angle and the actual relative angle (S100, S110).

Technical Field

The present disclosure relates to an actuator control device that controls driving of an actuator and an actuator control method.

Background

Conventionally, there is known an actuator control device that feedback-controls an actuator so that a rotation angle of a rotating portion (i.e., a gear or a control object) driven by the actuator matches a target rotation angle. In the following description, the rotation angle is simply referred to as "angle". In addition, the angle is simply referred to as "degree".

The sensor described in patent document 1 detects the angle of the rotating portion, and includes a magnet that rotates together with the rotating portion and a hall IC provided outside the magnet. The sensor is configured such that the output waveform of the hall element according to the angle of the rotating portion approaches a linear shape (i.e., an ideal waveform) by designing the shape of the magnet as viewed from the rotating shaft direction to an elliptical shape.

However, even with the sensor described in patent document 1, when the rotating portion rotates 360 degrees or more, the output value of the sensor may have a range that does not provide continuity at a position where the direction of the magnetic flux passing through the magnetosensitive surface of the hall IC is opposite. The output value of the sensor does not have a range of continuity, in other words, a range in which the amount of change in the sensor output value is reversed in response to the angular change of the rotating portion, and a range of linear interruption in the ideal waveform. In this specification, the center of the angular range in which the output values of the sensors do not have continuity is referred to as a "reference position". In the configuration of patent document 1, when the angle of the rotating portion spans between 180 degrees and-180 degrees, the output value of the sensor does not have continuity.

In general, not limited to the sensor described in patent document 1, a sensor that detects the angle of a rotating portion has a reference position whose output value does not have continuity. Further, in general, in the feedback control of the actuator, an angle for rotating the rotating portion from the rotation start angle to the target angle (hereinafter referred to as "target relative angle") is calculated by the equation "target relative angle" - "target angle" - "current angle of the rotating portion". Therefore, in the feedback control for rotating the rotating portion by 360 degrees or more, when the output value of the sensor passes through the reference position, the target relative angle may not be correctly calculated, and the actuator may be operated in the direction opposite to the required operation. For example, in the case of using a sensor whose reference position is 0 degree (i.e., 360 degrees), when the rotation portion is 390 degrees, the angle is detected as 30 degrees according to the output value of the sensor. Therefore, for example, when calculating the target relative angle for rotating the rotating section from 350 degrees to 390 degrees, a correct calculation should be made by the equation "target relative angle 390-. In this case, even if the original request is to rotate the actuator by 40 degrees clockwise, the actuator is rotated by 320 degrees counterclockwise opposite to the original request.

[ patent document 1] JP 2008-.

Disclosure of Invention

In view of the above points, an object of the present disclosure is to provide an actuator control device and an actuator control method capable of accurately driving an actuator.

In order to achieve the above object, an actuator control device controls driving of an actuator according to an angle of a rotating portion (3 to 6) rotated by 360 degrees or more by the actuator (2). The actuator control device calculates a target relative angle at which the rotating portion is rotated from the rotation start angle to the target angle (at S10). Then, the output value of the sensor (7) that outputs an output signal corresponding to the angle of the rotating portion is subjected to signal processing to detect the sensor detection angle as the absolute angle of the rotating portion (at S20 and S30). The angular velocity of the rotating portion is calculated at a predetermined calculation period from the amount of change in the angle detected by the sensor (at S40). Then, when the angular velocity is greater than or equal to the first threshold value (set to a predetermined value smaller than 360 degrees/second and greater than 0 degrees/second), or when the angular velocity is less than or equal to the second threshold value (set to a predetermined value smaller than 0 degrees/second and greater than-360 degrees/second), correction is performed to bring the angular velocity close to the normal angular velocity (at S50 and S60 to S64). Then, an actual relative angle to which the rotating portion rotates from the rotation start angle is calculated by integrating the angular velocity calculated in the predetermined calculation period and the corrected angular velocity (at S90), and the drive of the actuator is feedback-controlled in accordance with the deviation between the target relative angle and the actual relative angle (at S100, S110).

As a result, when the output value of the sensor crosses the center of the angular range having the discontinuity (hereinafter referred to as "reference position"), correction is performed to bring the angular velocity closer to the normal angular velocity. Then, by integrating the corrected angular velocity for the angular velocity calculated in the predetermined calculation period, that is, when the output value of the sensor passes through the reference position, the actual opposing angle can be continuously and accurately calculated. Therefore, the actuator control device can accurately perform feedback control of the actuator.

An actuator control method is provided for controlling driving of an actuator according to an angle of a rotating portion (3 to 6) rotated by 360 degrees or more by the actuator (2). The actuator control method includes the following processes. That is, a target relative angle for rotating the rotating portion from the rotation start angle to the target angle is calculated (at S10). Then, the output value of the sensor (7) that outputs an output signal corresponding to the angle of the rotating section is signal-processed to detect the sensor detection angle as the absolute angle of the rotating section (at S20 and S30). The angular velocity of the rotating portion is calculated at a predetermined calculation period from the amount of change in the sensor detection angle (at S40). Then, when the angular velocity is greater than or equal to a first threshold value set to a predetermined value smaller than 360 degrees/second and larger than 0 degrees/second, or when the angular velocity is smaller than or equal to a second threshold value set to a predetermined value smaller than 0 and larger than-360 degrees/second, correction is performed to bring the angular velocity close to the normal angular velocity (at S50 and S60 to S64). Then, an actual relative angle to which the rotating portion rotates from the rotation start angle is calculated by integrating the angular velocity calculated in the predetermined calculation period and the corrected angular velocity (at S90), and the drive of the actuator is controlled in accordance with the deviation between the target relative angle and the actual relative angle (at S100, S110).

