CN102140990B - System for restarting internal combustion engine during decrease of rotational speed of internal combustion engine - Google Patents

Abstract

The present invention relates to a system for restarting an internal combustion engine during a decrease in the engine speed, specifically, in a system in which a restart unit Engine restart control is performed to drive the starter to move the pinion to the ring gear, to engage the pinion with the ring gear, and to rotate the pinion to start the engine. The detector detects the value of the engine speed during the engine speed drop after the execution of the engine restart control. The predictor predicts a future value of the engine speed from the detected value of the engine speed on the assumption that the engine restart has failed. The determiner determines whether the engine restart has succeeded or failed based on the relationship between the detected value of the engine speed and the predicted future value of the engine speed.

Description

Between the internal-combustion engine rotational speed decrement phase, restart the system of internal-combustion engine

Technical field

The present invention relates to for the system that explosive motor between the speed of crankshaft decrement phase of explosive motor, occurs restarting when motor restarts request.

Background technique

Be used for restarting the system of internal-combustion engine at this type of, wherein a kind of is to be that the idling that discloses in the Japanese Patent Application Publication of No.2005-330813 reduces control system at publication number.

Publication number be the motor that discloses in the patent disclosure of No.2005-330813 stop-starting system is equipped with starter motor, this starter motor is suitable for drive: the pinion actuator that is used for small gear is moved to ring gear, wherein ring gear is couple to the bent axle of explosive motor, explosive motor abbreviates motor as and is used for the motor of rotation pinion.Particularly, this motor stops-starting system is designed to: when during based on the stopping to control between decrement phase motor automatically and restart request and occur of motor, beginning to encourage the motor of starter motor so that the pinion rotation of starter motor at the speed of crankshaft of motor.

Motor stops-and starting system also is designed to: and when the difference between speed of crankshaft (ring gear rotating speed) and the small gear rotating speed was in the preset range, the beginning motor restarts control made small gear move to ring gear to drive starter motor; This motor restarts control and is used for making small gear and ring gear engage to restart motor.

Publication number is that the motor that the Japanese Patent Application Publication of No.2005-113781 discloses a kind of alternative type stops-starting system.

Publication number be the motor that discloses in the patent disclosure of No.2005-113781 stop-starting system can carry out this motor that discloses in the patent disclosure that publication number is No.2005-330813 and restart control.Publication number be the motor that discloses in the patent disclosure of No.2005-113781 stop-starting system is designed to: whether the speed of crankshaft of judging the predetermined period intrinsic motivation after motor restarts the control beginning is equal to or greater than default starting threshold velocity, thereby judges whether successful motor restarts.

On the other hand, publication number is that the Japanese Patent Application Publication of No.2006-83781 has disclosed the method whether a kind of judgement starts in response to the engine start signal motor of long-range transmission.This method be designed to judge the reference voltage of battery during starter motor is not activated on the battery and starter motor be activated during difference between the measuring voltage of battery equal or greater than predeterminated voltage.

Summary of the invention

The motor that discloses in patent publication No.2005-113781 stops-starting system, whether be equal to or greater than default starting threshold velocity in the predetermined period of rotating speed after motor restarts the control beginning of the bent axle by judging motor, judge that motor restarts whether success.But this motor stops-and starting system needs the plenty of time successful up to determining engine start.Therefore, if judge that motor restarts failure, then can not carry out restarting of motor fast.

In addition, the method that in patent publication No.2006-83781, discloses can be according to battery in the reduction amount judge whether motor starts because cell voltage descends during starter motor is energized.

But, can depend on the battery state of charge difference in starter motor battery reduction amount during the excitation on the battery, therefore, this method can restart success or failure generation erroneous judgement to motor.

Consider foregoing situation, purpose of the present invention provides the system that restarts internal-combustion engine; These system's purposes are to solve at least at least one in the problem that the front proposes.

Particularly, specific purposes of the present invention provide these systems, it is compared with the system and method that proposes as prior art of the present invention, manage to restart request and/or higher degree of accuracy in response to motor quickly, carry out judgement and restart request in response to the motor between I. C. engine crankshaft rotating speed decrement phase, motor restarts success and still fails.

According to a kind of application of the present invention, a kind of system is provided, it is used for small gear mobile and the rotation starter motor, to restart the internal-combustion engine with the bent axle that is coupled with ring gear.This system comprises and restarts the unit, motor restart that request occurs in that internal-combustion engine is controlled so as in case its stop after between the speed of crankshaft decrement phase time, the described unit that restarts is carried out motor and is restarted control and make small gear move to ring gear to be used for small gear is engaged with ring gear to drive starter motor, and with rotation pinion so that starting internal combustion engines.This system comprises detector, and it detects is carrying out the tachometer value that motor restarts the bent axle between the speed of crankshaft decrement phase of control back.This system comprises fallout predictor, supposes that the internal-combustion engine that restarts control based on motor restarts to fail the future value of the speed of crankshaft that the checkout value of the speed of crankshaft between described predictor predicts and speed of crankshaft decrement phase is corresponding.This system comprises determinant, according to the relation between the future value of the prediction of the checkout value of speed of crankshaft and speed of crankshaft, described determinant judge based on motor restart control internal-combustion engine restarting successfully still failure.

The configuration of this aspect of the present invention is according to the relation between the future value of the corresponding prediction of the measured value of speed of crankshaft and speed of crankshaft, judges that the internal-combustion engine that restarts control based on motor restarts success or failure.For example, if the difference between the future value of the corresponding prediction of the checkout value of speed of crankshaft and speed of crankshaft is little as described pass, judge that then the internal-combustion engine that restarts control based on motor restarts failure.

Therefore, can judge as quickly as possible that motor restarts success or failure, because do not need to wait for that restarting control beginning speed of crankshaft from motor reaches the default starting required plenty of time of threshold velocity.In addition, can judge that motor restarts success or failure with high accuracy, because do not use battery reduction amount.

In first preferred embodiment aspect this, internal combustion engine so that the piston in the cylinder back and forth the top dead center (TDC) by cylinder thus turning crankshaft, fallout predictor is configured to predict the value of every circulation time speed of crankshaft of piston arrives TDC, fallout predictor is configured to predict the future value of every circulation time speed of crankshaft of piston arrives TDC, and determinant is configured to: according to the relation between corresponding of the future value of the prediction of each and speed of crankshaft in the checkout value of every circulation time speed of crankshaft of piston arrives TDC, judge based on motor restart control internal-combustion engine restarting successfully still failure.

In second preferred embodiment aspect this, determinant is configured to the difference between the future value of the prediction of the checkout value of speed of crankshaft and speed of crankshaft is compared as described relation and threshold value, and restarts successfully still failure according to the comparative result judgement based on the internal-combustion engine that motor restarts control.

According to alternative aspect of the present invention, a kind of system is provided, it is used for small gear mobile and the rotation starter motor, thereby restarts the internal-combustion engine with the bent axle that is coupled with ring gear.This system comprises and restarts the unit, motor restart that request occurs in that internal-combustion engine is controlled so as in case its stop after between the speed of crankshaft decrement phase time, the described unit that restarts is carried out motor and is restarted control and make small gear move to ring gear to be used for small gear is engaged with ring gear to drive starter motor, and with rotation pinion so that starting internal combustion engines.This system comprises detector, and described detector detects is carrying out the tachometer value that motor restarts the bent axle between the speed of crankshaft decrement phase of control back.This system comprises determinant, and it is according to the information of the variation behavior of the checkout value of indication speed of crankshaft, and judgement restarts the restarting successfully of internal-combustion engine of control and still fails based on motor.

The configuration of this alternative aspect of the present invention according to the information of variation behavior of the checkout value of indication speed of crankshaft, judges that the internal-combustion engine that restarts control based on motor restarts success or failure.For example, if the variation behavior of speed of crankshaft checkout value is little, judge that then the internal-combustion engine that restarts control based on motor restarts failure.

Therefore, can judge as quickly as possible that motor restarts success or failure, because do not need to wait for that restarting control beginning speed of crankshaft from motor reaches the default starting required plenty of time of threshold velocity.In addition, can judge that motor restarts success or failure with high accuracy, because do not use battery reduction amount.

In first preferred embodiment of this alternative aspect, the variation behavior of the checkout value of speed of crankshaft is the increase of detected speed of crankshaft or increases speed, and determinant is configured to the increase of the checkout value of speed of crankshaft or increases speed compare with threshold value, and judges that according to comparative result the restarting successfully of internal-combustion engine that restarts control based on motor still fail.

Aspect this and in the preferred embodiment of this alternative aspect, determinant is configured to described threshold value is defined as following at least one function: the variable of the checkout value of speed of crankshaft and restart request from motor and pass the variable of time.

Aspect this and in another preferred embodiment of this alternative aspect, restart the unit and be configured to: be controlled so as in order between its speed of crankshaft decrement phase after stopping, carrying out motor and restart control with the driving starter motor at internal-combustion engine, thereby:

Restart the generation of request, rotation pinion in response to motor; And

The small gear that rotates is moved to ring gear so that small gear engages with ring gear.

In another preferred embodiment, restart difference between the rotating speed that the unit is formed at the rotating speed of small gear and bent axle and the small gear that rotates is moved to ring gear so that small gear engages with ring gear in predefined value the time.

Aspect this and in another preferred embodiment of this alternative aspect, restart the unit and be configured to: be controlled so as in order between its speed of crankshaft decrement phase after stopping, carrying out motor and restart control with the driving starter motor at motor, thereby:

Restart the generation of request in response to motor, small gear is moved to ring gear so that small gear engages with ring gear; And

Rotation pinion.

Aspect this and in the another preferred embodiment of this alternative aspect, restarting the unit is configured to: when determining the restarting when failing of internal-combustion engine that restarts control based on motor, carry out motor extraly and restart control to drive starter motor to drive starter motor so that starting internal combustion engines.

Aspect this and in the another preferred embodiment of this alternative aspect, if throwing off, small gear and ring gear make that determining the restarting of internal-combustion engine that restarts control based on motor fails, then restart the unit and be configured to carry out extra motor and restart control driving starter motor driving starter motor, thereby reduce the rotating speed of small gear so that small gear engages with ring gear.

Description of drawings

With reference to accompanying drawing, by following description to embodiment, other purposes of the present invention and aspect will become apparent, in the accompanying drawings:

Fig. 1 is the view of the example of the whole hardware configuration of schematically illustrated engine control system according to first embodiment of the invention;

Fig. 2 is the time diagram that schematically shows as an example by the following track of the prediction that descends according to the resulting engine speed of first embodiment's engine control system;

The example of the schematically illustrated method according to first embodiment of the form of Fig. 3 is used for the value of the loss torque of the internal-combustion engine shown in the calculating chart 1, the value of the angular velocity of prediction I. C. engine crankshaft, and the value of prediction bent axle due in;

Plotted curve among Fig. 4 has schematically shown the following THE RELATIONSHIP OF THE PATH of following track that the engine speed predicted descends and the rotating speed rising of the small gear of the starter motor shown in Fig. 1;

Relation when the measured value of engine speed and internal-combustion engine restarted failure when the plotted curve among Fig. 5 schematically showed and restarts successfully according to first embodiment's internal-combustion engine between the engine speed measured value;

Plotted curve among Fig. 6 schematically shows that the decline along with engine speed increases according to the deviation between the actual value of the measured value of first embodiment's engine speed and synchronization engine speed;

Fig. 7 is the flow chart that schematically shows according to the performed trajectory predictions program of first embodiment's the ECU shown in Fig. 1;

Fig. 8 is the flow chart that schematically shows according to the performed starter motor control program of first embodiment's ECU;

Fig. 9 schematically shows the flow chart that restart failure decision procedure performed according to first embodiment's ECU; And

Figure 10 is the flow chart that restarts the failure decision procedure that schematically shows according to the ECU execution of second embodiment of the invention.

