CN101215994A - Car engine electronic air throttle control system and its control method - Google Patents
Car engine electronic air throttle control system and its control method Download PDFInfo
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- CN101215994A CN101215994A CNA2007100605428A CN200710060542A CN101215994A CN 101215994 A CN101215994 A CN 101215994A CN A2007100605428 A CNA2007100605428 A CN A2007100605428A CN 200710060542 A CN200710060542 A CN 200710060542A CN 101215994 A CN101215994 A CN 101215994A
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Abstract
The invention discloses a reliable electronic throttle control system with high position precision, high output force linearity and high response speed for an automotive engine. The invention comprises a power supply, a position transducer and an SCM both of which are connected with an accelerator pedal in turn; an A/D transducer, a PWM output module and a CAN communication control module, which are embedded inside SCM. The CAN communication control module transmits processed digitized signal to a monitoring plant through a CAN communication interface. The PWM output module is connected with a motor drive circuit, transmits the feedback signal of opening of two throttles to the A/D transducer through the throttle bodies; the throttle comprises a DC motor, a throttle valve, two throttle opening sensors, a return spring device and a feedback signal output interface, which are sealed into one piece. The DC motor is connected with the throttle valve through the control interface of the DC motor. The opening signal of the throttle valve is transmitted through the opening sensor of the throttle valve and is fed to the A/D transducer through the feedback information output interface. The direction of the spring force of the return spring always faces towards the closing direction of the throttle valve.
Description
Technical field
The present invention relates to a kind of gas control system and controlling method thereof of being used for, especially relate to a kind of control system and controlling method thereof of automotive electronics closure.
Background technique
Prior art engine throttle controlling mechanism mainly comprises on-electric control and two kinds of structures of electronic control.
Motor on-electric throttle adjustment mechanism is made of gas pedal that has stationary axle and backguy, and an end of backguy links to each other with gas pedal, and its other end links to each other with the engine throttle pull bar.During operation, the step on the gas pedal that tramps with one's feet affects accelerator rod by acceleration cable.Driver firmly varies in size, and therefore the also corresponding difference of the displacement amount of accelerator rod, makes the engine throttle opening degree also different by the return spring cooperation, thus the volume read-out of control motor.The throttle adjustment mechanism of above-mentioned prior art, though it is simple in structure, owing to be artificial control, transmission error is bigger, its control procedure is finished by mechanical transmission, so mechanical resistance is big, need pay bigger strength during driver control.Especially when engine at extreme rear, transmit distance and can reach several meters, overcome deadweight, the surface friction drag of acceleration cable, the pulling force of drag-line return spring, need the power of driver foot throttle can be very big, when the long-distance operation of the traffic tool, the easier fatigue that increases the weight of driver.In addition, the needed installing space of acceleration cable with certain-length is bigger, and its cloth shows and installation all is restricted.Motor dynamoelectric accelerograph controlling mechanism is mainly to be made up of accelerator pedal sensor, controller and final controlling element.
At present, there are some electronic throttles in the dynamoelectric accelerograph controlling mechanism, to cancel above-mentioned guy structure, but the main driver part of throttle actuator adopts stepper motor, the position drive stepping motor that throttle control passes over according to accelerator pedal sensor, thereby make throttle forward corresponding position to, the final controlling element of this structure is compared the acceleration cable structure and is had certain superiority, but because throttle is by step motor drive, that is: the position of throttle is by the stroke decision of stepper motor, therefore, in case circuit breaks down, throttle just can not be closed automatically, is very easy to occur bad accident.
At present, also there is in some electronic air throttle control devices driving adopt direct current generator to throttler valve.
For example: publication number is CN1412426A, the Chinese invention patent that its open day was on April 23rd, 2003 discloses a kind of " a kind of electronic throttle controller ", it has the CAN bus network interface of communicating by letter with upper-position unit, to the signal output part of the DC servo motor output control signal of electronic throttle, receive the signal input part of position feed back signal of the DC servo motor of electronic throttle; It comprises embedded microprocessor and pulse width modulation power output module; Embedded microprocessor comprises the pulse width modulating signal output that software is realized, the signal output part of pulse width modulation power output module is the control signal end of DC servo motor.The deficiency of the throttle controller of this structure is: (1) is because the closure that adopts has only one tunnel feedback signal, when mistake appears in the closure feedback signal, system can not judge, and causes doing the judgement that makes mistake under error conditions, thereby does the execution control that makes mistake; (2) forward and reverse rotation of throttler valve is all adopted with a kind of controlling method.