As a result, the actuator control method also has the same effect as the above-described actuator control device.

Reference numerals in parentheses attached to components and the like denote examples of correspondence between components and the like and specific components and the like to be described in the embodiments described below.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description with reference to the accompanying drawings. In the drawings:

fig. 1 is a system configuration diagram including an actuator control device according to a first embodiment.

Fig. 2 is a schematic view of the sensor viewed from direction II of fig. 1.

Fig. 3 is a graph showing the output characteristics of the sensor.

Fig. 4 is a diagram showing a relationship between the angle of the rotating portion and the output value of the sensor.

Fig. 5 is an explanatory diagram of feedback control performed by the actuator control device.

Fig. 6 is a flowchart of an actuator control method according to the first embodiment.

Fig. 7A is a timing chart showing an actual angle of the rotating portion and a sensor detection angle.

Fig. 7B is a timing chart showing the angular velocity of the rotating portion calculated from the sensor detection angle.

Fig. 7C is a timing chart showing the angular velocity after correction.

Fig. 7D is a time chart showing the actual relative angle and the target relative angle of the rotating portion.

Fig. 8A is a time chart showing an actual relative angle and a target relative angle of a rotating portion in one example of the first embodiment.

Fig. 8B is a time chart showing the change time of the target angle in one example of the first embodiment.

Fig. 8C is a time chart showing the deviation between the target relative angle and the actual relative angle in one example of the first embodiment.

Fig. 9 is an explanatory diagram for explaining the operation of the rotating portion before and after the target angle is changed in one example of the first embodiment.

Fig. 10A is a timing chart showing the actual relative angle and the target relative angle of the rotating portion of the comparative example.

Fig. 10B is a timing chart showing the change time of the target angle in the comparative example.

Fig. 10C is a time chart showing the deviation between the target relative angle and the actual relative angle of the comparative example.

Fig. 11 is an explanatory diagram for explaining the operation of the rotating portion before and after the target angle is changed in the comparative example.

Fig. 12 is a flowchart of an actuator control method according to the second embodiment.

Fig. 13 is a flowchart of an actuator control method according to a third embodiment.

Fig. 14 is an explanatory diagram for explaining the reference position correction range and the noise determination range.

Fig. 15A is a timing chart showing an actual angle of the rotating portion and a sensor detection angle.

Fig. 15B is a timing chart showing the angular velocity of the rotating portion calculated from the sensor detection angle.

Fig. 15C is a timing chart showing the angular velocity after correction.

Fig. 15D is a time chart showing the actual relative angle and the target relative angle of the rotating portion.

Fig. 15E is a timing chart showing the operation of the reference position correction range flag. And

fig. 16 is a system configuration diagram including an actuator control device according to the fourth embodiment.

Detailed Description

Hereinafter, various embodiments of the present disclosure will be described with reference to the drawings. In the following embodiments, the same or equivalent components are denoted by the same reference numerals as each other, and the same reference numerals are explained.

(first embodiment)

The first embodiment will be described with reference to the drawings. As shown in fig. 1, the actuator control device 1 of the present embodiment feedback-controls the actuator 2 according to the angle of the rotating portion that rotates due to the torque of the actuator 2. In the following description, the actuator control device 1 is referred to as an ECU 1(ECU is an abbreviation of an electronic control unit).

The actuator 2 shown in fig. 1 is, for example, a motor. The torque of the actuator 2 is transmitted from the motor gear 3 connected to the shaft of the actuator 2 in the order of the intermediate gear 4 and the output gear 5. As a result, the control object 6 connected to the output gear 5 rotates. In fig. 1, the three gears 3, 4, and 5 are separately described for the convenience of observation, but actually, the three gears 3, 4, and 5 mesh with each other. The number of gears for transmitting torque from the actuator 2 to the control object 6 is not limited to three, and may be arbitrarily set. By driving the actuator 2, the control object 6 rotates 360 degrees or more. As such a control target 6, for example, there is a shift drum used in a vehicle power train. The control object 6 is not limited thereto, and various objects rotated 360 degrees or more may be applied.

In the present embodiment, the angles of the output gear 5 and the control object 6 are detected by the sensor 7. In the present embodiment, the output gear 5 and the control object 6 correspond to an example of "rotating portion". As will be described later in this embodiment, the motor gear 3 or the intermediate gear 4 may correspond to an example of "a rotating portion".

Fig. 2 shows a configuration example of the sensor 7. As shown in fig. 2, the sensor 7 has a magnetic field forming unit 8 that rotates together with the output gear 5, and a magnetic field detector 9 provided inside the magnetic field forming unit 8. The magnetic field forming unit 8 includes: a first magnet 81 and a second magnet 81 disposed at positions facing each other with a rotation center interposed therebetween; and a first yoke 83 and a second yoke 84 connecting the first magnet 81 and the second magnet 82. The first yoke 83 connects the N-pole of the first magnet 81 and the N-pole of the second magnet 82. The second yoke 84 connects the S-pole of the first magnet 81 and the S-pole of the second magnet 82. On the other hand, the magnetic field detector 9 has two hall ICs (not shown), and is fixed to a housing cover (not shown) or the like. Both hall ICs detect the amplitude of the orthogonal magnetic flux density in the closed magnetic circuit formed by the magnetic field forming unit 8, respectively. In other words, the two hall ICs are arranged such that the magnetosensitive surface of one hall IC and the magnetosensitive surface of the other hall IC are orthogonal to each other. Output signals output from the two hall ICs (hereinafter referred to as output values of the sensor 7) are input to the ECU 1.