Embodiment

Embodiments of the invention will describe with reference to accompanying drawing hereinafter.

In an embodiment, the same parts that indicates same reference numerals between the embodiment is omitted in miscellaneous explanation or simplifies.

First embodiment

In first embodiment, the present invention is applied to designing the engine starting system as being installed on the part of the engine control system 1 in the motor vehicle.Engine control system 1 comprises the electric control device (ECU) 20 as its central module, and operate to control injected fuel quantity and ignition timing, and to carry out the task of stopping explosive motor (abbreviating motor as) 21 automatically and the restarting motor 21 of task.The integrally-built example of engine control system 1 has been shown among Fig. 1.As motor 21, in first embodiment, adopt the four-stroke four cylinder engine as an example.

Referring to Fig. 1, motor 21 has the bent axle 22 as its output shaft, and wherein an end and ring gear 23 directly or indirectly couple.Bent axle 22 couples by the piston in connecting rod and each cylinder and makes piston advancing back and forth in each cylinder allow the rotation of bent axle 22.

Specifically, motor 21 is worked with by piston pressurized air-fuel mixture or air in each cylinder, and the compressed air-fuel mixture in each cylinder that burns or compressed air and the mixture of fuel.This can be converted into mechanical energy with fuel, as rotate can, thereby make piston to-and-fro motion between the top dead center (TDC) of each cylinder and lower dead center (BDC) in each cylinder, thereby turning crankshaft 22.By being installed on the dynamical system in the motor vehicle, thereby the rotation of bent axle 22 is transmitted to driving wheel driving machine motor vehicle.Oil (engine oil) in each cylinder with lubricated any two parts that contact with each other that are placed in the motor 21, as piston and each cylinder of motion.

Motor 21 is equipped with for example fuel injection system 51 and ignition system 53.

Fuel injection system 51 comprises actuator AC, as fuel injector, and make actuator AC inject fuel directly in each cylinder of motor 21 or be directly injected to the intake manifold (or suction port) that is arranged in before its each cylinder, thereby the air-fuel mixture in each cylinder of combustion engine 21.

Ignition system 53 comprises actuator AC, as igniter, and makes actuator AC provide electric current or spark with the air-fuel mixture in ignition engine 21 each cylinder, thus combustion air-fuel mixture.

When motor 21 is designed to diesel engine, can omit ignition system 53.

In addition, in motor vehicle, for Motor Vehicle being slowed down or stopping, braking system 55 is installed.

Braking system 55 is included in each wheel place of Motor Vehicle as for example disc type or the drum brake of actuator AC.The motor brake treadle that braking system 55 response drivers step on sends reduce-speed sign to each break, the braking force that corresponding wheel applied this reduce-speed sign was indicated from each break to wheel.This makes each break slow down based on the reduce-speed sign that sends or stops the rotation of the corresponding wheel in the wheel.

Reference number 57 represents the operable speed change lever of hand (selection lever).When motor vehicle were manual transmission vehicles, the driver can change the position of speed change lever 57 with the change gear ratio of conversion (change) dynamical system, thereby with the revolution of control driving wheel and the torque of 21 pairs of driving wheels generations of motor.When motor vehicle were the automatic transmission vehicle, the position that the driver can change speed change lever 57 was to select corresponding to one in the driving scope of the change gear ratio of dynamical system such as reverse gear scope, neutral gear scope, the driving scope etc.

Referring to Fig. 1, engine control system 1 comprises starter motor 11, rechargeable battery 18, relay 19 and switching element 24.

Starter motor 11 is by starter motor (motor) 12, and small gear 13 and pinion actuator 14 are formed.

Motor 12 is made up of with the armature that is coupled to output shaft 12a output shaft 12a, and operation is rotated to make output shaft 12a when armature is energized.

Small gear 13 is installed in the outer surface of output shaft 12a one end, can axially moving at output shaft 12a.

Motor 12 and motor 21 positioned opposite make small gear 13 axially abut against on the ring gear 23 of motor 21 towards the mobile small gear 13 that allows of motor 21 along output shaft 12a.

Pinion actuator abbreviates " actuator " 14 as, by plunger 15, and solenoid 16, and movement rod 17 is formed.Plunger 15 is arranged to the parallel to an axis of the output shaft 12a of motor 12 with mobile with its length direction of output shaft 12a parallel to an axis.

Solenoid 16 for example is arranged to around plunger 15.One end of solenoid 16 is electrically connected with the positive pole of battery 18 by relay 19, and its other end ground connection.Movement rod 17 has an end and the other end at its length direction.One end pivot of one end of movement rod 17 and plunger 15 couples, and its other end and output shaft 12a couple.Movement rod 17 is centered around its pivot pivot of location, the middle place of length direction substantially.

Plunger 15 is moved to wherein in order to resist the power of Returnning spring (not shown) with the length direction along plunger 15 when solenoid 16 is energized plunger 15 is moved to wherein.The mobile movement rod 17 that makes of drawing in of plunger 15 pivots in Fig. 1 clockwise, and small gear 13 is moved into the ring gear 23 of motor 21 by movement rod 17 by this.This allows small gear 13 and ring gear 23 to mesh with engine on 21.When solenoid 16 de-excitations, Returnning spring makes plunger 15 and movement rod 17 reset to its initial position shown in Figure 1, makes small gear 13 be pulled away from engagement ring generating gear 23.

Relay 19 is designed to mechanical relay or semiconductor-type relay.Relay 19 has first and second terminals (contact) that are electrically connected respectively with an end of the positive pole of battery 18 and solenoid 16, and the control terminal that is electrically connected with ECU20.

For example, when the electrical signal of expression engage relay 19 sent from ECU20, relay 19 was set up electrical conduction between its first and second terminal, thereby it is switched on (closure).This allows battery 18 to supply DC (direct current) thereby cell voltage excitation solenoid 16 by relay 19 to solenoid 16.

Solenoid 16 is resisted the power of Returnning spring plunger 15 is drawn in wherein when being energized.Plunger 15 causes small gear 13 to be moved into ring gear 23 by movement rod 17 to solenoid 16 interior drawing in.This allows small gear 16 and ring gear 23 to mesh with engine on 21.

Otherwise when ECU20 did not send electrical signal to relay 19, relay 19 disconnected, and causes making solenoid 16 de-excitations.

When solenoid 16 de-excitations, the Returnning spring of actuator 14 resets to its initial position shown in Figure 1 with plunger 15, disconnects the original state that meshes thereby small gear 13 is in it with ring gear 23.

Switching element 24 has first and second terminals of the armature of the positive pole that is electrically connected to battery 18 respectively and motor 12, and the control terminal that is electrically connected to ECU20.

For example, work as electrical signal, the impulsive current that for example has the pulse width (pulse duration) of the excitation endurance (connection cycle) corresponding to switching element 24, when sending to switching element 24 from ECU20, switching element 24 is in the electrical conduction of setting up during the connection cycle of impulsive current between its first and second terminal, thereby is unlocked (closure).This allows battery 18 to supply cell voltage with the excitation armature to the armature of motor 12.

During the break period of impulsive current, switching element 24 also interrupts the electrical conduction between its first and second terminal, thereby the electricity between the armature of formation battery 18 and motor 12 disconnects.When ECU20 did not send impulsive current to switching element 24, switching element 24 was in disconnection, thereby motor 12 is not activated.The dutycycle of motor 12 is represented the connection cycle (pulse width) of impulsive current and the ratio of its recurrence interval (connection cycle and break period sum).That is to say that ECU20 is adapted to the connection cycle (pulse width) of regulating impulse electric current with the dutycycle of governor motor 12, thus the rotating speed of control motor 12, the i.e. rotating speed of small gear 13.

In addition, engine control system 1 comprises sensor 59, is used for measuring the operation conditions of motor 21 and the driving situation of motor vehicle.

Each sensor 59 operates to measure the instantaneous value of a corresponding parameter that is associated with the operation conditions of motor 21 and/or motor vehicle, and represents the signal of the measured value of a corresponding parameter to ECU20 output.

Particularly, sensor 59 comprises, for example, and crank angle sensor (crankshaft sensor) 25, accelerator sensor (throttle position sensor), and brake sensor; These sensors all are electrically connected with ECU20.

Crank angle sensor 25 operations are to output to ECU20 with crank pulse when bent axle 22 rotates a preset angles.The example of the concrete structure of crank angle sensor 25 will be described below.

Cam angle sensor operates to measure the pivotal position as the camshaft (not shown) of motor 21 output shafts, and the signal of the pivotal position of the camshaft that measures to ECU20 output expression.Camshaft is driven by the gear on the bent axle 22, band or chain, and is designed to half rotation by the speed of bent axle 22.Camshaft operation is so that each valve opening of motor 21 and closing.

Accelerator sensor operation with:

Measurement is connected to physical location or the stroke of the operable accelerator pedal of driver of the Motor Vehicle of closure, enters the air quantity of intake manifold with control; And

The traveled distance of the accelerator pedal that expression is recorded or the signal of position output to ECU20.

Brake sensor operates to measure physical location or the stroke by the exercisable vehicle brake pedal of driver, and the traveled distance of the brake petal that records with output expression or the signal of position.

As crank angle sensor 25, adopt common magnetic pick-up formula angle transducer in the present embodiment.Particularly, crank angle sensor 25 comprises and coupling with bent axle 22 and magnetic resistance dish (pulse oscillator) 25a of unitary rotation thereupon.Crank angle sensor 25 also comprises electromagnetism pick-up (abbreviating " pick-up " as) 25b with magnetic resistance dish 25a disposed adjacent.

Rectifier dish 25a has tooth 25c, and the periphery of described tooth drum 25a is with default degree in crank angle at interval for example 30.(π/6 radians interval) separates at interval.Square plate 25a also has, and hypodontia part MP for example lacks the tooth of predetermined number, as one or several tooth in this toothless portion) office.Default degree in crank angle limits the crankangle Measurement Resolution of crank angle sensor 25 at interval.For example, when tooth 25c separated at interval with 30 degree, the crankangle Measurement Resolution was set to 30 degree.

Pick-up 25b is designed to pick up according to the rotation of the tooth 25c of magnetic resistance dish 25a the variation in the magnetic field that forms before, and then produces crank pulse, and described pulse is the conversion to the preset signals level from the baseband signal level.

Particularly, pick-up 25b operation is with all output crank pulses when the front by pick-up 25b of the tooth 25c of the magnetic resistance dish 25a that rotates.

Sequence from the crank pulse of pick-up 25b output is called " crank signal ", is sent to ECU20; These crank signals are used for the rotating speed of calculation engine 21 and/or the angular velocity omega of bent axle 22 (motor 21) by ECU20.

ECU20 is designed to for example common micro-computer circuit, and this micro-computer circuit comprises CPU for example, comprise that ROM (ROM (read-only memory)) is as storage medium 20a, IO (input and output) interface that can rewrite ROM, RAM (random access memory) etc. etc.Common micro-computer circuit among first embodiment is defined as to comprise CPU at least and is used for its main memory.

Storage medium 20a stores various engine control procedures in advance therein.