And for example: publication number is CN1563690A, a kind of " Electronic Butterfly Throttle Intelligent Controller " disclosed in the Chinese invention patent application that its open day is on January 12nd, 2005, it is by on the retarder that links with closure sensor being set, throttle position signal by this sensor acquisition enters central control unit by circuit linearity insulating circuit with by the next control signal of CAN bus by the CAN bus isolation circuit, central control unit calculates output pwm signal by the CAN signal or the accelerator pedal signal of input, give H bridge circuit through the high-speed isolated drive circuit, rotate by H bridge circuit controlling and driving motor, thereby the control closure opens and closes.Forward and reverse rotation of throttler valve also all is the control that adopts the same method in the throttle controller of this structure.
In sum, the ubiquitous technical problem of air throttle of car control system is in the prior art: the forward of throttle body is all adopted identical controlling method with oppositely exporting to control, because factors such as the effect of Returnning spring and friction in the throttler valve, make the stressed of throttler valve become complicated, increased the difficulty of control aspect, throttler valve is in the different direction rotating process, the pulling force difference that main nonlinear spring produces, the slewing area size is also different, cause clockwise and anticlockwise model difference, forward and the identical controlling method of reverse employing, though must cause controlling on certain direction the aperture that can in time the aperture of throttler valve be controlled at expectation, though but control the aperture that also aperture of throttler valve can be controlled at expectation on the other direction, the used time will prolong, and cause speed of response slow.
Summary of the invention
In order to overcome existing drawback in the above-mentioned prior art, the invention provides a kind of positional accuracy height, ouput force good linearity, reliability height, fast automotive electronics air throttle control system and the controlling method thereof of speed of response, not only saved acceleration cable of the prior art, throttle adjustment mechanism transmission error is diminished, and install and use all very conveniently, also reduced the labor intensity of driver simultaneously.
In order to solve the problems of the technologies described above, the technological scheme that car engine electronic air throttle control system of the present invention is achieved is: comprise power supply and position transducer that is connected with gas pedal successively and single-chip microcomputer, embedded A/D converter, PWM output module and CAN communication control module in the described single-chip microcomputer; Digitized signal after described CAN communication control module will be handled by the CAN communication interface passes to monitoring device; Described PWM output module is connected with motor-drive circuit, and through throttle body two groups of throttle opening feedback signals is passed to A/D converter respectively; Described throttle body comprises by envelope and is the direct current generator of one, throttler valve, first, second engine load sensor, reseting spring device and feedback signal output interface; Described direct current generator is connected with throttler valve by the DC MOTOR CONTROL interface, and the aperture signal of described throttler valve transmits by first, second throttler valve jaw opening sensor respectively, and feeds back to A/D converter through the feedback information output interface; Described throttle body has 6 pins, and wherein: 1,2 pin are respectively motor negative pole and positive pole, 3 pin ground connection; 4 pin are the signal output interface of first engine load sensor, and 5 pin connect+the 5V power supply, and 6 pin are the signal output interface of second engine load sensor; The direction that the direction of the spring force of described Returnning spring is always closed towards throttler valve.