In fig. 3, the output of one hall IC is indicated by a solid line a, and the output of the other hall IC is indicated by a solid line B. The ECU 1 converts the output of one hall IC into a sine component and the output of the other hall IC into a cosine component for angle conversion by arctan calculation. As a result, the output value of the sensor 7 linearly changes from 0 degrees to 360 degrees of the angle of the rotating portion. Further, by using two hall ICs in this sensor 7, the temperature characteristic of the magnet can be eliminated by division in principle.

As shown in fig. 4, when the angle of the rotating portion is changed from 0 degree to 360 degrees, the output value of the sensor 7 is substantially linearly changed from the minimum value (e.g., 0.5V) to the maximum value (e.g., 4.5V). Then, each time the rotating portion rotates 360 degrees (i.e., 360 degrees, 720 degrees, 1080 degrees, etc.), it returns to a minimum value. That is, the output value of the sensor 7 has an angular range that does not have continuity every time the angle of the rotating portion increases by 360 degrees (in other words, the amount of change in the sensor output value according to the change in the angle of the rotating portion is reversed, and there is a range in which linearity is interrupted). In this specification, the center of the angular range in which the output value of the sensor 7 has discontinuity is referred to as a "reference position".

The ECU 1 feedback-controls the actuator 2 so that the actual relative angle of the rotating portion detected by the sensor output matches the target relative angle. Fig. 5 is an explanatory diagram for explaining PI control as an example of feedback control executed by the ECU 1.

As shown in fig. 5, an output signal from a sensor 7 (which detects the angle of the rotating portion rotated by the actuator 2) is input to the ECU 1. The ECU 1 calculates the actual relative angle of the rotating portion based on the output value of the sensor 7. Further, the ECU 1 calculates a target relative angle of the rotating portion. The calculation method of the actual relative angle and the target relative angle will be described later.

The ECU 1 calculates an angular deviation between the actual relative angle of the rotating portion and the target relative angle by the subtractor 11. Then, the proportional controller 12 calculates the P term from the angle deviation. Further, the integrator 13 calculates an integrated angle deviation, and the integrator controller 14 calculates an I term. Then, the P term and the I term are added by the adder 15, the current duty ratio supplied to the actuator 2 is calculated, and the actuator 2 is driven and controlled.

Subsequently, the actuator control method executed by the ECU 1 of the present embodiment will be described with reference to the flowchart of fig. 6, the timing chart of fig. 7A to 7D, the timing chart of fig. 8A to 8C, and the explanatory view of fig. 9.

Fig. 7A to 7D referred to in the description of the actuator control method show a control example of the actuator 2. In fig. 7A to 7D, at time T0, the rotating section starts rotating from the rotation start angle 0 degrees toward the first target angle 500 degrees, and at time T2, the rotating section reaches the first target angle 500 degrees. Then, the target angle is changed to 0 degree at time T2, the rotating section starts to rotate again, and the rotating section reaches the changed target angle of 0 degree at time T4.

In the flowchart shown in fig. 6, first, in step S10, the ECU 1 calculates a target relative angle. The target relative angle is an angle for rotating the rotating portion from the rotation start angle to the target angle. The target relative angle is calculated as a deviation between the target angle before the target angle is changed and the target angle after the target angle is changed. The "target relative angle" is calculated by the equation "target angle after change" - "target angle before change". The target angle is an absolute angle with respect to a predetermined position of the rotating part as a reference position, and may be set to a value exceeding 360 degrees.

In the timing chart of fig. 7D, the target relative angle is shown by a broken line. At time T0, the target angle is set to 500 degrees. Here, the target angle before time T0 is set to 0 degree. Therefore, as shown by the broken line in fig. 7D, the target relative angle is set to 500 degrees at time T0. Calculated by the equation "target angle 500 degrees after change" - "target angle 0 degrees before change" - "target relative angle 500 degrees".

Further, the target angle becomes 0 degree at time T2. Thus, at time T2, the target relative angle is set to-500 degrees. The calculation is performed by the equation "target angle 0 degrees after change" - "target angle 500 degrees before change" - "target relative angle-500 degrees".

Next, in step S20 of fig. 6, the ECU 1 detects the output value [ V ] from the sensor 7 that outputs a voltage signal according to the angle of the rotating portion. As described with reference to fig. 4, when the angle of the rotating portion changes from 0 degrees to 360 degrees, the output value of the sensor 7 changes substantially linearly from the minimum value to the maximum value. Then, each time the rotating part rotates from 0 to 360 degrees, it returns to the minimum value.

Subsequently, in step S30 of fig. 6, the ECU 1 detects the sensor detection angle θ [ degree ] by performing signal processing including AD conversion on the output value from the sensor 7. The sensor detection angle is an absolute angle of a rotating portion detected by signal processing of the output value of the sensor 7, and is detected every predetermined calculation period (for example, every several milliseconds).

In the timing chart of fig. 7A, the actual angle of the rotating portion is shown by a broken line, and the sensor detection angle is shown by a solid line. As the rotating portion rotates, the actual angle of the rotating portion changes from 0 degrees to 500 degrees from time T0 to time T2. Further, from time T2 to time T4, it changes from 500 degrees to 0 degrees.

On the other hand, since the sensor detection angle is detected by performing signal processing on the output value of the sensor 7, the output value of the sensor 7 becomes 0 degree each time the output value of the sensor 7 passes through the reference position. Therefore, at time T1 when the output value of the sensor 7 passes through the reference position, the sensor detection angle changes from 360 degrees to 0 degrees. Further, at time T3 when the output value of the sensor 7 passes the reference position, the sensor detection angle changes from 0 degrees to 360 degrees.