ECU20 operation with:

Receive the data of output autobiography sensor 59; And

Based on by the operating conditions from least some determined motors 21 of sensor 59 received signals, control is installed in for example various actuator AC in the motor 21 of Motor Vehicle, thus the various controlled variables of regulating motor 21.

ECU20 operates to determine bent axle 22 with respect to the pivotal position (degree in crank angle) of reference position and the rotational speed N E of motor 21 based on output from the crank signal of crank angle sensor 25, and determines the various operation timings of actuator AC with respect to the degree in crank angle of reference position based on bent axle 22.Described reference position can be determined from the output signal of camshaft-signal sensor based on the position of hypodontia part MP and/or based on output.

Particularly, ECU20 is programmed to:

Adjusting enters the inlet air amount of each cylinder;

Calculating is for the suitable fuel injection timing of the fuel injector AC of each cylinder and suitable emitted dose, and for the suitable ignition timing of the igniter AC of each cylinder;

Indicate the fuel injector AC of each cylinder to be ejected in each cylinder with the suitable fuel quantity that will calculate accordingly at the suitable injection timing that calculates accordingly; And

The igniter AC that indicates each cylinder is to light compressed air-fuel mixture or compressed air and the mixture of fuel in each cylinder in the proper ignition timing that calculates accordingly.

In addition, the engine control procedures of storing among the storage medium 20a comprises that motor stops-starting control routine (program).For example, when ECU20 operation master motor control program, the ECU20 motor that reruns stops-starting control routine; The master motor control program is moved continuously by ECU20 during the ECU20 energising.

Particularly, stop-starting control routine according to motor, whether at least one in the automatic stop condition of motor that the signal that ECU20 exports based on sensor 59 repeats to determine to be scheduled to is met, and in other words, whether motor stops request (idling reduces asks) automatically takes place.

When judgement did not have the predetermined automatic stop condition of motor to be met, ECU20 withdrawed from motor and stops-starting control routine.

Otherwise when at least one in determining the automatic stop condition of preset engine is met, that is, when stopping the request generation automatically, ECU20 carries out motor and stops-starting control.Particularly, ECU20 control fuel injection system 51 stops to each cylinder fuel supplying (fuel shutoff), and/or control point ignition system 53 stops to light the air-fuel mixture in each cylinder, thereby stops the burning of air-fuel mixture in each cylinder.Air-fuel mixture burning stops to mean stopping automatically of motor 21 in each cylinder of motor 21.For example, thus entering each cylinder according to first embodiment's ECU20 fuel shutoff stops motor 21 automatically.

The predetermined automatic stop condition of motor comprises, for example following situation:

When driver's accelerator travel is that zero (the complete release the accelerator pedal of driver) makes closure be positioned at its idle position or driver when depressing brake petal, engine speed is equal to or less than pre-set velocity (idling reduction execution speed), and this can cause Motor Vehicle to stop; And

Motor Vehicle stops during brake petal is depressed.

After motor 21 stops automatically, when the signal determining based on output autobiography sensor 59 goes out predetermined motor and restarts in the condition at least one and be met, namely, when motor restarts the request generation, ECU20 drives starter motor 11 with engine on 21, thereby and recovers to restart motor 21 to the fuel injection of motor 21.

Predetermined motor restarts condition and comprises, for example, and following situation:

Driver's operation is used at least a operation of starter motor motor-car; And

Depress accelerator pedal (opening throttle) with the starter motor motor-car.

As at least a operation that is used for the starter motor motor-car, the driver discharges brake petal fully or the position of speed change lever 57 is changed to driving scope (when motor vehicle are automotive vehicle).

In addition, when motor restarted the annex 61 of request on being installed in motor vehicle at least one and is input to ECU20, ECU20 judged that the corresponding condition that motor restarts in the condition is met.Annex 61 comprises battery charging controller and the temperature in the control automobile driving cabin and/or the air regulator of humidity of the SOC (charged state) that for example controls battery 18 or other batteries.

Between the rotating speed decrement phase of motor 21, in other words, when bent axle 22 trackslips, or motor 21 when stopping operating (rotating speed that comprises motor 21 oppositely and the state that fluctuates of forward ground, in other words, motor 21 upwards rotates at forward direction and back), motor can take place restart request.

When taking place between the rotating speed decrement phase that determines at motor 21, motor do not restart when request, ECU20 can move small gear-default subroutine, tightly to encourage actuator 14 relays 19 after motor 21 rotations stop before motor 21 rotations stop or tightly.The excitation of actuator 14 makes small gear 13 move to ring gear 23 and restarts the request generation in order to small gear 13 is engaged with ring gear 23 for motor, and keeps the engagement of small gear 13 and ring gear 23.

After this, ECU20 restart in the condition based on the predetermined motor of signal determining of output autobiography sensor 59 at least one whether be met, namely whether motor restarts request and takes place.

When the signal determining based on output autobiography sensor 59 went out predetermined motor and restarts in the condition at least one and be met, ECU20 carried out motor and restarts task.Motor restarts task:

Thereby, make bent axle 22 (under the situation of small gear-default subroutine) under the dutycycle control of motor 12, rotate and reach default initial velocity with rotation pinion 13 engine ons 21 by switching element 24 excitation motors 12;

Indicate the sparger AC of each cylinder to restart to the respective cylinder burner oil; And

Indicate the igniter AC of each cylinder to rekindle air-fuel mixture in the respective cylinder.

Otherwise when motor between the rotating speed decrement phase that determines at motor 21 restarts request when occurring, ECU20 carries out small gear prerotation mover program with by switching element 24 excitation motors 12.The excitation of motor 12 is rotated small gear 13.

After small gear 13 pre-rotations, when the difference between the rotating speed of the rotating speed of judging small gear 13 and ring gear 23 is in the preset range, the small gear 13 that ECU20 will rotate in advance moves to ring gear 23 makes the pre-small gear 13 that rotates engage with ring gear 23 reposefully, thereby pilots engine 21.This causes makes bent axle 22 rotate with initial velocity.

Therefore, ECU20 indicates the sparger AC of each cylinder to restart burner oil in the respective cylinder, and indicates the igniter AC of each cylinder again the air-fuel mixture in the respective cylinder to be lighted a fire.

Carrying out motor and stopping-starting control program during, the rotating speed of the bent axle 22 of ECU20 monitoring motor 21; The rotating speed of the bent axle 22 of this motor 21 also will abbreviate engine speed as.

After motor restarts task, when engine speed exceeds predetermined threshold value that whether starting of deteminate machine motor-car finish.When engine speed exceeded described predetermined threshold value, the starting of ECU20 deteminate machine motor-car was finished, thereby passed through the motor 12 of switching element 24 de-excitation starter motors 11, and by relay 19 de-excitation pinion actuator 14.This allows Returnning spring that plunger 15 and speed change lever 17 are reset to as shown in Figure 1 its initial position, makes small gear 13 be pulled away from engagement ring generating gear 23 and is reset to as shown in Figure 1 its initial position.

Particularly, ECU20 is designed to: carry out be described below stop-starting the trajectory predictions program R1 according to flow chart shown in Figure 7 of the part of control routine as motor, thereby with the means of doing the following track of engine speed decline is predicted.ECU20 also is designed to: carry out the starter motor control program R2 that stops-starting the flow chart shown in Figure 8 that the basis of the part of control routine is described below as motor, thereby as judge the means of driving pinion 13 with the timing that restarts motor 21 based on the prediction data of the following track that is descended by the resulting engine speed of trajectory predictions program.

Then, the crank angle sensor that use is designed to when bent axle 22 rotates 30 degree (30 crankangle angle) crank pulse to be outputed to below ECU20 is described the following track that engine speed descends of how predicting according to first embodiment as crank angle sensor 25.

Between the engine speed decrement phase, whenever a crank pulse of crank signal by current when being input to ECU20, ECU20 calculates the angular velocity omega of (reckoning) bent axle 22 (motor 21) according to following equation (1):

$\mathrm{\ω}[\mathrm{rad}/\sec ]=\frac{30\×2\mathrm{\π}}{360\×\mathrm{tp}}---\left(1\right)$

Wherein, tp represents the pulse spacing [sec] of crank signal.

Because motor 21 is four-stroke, four cylinder engine, so motor 21 has the cylinder of expansion stroke at moving 180 degree of bent axle 22 revolutions.For example, when the piston in the cylinder was positioned at the TDC place at every turn, the crankangle of bent axle 22 relative reference positions was 0 degree (0 crankangle angle).

Notice that " i " is current 180 crankangle angle (CAD) cycles that expression bent axle 22 rotates.

Particularly, ECU20 calculates the value of the angular velocity omega of bent axle 22 when bent axle 22 revolutions move 30CAD between the engine speed decrement phase, and calculates the loss torque T during the moving 30CAD of bent axle 22 revolutions.The calculated value that ECU20 will lose torque T is stored among its register RE (register of CPU) and/or the storage medium 20a, and for example every 180CAD cycle is upgraded them simultaneously.

For example, through the 30CAD of current TDC, when namely CRANK PULSES was input to ECU20 during 30ATDC, ECU20 calculated the current 180CAD that rotates at bent axle 22 at current time CT in the cycle:

The value ω [0, i-1] of the angular velocity omega at 0CAD place the preceding 180CAD that bent axle 22 rotates passes through the TDC (a preceding TDC) of last cylinder in the ignition order in the cycle after;

The value ω [30, i-1] of the angular velocity omega at 30CAD place after the preceding 180CAD that bent axle 22 rotates passes through a preceding TDC in the cycle;

The value ω [60, i-1] of the angular velocity omega at 60CAD place after the preceding 180CAD that bent axle 22 rotates passes through a preceding TDC in the cycle;

The value ω [90, i-1] of the angular velocity omega at 90CAD place after the preceding 180CAD that bent axle 22 rotates passes through a preceding TDC in the cycle;

The value ω [120, i-1] of the angular velocity omega at 120CAD place after the preceding 180CAD that bent axle 22 rotates passes through a preceding TDC in the cycle;

The value ω [150, i-1] of the angular velocity omega at 150CAD place after the preceding 180CAD that bent axle 22 rotates passes through a preceding TDC in the cycle; And

Value ω [0, i] at the current 180CAD of bent axle 22 rotations process angular velocity omega at 0CAD place behind the TDC of front air cylinder (current TDC) in the cycle.

The track of the variation of the variation track of angular velocity omega of (measurement) angular velocity that comprises calculating and actual angular speed has been shown among Fig. 2.

ECU20 arrives the value of (7) counting loss torque T according to following equation (2):

A preceding 180CAD who rotates at bent axle 22 in the cycle from through the value T[0-30 of a preceding TDC 0CAD to the loss torque T of 30CAD, i-1];

A preceding 180CAD who rotates at bent axle 22 in the cycle from through the value T[30-60 of a preceding TDC 30CAD to the loss torque T of 60CAD, i-1];

A preceding 180CAD who rotates at bent axle 22 in the cycle from through the value T[60-90 of a preceding TDC 60CAD to the loss torque T of 90CAD, i-1];

A preceding 180CAD who rotates at bent axle 22 in the cycle from through the value T[90-120 of a preceding TDC 90CAD to the loss torque T of 120CAD, i-1];

A preceding 180CAD who rotates at bent axle 22 in the cycle from through the value T[120-150 of a preceding TDC 120CAD to the loss torque T of 150CAD, i-1]; And

A preceding 180CAD who rotates from bent axle 22 passes through a preceding TDC 150CAD to the value T[150-0 of current 180CAD loss torque T of the current TDC 0CAD of process in the cycle of bent axle 22 rotations, i-1 in the cycle].