The controlling method of car engine electronic air throttle control system of the present invention adopts the PDI mode, and ratio P, integration I and the differential D of deviation constituted controlled quentity controlled variable by linear combination, and controlled device is controlled; This controlling method may further comprise the steps:
(1) starts also initialization system;
(2) A/D converter carries out the A/D conversion to the output signal of gas pedal and the two-way feedback signal of throttler valve, and analog signal conversion is become digital signal;
(3) above-mentioned digital signal is carried out multiplying, draw the level of analogue signal, and draw the percentage of current throttle pedal position;
(4) judge whether current feedback signal is normal,
If the level result of the analogue signal that calculates equals 5V, then carry out the closure current location and calculate, and draw the angle percentage of the position of current throttler valve; Otherwise:
The close the throttle valve, and report to the police, above-mentioned steps (2) returned then;
The angle of throttler valve was carried out PWM output and is calculated when (5) angle of judging above-mentioned current throttler valve was with system initialization, if the angle of the angle of current throttler valve throttler valve during less than initialization, and throttler valve forward rotation then, PWM forward output calculating; Otherwise, the throttler valve backward rotation, PWM oppositely exports calculating;
(6) circulation is so far finished in PWM output.
Compared with prior art, the beneficial effect that the present invention had is:
(1) adopt the position signal of position transducer 2 input gas pedals 1 in the control system of the present invention, and adopt digital controller to control the size of throttle, speed of response is fast, and the positional accuracy height; Secondly adopted closed loop control in The whole control system, the output good linearity has increased the precision that motor moves.
(2) power circuit in the control system of the present invention adopt MAX738 switch type voltage adjuster with Vehicular accumulator cell+the 12V DC electrical source converts to+the 5V power supply.Thereby the advantage of bringing for control system of the present invention is: the pulse width modulator of current-mode, switching frequency height; Wide input voltage range 6V-16V, the output voltage precision is high by 5%; The conversion efficiency of 85%-96%; 1.7MA quiescent current, off state only is 6uA; Overcurrent, overvoltage protection, and have soft start function.Its function is to change nonadjustable voltage of the 6V-16V of input with simple regulator of reduction voltage of pulse-width modulation control system connection of a current-mode, the pulsewidth modulation structure of this current-mode provides the restriction of circuit electric current, improve the transient response of load, simplified the design of output loop simultaneously.
(3) control system of the present invention that has adopted position transducer compare with prior art have that speed of response is fast, positional accuracy is high, ouput force good linearity, advantage that reliability is high.
(4), thereby be convenient to that single-chip microcomputer calculates, the realization of control because with the PID representation discretization in the controlling method of the present invention, in addition, by to a in the calculation expression of the control signal u (k) of described PWM output
0, a
1, a
2Three parameters are taked online adjustment, and, when the throttler valve forward rotation, a
0=0.12; a
1=0.01; a
2=0.001; When the throttler valve backward rotation, a
0=0.1; a
1=0.01; a
2=0.006.Make systematic function can reach best.
Description of drawings
Fig. 1 is the structured flowchart of car engine electronic air throttle control system of the present invention;
Fig. 2 is an accelerator pedal position and the proportionate relationship figure that changes the back digital signal in the control system of the present invention;
Fig. 3 is throttler valve position and the proportionate relationship figure that changes the back digital signal in the control system of the present invention;
Fig. 4 is the MAX738 chip circuit figure that power supply adopted in the control system of the present invention;
Fig. 5 is the PC82C250 chip circuit figure that the CAN communication control module is adopted in the control system of the present invention;
Fig. 6 is motor driving MC33886 chip circuit figure in the control system of the present invention;
Fig. 7 is single-chip microcomputer MC9S12DP256 chip pin figure in the control system of the present invention;
Fig. 8 is the main program control flow chart of control system of the present invention.
Be the explanation of main reference character in the Figure of description of the present invention below:
1---gas pedal 2---position transducer 3---single-chip microcomputer
31---CAN communication control module 32---PWM output module 33---A/D converters
4---CAN communication interface 5---motor-drive circuit 6---throttle bodies
61---DC MOTOR CONTROL interface 62---throttler valve 63---first engine load sensors
64---second engine load sensor 65---feedback signal output interface 7---monitoring devices
Embodiment
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.