Next, in step S40 of fig. 6, the ECU 1 calculates the angular velocity [ degrees/sec ] of the rotating portion by time-differentiating the amount of change in the sensor detection angle (i.e., d θ/dt). Specifically, the ECU 1 may detect the angular velocity of the rotating portion by subtracting the sensor detection angle detected one calculation cycle before (i.e., the θ previous value) from a predetermined sensor detection angle θ. Calculated by the equation of d θ/dt ═ θ "-" θ previous value ". Similarly to the sensor detection angle, the angular velocity may also be calculated every predetermined calculation period (for example, several milliseconds).

Fig. 7B is a timing chart showing the angular velocity of the rotating portion calculated by time-differentiating the amount of change in the sensor detection angle. In fig. 7B, at time T1, the angular velocity sharply decreases. Furthermore, even at time T3, the angular velocity rapidly increases. This is because, as shown in fig. 7A, the sensor detection angle on which the angular velocity is calculated significantly changes between time T1 and time T3.

Next, in step S50 of fig. 6, the ECU 1 determines whether the angular velocity is equal to or greater than a first threshold value or whether the angular velocity is equal to or less than a second threshold value. The first threshold is set to a predetermined value greater than 0 and less than 360[ degrees/second ]. On the other hand, the second threshold value is set to a predetermined value smaller than 0 and larger than-360 [ degrees/sec ]. The first threshold value and the second threshold value are set in a range of angular velocities that are not within the actual range, depending on the output of the actuator 2, the gear ratio, and the like. In fig. 7B, the first threshold is set to, for example, 70 degrees/second, and the second threshold is set to, for example, -70 degrees/second.

In the determination of step S50 of fig. 6, when the angular velocity is equal to or greater than the first threshold value or when the angular velocity is equal to or less than the second threshold value (i.e., when an affirmative determination is made in step S50), the process proceeds to step S60.

In step S60, the ECU 1 corrects the angular velocity so that it approaches the normal angular velocity. In the first embodiment, as the correction for bringing the angular velocity close to the normal angular velocity, when the angular velocity is equal to or greater than the first threshold value, the angular velocity equal to or greater than the first threshold value is corrected by subtracting 360[ degrees/sec ]. As a result, the angular velocity equal to or greater than the first threshold value can be made closer to the normal angular velocity.

On the other hand, when the angular velocity is equal to or less than the second threshold value, the angular velocity equal to or less than the second threshold value is corrected by increasing 360[ degrees/sec ]. As a result, the angular velocity equal to or smaller than the second threshold value can be made closer to the normal angular velocity.

On the other hand, in the determination of step S50, when the angular velocity is smaller than the first threshold value or when the angular velocity is larger than the second threshold value (i.e., when a negative determination is made in step S50), the angular velocity is processed as the normal angular velocity.

The timing chart of fig. 7C shows the corrected angular velocity. The corrected angular velocity is displayed at a substantially constant value, for example, 10 degrees/second from time T0 to time T2, and at-10 degrees/second from time T2 to time T4.

In the case of a negative determination at step S50 of fig. 6, after the correction processing at step S60 is performed, the processing proceeds to step S70.

In step S70, the ECU 1 determines whether the target angle has changed while the rotating portion is rotating toward the target relative angle. When the target angle has changed in the determination of step S70 (i.e., in the case of an affirmative determination in step S70), the process proceeds to step S80. The processing of step S80 will be described later.

On the other hand, when the target angle is not changed in the determination of step S70 (i.e., in the case of a negative determination in step S70), the process proceeds to step S90.

In step S90, the ECU 1 calculates an actual relative angle. The actual relative angle is the angle of rotation of the rotating part relative to the starting angle of rotation. The actual relative angle is calculated by integrating the angular velocity. Specifically, the ECU 1 calculates the actual relative angle by integrating the angular velocity calculated every predetermined calculation period (for example, several milliseconds) with the angular velocity after correction.

Subsequently, in step S100, the ECU 1 calculates a deviation between the actual relative angle of the rotating portion and the target relative angle. Then, in step S110, the ECU 1 calculates the operation amount of the actuator 2 and performs feedback control on the driving of the actuator 2. The processing of steps S100 and S110 corresponds to an example of the feedback control described with reference to fig. 5.

In the time chart of fig. 7D, the actual relative angle of the rotating portion is indicated by a solid line, and the target relative angle is indicated by a broken line. The actual relative angle of the rotating section gradually increases from 0 degrees from time T0 to time T2, and coincides with the initial target relative angle of 500 degrees at time T2. Then, at time T2, the target relative angle changes to-500 degrees. If the target angle is changed after the actual relative angle and the target relative angle are matched, the actual relative angle is reset to 0 degree. The actual relative angle of the rotating section gradually decreases from 0 degrees from time T2 to time T4, and coincides with the changed target relative angle of-500 degrees at time T4.

Next, the processing of step S80 of fig. 6 described above will be described.

When the target angle changes while the rotating portion is rotating toward the target relative angle (i.e., when an affirmative determination is made in step S70), the ECU 1 resets the actual relative angle to (0-a).

Here, a is an angle deviation calculated by the equation "target relative angle before change" - "actual relative angle when target angle is changed".

