JP2004324653A - Control device for electronic throttle valve - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device for an electronic throttle valve capable of enhancing its control responsiveness stably. <P>SOLUTION: The electronic throttle valve 1 includes a throttle valve 3 installed in the suction passage 2 of an engine and opened and closed by a motor 4. A acceleration sensor 7 is operated by the driver for setting the target degree of opening of the throttle valve 3. A throttle sensor 6 senses the actual degree of opening of the throttle valve 3. An electronic control unit 21 corrects preceedingly the actual degree of opening based on the first-order differential value calculated by subjecting the sensed actual degree of opening to first-order differentiation, calculates the deviation between the set target degree of opening and the actual degree of opening to be corrected, calculates the control amount based on the obtained deviation, and approaches the actual degree of opening to the target value by subjecting the motor 4 to feedback control (differentiation preceding type PID control) based on the control amount obtained through calculation. The ECU 21 further corrects the actual degree of opening based on the second-order differential value of the actual degree of opening calculated by subjecting the actual degree of opening to second-order differentiation. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to an electronic throttle valve for opening and closing a throttle valve provided in an intake passage of an engine by a motor, and more particularly to a control device for the electronic throttle valve.

  Conventionally, as a control device for this kind of electronic throttle valve, a target opening of a throttle valve set by a driver's request and an actual opening of the throttle valve obtained by driving a motor in accordance with the target opening In some cases, the throttle valve is controlled by performing feedback control of a motor based on a deviation from the actual opening degree.

  Patent Document 1 below discloses an example of this type of control device. This control device calculates a feedback control amount including a proportional term as a feedback correction term by using a deviation between a target opening of the throttle valve and a detected opening (actual opening) detected by a sensor, and calculates the feedback control amount. Feedback control is performed on the throttle actuator such as a motor based on the result, so that the opening of the throttle valve approaches the target opening. This control device is characterized in that when the deviation is small, the gain relating to the proportional term is increased as compared with when the deviation is large. This prevents a decrease in the operating speed of the throttle valve accompanied by frictional resistance, and makes the actual opening of the throttle valve close to the target opening with good responsiveness.

  By the way, in order to enhance the control response of the electronic throttle valve, generally, PID (trinomial operation of proportional, integral and differential) control is adopted, and in that control, a control gain is increased.

JP-A-7-332136 (pages 2-4, FIG. 4-6)

  However, if the control gain is set too high in order to increase the control response of the electronic throttle valve, the behavior of the actual opening with respect to the target opening will have oscillation phenomena including overshoot and undershoot, resulting in unstable control. Could be. As a result, the actual opening becomes more difficult to approach the target opening, and the controllability of the electronic throttle valve may be reduced. For this reason, optimization is performed by increasing the control gain within a range where the oscillation phenomenon does not occur, but it is difficult to further improve the control response of the electronic throttle valve by this method.

  Particularly, in a motor such as a torque motor having a relatively large L / R current time constant due to the resistance and inductance of the motor, the current change is slow with respect to a change in the control output. Responsiveness tends not to be obtained. Therefore, in an electronic throttle valve using this type of motor, it is more difficult to improve the responsiveness as described above.

  Further, when a so-called direct-acting motor in which the output shaft of the motor is directly connected to the shaft of the throttle valve without using a gear is applied to the electronic throttle valve, the inertia of the throttle valve is directly applied to the motor. Only the inertia of the motor system increases. For this reason, the throttle valve is difficult to start and tends to be hard to stop once started, and the controllability of the electronic throttle valve may be deteriorated.

  The present invention has been made in view of the above circumstances, and a first object of the present invention is to provide a control device of an electronic throttle valve which can stably increase the control response of the electronic throttle valve. It is in. A second object of the present invention is to provide a control device for an electronic throttle valve which can stably enhance the control response of an electronic throttle valve employing a torque motor or a direct-acting motor. is there.

  In order to achieve the first object, an invention according to claim 1 is an electronic throttle valve control device for driving a throttle valve provided in an intake passage of an engine to open and close by a motor. Target opening degree setting means for setting the degree, actual opening degree detecting means for detecting the actual opening degree of the throttle valve, and first order differentiation calculated by first order differentiation of the detected actual opening degree The actual opening is corrected in advance based on the value, the opening deviation between the set target opening and the corrected actual opening is calculated, and the control amount is calculated based on the calculated opening deviation. Then, control means by differential leading PID control for bringing the actual opening closer to the target opening by performing feedback control of the motor based on the calculated control amount, and calculating by second-order differentiation of the actual opening. Sa And purpose that a real opening degree correction means for further correcting the actual opening based on the actual opening second-order differential value that.