T[0-30，i-1]＝-J·(ω[30，i-1] ²-ω[0，i-1] ²)/2 (2)

T[30-60，i-1]＝-J·(ω[60，i-1] ²-ω[30，i-1] ²)/2 (3)

T[60-90，i-1]＝-J·(ω[90，i-1] ²-ω[60，i-1] ²)/2 (4)

T[90-120，i-1]＝-J·(ω[120，i-1] ²-ω[90，i-1] ²)/2 (5)

T[120-150，i-1]＝-J·(ω[150，i-1] ²-ω[120，i-1] ²)/2(6)

T[150-0，i-1]＝-J·(ω[0，i] ²-ω[150，i-1] ²)/2 (7)

Wherein J represents the inertia (rotary inertia) of motor 21.

Note the change (minimizing) of the rotational kinetic energy that loss torque T (off-energy E) means bent axle 22 from the value of the angular velocity omega that calculated by ECU20 to the next one value of the angular velocity omega that is calculated by ECU20.That is the loss of loss torque T (off-energy E) torque of motor 21 (energy) when meaning idling.Loss torque T (off-energy E) comprises for example pumping loss torque (energy) and the frictional loss torque (energy) of motor 21, and via the hydraulic slip torque (energy) that is couple to speed changer and alternator and/or the compressor of bent axle 22 such as being with.Notice that off-energy E can be represented divided by J/2 by loss torque T.For example, a preceding 180CAD who rotates at bent axle 22 in the cycle from through the value E[0-30 of a preceding TDC0CAD to the off-energy E of 30CAD, i-1] can be provided by following equation (8):

E[0-30，i-1]＝-(ω[30，i-1] ²-ω[0，i-1] ²) (8)

ECU20 will be corresponding with the preceding 180CAD cycle that bent axle 22 rotates the value T[0-30 of loss torque T, i-1], T[30-60, i-1], T[60-90, i-1], T[90-120, i-1], T[120-150, i-1] and T[150-0, i-1] be stored among its register RE (register of CPU) and/or the storage medium 20a (referring to Fig. 2), the value T[0-30 of the loss torque T that of storing before making is corresponding, i-2], T[30-60, i-2], T[60-90, i-2], T[90-120, i-2], T[120-150, i-2] and T[150-0, i-2] obtain upgrading.

In response to the current crank pulse of importing at the current 180CAD current TDC 30CAD of process place in the cycle that bent axle 22 rotates, ECU20 calculates the value ω [30 of the current 180CAD angular velocity omega at the current TDC 30CAD of process place in the cycle that rotates at bent axle 22, i], and the value T[0-30 of counting loss torque T, i]=-J (ω [30, i] ²-ω [0, i] ²)/2.Then, ECU20 will lose the value T[0-30 of torque T, i] be stored in and upgrade the value T[0-30 that loses torque T, i-1 among its register RE simultaneously].

Afterwards, based on a preceding 180CAD who rotates at bent axle in the cycle from through the value T[30-60 of a preceding TDC 30CAD to the loss torque T of 60CAD, i-1], ECU20 calculates the predicted value ω ' [60, i] (referring to Fig. 3) of the current 180CAD angular velocity omega at the current TDC 60CAD of process place in the cycle that rotates at bent axle according to following equation [9]:

${\mathrm{\ω}}^{\′2}[60,i]={\mathrm{\ω}}^2[30,i]-\frac{2}{J}T[30-60,i-1]---\left[9\right]$

Based on the predicted value ω ' [60, i] of angular velocity omega, the predicted value t[30-60 of the time of advent when ECU20 calculates bent axle 22 with respect to 30CAD arrival 60CAD according to following equation [10], i]:

$t[30-60,i]=\frac{2\mathrm{\π}\·30}{360\·{\mathrm{\ω}}^{\′}[60,i]}=\frac{\mathrm{\π}}{6\·{\mathrm{\ω}}^{\′}[60,i]}---\left[10\right]$

Then, based on a preceding 180CAD who rotates at bent axle in the cycle from through the value T[60-90 of a preceding TDC 60CAD to the loss torque T of 90CAD, i-1], ECU20 calculates the predicted value ω ' [90, i] (referring to Fig. 3) of the current 180CAD angular velocity omega at the current TDC 90CAD of process place in the cycle that rotates at bent axle according to following equation [11]:

${\mathrm{\ω}}^{\′2}[90,i]={\mathrm{\ω}}^{\′2}[60,i]-\frac{2}{J}T[60-90,i-1]$

$={\mathrm{\ω}}^2[30,i]-\frac{2}{J}\left(T\right[30-60,i-1]+T[60-90,i-1\left]\right)---\left[11\right]$

Particularly, the predicted value ω ' of angular velocity omega [90, i] represents by the loss torque value sum that deducts from current angular velocity omega [30, i] between prediction timing (90CAD) and the current timing (30CAD).

Based on the predicted value ω ' [90, i] of angular velocity omega, the predicted value t[60-90 of the time of advent when ECU20 calculates bent axle 22 with respect to 60CAD arrival 90CAD according to following equation [10], i]:

$t[60-90,i]=\frac{2\mathrm{\π}\·30}{360\·{\mathrm{\ω}}^{\′}[90,i]}=\frac{\mathrm{\π}}{6\·{\mathrm{\ω}}^{\′}[90,i]}---\left[12\right]$

Similarly, based on a preceding 180CAD who rotates at bent axle in the cycle from through the value T[90-120 of a preceding TDC 90CAD to the loss torque T of 120CAD, i-1], ECU20 calculates the predicted value ω ' [120, i] (referring to Fig. 3) of the current 180CAD angular velocity omega at the current TDC 120CAD of process place in the cycle that rotates at bent axle according to following equation [13]:

${\mathrm{\ω}}^{\′2}[120,i]={\mathrm{\ω}}^{\′2}[90,i]-\frac{2}{J}T[90-120,i-1]$

$={\mathrm{\ω}}^2[30,i]-\frac{2}{J}\left(T\right[30-60,i-1]+T[60-90,i-1]+T[90-120,i-1\left]\right)---\left[13\right]$

Based on the predicted value ω ' [120, i] of angular velocity omega, the predicted value t[90-120 of the time of advent when ECU20 calculates bent axle 22 with respect to 90CAD arrival 120CAD according to following equation [14], i]:

$t[90-120,i]=\frac{2\mathrm{\π}\·30}{360\·{\mathrm{\ω}}^{\′}[120,i]}=\frac{\mathrm{\π}}{6\·{\mathrm{\ω}}^{\′}[120,i]}---\left[14\right]$

That is to say, at current time CT, what angular velocity omega will be during the interval of the 30CAD that ECU20 prediction bent axle 22 rotates, and it what will be the time of advent during interval of the 30CAD that rotates of prediction bent axle 22, thereby the following track of the decline of prediction bent axle 22 angular velocity, in other words, the following track (referring to Fig. 2) of engine speed decline.The data of the following track that the engine speed that indication is predicted descends are called as the prediction data of the following track of engine speed decline.

Particularly, when crank pulse is input to ECU20 from crank angle sensor 25, ECU20 is programmed to: carry out prediction angular velocity omega and the time of advent, thereby will before the prediction data of the following track that descends of engine speed be updated to the current prediction data that is in the following track that the engine speed in time lag between this crank pulse and the next crank pulse descends that obtains, wherein said crank pulse next time will be input to ECU20 from crank angle sensor 25.

When feasible, the following track that ECU20 prediction engine speed descends is equal to or less than 0 up to the last predicted value of angular velocity omega.If the last predicted value at angular velocity omega reached before zero, described crank pulse next time is input to ECU20 from crank angle sensor 25, then ECU20 interrupts the last predicted value at angular velocity omega is reached angular velocity omega before zero and the prediction of the time of advent, and carries out in response to receiving that next crank pulse predicts angular velocity omega and the time of advent.Notice that ECU20 can be easily be converted to engine speed with the angular velocity omega of bent axle 22 (motor 21), and can carry out prediction engine speed and the time of advent and substitute the prediction angular velocity omega.

As mentioned above, ECU20 according to first embodiment is designed to: restart request in response to motor between the engine speed decrement phase and take place, motor 12 by switching element 24 excitation starter motors 11 reaches predetermined maximum (top) speed thereby small gear 13 (motor 12) is rotated in advance.

Simultaneously, ECU20 is designed to: be input to the value of ECU20 prediction rotating speed of small gear 13 when small gear 13 begins to rotate in response to for example crank pulse from crank angle sensor 25, thereby predict the following track of the rotating speed rising of small gear 13 when small gear 13 rotates beginning; The data of the prediction locus that the rotating speed of expression small gear 13 rises will be called as the prediction data of the following track that the rotating speed of small gear 13 rises.Then, ECU20 is designed to: when the difference between the analog value of the prediction data of the following track that prediction data value and small gear 13 rotating speeds of the following track that engine speed descends rise is in predefined value K1, predict the timing that small gear 13 is moved to ring gear 23.Described predefined value K1 for example is configured to make: when small gear 13 engages with ring gear 23 under the situation that is in described predefined value K1 in difference, remain on low-level because engaging the noise that produces.

For example, the ECU20 according to first embodiment is designed to: utilize following method prediction to rotate the following track of the small gear 13 rotating speeds rising of beginning from small gear 13.Particularly, ECU20 utilizes following model equations [15] prediction to rotate the following track of the small gear 13 rotating speeds rising of beginning from small gear 13; The track that this equation rises by the rotating speed to small gear 13 uses the first-order lag model modeling with scheduled time constant τ and obtains in advance:

N _p＝N _pmax{1-exp(-ta/τ)} [15]

Wherein, N _pRepresent the rotating speed of small gear 13, N _PmaxRepresent the maximum (top) speed of predetermined small gear 13, and the ta representative is rotated passing the time of beginning from small gear 13.

Notice that moving to be contiguous on the ring gear 23 up to small gear to ring gear 23 from small gear 13 beginnings needs spended time, the wherein said time, be called " small gear traveling time " for short, be the constant irrelevant with engine speed.Therefore, the timing that moves to ring gear 23 of the measurable small gear 13 of sening as an envoy to of ECU20 is than the Zao described small gear traveling time of timing when the difference between the analog value of the prediction data of the following track of the analog value of the prediction data of the following track that descends when engine speed and the rising of small gear 13 rotating speeds is in the predefined value K2.This predefined value K2 for example is configured to make: when small gear 13 is engaged with ring gear 23, remain in low-level because engaging the noise that produces.

In addition, as shown in Figure 5, be designed to according to first embodiment's ECU20:

When hypothesis motor 21 restarts failure, utilize the mode identical with the following track of described prediction engine speed (angular velocity omega) decline before, future value or the engine speed future value of the angular velocity omega of prediction bent axle 22;

By will be based on the difference between the prediction future value of the measured value of the engine speed (angular velocity omega) in pulse spacing of crank signal and corresponding engine speed (angular velocity omega) and threshold ratio, judge that restarting successfully of motor 21 still fail; And

When judge motor 21 restart failure the time, carry out control starter motor 11 with engine on 21 again.

Notice that the reason that motor 21 restarts failure is, though small gear 13 has been moved to ring gear 23, small gear 13 does not engage with ring gear 23.

For example, ECU20 can whenever preset degree in crank angle and predict the future value of angular velocity omega of bent axle 22 or the future value of engine speed.