As shown in Figure 1, the structure of car engine electronic air throttle control system of the present invention is: the digitized signal after the CAN communication control module 31 in the single-chip microcomputer 3 will be handled by CAN communication interface 4 passes to monitoring device 7; PWM output module 32 in the single-chip microcomputer 3 is connected with motor-drive circuit 5, and pass through DC MOTOR CONTROL interface 61, throttler valve 62 and two engine load sensors 63,64 in the throttle body 6 successively, feedback signal output interface 65, two groups of throttle opening data feedback signals pass to A/D converter 33 respectively the most at last, that is: embedded A/D converter links to each other with circuit linearity insulating circuit with the signal processing circuit that can receive gas pedal analogue signal and throttle position feedback signal in the single-chip microcomputer 3.Rotate through motor high-speed isolated drive circuit drive motor, thereby control throttler valve 62 turns to and the corresponding aperture of current accelerating throttle pedal position.
The working procedure of car engine electronic air throttle control system of the present invention is: be arranged on the position transducer 2 in the gas pedal 1, this position transducer 2 is gathered the position signal of gas pedal 1, what be connected with position transducer 2 has a single-chip microcomputer 3, that is: with the feedback signal of the built-in sensor of position transducer 2 output signals of gas pedal 1 and throttler valve 6 input signal as single-chip microcomputer 3, embedded A/D converter 33 in the described single-chip microcomputer 3, CAN communication control module 31 and PWM output module 32, this position transducer 2 passes to single-chip microcomputer 3 with the signal that receives by signaling conversion circuit.In addition, the analogue signal of the reaction accelerator pedal position that 33 pairs of the A/D converters in the single-chip microcomputer 3 receive is carried out the A/D conversion, converts digital signal to; Single-chip microcomputer 3 handles, judges that output pwm signal is controlled the direct current generator in the throttler valve 6 according to the signal of input, the rotation of direct current generator forwards throttler valve 62 in the throttle body 6 and gas pedal 1 corresponding position to; Simultaneously, the position feed back signal of the two-way throttler valve 62 in 33 pairs of throttle bodies 6 of A/D converter carries out the A/D conversion, convert digital signal to, the position that Fig. 2 shows gas pedal 1 is proportional with conversion back digital signal, and the digital signal after the aperture position that Fig. 3 shows throttler valve 62 and the conversion is proportional.Digital signal after single-chip microcomputer 3 is changed according to accelerator pedal position calculates the percentage A of gas pedal current location, and with the position percentage B that this percentage will forward to as throttler valve, again this position percentage B is converted into angle C; Meanwhile, according to digital signal after the conversion of current throttler valve position, calculate the angle C1 of throttler valve current location, the angle C1 of throttler valve current location is compared with the angle C that will forward the position to, if the angle C1 of current location is bigger than the angle C that will forward the position to, illustrate that throttler valve will backward rotation, if the angle percentage of current location is littler than the position angle percentage B that will forward to, illustrate that throttler valve will forward rotation, enter into Output Control Program forward or backwards according to the result who analyzes, and through PWM output module 32 output pwm signals.Simultaneously, single-chip microcomputer 3 sends and comprises the CAN packet of gas pedal 1 position data and throttler valve position data on the CAN bus.
Be concrete model and the characteristics that constitute the related hardware of control system of the present invention below.
Power circuit adopts the MAX738 chip, its circuit diagram as shown in Figure 4, the power supply of whole system is by direct-flow storage battery power supply on the automobile because storage battery be+output of 12V direct current, and single-chip computer control system is the 5V system, so need the employing direct current stabilizer.Integrated regulator also claims integrated voltage regulator, and its function is to become galvanic current to press astable dc voltage conversion.Integrated regulator can be divided into three kinds of serial type voltage stabilizer, parallel connection type voltage stabilizer and switching mode voltage stabilizers by working method, and wherein the switching mode voltage stabilizer is most effective, can reach more than 70%, but its output ripple maximum.With Vehicular accumulator cell+the 12V DC electrical source converts to+circuit of 5V power supply is made of MAX738 switch type voltage adjuster and peripheral components thereof, the VCC12 among Fig. 4 be power supply input end (+12V), VCC is power output end (+5).The present invention adopts MAX738 switch type voltage adjuster as shown in Figure 4 to have following characteristics: the pulse width modulator of (1) current-mode, switching frequency height; (2) wide input voltage range 6V-16V, the output voltage precision is high by 5%; (3) conversion efficiency of 85%-96%; (5) quiescent current of 1.7MA, off state only are 6uA; (5) overcurrent, overvoltage protection, and have soft start function.The major function of MAX738 is: the pulse-width modulation control system with a current-mode connects nonadjustable voltage that a simple regulator of reduction voltage is changed the 6V-16V of input, the pulsewidth modulation structure of this current-mode provides the restriction of circuit electric current, improve the transient response of load, simplified the design of output loop simultaneously.