According to the electronic throttle valve control device having the configuration of the present invention, for example, when the driver operates the target opening setting means, the target opening of the throttle valve is set by the means. The actual opening of the throttle valve at that time is detected by the actual opening detecting means. Here, the actual opening is corrected in advance by the control means based on the first order differential value calculated by the first order differentiation of the detected actual opening. Further, an opening deviation between the set target opening and the corrected actual opening is calculated by the control means, and a control amount is calculated by the control means based on the calculated opening deviation. Then, the motor is feedback-controlled by the control means based on the calculated control amount, so that the throttle valve is driven, and the actual opening approaches the target opening.
Here, in the present invention, in calculating the control amount, the actual opening degree is second-order differentiated by the actual opening correction means to calculate the actual opening degree second-order differential value, and based on the second-order differential value. The actual opening is further corrected by the actual opening correcting means.
Therefore, the actual opening second-order differential value is a value reflecting the change acceleration of the actual opening, and the time-dependent phase change of the actual opening is advanced by a predetermined period with respect to the time-dependent phase change of the control amount before correction. It becomes. For this reason, even with respect to the control amount calculated based on the actual opening that is corrected by the second-order differential value of the actual opening, the time-dependent phase change is different from the time-dependent phase change of the control amount before correction. Thus, it is advanced by a predetermined period. As a result, the motor is controlled in such a manner as to predict the change in the actual opening, and the throttle valve is opened and closed prior to the change in the actual opening.

  In order to achieve the first object, an invention according to claim 2 is an electronic throttle valve control device for driving a throttle valve provided in an intake passage of an engine to open and close by a motor. Target opening degree setting means for setting the degree, actual opening degree detecting means for detecting the actual opening degree of the throttle valve, and first order differentiation calculated by first order differentiation of the detected actual opening degree The actual opening is corrected in advance based on the value, the opening deviation between the set target opening and the corrected actual opening is calculated, and the control amount is calculated based on the calculated opening deviation. Then, the feedback control of the motor based on the calculated control amount is performed, and the control means by differential leading PID control for making the actual opening close to the target opening, and the opening degree deviation is calculated by second-order differentiation. And purpose that a control amount correction means for correcting the control amount based on the opening deviation second derivative values.

According to the electronic throttle valve control device having the configuration of the present invention, unlike the operation of the first aspect of the present invention, in calculating the control amount, the opening amount deviation is second-order differentiated by the control amount correction means, so that the opening amount deviation is obtained. The second order differential value is calculated, and the control amount is corrected by the control amount correction unit based on the second order differential value.
Therefore, the second-order differential value of the opening degree deviation is a value reflecting the change acceleration of the opening degree deviation, and the phase change over time is a value that is advanced by a predetermined period with respect to the phase change over time of the control amount before correction. It becomes. For this reason, also with respect to the control amount corrected by the second-order differential value of the opening degree deviation, the time-dependent phase change is advanced by a predetermined period with respect to the time-dependent phase change of the control amount before correction. As a result, the motor is controlled in such a manner that the change in the opening deviation is predicted, and the throttle valve is opened and closed prior to the change in the opening deviation.

  In order to achieve the second object, according to a third aspect of the present invention, in the configuration of the first or third aspect, the motor is capable of rotating the output shaft within a predetermined operating angle range. It is intended to be a movable magnet type DC torque motor.

  According to the electronic throttle valve control device having the configuration of the invention described above, since the motor is a movable magnet type DC torque motor in the configuration of the invention of claim 1 or 2, the control amount supplied to the motor is reduced. On the other hand, it tends to be difficult to obtain sufficient responsiveness for the operation of the output shaft. However, in the present invention, since the DC torque motor is controlled in a manner that predicts the opening deviation or the change in the actual opening, the throttle valve is opened and closed prior to the opening deviation or the change in the actual opening. Will be done.

  In order to achieve the second object, a fourth aspect of the present invention is the invention according to any one of the first to third aspects, wherein a gear is connected to the output shaft of the motor and the support shaft of the throttle valve. The intent is to connect directly without intervention.

  According to the electronic throttle valve control device having the above configuration, the output shaft of the motor is directly connected to the support shaft in the configuration of any one of the first to third aspects of the invention. The inertia of the valve is directly applied to the motor, and the inertia of the motor system tends to increase accordingly. However, in this invention, since the motor is controlled in a manner that predicts the opening deviation or the change in the actual opening, the throttle valve is opened and closed prior to the opening deviation or the change in the actual opening. Will be.