Notice that between the engine speed decrement phase after motor 21 stops automatically, engine speed is in the weekly interim fluctuation of piston through the TDC of respective cylinder; Piston is called " TDC cycle " (for example referring to Fig. 4) for short through this cycle of the TDC of respective cylinder.

For this reason, ECU20 according to first embodiment is designed to: by with the difference between the future value of the corresponding prediction of the measured value of every TDC cycle engine speed (angular velocity omega) and every TDC cycle engine speed (angular velocity omega) and threshold ratio, judge restarting the successfully still failure of motor 21.

Even engine speed descends at every TDC cyclic swing, this design can also with synchronous every Preset Time period of waves, difference and threshold value between the future value of the corresponding prediction of the measured value of engine speed (angular velocity omega) and engine speed (angular velocity omega) are compared.This can reduce fluctuation to judging that motor 21 restarts the influence when successfully still failing.

Used threshold value can be constant in order to reduce the amount of calculation of ECU20 in motor 21 being restarted success or the judgement of failure.If adopt constant as this threshold value, then the deviation between the actual value of the measured value of engine speed and synchronization engine speed increases (see figure 6) along with the reduction of engine speed.

Thereby, store the information F1 that is designed to for example shine upon (data sheet), program and/or formula therein according to first embodiment's ECU20; This information F1 represents the threshold value variable, and it is the function of engine speed variable (parameter).This function can be by means of using motor 21 or its data that computer model of equal value is tested and/or emulation obtains to determine.This function can compensate the increase of deviation of the respective actual value of the measured value of engine speed and engine speed.

Particularly, ECU20 uses the measured value of engine speed as label (key) reference information F1, with the value of extraction with the measured value corresponding threshold of engine speed, and utilize the value of the threshold value of extracting to carry out restarting successfully or failing of judgement motor 21.This can suitably determine threshold value, thus the measured value of compensation engine speed and the increase of the deviation between the corresponding actual value of engine speed.

Notice that because engine speed reduced with the time that passes that restarts from motor after asking to take place, information F1 can be characterized by the threshold value variable function of the variable (parameter) of the time of passing.That is, ECU20 can use the value that restarts the time that passes after request takes place from motor as label reference information F1, thereby extracts and the value that passes the time corresponding threshold.This time of passing can be recorded according to the interval of each crank pulse input by ECU20.What ECU20 can utilize the threshold value of extracting to carry out to judge motor 21 restarts success or failure.This can determine suitably that also threshold value is with the increase of the deviation of the compensation measured value of engine speed and the corresponding actual value of engine speed.

Then, will be described in conjunction with Fig. 7 hereinafter by the performed trajectory predictions program R1 of ECU20.ECU20 the master motor control program the term of execution in predetermined period repeatedly running orbit predictor R1 with the means of the following track that descends as the prediction engine speed.

When running orbit predictor R1, in step 101, ECU20 is based on the signal of output autobiography sensor 59, and whether at least one in the automatic stop condition of motor that judgement is scheduled to is met, in other words, whether motor stops to ask (fuel sprays and stops request) to take place automatically.

When the signal determining based on output autobiography sensor 59 went out not have the predetermined automatic stop condition of motor to be met ("No" in the step 101), ECU20 jumped out trajectory predictions program R1 and turns to the master motor control program.

On the contrary, when at least one in determining the automatic stop condition of motor is met when ("Yes" in the step 101), ECU20 carries out motor 21 and carries out and stop control automatically in step 101A.

Particularly, in step 101A, ECU20 control fuel injection system 51 and/or ignition system 53 are to stop the burning of air-fuel mixture in each cylinder.The air-fuel mixture burning stops to mean stopping automatically of motor 21 in each cylinder of motor 21.Because stopping automatically of motor 21, the bent axle 22 of motor 21 trackslips based on for example its inertia.

Except execution in step 101A, ECU20 judges in step 102 whether crank pulse is input to ECU20 from crank angle sensor 25.When determining no crank pulse when being input to ECU20 ("No" in the step 102), the judgement of ECU20 repeating step 102.That is, ECU20 advances to step 103 when having CRANK PULSES to be input to wherein ("Yes" in the step 102).

In step 103, ECU20 calculates the value of the angular velocity omega of the bent axle 22 corresponding with the crank pulse of the current ECU20 of being input to according to the following equation (1) that proposes above:

$\mathrm{\ω}[\mathrm{rad}/\sec ]=\frac{30\×2\mathrm{\π}}{360\×\mathrm{tp}}---\left(1\right)$

Notice that the value of the angular velocity omega of the bent axle 22 corresponding with h CAD in the current 180CAD cycle i that bent axle 22 rotates will be called as ω [h, i].For example, the value of the angular velocity omega at the current TDC of process 0 CAD place is represented as ω [0, i] in the current 180CAD cycle i of bent axle 22 rotations.

Thereafter, in step 104, ECU20 reads the value T[h-(h+30) of the loss torque T that is stored among the register RE, i-1]; The value T[h-(h+30) of loss torque T, i-1] in the step of describing subsequently 107, calculated to be stored among the register RE, and with the crank pulse ω of current input [h, i] before 150 CAD be imported into crank pulse ω [h+30, the i-1] correspondence of ECU20.

For example, when in the current 180 CAD cycles (i) that the crank pulse of current input rotates corresponding to bent axle 22, passing through current TDC 60 CAD, ECU20 reads the value T[60-90 of loss torque T, i-1], this is worth T[60-90, i-1] be stored among the register RE by being calculated, and with crank pulse ω [60 corresponding to the current input of 60 CAD, i] before 150CA be imported into the crank pulse ω [90, i-1] corresponding (referring to Fig. 3) of ECU20.

Note, it is corresponding to pass through current TDC 60 CAD in the crank pulse of current input and the one 180 CAD cycle (i=1) that bent axle 22 rotates, make when the value of torque T is not lost in storage among the register RE, can Use Defaults as the value T[60-90 of loss torque T, i-1], this default value by be prepared as value from 60 CAD of bent axle 22 to the loss torque T of 90 CAD earlier, and be stored among register RE or the storage medium 20a.

Then, in step 105, according to the equation that proposes above [9] or [11], value T[h-(h+30) based on the loss torque T that from register RE, reads, i-1], ECU20 calculates the predicted value ω ' [h+30, i] corresponding to the angular velocity omega just constantly of input next time of the crank pulse of (h+30) CAD.

For example, in step 105, the predicted value ω ' [h+30, i] of the angular velocity omega that the corresponding degree in crank angle (h+30) of the current 180 CAD cycle i inside crankshafts 22 that ECU20 calculating bent axle 22 rotates is located.

In step 105, ECU20 is stored in the predicted value ω ' [h+30, i] of angular velocity omega among register RE or the storage medium 20a.Notice that when h+30=180, h+30 is set to 0, and i is added 1.

For example, when corresponding 60 CAD of the crank pulse of current input, that is, parameter h equals 60, ECU20 according to equation [11], calculates the predicted value ω ' that imports the angular velocity omega of timing place next time [90, i] corresponding to the crank pulse of 90CAD:

${\mathrm{\ω}}^{\′2}[90,i]={\mathrm{\ω}}^{\′2}[60,i]-\frac{2}{J}T[60-90,i-1]$

$={\mathrm{\ω}}^2[30,i]-\frac{2}{J}\left(T\right[30-60,i-1]+T[60-90,i-1\left]\right)---\left[11\right]$

In step 105, ECU20 is according to aforesaid equation [10], calculate bent axle 22 and import timing with the t[h-time of advent (h+30) that arrives in the next time of crank pulse, i] predicted value, and with the time of advent t predicted value be stored among register RE or the storage medium 20a predicted value ω ' [h+30, i] association with angular velocity omega.

For example, at the crank pulse of current input during corresponding to 60CAD, ECU20 calculates bent axle 22 according to equation [12] and imports timing with the predicted value t[60-90 of time of advent of arriving, i in the next time of crank pulse]:

$t[60-90,i]=\frac{2\mathrm{\π}\·30}{360\·{\mathrm{\ω}}^{\′}[90,i]}=\frac{\mathrm{\π}}{6\·{\mathrm{\ω}}^{\′}[90,i]}---\left[12\right]$

Afterwards, in step 106, ECU20 judges the predicted value ω ' [h+30 corresponding to the angular velocity omega of importing timing place next time of the crank pulse of (h+30) CAD, i] whether be equal to or less than 0, thus judge that the following track of whether finishing the decline of prediction engine speed stops fully up to bent axle 22 rotations.

Import the predicted value ω ' [h+30 of the angular velocity omega of timing in the next time of determining crank pulse, i] greater than zero the time ("No" in the step 106), ECU20 calculates the value T[(h-30 with the loss torque T of the current crank pulse (h=30CAD) that is input to ECU20 in step 107)-h, i], and will lose the value T[(h-30 of torque T)-h, i] be stored among the register RE.

For example, when in the current 180 TDC cycles (i) that the crank pulse of current input rotates corresponding to bent axle 22, passing through current TDC 60 CAD, ECU20 is according to following equation [16], calculates the value T[30-60 corresponding to the loss torque T of the current crank pulse that is input to ECU20, i]:

T[30-60，i]＝-J·(ω[60，i] ²-ω[30，i] ²)/2 [16]

After the operation of completing steps 107, ECU20 makes parameter h increase by 30, and when the value after the increase is 180, the value after this increase is reset to 0, and parameter i is increased by 1 in step 107A.Afterwards, ECU20 turns back to step 104 and repeating step 104 to the operation of step 107A, is sure up to the result of determination of step 106.Step 104 to the operation of step 107A repeat allow a large amount of predicted value ω ' and a large amount of time of advent t predicted value obtain calculating and being stored among register RE or the storage medium 20a.

In step 104 during the repetitive operation of 107A, when the current predicted value ω ' of angular velocity omega is equal to or less than zero, being defined as certainly of step 106.Then, in step 106, ECU20 judges the File of the predicted value ω ' that is stored in a large amount of angular velocity omega among register RE or the storage medium 20a, the following track that the engine speed till expression stops operating fully to bent axle 22 descends.For example, ECU20 is converted to the predicted value of a large amount of engine speeds with the predicted value ω ' of a large amount of angular velocity omegas, and generates the following track of the engine speed decline till bent axle 22 stops operating fully based on the predicted value of engine speed.

After the operation of completing steps 106, ECU20 turns back in the step 102, and waits for input next time from the crank pulse of crank angle sensor 25.

That is to say that ECU20 has obtained the following track that the engine speed till bent axle 22 stops operating fully descends, and when crank pulse is input to ECU20 from crank angle sensor 25 it is upgraded simultaneously.

Note, as mentioned above, if to the current input crank pulse of ECU20 and the gap length between the next crank pulse, be shorter than ECU20 and finish the needed time of following track that the engine speed of prediction till bent axle 22 stops operating fully descends, ECU20 is programmed to so: the prediction of the following track that the engine speed when interrupting current input crank pulse descends, and carry out prediction next time of the following track that the engine speed when importing crank pulse next time descends.

Then, will be described in conjunction with Fig. 8 hereinafter by the performed starter motor control program R2 of ECU20.ECU20 the master motor control program the term of execution in predetermined period, repeatedly move starter motor control program R2 with as determining that driving pinion 13 is in order to restart the means of the timing of motor 21.