Adopt the position signal of position transducer 2 input gas pedals 1 in the control system of the present invention, and adopt digital controller to control the size of throttle, speed of response is fast, and the positional accuracy height; Secondly adopted closed loop control in The whole control system, the output good linearity has increased the precision that motor moves.Because first engine load sensor 63 in the throttle body and the potentiometer of second engine load sensor 64 are anti-phase installations, when the position of throttler valve 62 changes, two paths of signals voltage is all linear to be changed, and another reduces in the time of one of them increase.The output of two-way throttle position feedback signal is used to judge throttle opening.The built-in throttler valve 62 of throttle body 6 is when rotating, and the feedback signal of two engine load sensors that throttle body 6 is built-in concerns as shown in Figure 2 with the position of throttler valve 62.Linear by the position that can find out two-way feedback signal and throttler valve 62 among Fig. 2, wherein one road signal is along with the aperture of throttler valve 62 increases and corresponding minimizing, another road signal is along with the aperture of throttler valve 62 increases and corresponding increase, the two-way feedback signal on arbitrary aperture of throttler valve and fix, like this can according to the two-way feedback signal and judge whether the feedback of current throttler valve aperture normal, if undesired, can make corresponding reaction.Therefore, control system of the present invention compare with prior art have that speed of response is fast, positional accuracy is high, ouput force good linearity, advantage that reliability is high.
CAN communicating circuit part main chip is PC82C250, and its circuit diagram as shown in Figure 5.
Motor-drive circuit adopts the MC33886 chip, its circuit diagram as shown in Figure 6, motor drive ic MC33886 is single chip integrated H bridge element, it is applicable to and drives the fraction horsepower direct current generator, and single bridge and two kinds of control modes of doube bridge are arranged.D1, D2 are Enable Pin, and IN1, IN2 are the pwm signal control input end, and OUT1, OUT2 are output terminal.
Single-chip microcomputer adopts the MC9S12DP256C chip, and the pin figure of its single-chip microcomputer MC9S12DP256C as shown in Figure 7.MC9S12DP256C single-chip microcomputer in the control system of the present invention adopts pid control mode, does not need the model of measuring system, that is: ratio P, integration I and the differential D with deviation constitutes controlled quentity controlled variable by linear combination, and controlled device is controlled.Wherein: proportional control (P): exactly deviation is controlled, deviation is in case produce, controller is just had an effect immediately and is promptly regulated control output, controlled volume is changed towards the direction that reduces deviation, and the speed that deviation reduces depends on scaling factor Kp, Kp more large deviation reduce fast more, but be easy to cause vibration, especially under the bigger situation of sluggish link, Kp reduces, and the possibility that takes place to vibrate reduces but governing speed is slack-off.But there is the indelible shortcoming of static difference in simple proportional control.Here just need integral control.Integral control: being exactly in fact deviation to be accumulated control (I), is zero until deviation.Integral control action applies the active force that points to setting value all the time, helps eliminating static difference, and its effect is not only relevant with the deviation size, but also the time that continues with deviation is relevant.Exactly deviation is accumulated in simple terms, one starts at ledgers.Differential control (D): it can sensitivity go out error change trend, can just play the effect of round-off error before error signal occurs, and helps improving the rapidity of output response, and the hyperharmonic that reduces controlled volume increases the stability of system.But the differential action is easy to amplify high-frequency noise, reduces the signal to noise ratio of system, descends thereby make system suppress interference capability.