The "actual relative angle after reset" is calculated by the equation 0- ("target relative angle before change" - "actual relative angle when target angle is changed"). When the formula is expanded, an equation "actual relative angle after reset" — "actual relative angle when target angle is changed" - "target relative angle before change" is obtained. Therefore, when the target angle is changed while the rotating portion is rotating toward the target relative angle, the ECU 1 resets the actual relative angle to a value obtained by subtracting "the target relative angle before the change" from "the actual relative angle at the time of the change of the target angle". The reason will be explained with reference to fig. 8A to 8C and fig. 9.

In the timing chart of fig. 8A, the target relative angle of the rotating portion is indicated by a chain line, and the actual relative angle is indicated by a solid line. In fig. 8A, it is assumed that the target angle before time T10 is 0 degrees, the target angle is set to 45 degrees at time T10, and the target angle is changed to 100 degrees at time T11. Therefore, as shown by the chain line in fig. 8A, the initial target relative angle is set to 45-0-45 degrees at time T10, and the changed target relative angle is set to 100-45-55 degrees at time T11. Therefore, the target relative angle is 45 degrees from time T10 to time T11, and 55 degrees from time T11 to time T12.

After time T10, the rotary unit is rotated from the rotation start angle 0 degrees to the initial target relative angle 45 degrees, but in the middle of the rotation operation, at time T11, the target angle is changed. Therefore, at time T11, the actual relative angle of the rotating portion has not yet reached the first target relative angle of 45 degrees. At this time T11, the angle deviation obtained by subtracting the "actual relative angle at time T11 at which the target angle changes" from the "initial target relative angle 45 degrees" is indicated by a double arrow a in fig. 8A.

As described above, when the target angle changes while the rotating portion rotates toward the initial target relative angle of 45 degrees, the ECU 1 resets the actual relative angle to (0-a). The timing diagram of fig. 8B shows the target angle change at time T11. Therefore, in the timing chart of fig. 8A, at time T11, the actual relative angle of the rotating portion is reset to-a. Then, the actual relative angle of the rotating section gradually increases from-a, which is reset at time T11, to the changed target relative angle of 55 degrees, and reaches the changed target relative angle of 55 degrees at time T12.

The timing chart of fig. 8C shows the deviation between the target relative angle and the actual relative angle (which is calculated by the equation "target relative angle" - "actual relative angle"). At time T10, the deviation is 45 degrees. After time T11, the deviation gradually decreases. Then, at time T11 when the target angle changes, the deviation changes from a to (55+ a). Thereafter, the deviation gradually decreases and becomes 0 at time T12.

Fig. 9 is a schematic diagram showing an actual operation of the control described by the rotating portion based on fig. 8A to 8C. An arrow M1 in fig. 9 indicates the amount of rotation of the rotating section between time T10 and time T11, and an arrow M2 indicates the amount of rotation of the rotating section between time T11 and time T12. As shown by arrow M1, at time T11, the rotating portion has not yet reached the initial target angle of 45 degrees. Therefore, the ECU 1 executes the process of resetting the actual relative angle to (0-a) at time T11. Then, after time T11, the ECU 1 feedback-controls the rotating portion so that the rotating portion rotates by an angle obtained by combining the remaining deviation a with the target relative angle after the change. Thus, the rotating portion may reach the changed target angle, as indicated by arrow M2. In this way, when the target angle changes while the rotating portion rotates toward the target relative angle, the ECU 1 resets the actual relative angle to (0-a). Therefore, the deviation a when the target angle is changed can be absorbed by the feedback control, and the rotating portion can reach the target angle.

For comparison with the control process performed by the ECU 1 of the first embodiment described above, the control process performed by the ECU of the comparative example will be described.

Fig. 10A to 10C and fig. 11 are diagrams for explaining control processing executed by the ECU of the comparative example when the target angle is changed while the rotating portion is rotating toward the target relative angle.

The ECU of the comparative example executes the following processing: when the target angle changes while the rotating portion rotates toward the target relative angle, the actual relative angle is reset to 0.

In the time chart of fig. 10A, the target relative angle of the rotating portion is indicated by a chain line, and the actual relative angle is indicated by a solid line. In fig. 10A, assuming that the target angle before time T20 is 0 degrees, the target angle is set to 45 degrees at time T20, and the target angle is changed to 100 degrees at time T21. Therefore, as shown by the chain line in fig. 10A, the initial target relative angle is set to 45 degrees at time T20, and the changed target relative angle is set to 55 degrees at time T21. Therefore, the target relative angle is 45 degrees from time T20 to time T21, and 55 degrees from time T21 to time T22.

After time T20, the rotary unit rotates from the rotation start angle 0 degrees to the initial target relative angle 45 degrees, but the target angle changes at time T21 in the middle of the rotation operation. As described above, the ECU according to the comparative example resets the actual relative angle to 0 when the target angle changes while the rotating portion rotates toward the initial target relative angle of 45 degrees. The timing chart of fig. 10B shows that the target angle changes at time T21. Therefore, in the timing chart of fig. 10A, the actual relative angle of the rotating section is reset to 0 at time T21. Then, the actual relative angle of the rotating section gradually increases from 0 reset at time T21 toward the changed target relative angle 55 degrees, and reaches the changed target relative angle 55 degrees at time T22.

The timing chart of fig. 10C shows the deviation between the target relative angle and the actual relative angle (calculated by the equation "target relative angle" - "actual relative angle"). At time T20, the deviation is 45 degrees. After time T21, the deviation gradually decreases. Then, at time T21 when the target angle is changed, the deviation is changed from a to 55 degrees. Thereafter, the deviation gradually decreases and becomes 0 at time T22.