When operation starter motor control program R2, in step 201, ECU20 is based on the signal from sensor 59 and annex 61 outputs, and whether at least one that judge that predetermined motor restarts in the condition is met, and in other words, whether motor restarts request and take place.

When the signal determining based on output autobiography sensor 59 and annex 61 goes out not have motor to restart the request generation ("No" in the step 201), ECU20 withdraws from starter motor control program R2 and back master motor control program.

On the contrary, send motor when judgement and restart when request ("Yes" in the step 201), ECU20 judges in step 202 whether engine speed descends.

When determining engine speed when not descending, in other words, the bent axle 22 of motor 21 rotates when stopping fully ("No" in the step 202), and ECU20 advances to step 208.In step 208, ECU20 excitation pinion actuator 14 to be moving to ring gear 23 with small gear 13, thereby small gear 13 is engaged with ring gear 23.At this moment, because ring gear 23 do not rotate, so engaging between small gear 13 and the ring gear 23 is to carry out with less noise.At small gear 13 with after ring gear 23 engages, namely, after the excitation from pinion actuator 14 passes preset delay time, thus ECU20 based on the control of the dutycycle of motor 12 encourage motor 12 with rotation pinion 13 engine ons 21 up to for example reaching default initial speed.

On the contrary, when determining engine speed decline ("Yes" in the step 202), ECU20 advances to step 203.In step 203, ECU20 is by for example judging whether engine speed is equal to or less than predetermined threshold speed and judges whether to allow excitation motor 12.When determining engine speed and be higher than predetermined threshold speed and make excitation to motor 12 not be allowed to ("No" in the step 203), the judgement in the ECU20 repeating step 203 is equal to or less than predetermined threshold speed up to engine speed.

On the contrary, when determining engine speed and be equal to or less than predetermined threshold speed and make allow excitation motor 12 ("Yes" in the step 203), ECU20 advances to step 204, and begins to encourage motor 12 to reach default initial velocity with rotation pinion 13 in step 204.

Afterwards, in step 205, use by to small gear 13 rotating speed rising traces with the resulting model equations of first-order lag model modeling [15] that proposes above, the following track of rotating speed rising of the small gear 13 of beginning is rotated in the ECU20 prediction from small gear 13.

In step 205, ECU20 makes the prediction data of the following track that engine speed descends synchronous with the prediction data of the following track of small gear 13 rotating speeds rising, make: the item of the prediction data of the following track that the engine speed at the degree in crank angle place in 180 CAD strokes of bent axle 22 descends, the item of the prediction data of the following track that rises with small gear 13 rotating speeds at same degree in crank angle place in the identical 180 CAD strokes of bent axle 22 is consistent.

Then, in step 206, when the difference between the analog value of the prediction data of the following track that the prediction data value of the following track that engine speed descends and small gear 13 rotating speeds rise was in the predefined value K1, ECU20 predicted the timing that small gear 13 is moved to ring gear 23.For example, the prediction crankangle of the bent axle 22 in the 180 CAD strokes of the prediction of ECU20 prediction bent axle 22 moves to the prediction timing of ring gear 23 as small gear 13.

Afterwards, in step 206, the ECU20 judgement is corresponding with the current input crank pulse from crank angle sensor 25 to ECU20, the current crankangle of the current 180 CAD stroke inside crankshafts 22 of bent axle 22, whether arrives prediction timing (180 CAD stroke inside crankshafts, the 22 prediction crankangles of the prediction of bent axle 22).Determining and the current crankangle no show prediction of the current 180 CAD stroke inside crankshafts 22 of, bent axle 22 corresponding from the current input crank pulse of crank angle sensor 25 to ECU20 ("No" the step 206) just constantly, the judgement of ECU20 repeating step 206.

On the contrary, arrived prediction ("Yes" the step 206) just constantly in the current crankangle of determining with the current 180 CAD stroke inside crankshafts 22 of, bent axle 22 corresponding from the current input crank pulse of crank angle sensor 25 to ECU20, ECU20 encourages pinion actuator 14 so that small gear 13 is moved to ring gear 23 in step 207, makes small gear 13 engage with ring gear 23.Thereby this makes motor 21 start to restart motor.After the operation of completing steps 207, ECU20 withdraws from starter motor control program R2, and returns the master motor control program.

In step 205, the measurable time of passing from predetermined reference point of ECU20 is used as small gear 13 is moved to the prediction timing of ring gear 23.As described predetermined reference point, can use following time point:

Expression begins to subdue (cut-out) fuel to the very first time point of motor 21 (each cylinder),

Second time point when engine speed drops to pre-set velocity;

The 3rd time point that the following track that expression prediction engine speed descends begins; And

The expression motor restarts the 4th time point when asking to occur.

In this modification, in step 206, ECU20 can judge with time that passes behind the corresponding self-reference point of the current input crank pulse of crank angle sensor 25 to ECU20 whether arrive prediction timing (passing the time of prediction).

Note, in step 206, the timing of difference between the analog value of the prediction data of the following track that the analog value of the comparable prediction data at the following track that engine speed descends of ECU20 and small gear 13 rotating speeds rise in predefined value K2 the time, morning small gear traveling time and predict that the small gear 13 of sening as an envoy to moves to the timing of ring gear 23.For example, ECU20 can be converted to the angular breadth that bent axle 22 rotates with the small gear traveling time according to present engine speed, and can earlier predict the timing that small gear 13 is moved to ring gear 23 than this angular breadth that bent axle 22 rotates.Consider the small gear traveling time, predefined value K1 value can be set to larger than predefined value K2.

On the other hand, between the engine speed decrement phase, determine when not having predetermined motor to restart condition to be met, ECU20 can judge whether engine speed drops in the low-down velocity range, for example, in 300RPM or the velocity range still less, more specifically, in 50 to 100RPM the velocity range, and when determining engine speed and drop in this low-down velocity range, ECU20 can encourage pinion actuator 14 so that small gear 13 moves to ring gear 23.In the time of in engine speed remains in this low-down velocity range, each all can remain in the allowable range in the noise level when small gear 13 engages with ring gear 23 and the wearing and tearing between the two.

Then, will be described in conjunction with Fig. 9 hereinafter by performed the restarting of the ECU20-decision procedure R3 that fails.ECU20 the master motor control program the term of execution predetermined period in rerun and restart-fail decision procedure R3, to restart successfully the still means of failure with judge motor 21.

When operation restarted-fail decision procedure R3, in step 301, ECU20 judged that motor 21 is stopped rear engine speed automatically and whether descends.

Determining when motor 21 stops rear engine speed automatically and do not descend ("No" in the step 301), ECU20 withdraws from and restarts-and decision procedure R3 fails.On the contrary, when judging that ECU20 advances to step 302 when motor 21 stops the decline of rear engine speed automatically ("Yes" in the step 301).

In step 302, ECU20 judges according to the step 207 of starter motor control program R2 and uses the motor of starter motor 11 to restart to control whether executed.In other words, ECU20 judges that whether carrying out driving starter motor 11 makes small gear 13 move to ring gear 23 to restart motor 21.

When determining ("No" in the step 302) when using the motor of starter motor 11 to restart control not to be performed according to the step 207 of starter motor control program R2, ECU20 withdraws from and restarts-and decision procedure R3 fails.

On the contrary, when determining ("Yes" in the step 302) when using the motor of starter motor 11 to restart control to be performed according to the step 207 of starter motor control program R2, ECU20 advances to step 303.

In step 303, ECU20 obtains the measured value NE (n) of engine speed at bent axle 22 rotates current 180 CAD cycles current TDC place.In step 303, suppose that motor 21 restarts failure, according to the following track of aforesaid trajectory predictions program R1 by engine speed (angular velocity omega) decline of the current prediction of ECU20, ECU20 calculates the future value Ney (n+1) of the engine speed (angular velocity omega) at (prediction) next TDC place.

After the operation of step 303, in step 304, ECU20 uses the measured value NE (n) of engine speed at current TDC place as label reference information F1, thereby extracts the value with measured value NE (n) corresponding threshold of engine speed.

Then, in step 305, ECU20 obtains the measured value NE (n+1) at the engine speed at the next one 180 CAD next TDC place in the cycle that bent axle 22 rotates.

After the operation of completing steps 305, in step 306, ECU20 judges that the deviation of prediction future value Ney (n+1) of engine speed at measured value NE (n+1) and next TDC place of engine speed at next TDC place is whether greater than the value of the threshold value of extracting.

That is to say, restart success if restart the motor 21 of control based on motor, engine speed owing to reality increases from the beginning timing that motor restarts control so, so the deviation of the prediction future value Ney (n+1) of the engine speed at the measured value NE (n+1) of the engine speed at next TDC place and this next TDC place is greater than the value (referring to Fig. 5) of the threshold value of extracting.

Yet, restart failure if restart the motor 21 of control based on motor, the beginning timing decline that restarts from motor 21 owing to actual engine speed so, so the deviation of the prediction future value Ney (n+1) of the engine speed at the measured value NE (n+1) of the engine speed at next TDC place and this next TDC place is equal to or less than the value (referring to Fig. 5) of the threshold value of extracting.

Therefore, when the deviation of the prediction future value Ney (n+1) of the engine speed at the measured value NE of the engine speed that determines next TDC place (n+1) and this next TDC place is equal to or less than the value of the threshold value of extracting ("Yes" in the step 306), ECU20 judges the failure that restarts of motor 21 in step 307.

Afterwards, in step 308, ECU20 utilizes starter motor 11 to carry out motor again and restarts control.

For example, as mentioned above, if motor 21 restart failure, then in step 204 and 207 previous driven small gear 13 be considered to abut against on the ring gear 23 and not and ring gear 23 disconnect.That is, think that small gear 13 is abutting against ring gear 23 rotations.At this moment, the rotating speed of ring gear 23 continues decline because of the failure that restarts of motor 21, thereby the rotating speed of the rotating ratio ring gear 23 of small gear 13 is higher.

Therefore, in step 308, thereby ECU20 makes motor 12 de-excitations reduce the rotating speed of small gear 13.Afterwards, when the difference between the rotating speed of the rotating speed of small gear 13 and ring gear 23 (motor 21) is in predefined value K1 or K2, be in the small gear 13 engagement annular gears 23 that abut against on the ring gear 23.With after ring gear 23 engages, ECU20 encourages motor 12 so that small gear 13 rotates with ring gear 23 in step 308 at small gear 13, thus engine on 21.

In step 308, thereby ECU20 can control the rotating speed that the dutycycle of motor 12 reduces small gear 13.Afterwards, when the difference between the rotating speed of the rotating speed of small gear 13 and ring gear 23 (motor 21) is in predefined value K1 or K2, abut against the small gear 13 engagement annular gears 23 on the ring gear 23.Because small gear 13 is rotating, thus small gear 13 and ring gear 23 engage swivel becket generating gear 23, thereby engine on 21.

On the contrary, when the deviation of the prediction future value Ney (n+1) of the engine speed at the measured value NE of the engine speed that determines next TDC place (n+1) and this next TDC place during greater than the value of the threshold value of extracting ("No" in the step 306), ECU20 determines the success that restarts of motor 21, thereby stops restarting-failing decision procedure R3.

As mentioned above, the engine control system 1 according to first embodiment is configured to:

When restarting of hypothesis motor 21 failed, predict the future value of the engine speed (angular velocity of bent axle 22) of each TDC circulation;

Compare by deviation and threshold value with the future value of the corresponding prediction of the measured value of engine speed (angular velocity of bent axle 21) and engine speed (angular velocity of bent axle 21), judge restarting the successfully still failure of motor 21; And

When failure of restarting that determines motor 21, utilize starter motor 11 to carry out motors and restart control with engine on 21 again.