Because factors such as the effect of Returnning spring and friction in the throttler valve, make the stressed of throttler valve become complicated, increased the difficulty of control aspect, throttler valve is in the different direction rotating process, the pulling force difference that main nonlinear spring produces, slewing area size are also different, cause clockwise and anticlockwise model difference, at rotating and reverse of throttler valve, need the different PID control of design.Program needs the position according to current throttler valve, and the direction that current throttler valve rotates is judged in the position of gas pedal, judges to enter and just changes control flow and still enter the counter-rotating control flow, and finish the non-linear switching of control flow.
The control law representation of pid control mode is:
Wherein:
Kp---scaling factor;
Tt---integration time constant;
Td---derivative time constant;
U---controller output signal;
E (t)---deviation signal.
Rule by the visible pid control mode of formula (1) is:
(1) Kp directly determines the power of control action, strengthens the steady-state error that Kp can reduce system, improves the dynamic responding speed of system, but cross conference dynamic quality is degenerated, and causes the controlled variable vibration even causes the closed-loop system instability;
(2) adding that on the basis that ratio is regulated integral control can eliminate the steady-state error of system, as long as because there is deviation, always its controlled quentity controlled variable that integration produced is used for eliminating steady-state error, is zero up to principal value of integral, and control action just stops.But it will make the dynamic process of system slack-off, and strong excessively integral action can make the overshoot of system increase, thereby the stability of a system is degenerated;
(3) control action of differential is relevant with the pace of change of deviation, and differential control can prediction deviation, produces leading corrective function, it helps to reduce overshoot, overcomes vibration, and system is tended towards stability, and can accelerate the action degree of system, reduce the adjustment time, thereby improved the dynamic performance of system.Its deficiency is to have amplified noise signal.
For ease of the realization of single-chip microcomputer calculating, control, preferably with analog pid formula discretization.That is:
Getting T is the sampling period, and establishing k is sampling sequence number, k=0,1,2 ... j ... k replaces differential with first-order difference, and the replacement integration that adds up is with the discrete difference equation that turns to of the output formula of analog pid regulator.
Because of sampling period T is very little with respect to the signal period of change, can make:
μ(t)≈μ(k)
e(t)≈e(k)
Then have
Promptly
Following formula is developed
Δu(k)＝u(k)-u(k-1)
＝K
p[e(k)-e(k-1)]+K
Ie(k)+K
D[e(k)-2e(k-1)+e(k-2)]
Δu(k)＝K
p(e
k-e
k-1)+K
Ie
k+K
D(e
k-2e
k-1+e
k-2)
Or be written as:
u(k)＝u(k-1)+a
0e(k)-a
1e(k-1)+a
2e(k-2)
A wherein
0=kp (1+T/T
I+ T
D/ T)
a
1＝kp(1+2T
D/T)
a
2＝kpT
D/T
If expection throttler valve position angle is θ d, actual throttler valve position angle is θ, and deviation signal is then arranged:
e(k)＝θ
d(k)-θ(k)
So can get control signal u (k)
u(k)＝u(k-1)+a
0[θ
d(k)-θ(k)]-a
1[θ
d(k-1)-θ(k-1)]+a
2[θ
d(k-2)-θ(k-2)] (2)
In order to make systematic function can reach best, a in the above-mentioned formula (2)
0, a
1, a
2Three preferably online adjustment of parameter.For example: in design of the present invention, in the formula (2): forward a
0=0.12; a
1=0.01; a
2=0.001; Reverse a
0=0.1; a
1=0.01; a
2=0.006.