Fig. 11 is an explanatory diagram showing an actual operation of the rotating portion based on the control described with reference to fig. 10A to 10C. An arrow M3 in fig. 11 indicates the amount of rotation of the rotating section between time T20 and time T21, and an arrow M4 indicates the amount of rotation of the rotating section between time T21 and time T22. As shown by arrow M3, at time T21, the rotating portion has not yet reached the initial target angle of 45 degrees, and the deviation remains. However, since the ECU of the comparative example performs the process of resetting the actual relative angle to 0 at time T21, the deviation between the target relative angle and the actual relative angle is 55 degrees. Therefore, after time T21, the deviation between the target relative angle and the actual relative angle gradually decreases due to the feedback control, and even if the deviation becomes 0 at time T22, the deviation a at the time of the target angle change is maintained between the actual angle of the rotating portion and the changed target angle 100 degrees. Therefore, the rotating portion has not reached the changed target angle as indicated by the arrow M4. In this way, in the control process executed by the ECU of the comparative example, when the target angle is changed while the rotating portion is rotated toward the initial target relative angle, the rotating portion cannot reach the changed target angle. That is, in the comparative example, the deviation a when the target angle is changed cannot be absorbed by the feedback control.

The ECU 1 of the first embodiment has the following effects compared to the ECU of the comparative example described above.

(1) In the first embodiment, when the target angle is changed while the rotating portion is rotating toward the target relative angle before the change, the ECU 1 sets a value obtained by subtracting the "target relative angle before the change" from the "actual relative angle when the target angle is changed" as the actual relative angle after the reset.

As a result, when the target angle is changed while the rotating portion is rotating toward the target relative angle before the change, the actuator 2 can be feedback-controlled to modify the deviation between the actual relative angle when the target angle is changed and the target relative angle before the change.

(2) Further, in the first embodiment, the ECU 1 calculates the angular velocity of the rotating portion from the amount of change in the sensor detection angle in a predetermined calculation cycle. Then, when the angular velocity is equal to or greater than a first threshold value or when the angular velocity is equal to or less than a second threshold value, correction is performed to bring the angular velocity closer to the normal angular velocity. Then, by integrating the angular velocity calculated in the predetermined calculation period and the corrected angular velocity, an actual relative angle to which the rotating portion is rotated from the rotation start angle is calculated, and the drive of the actuator 2 is feedback-controlled in accordance with the deviation between the target relative angle and the actual relative angle.

As a result, when the output value of the sensor 7 passes through the reference position, the ECU 1 can perform correction to bring the angular velocity closer to the normal angular velocity. Then, by using the corrected angular velocity for the integration of the angular velocity, the ECU 1 can continuously and accurately calculate the actual relative angle even when the output value of the sensor 7 passes through the reference position. Therefore, the ECU 1 can continuously and accurately control the feedback of the actuator 2.

(3) Specifically, in the first embodiment, when the angular velocity is equal to or greater than the first threshold value, the ECU 1 performs correction to subtract 360 degrees/sec from the angular velocity equal to or greater than the first threshold value. On the other hand, when the angular velocity is equal to or less than the second threshold value, the ECU 1 performs correction to increase the angular velocity equal to or less than the second threshold value by 360 degrees/second.

As a result, when the reference position of the output value of the sensor 7 is 360 degrees, the ECU 1 can correct the angular velocity to approach the normal angular velocity when the output value of the sensor 7 passes through the reference position.

(second embodiment)

A second embodiment will be described. The second embodiment differs from the first embodiment in that a part of the actuator control method executed by the ECU 1 is changed from the first embodiment, and the other parts are the same as those of the first embodiment. Only the different parts are described below.

Fig. 12 is a flowchart showing an actuator control method in the second embodiment. As shown in fig. 12, in the control method of the second embodiment, the process of step S61 is different from that described in the first embodiment. On the other hand, the processes of steps S10 to S50 and steps S70 to S110 are the same as those of the first embodiment.

In the determination of step S50 of the second embodiment, when the angular velocity is equal to or greater than the first threshold value or when the angular velocity is equal to or less than the second threshold value (i.e., when an affirmative determination is made at step S50), the process proceeds to step S61.

In step S61, the ECU 1 corrects the angular velocity so as to approach the normal angular velocity. In the second embodiment, as the correction for bringing the angular velocity closer to the normal angular velocity, when the angular velocity is equal to or greater than the first threshold value or less than the second threshold value, the ECU 1 performs the correction for changing the angular velocity to the angular velocity calculated before one or several calculation cycles, wherein the angular velocity is less than the first threshold value or equal to or greater than the second threshold value. The angular velocity calculated before one or several calculation periods is the angular velocity at which the angular velocity is in a substantially constant state. This may make an angular velocity equal to or greater than the first threshold value or an angular velocity equal to or less than the second threshold value closer to the normal angular velocity.

Also in the second embodiment described above, the ECU 1 may perform correction to bring the angular velocity closer to the normal angular velocity when the output value of the sensor 7 passes the reference position.

By correcting the angular velocity in this way, the ECU 1 can perform correction so that the angular velocity approaches the normal angular velocity not only when the output value of the sensor 7 passes the reference position but also when noise is added to the output value of the sensor 7.

(third embodiment)

A third embodiment will be described. The third embodiment is different from the first embodiment in that a part of the actuator control method executed by the ECU 1 is changed from the first embodiment, and the other parts are the same as those of the first embodiment. Only the different parts are described below.

An actuator control method according to the third embodiment will be described with reference to the flowchart of fig. 13, the explanatory diagram of fig. 14, and the timing charts of fig. 15A to 15E.