That is to say, in order to judge the still failure that restarts successfully of motor 21, engine control system 1 structure compares the measured value of engine speed deviation and the threshold value with the future value of the corresponding prediction of engine speed, and the measured value of engine speed is not started threshold velocity and compares with presetting.Therefore, the structure of engine control system 1 is not needing to wait for that engine speed restarts the control beginning to reaching under the default starting threshold velocity situation of required plenty of time from motor, judges the still failure that restarts successfully of motor 21.

Therefore, the structure of engine control system 1 can stop than known before motor-starting system earlier judges restarting the successfully still failure of motor 21, wherein before known motor stop-starting system needs the plenty of time up to restarting the successfully still failure that determines motor.In addition, being configured in of engine control system 1 judged restarting successfully or failure of motor 21 under the situation of not using the amount that descends in the battery 18.Therefore, restarting the successfully still failure of motor 21 is judged in the variation that the structure of engine control system 1 is independent of the quantity of electric charge in the battery 18, thus with known before use based on the battery slippage judge system that whether motor starts compare can improve to motor 21 restart successfully still failure the degree of accuracy of determining.

These technique effects according to first embodiment's engine control system 1, make ECU20 restart motor 21 as quickly as possible again after restarting of motor 21 failed determining, thereby when motor 21 restarts failure, improve the restorability of engine control system 1.

According to the value of first embodiment's engine control system 1 calculated threshold, if the deviation of future value of corresponding prediction that this threshold value is used for the measured value of engine speed and engine speed is less than the described value of this threshold value then judge that motor 21 restarts failure.In addition, but according to the value of first embodiment's engine control system 1 calculated threshold, the success that restarts of judging motor 21 if this threshold value is used for that the deviation of future value of the corresponding prediction of the measured value of engine speed and engine speed is equal to or greater than the described value of this threshold value.

Note, be configured to carry out the following track that prediction engine speeds (angular velocity of bent axle 22) descend whenever bent axle 22 rotates 30 CAD according to first embodiment's ECU20, but be not limited to this setting according to first embodiment's ECU20.

Particularly, ECU20 can be configured to: the piston arrives TDC in cylinder, in other words, whenever bent axle 22 rotates into the arrival default CAD corresponding with the TDC of the current 180 CAD stroke inside cylinders of bent axle 22, the following track that prediction engine speed (angular velocity of bent axle 22) descends, thereby in step 105, the engine speed of prediction when the piston when next cylinder in the ignition order will arrive next TDC.This structure makes ECU20 judge that the current timing of corresponding current TDC is the last TDC of bent axle between 22 positive refundings of motor 21 when the value of engine speed during at next TDC is negative value (imaginary number word).This is because when the last TDC rear engine speed of the process of the piston in cylinder direction approached zero, the piston of next cylinder was without next TDC, so motor 21 backward rotation in the ignition order.That is, it will be negative value that ECU20 can determine engine speed, in other words, motor 21 in next 180CAD stroke of bent axle 22 with backward rotation.

ECU20 can predict the following track that every TDC cycle engine speed descends according to the track of aforesaid loss torque T.Particularly, in step 105, ECU20 can predict the following track that descends to next TDC timing engine speed from current TDC timing.In step 105, ECU20 can predict the following track that the engine speed from current TDC timing to next TDC timing descends according to the historical data of the engine speed descending trajectory of expression from TDC timing before to current TDC timing.Replace every TDC cycle, ECU20 can predict the following track that engine speed descends when bent axle 22 is positioned at same CAD.

ECU20 according to first embodiment predicts the following track that engine speed descends based on the future value of angular velocity omega; These future values are in 30 CADs corresponding with crank pulse input interval at interval, but are not limited to this according to first embodiment's ECU20.Particularly, being in the future value of 30 CAD angular velocity omega at interval may be entirely different with the actual path that engine speed descends.Therefore, ECU20 with the each of crank pulse input every 30 CAD interims of corresponding each, insert the future value of extra angular velocity omega.This feasible prediction actual path that future, track more descended near engine speed that has comprised the engine speed decline of the future value of inserting.

Second embodiment

Engine control system according to second embodiment of the invention will describe with reference to Figure 10 hereinafter.

According to the structure of second embodiment's engine control system and/function, have with engine control system 1 that following some is different.Therefore below this difference will be described mainly.

Engine control system 1 according to first embodiment is configured to: compare by deviation and threshold value with the future value of the corresponding prediction of the measured value of engine speed (angular velocity of bent axle 21) and engine speed (angular velocity of bent axle 21), judge restarting the successfully still failure of motor 21.

On the other hand, engine control system according to second embodiment is configured to: judge R4 thereby carry out to restart-fail: by after the motor that utilizes starter motor 11 restarts control, namely, drive starter motor 11 and make small gear 13 after ring gear 23 moves to restart motor 21 in step 207, the increase speed of the engine speed that relatively records or increase are judged the still failure that restarts successfully of motor 21.

Then, will be described with reference to Figure 10 hereinafter by performed the restarting of the ECU20-decision procedure R4 that fails.ECU20 the master motor control program the term of execution predetermined period in operation repeatedly restart-fail decision procedure R4, successfully still being the means of failing with restarting of judge motor 21.

When operation restarted-fail decision procedure R4, in step 401, ECU20 judged whether engine speed descends after motor 21 is stopped automatically.

When determining engine speed when after motor 21 is stopped automatically, not descending ("No" in the step 401), ECU20 withdraws from and restarts-and decision procedure R4 fails.On the contrary, when judging that engine speed is stopped back when descending (being in the step 401) automatically at motor 21, ECU20 advances to step 402.

In step 402, ECU20 judges whether use the motor of starter motor 11 to restart control according to the step 207 of starter motor control program R2 carries out.In other words, ECU20 judges whether executed driving starter motor 11 makes small gear 13 move to ring gear 23 in order to restart motor 21.

When determining when using the motor of starter motor 11 to restart control not carry out according to the step 207 of starter motor control program R2 (in the step 402 not), ECU20 withdraws from and restarts-and decision procedure R4 fails.

On the contrary, when determining when using the motor of starter motor 11 to restart control to be performed according to the step 207 of starter motor control program R2 (being in the step 402), ECU20 advances to step 403.

In step 403, ECU20 calculates after motor restarts control beginning (beginning engine on 21), the increase speed Δ NE2 of the measured value of the increase Δ NE1 of the measured value of engine speed (angular velocity omega) or engine speed (angular velocity omega).The increase speed Δ NE2 of the increase Δ NE1 of the measured value of engine speed or the measured value of engine speed all is the examples as the variation behavior of the measured value of engine speed.

Then, in step 404, ECU20 judges: whether the increase Δ NE1 of the engine speed measured value behind the beginning engine on 21 is less than first threshold TH1, and perhaps, whether the increase speed Δ NE2 of the engine speed measured value behind the beginning engine on 21 is less than the second threshold value TH2.

That is to say, restart success if restart the motor 21 of control based on motor, then because restart increase (changes) amount Δ NE1 or increase (changes) the speed Δ NE2 of measured value of the beginning timing engine speed of control from motor be positive, thus the increase Δ NE1 of the measured value of engine speed or increase speed Δ NE2 be equal to or greater than for example be predetermined to be greater than zero on the occasion of corresponding first threshold TH1 or the second threshold value TH2.

But, restart failure if restart the motor 21 of control based on motor, even then the executed motor restarts control, because the increase (changes) of the measured value of engine speed amount Δ NE1 or increase (changes) speed Δ NE2 bear, so the increase Δ NE1 of the measured value of engine speed or increase speed Δ NE2 are less than first threshold TH1 or the second threshold value TH2 accordingly.

Therefore, when the increase Δ NE1 of the measured value that determines engine speed less than first threshold TH1, or the increase speed Δ NE2 of the measured value of engine speed is during less than the second threshold value TH2 ("Yes" in the step 404), and ECU20 judges the failure that restarts of motor 21 in step 405.

Then, in step 406, ECU20 utilizes starter motor 11 to carry out motor again and restarts control.

For example, as mentioned above, if motor 21 restart failure, then in step 204 and 207 before driven small gear 13 be considered to abut against on the ring gear 23 and not and ring gear 23 throw off.That is, think that small gear 13 abuts against rotation on the ring gear 23.At this moment, the rotating speed of ring gear 23 continue to descend because motor 21 restart failure, make the rotating speed of small gear 13 be higher than the rotating speed of ring gear 23.

Therefore, in step 406, thereby ECU20 makes motor 12 de-excitations reduce the rotating speed of small gear 13.Afterwards, when the difference between the rotating speed of the rotating speed of small gear 13 and ring gear 23 (motor 21) was in predefined value K1 or K2, the small gear 13 that abuts against on the ring gear 23 engaged with ring gear 23.With after ring gear 23 engages, ECU20 encourages motor 12 so that small gear 13 rotates with ring gear 23 in step 308 at small gear 13, thus engine on 21.

In step 406, thereby ECU20 can control the rotating speed that the dutycycle of motor 12 reduces small gear 13.Afterwards, when the difference between the rotating speed of the rotating speed of small gear 13 and ring gear 23 (motor 21) was in predefined value K1 or K2, the small gear 13 that abuts against on the ring gear 23 engaged with ring gear 23.Because small gear 13 is rotating, so small gear 13 rotates ring gear 23 with engaging of ring gear 23, thus engine on 21.

On the contrary, when the increase Δ NE1 of the measured value that determines engine speed less than first threshold TH1, or the increase speed Δ NE2 of the measured value of engine speed is when being equal to or greater than the second threshold value TH2 ("No" in the step 404), ECU20 judges the success that restarts of motor 21, thereby stops restarting-failing decision procedure R4.

As mentioned above, engine control system according to second embodiment is configured to: will begin the increase Δ NE1 of engine on 21 engine speed measured values certainly or increase speed Δ NE2 to compare with corresponding first threshold TH1 or the second threshold value TH2, and the result judges that the success that restarts of motor 21 still fails based on the comparison.

Therefore, the success that restarts that does not have to judge motor 21 under the following situation that is configured in of this embodiment's engine control system is still failed:

Wait restarts control beginning engine speed from motor and reaches the default required plenty of time of starting threshold velocity; And

Use the reduction of battery 18.

Therefore, the structure of this embodiment's engine control system can be realized the technique effect according to aforementioned first embodiment's engine control system 1.

In addition, because the engine control system according to second embodiment, need under the situation of the future value of each the TDC cycle engine speed (angular velocity of bent axle 22) of basis prediction that restarts failure of hypothesis motor 21, not judge that the success that restarts of motor 21 is still failed.Therefore, the structure of this embodiment's engine control system can more be simplified to carrying out the calculated load of the required ECU20 of described judgement with comparing according to first embodiment's engine control system 1.

Engine control system according to second embodiment utilizes first threshold TH1 or the second threshold value TH2, so that: if the increase Δ NE1 of the measured value of engine speed less than the increase speed Δ NE2 of the measured value of first threshold TH1 or engine speed less than the second threshold value TH2, then judge the failure that restarts of motor 21.Except this is measured, engine control system according to second embodiment can utilize first threshold TH1 ' or the second threshold value TH2 ', so that: be equal to or greater than the second threshold value TH2 ' if the increase Δ NE1 of the measured value of engine speed is equal to or greater than the increase speed Δ NE2 of the measured value of first threshold TH1 ' or engine speed, judge that then motor 21 restarts success.