As previously mentioned, the single-chip microcomputer 3 in the control system of the present invention is MC9S12DP256C, its embedded A/D converter 33, PWM output module 32 and CAN communication control module 31.Its workflow as shown in Figure 8, start-up system 801, behind the system initialization 802, the output signal of 33 pairs of gas pedals 1 of A/D converter and the two-way feedback signal of throttler valve 62 are carried out the A/D conversion, analog signal conversion is become digital signal 803 and 804, and the PWM output module is used for the direct current generator in the throttle body 6 is exported control.Single-chip microcomputer 3 is by carrying out the A/D conversion to the analogue signal of gas pedal 1 output, analog signal conversion is become digital signal, the digital signal that converts is carried out multiplying, can calculate the level of analogue signal, unit is mV, this level is deducted 200mV, divided by 4600, just can calculate the percentage of current throttle pedal position then, according to the result after handling, two-way feedback analog signal to the position of the throttler valve 62 of current closure carries out the A/D conversion simultaneously, analog signal conversion is become digital signal, the digital signal that converts is carried out multiplying, can calculate the level of analogue signal, unit is mV, the level addition 805 that two-way is converted; Judge current feedback signal whether normal 806, if it is normal, be that the result equals 5V, the two-way feedback signal that then shows throttler valve is all normal, if the result is not equal to 5V, then show wrong existence in the two-way feedback signal of throttler valve 62, then the close the throttle valve 807, should report to the police 808 this moment, again gas pedal 1 output signal carried out A/D conversion 803 after the warning.When feedback signal just often, carry out the throttler valve current location and calculate 809, the level of feedback signal 1 conversion is deducted 500mV, then divided by 4000, just can calculate the angle percentage of the position of current throttler valve, gas pedal 1 position that previous gas pedal is conversed, draw the angle that throttler valve 62 should forward to, position angle to this angle and current throttler valve compares 810, if current angle, illustrates that throttler valve will backward rotation greater than the angle that will forward to, if current angle is less than the angle that will forward to, illustrate that throttler valve 62 will forward rotation, sense of rotation according to judging enters calculation process, if the throttler valve forward rotation, then according to above-mentioned formula (2), and with a
0=0.12, a
1=0.01 and a
2=0.001 brings in the formula (2), calculates the control voltage 812 of forward output; If the throttler valve backward rotation, then according to according to above-mentioned formula (2), and with reverse a
0=0.1, a
1=0.01 and a
2=0.006 brings in the formula (2), calculates the control voltage 811 of reverse output; According to the result, output PWM813 rotates throttler valve then.Simultaneously the position of gas pedal 1, the position of throttler valve 62 are sent on the monitoring device 7 by CAN communication interface 4.
Although in conjunction with the accompanying drawings the present invention has been carried out foregoing description; but the present invention is not limited to above-mentioned embodiment; above-mentioned embodiment only is schematic; rather than it is restrictive; those of ordinary skill in the art is under enlightenment of the present invention; under the situation that does not break away from aim of the present invention, can also make a lot of distortion, these all belong to the row of protection of the present invention.
Claims (9)
1. a car engine electronic air throttle control system is characterized in that, comprises power supply and position transducer that is connected with gas pedal successively and single-chip microcomputer, embedded A/D converter, PWM output module and CAN communication control module in the described single-chip microcomputer;
Digitized signal after described CAN communication control module will be handled by the CAN communication interface passes to monitoring device;
Described PWM output module is connected with motor-drive circuit, and through throttle body two groups of throttle opening feedback signals is passed to A/D converter respectively;
Described throttle body comprises by envelope and is the direct current generator of one, throttler valve, first, second engine load sensor, reseting spring device and feedback signal output interface; Described direct current generator is connected with throttler valve by the DC MOTOR CONTROL interface, and the aperture signal of described throttler valve transmits by first, second throttler valve jaw opening sensor respectively, and feeds back to A/D converter through the feedback information output interface; Described throttle body has 6 pins, and wherein: 1,2 pin are respectively motor negative pole and positive pole, 3 pin ground connection; 4 pin are the signal output interface of first engine load sensor, and 5 pin connect+the 5V power supply, and 6 pin are the signal output interface of second engine load sensor; The direction that the direction of the spring force of described Returnning spring is always closed towards throttler valve.
2. car engine electronic air throttle control system according to claim 1, wherein, power circuit adopts the MAX738 chip, with Vehicular accumulator cell+the 12V DC electrical source converts to+the 5V power supply.
3. car engine electronic air throttle control system according to claim 1, wherein, described single-chip microcomputer adopts the MC9S12DP256C chip.