As shown in fig. 13, in the control method of the third embodiment, the processing of steps S62 to S64 is different from that of the first embodiment and the like. On the other hand, the processing of steps S10 to S50 and steps S70 to S110 is the same as in the first embodiment and the like.

In the determination of step S50 of the third embodiment, when the angular velocity is equal to or greater than the first threshold value or when the angular velocity is equal to or less than the second threshold value (i.e., an affirmative determination is made in step S50), the process proceeds to step S62.

In step S62, the ECU 1 determines whether the sensor detection angle is within a predetermined angle range. The predetermined angular range includes angular ranges where the sensor output values do not have continuity (i.e., a linear break in the ideal waveform). The predetermined angle range is also referred to as a "reference position correction range". Then, the determination in step S62 is performed by determining whether the reference position correction range flag is "1" or "0". When the reference position correction range is marked as "1", the sensor detection angle is within a predetermined angle range. On the other hand, when the reference position correction range is marked as "0", the sensor detection angle is not within the predetermined angle range.

In the explanatory diagram of fig. 14, hatching is added to the predetermined angle range (i.e., the reference position correction range) used for the determination in step S62. When the sensor 7 having the reference position of 0 degree (i.e., 360 degrees) is used, the reference position correction range is set to a range of, for example, the reference position ± 5 degrees. In this case, when the rotating portion rotates in the forward direction, the sensor detection angle is 355 degrees or more and the reference position correction range is marked as "1", and the sensor detection angle is 5 degrees or more and the reference position correction range is marked as "0". On the other hand, when the rotating portion rotates in the reverse direction, the sensor detection angle is 5 degrees or less and the reference position correction range is marked as "1", the sensor detection angle is 355 degrees or less and the reference position correction range is marked as "0". A range outside the reference position correction range is referred to as a noise determination range.

If the reference position correction range flag is determined to be "1" (i.e., the sensor detection angle is within the reference position correction range) in step S62 of fig. 13, the process proceeds to step S63. In this case, since the sensor detection angle is within the reference position correction range, it is considered that the output value of the sensor 7 passes through the reference position.

In step S63, the ECU 1 executes the same processing as in step S60 described in the first embodiment. That is, when the angular velocity is equal to or greater than the first threshold value, the angular velocity is corrected by subtracting 360[ degrees/sec ]. As a result, the angular velocity equal to or greater than the first threshold value can be made closer to the normal angular velocity. In another aspect, when the angular velocity is equal to or less than the second threshold, the angular velocity is corrected by increasing 360[ degrees/second ]. As a result, the angular velocity equal to or smaller than the second threshold value can be made closer to the normal angular velocity.

If the reference position correction range flag is determined to be "0" (i.e., the sensor detection angle is not within the reference position correction range) in step S62 of fig. 13, the process proceeds to step S64. In this case, since the sensor detection angle is not within the reference position correction range, it is considered that noise is included in the output value of the sensor 7.

In step S64, the ECU 1 performs the same processing as in step S61 described in the second embodiment. That is, when the angular velocity is equal to or greater than the first threshold value or equal to or less than the second threshold value, correction is performed in place of the angular velocity calculated one or several calculation cycles before, where the angular velocity is less than the first threshold value or greater than the second threshold value. The angular velocity calculated before one or several calculation periods is the angular velocity at which the angular velocity is in a substantially constant state. This may make the angular velocity equal to or greater than the first threshold value or equal to or less than the second threshold value closer to the normal angular velocity.

In the timing chart of fig. 15A, the actual angle of the rotating portion is indicated by a broken line, and the sensor detection angle is indicated by a solid line. In addition, the reference position (i.e., 360 degrees) is indicated by a chain line. As the rotating portion rotates, the actual angle of the rotating portion continuously increases from time T30 to time T39.

On the other hand, the sensor detection angle sharply changes around time T34. The variation around time T34 is due to noise added to the sensor output. Further, when the output value of the sensor 7 passes through the reference position (i.e., 360 degrees), the sensor detection angle changes from 360 degrees to 0 degrees around time T37.

Fig. 15B is a timing chart showing the angular velocity of the rotating portion calculated by time-differentiating the amount of change in the sensor detection angle. In fig. 15B, the angular velocity rapidly increases and decreases around time T34, the maximum value of the angular velocity is equal to or greater than the first threshold value, and the minimum value of the angular velocity is equal to or less than the second threshold value. Further, around time T37, the angular velocity sharply decreases, and the minimum value of the angular velocity is equal to or smaller than the second threshold value.

The correction described in step S63 or step S64 is performed for a part of the angular velocity shown in fig. 15B. As shown in fig. 15E, the reference position correction range flag is "0" near time T34. Therefore, the correction described in step S64 is performed for the angular velocity around time T34 in fig. 15B. That is, the ECU 1 performs correction in which angular velocities above the first threshold value or below the second threshold value are replaced with angular velocities calculated before one or several calculation cycles, where the angular velocities are smaller than the first threshold value or larger than the second threshold value.

Further, as shown in fig. 15E, the reference position correction range flag is "1" in the vicinity of time T37. Therefore, the correction described in step S63 is performed for the angular velocity around time T37 in fig. 15B. That is, the ECU 1 corrects the angular velocity equal to or smaller than the second threshold value by increasing 360[ degrees/second ].

Fig. 15C is a timing chart showing the corrected angular velocity. The corrected angular velocity shows a substantially constant value, for example, 10[ degrees/sec ], from the time T30 to the time T39.

In the time chart of fig. 15D, the actual relative angle of the rotating portion is indicated by a solid line, and the target relative angle is indicated by a broken line. The actual relative angle of the rotating section gradually increases from 0 degrees from time T30 to time T39, and coincides with the target relative angle 500 degrees at time T39.