Be used for judging that motor 21 restarts first threshold TH1 that success still fails and each among the second threshold value TH2 can be constant in order to reduce the amount of calculation of ECU20.If each of threshold value TH1 and Th2 all adopts constant, the deviation of the engine speed actual value of the measured value of engine speed and synchronization can increase (referring to Fig. 6) along with the decline of engine speed so.

Therefore, similar with first embodiment, store the information F2 that is designed to for example shine upon (data sheet), program and/or formula therein according to second embodiment's ECU20; This information F2 represents it is the first threshold TH1 of function of variable (parameter) of engine speed or the variable of the second threshold value TH2.This function can be based on determining by use motor 21 or its data that computer model of equal value is tested and/or emulation obtains.This function can compensate the increase of the deviation of the measured value of engine speed and the corresponding actual value of engine speed.

Particularly, ECU20 uses the measured value of engine speed as label reference information F2, extracting first threshold TH1 or the second threshold value TH2 corresponding with the measured value of engine speed, and the success that restarts that utilizes the first threshold TH1 that extracts or the second threshold value TH2 to carry out judgement motor 21 is still failed.This can suitably determine first threshold TH1 or the second threshold value TH2, thus the measured value of compensation engine speed and the increase of the deviation between the corresponding actual value of engine speed.

Notice that because engine speed reduced with the time that passes that restarts from motor after asking to occur, information F2 can be characterized by the variable of first threshold TH1 or the second threshold value TH2 function of the variable (parameter) of the time of passing.That is, ECU20 can use the value that restarts the time that passes after request occurs from motor as label reference information F2, thereby extracts and the value that passes the time corresponding threshold.This time of passing can be recorded according to the interval of each crank pulse input by ECU20.ECU20 can utilize the first threshold TH1 that extracts or the second threshold value TH2 to carry out the success that restarts of judging motor 21 and still fail.This also can be suitable definite first threshold TH1 or the second threshold value TH2 with the increase of the deviation of the compensation measured value of engine speed and the corresponding actual value of engine speed.

In each of first embodiment and second embodiment, engine control system can surpass default restarting-judge when the finishing decision threshold failure that restarts of motor 21 at the measured value of judging engine speed.

In each of first embodiment and second embodiment, engine control system is configured to: when motor between the engine speed decrement phase restarts request when occurring, excitation motor 12 rotates small gear 13, thereby and makes small gear 13 move to ring gear 23 at given timing driving pinion actuator 14 small gear 13 is engaged with ring gear 23.Therefore, even engine speed is in the high relatively velocity range, engine control system also reduces poor between the rotating speed of the rotating speed of small gear 13 and motor 21 (ring gear 23), and remains in this difference and to make small gear 13 move to ring gear 23 under the little situation.But the present invention is not limited to this structure.

Particularly, can be configured to according to engine control system of the present invention: when motor between the engine speed decrement phase restarts request when occurring, begin small gear 13 is moved to ring gear 23, and excitation motor 12 rotates small gear 13 after small gear 13 engages with ring gear 23 or in small gear 13 and ring gear 23 engaging processes, thereby engine on 21.That is, if engine speed is low relatively, then because the difference between the rotating speed of the rotating speed of small gear 13 and motor 21 (ring gear 23) is little, so engine control system can make small gear 13 engagement annular gears 23 with less noise.

In this modification, between the engine speed decrement phase, if motor restarts request and appears at engine speed and be in than in the default low RPM scope that for example 200RPM is higher the time, then engine control system can encourage motor 12 that small gear 13 is rotated, and drive actuator 14 makes the small gear 13 of rotation move to ring gear 23, thereby small gear 13 is engaged with ring gear 23.

On the other hand, between the engine speed decrement phase, if motor restarts request when appearing at engine speed and being equal to or less than described default low RPM, then but engine control system drive actuator 14 makes the small gear 13 of rotation move to ring gear 23 so that small gear 13 engages with ring gear 23, and after small gear 13 engages with ring gear 23 or in small gear 13 and ring gear 23 engaging processes, excitation motor 12 rotates small gear 13, thus engine on 21.

In in first embodiment and second embodiment each, engine control system is designed so that the rotational angular of the bent axle 22 of crank angle sensor 25 measurement motors 21, but the present invention is not limited to this.

Particularly, be designed to the direct sensor of measuring the rotating speed of the pulley that is coupled with bent axle 22, it is called as the pulley rotation sensor, or be designed to the sensor of the rotating speed of direct measure annular gear 23, can be used to replace crank angle sensor 25 or additionally measure the means of rotational angular of the bent axle 22 of motors 21 in crank angle sensor 25.In these sensors, be designed to direct measure annular gear 23 rotating speed, be called as the sensor of ring gear rotation sensor, can be preferably as the means of the rotating speed of measuring motor 21.This is because the ring gear rotation sensor is designed to pick up according to the rotation of formed tooth on ring gear 23 excircles variation in the magnetic field that forms before; The number that forms tooth on ring gear 23 excircles is more than the number of formed tooth on the excircle of the number of the tooth of the magnetic resistance dish of crank angle sensor and pulley.

Among the first embodiment of the present invention and second embodiment each all is applied to be equipped with the corresponding engine control system of starter motor 11, wherein starter motor 11 is designed to discretely driving pinion actuator 14 and motor 12 so that rotation pinion 13, but among the first embodiment of the present invention and second embodiment each all is not limited to this application.

Particularly, the present invention can be applicable to be equipped with the engine control system of starter motor, wherein starter motor is designed to driving pinion actuator 14 and motor 12 simultaneously, or be designed to: in driving pinion actuator 14 and the motor 12 one, and after passing preset delay time, drive its another.For example, in the time of in this starter motor is applied to according to one engine control system among first embodiment and second embodiment, engine control system can be designed to: based on the following track of engine speed, judge whether engine speed for example is in 300RPM or still less, more specifically, in 50 to 100RPM the low-down velocity range, and, when determining engine speed when being in the described low-down velocity range, control pinion actuator 14 makes small gear 13 move to ring gear 23.

In each of first embodiment and second embodiment, described crankangle Measurement Resolution can be set to the expected angle except 30CAD.

Apparently, program R1 and R4 are stored among the storage medium 20a of ECU20, and still, in according to the ECU20 in first embodiment's the engine control system 1, program R1 need be stored among the ECU20 to R3 at least.

The present invention also can be applied to the engine starting system of normal starting (restarting) motor 21 for response driver's operation.

Although described exemplary embodiment of the present invention at this, but the present invention is not limited to each embodiment described herein, but comprise have as by those skilled in the art based on the present invention any and whole embodiment of modification, omission, (for example, different embodiments' aspect) combination, change and/or the replacement that will understand.Restriction in the claim should explain extensively based on applied language in the claim, and is not limited to the example described in the present embodiment, or in the application's course of the review, and described embodiment should be interpreted as nonexcludability.

Claims (11)

1. a system is used for the small gear of mobile and rotation starter motor to restart the motor with the bent axle that couples with ring gear, and described system comprises:

Restart the unit, motor restart that request occurs in that motor is controlled so as in case its stop after between the speed of crankshaft decrement phase time, the described unit that restarts is carried out motor and is restarted control and make small gear move to ring gear to be used for small gear is engaged with ring gear to drive starter motor, and with rotation pinion so that engine on;

Detector, described detector detect carries out the tachometer value that motor restarts the bent axle between the speed of crankshaft decrement phase of control back;

Fallout predictor is supposed that the motor that restarts control based on motor restarts to fail, the future value of the speed of crankshaft that the checkout value of the speed of crankshaft between described predictor predicts and speed of crankshaft decrement phase is corresponding; And

Determinant, according to the relation between the future value of the prediction of the checkout value of speed of crankshaft and speed of crankshaft, described determinant judge based on motor restart control motor restarting successfully still failure.

2. system according to claim 1, it is characterized in that, described engine operation is so that thereby the piston in the cylinder back and forth passes through the top dead center turning crankshaft of described cylinder, described fallout predictor is configured to predict the value of every circulation time speed of crankshaft of piston arrives top dead center, described fallout predictor is configured to predict the future value of every circulation time speed of crankshaft of piston arrives top dead center, and described determinant is configured to: according to the relation between corresponding of the future value of the prediction of each and speed of crankshaft in the checkout value of every circulation time speed of crankshaft of piston arrives top dead center, judge based on motor restart control motor restarting successfully still failure.

3. system according to claim 1, it is characterized in that, described determinant is configured to the difference between the future value of the prediction of the checkout value of speed of crankshaft and speed of crankshaft is compared as described relation and threshold value, and restarts successfully still failure according to the comparative result judgement based on the motor that motor restarts control.

4. a system is used for the small gear of mobile and rotation starter motor to restart the motor with the bent axle that couples with ring gear, and described system comprises:

Restart the unit, motor restart that request occurs in that motor is controlled so as in case its stop after between the speed of crankshaft decrement phase time, the described unit that restarts is carried out motor and is restarted control and make small gear move to ring gear to be used for small gear is engaged with ring gear to drive starter motor, and with rotation pinion so that engine on;

Detector, described detector detect carries out the tachometer value that motor restarts the bent axle between the speed of crankshaft decrement phase of control back; And

Determinant, described determinant are according to the information of the variation behavior of the checkout value of indication speed of crankshaft, and judgement restarts the restarting successfully of motor of control and still fails based on motor.

5. system according to claim 4, it is characterized in that, the variation behavior of the checkout value of described speed of crankshaft is the increase of detected speed of crankshaft or increases speed, and described determinant is configured to the increase of the checkout value of described speed of crankshaft or increases speed compare with threshold value, and judges that according to comparative result the restarting successfully of motor that restarts control based on motor still fail.

6. according to claim 3 or 5 described systems, it is characterized in that described determinant is configured to described threshold value is defined as following at least one function: the variable of the checkout value of speed of crankshaft and restart request from motor and pass the variable of time.

7. according to the described system of each claim in the claim 1 to 5, it is characterized in that, the described unit that restarts is configured to: is controlled so as to so that between its speed of crankshaft decrement phase after stopping at motor, carries out motor and restart control driving starter motor, thereby:

Restart the generation of request, rotation pinion in response to motor; And

The small gear that rotates is moved to ring gear so that small gear engages with ring gear.

8. system according to claim 7 is characterized in that, describedly restarts difference between the rotating speed that the unit is formed at the rotating speed of small gear and bent axle and the small gear that rotates is moved to ring gear so that small gear engages with ring gear in predefined value the time.

9. according to the described system of each claim in the claim 1 to 5, it is characterized in that, the described unit that restarts is configured to: is controlled so as to so that between its speed of crankshaft decrement phase after stopping at motor, carries out motor and restart control driving starter motor, thereby:

Restart the generation of request in response to motor, small gear is moved to ring gear so that small gear engages with ring gear; And

Rotation pinion.

10. according to the described system of each claim in the claim 1 to 5, it is characterized in that, the described unit that restarts is configured to: when determining the restarting when failing of motor that restarts control based on motor, carry out motor extraly and restart control to drive starter motor so that engine on.

11. system according to claim 10, it is characterized in that, if being rotated and being moved to ring gear, small gear throw off to make that with ring gear determining the restarting of motor that restarts control based on motor fails, then the described unit that restarts is configured to carry out extra motor and restarts control driving starter motor, thereby reduces the rotating speed of small gear so that small gear engages with ring gear.

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