4. car engine electronic air throttle control system according to claim 1, wherein, described motor-drive circuit adopts the MC33886 chip, this MC33886 chip is single chip integrated H bridge element, D1 and D2 are Enable Pin, IN1 and IN2 are the pwm signal control input end, and OUT1 and OUT2 are output terminal.
5. car engine electronic air throttle control system according to claim 1, wherein, the potentiometer of described position transducer and engine load sensor is anti-phase installation, when throttle position changes, two paths of signals voltage is all linear to be changed, one of them increase, another reduces simultaneously.
6. controlling method of utilizing car engine electronic air throttle control system as claimed in claim 1, it is characterized in that, the controlling method of described single-chip microcomputer adopts the PDI mode, and ratio P, integration I and the differential D of deviation constituted controlled quentity controlled variable by linear combination, and controlled device is controlled; This controlling method may further comprise the steps:
(1) starts also initialization system;
(2) A/D converter carries out the A/D conversion to the output signal of gas pedal and the two-way feedback signal of throttler valve, and analog signal conversion is become digital signal;
(3) above-mentioned digital signal is carried out multiplying, draw the level of analogue signal, and draw the percentage of current throttle pedal position;
(4) judge whether current feedback signal is normal,
If the level result of the analogue signal that calculates equals 5V, then carry out the closure current location and calculate, and draw the angle percentage of the position of current throttler valve; Otherwise:
The close the throttle valve, and report to the police, above-mentioned steps (2) returned then;
The angle of throttler valve was carried out PWM output and is calculated when (5) angle of judging above-mentioned current throttler valve was with system initialization, if the angle of the angle of current throttler valve throttler valve during less than initialization, and throttler valve forward rotation then, PWM forward output calculating; Otherwise, the throttler valve backward rotation, PWM oppositely exports calculating;
(6) circulation is so far finished in PWM output.
7. the controlling method of car engine electronic air throttle control system according to claim 6, wherein, the representation of described pid control mode is:
Wherein:
Kp---scaling factor;
Tt---integration time constant;
Td---derivative time constant;
U---controller output signal;
E (t)---deviation signal.
8. the controlling method of car engine electronic air throttle control system according to claim 7, wherein, with the representation discretization of pid control mode, getting T is the sampling period, and establishing k is sampling sequence number, k=0,1,2 ... j ... k replaces differential with first-order difference, the replacement integration that adds up is with the discrete difference equation that turns to of the representation of pid control mode;
Because of sampling period T is very little with respect to the signal period of change, can make:
μ(t)≈μ(k)
e(t)≈e(k)
Then have
Promptly
Following formula is developed
Δu(k)＝u(k)-u(k-1)
＝K
p[e(k)-e(k-1)]+K
Ie(k)+K
D[e(k)-2e(k-1)+e(k-2)]
Δu(k)＝K
p(e
k-e
k-1)+K
Ie
k+K
D(e
k-2e
k-1+e
k-2)
Or be written as:
u(k)＝u(k-1)+a
0e(k)-a
1e(k-1)+a
2e(k-2)
A wherein
0=kp (1+T/T
I+ T
D/ T)
a
1＝kp(1+2T
D/T)
a
2＝kpT
D/T
If expection throttler valve position angle is θ d, actual throttler valve position angle is θ, and deviation signal is then arranged:
e(k)＝θ
d(k)-θ(k)
So can get the calculation expression of the control signal u (k) of PWM output:
u(k)＝u(k-1)+a
0[θ
d(k)-θ(k)]-a
1[θ
d(k-1)-θ(k-1)]+a
2[θ
d(k-2)-θ(k-2)] (2)
9. the controlling method of car engine electronic air throttle control system according to claim 8, wherein, a in the calculation expression of the control signal u (k) of described PWM output
0, a
1, a
2Three parameters are online adjustment;
When the throttler valve forward rotation, then: a
0=0.12; a
1=0.01; a
2=0.001;
When the throttler valve backward rotation, then: a
0=0.1; a
1=0.01; a
2=0.006.
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|---|---|---|---|
| CN2007100605428A CN101215994B (en) | 2007-12-28 | 2007-12-28 | Control method of car engine electronic air throttle control system |
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