In the third embodiment described above, when the sensor output value has a sensor detection angle that is within a predetermined angle range in which the sensor output value does not have continuity and the angular velocity is equal to or greater than the first threshold value, the ECU 1 performs correction by subtracting 360 degrees from the angular velocity that is equal to or greater than the first threshold value. On the other hand, when the sensor output value has a sensor detection angle that is within a predetermined angle range where the sensor output value does not have continuity and the angular velocity is equal to or less than the second threshold value, the ECU 1 performs correction by increasing the angular velocity equal to or less than the second threshold value by 360 degrees.

As a result, when the reference position of the output value of the sensor 7 is 360 degrees, the ECU 1 can correct the angular velocity to approach the normal angular velocity when the output value of the sensor 7 passes through the reference position.

On the other hand, when the sensor output value has a sensor detection angle outside the predetermined angle range in which the sensor output value does not have continuity and the angular velocity is equal to or greater than the first threshold value or equal to or less than the second threshold value, the ECU 1 performs correction to replace the angular velocity with the angular velocity calculated before one or several calculation cycles in which the velocity is less than the first threshold value or greater than the second threshold value.

As a result, when the output value of the sensor 7 contains noise, the angular velocity at that time can be corrected to approach the normal angular velocity.

(fourth embodiment)

A fourth embodiment will be described. In the fourth embodiment, a part of the structure having the ECU 1 is changed with respect to the first embodiment, and the other parts are similar to the first embodiment, so only the differences from the first embodiment will be described.

As shown in fig. 16, in the fourth embodiment, the sensor 7 detects the angle of the intermediate gear 4. In the fourth embodiment, the intermediate gear 4 corresponds to an example of "rotating portion". The intermediate gear 4 also rotates more than 360 degrees. The ECU 1 can control the driving of the actuator 2 according to the angle of the intermediate gear 4.

When the system is applied to, for example, drive control of a shift drum of a vehicle transmission system, it may be difficult to arrange the sensor 7 in the output gear 5 due to limitations in vehicle installation. Even in this case, in the fourth embodiment, the mounting restriction can be alleviated by disposing the sensor 7 in the intermediate gear 4.

When the sensor 7 is arranged in the intermediate gear 4, the sensor detection angle becomes larger in proportion to the reduction ratio of the gear when the control object is operated at the same angle, as compared with the case where the sensor 7 is arranged in the output gear 5. Therefore, since the resolution is increased, the feedback control of the actuator 2 can be performed more accurately.

(other embodiments)

(1) In each of the above embodiments, the shift drum used in the vehicle transmission system is used as the control target 6, but the control target 6 is not limited thereto, and may be applied to various targets that rotate 360 degrees or more.

(2) In each of the above embodiments, the sensor 7 includes the magnetic field forming unit 8 having two magnets and two yokes, and the magnetic field detecting unit 9 provided inside the magnetic field forming unit 8. However, it is not limited thereto. As the sensor 7, any sensor 7 having various configurations as described in patent document 1 may be employed as long as it can detect the angle of the rotating portion.

(3) In the above embodiments, the sensor 7 detects the angle of the output gear 5 or the intermediate gear 4, but is not limited thereto, and the sensor 7 may detect the angle of the motor gear 3, for example. In this case, the motor gear 3 corresponds to an example of a "rotating portion".

(4) In the above-described embodiments, the PI control has been described as an example of the feedback control performed by the ECU 1, but the feedback control is not limited thereto, and various methods such as PID control or P control may be employed. .

The present disclosure is not limited to the above-described embodiments, and may be modified as appropriate. The above embodiments are not independent of each other and may be combined appropriately except when it is obviously not possible to combine. No individual element or feature of a particular embodiment is necessarily required unless specifically stated to be essential in the foregoing description, or unless clearly stated to be essential in principle. Further, in each of the embodiments described above, when numerical values such as the numbers, numerical values, amounts, ranges, and the like of the constituent elements of the embodiment are cited, the present disclosure is not limited to the specific numbers except for the case where numerical values are clearly indispensable and the case where numerical values are obviously limited to specific numbers in principle. Further, in each of the above-described embodiments, when referring to the shape, positional relationship, and the like of the components and the like, the shape, positional relationship, and the like are not limited except for the case where the components are specifically defined and the case where the components are fundamentally limited to the specific shape, positional relationship, and the like.

The control apparatus and techniques according to the present disclosure may be implemented by a special purpose computer provided by constituting a processor and a memory programmed to execute one or more functions implemented by a computer program. Alternatively, the control apparatus and techniques according to this disclosure may be implemented by a dedicated computer provided by a processor configured with one or more dedicated hardware logic circuits. Alternatively, the control units and methods described in this disclosure are based on a combination of a processor and memory programmed to perform one or more functions and a processor configured by one or more hardware logic circuits. May be implemented by one or more specially-configured computers. The computer program may be stored in a tangible, non-transitory computer-readable storage medium as instructions to be executed by a computer.

Note that the flowchart or the processing of the flowchart in the present application includes sections (also referred to as steps), each of which is denoted as S1, for example. Furthermore, each section may be divided into several sub-sections, and several sections may be combined into a single section. Further, each such configured portion may also be referred to as a device, module, or apparatus.

While the present disclosure has been described with reference to embodiments thereof, it is to be understood that the disclosure is not limited to those embodiments and constructions. The disclosure is intended to cover various modifications and equivalent arrangements. In addition, while there are various combinations and configurations, other combinations and configurations, including more, less or only a single element, are also within the spirit and scope of the disclosure.