According to the first aspect of the present invention, the motor is feedback-controlled based on a control amount calculated based on an opening degree difference between the actual opening degree and the target opening degree which is corrected in advance by the first order differential value of the actual opening degree. Thus, in the electronic throttle valve control device based on differential leading PID control in which the actual opening approaches the target opening, the actual opening is further proactively corrected based on the second-order differential value of the actual opening. Like that.
Therefore, also with respect to the control amount calculated based on the actual opening that is corrected by the second-order differential value of the actual opening, the temporal change in the control amount is different from the temporal change in the control amount before correction. This is advanced by a predetermined period. As a result, the motor is controlled in such a manner as to predict the change in the actual opening, and the throttle valve is opened and closed prior to the change in the actual opening. For this reason, the control response of the electronic throttle valve can be stably enhanced.

According to the second aspect of the invention, unlike the first aspect of the invention, the control amount is corrected based on the second derivative of the opening deviation calculated by performing the second differentiation of the opening deviation. I have.
Therefore, also with respect to the control amount corrected by the second-order differential value of the opening degree deviation, the time-dependent phase change is advanced by a predetermined period with respect to the time-dependent phase change of the control amount before correction. As a result, the motor is controlled in such a manner that the change in the opening deviation is predicted, and the throttle valve is opened and closed prior to the change in the opening deviation. For this reason, the control response of the electronic throttle valve can be stably enhanced.

According to a third aspect of the present invention, in the configuration of the first or second aspect, the motor is a movable magnet type direct current torque motor in which an output shaft is rotatable within a predetermined operating angle range.
Therefore, since the movable magnet type DC torque motor is controlled in such a manner that the opening deviation or the change in the actual opening is predicted, the throttle valve is opened and closed prior to the opening deviation or the change in the actual opening. Will be. For this reason, in particular, the control response of the electronic throttle valve employing the DC torque motor can be stably enhanced.

According to the invention of claim 4, in the configuration of any one of claims 1 to 3, the output shaft of the motor is directly connected to the support shaft of the throttle valve without using a gear. I have.
Therefore, since the direct-acting motor is controlled in a manner that predicts the opening deviation or the change in the actual opening, the throttle valve is opened and closed prior to the opening deviation or the change in the actual opening. become. For this reason, in particular, the effect that the control responsiveness of the electronic throttle valve employing the direct-acting motor can be stably enhanced.

[First Embodiment]
Hereinafter, a first embodiment of an electronic throttle valve control device according to the present invention will be described in detail with reference to the drawings.

  FIG. 1 shows a schematic configuration diagram of the electronic throttle valve 1 and its control device. The electronic throttle valve 1 drives a motor 4 to open and close a throttle valve 3 provided in an intake passage 2 of an automobile engine (not shown). The throttle valve 3 is rotatably supported by a support shaft of the throttle valve 3 penetrating the intake passage 2, that is, a throttle shaft 5. The motor 4 is connected to one end of the throttle shaft 5, and the throttle sensor 6 is connected to the other end. The output shaft of the motor 4 is directly connected to the throttle shaft 5 without using a gear.

  As the motor 4 of this embodiment, a single-pole movable magnet type DC torque motor is employed. FIG. 2 shows the configuration of the motor 4. The motor 4 enables the output shaft 11 to rotate within a range of a predetermined operation angle θ. The motor 4 includes a mover 12 that forms the output shaft 11 and a stator 13 that contains the mover 12. The mover 12 includes an iron core 14 made of a columnar soft iron, and a pair of semi-cylindrical permanent magnets 15 and 16 fixed to the outer periphery of the iron core 14. The stator 13 is formed in a substantially U shape from soft iron, and includes a base 13a and first and second magnetic pole portions 13b and 13c at both ends thereof. Both magnetic pole portions 13b and 13c are arranged to face the mover 12 while maintaining a predetermined gap. A coil 17 is wound on the base 13a.

  The permanent magnets 15 and 16 fixed to the iron core 14 are magnetized in opposite directions. One of the magnets 15 is magnetized on its front surface (outer peripheral surface) side with an N pole and its back surface (inner surface) side with an S pole. The other magnet 16 is magnetized to the S-pole on the front surface (outer peripheral surface) side and to the N-pole on the back surface (inner surface) side. Due to the repulsion and attraction of the magnetic forces of the permanent magnets 15 and 16 and the magnetic poles generated in the magnetic pole portions 13b and 13c by the coil current flowing through the coil 17, the movable element 12, that is, the output shaft 11 is moved to a predetermined operating angle θ. Rotate within the range. In the motor 4 of this embodiment, in principle, the operating angle is rotatable within a range of 0 to 180 degrees, but at an operating angle θ near 0 degrees or 180 degrees, it becomes a stable point, and the rotating direction is unstable. Since the torque is extremely reduced, the range of the actual operating angle θ is limited to a range of 90 to 45 to 135 degrees.

  The throttle sensor 6 is for detecting the actual opening VTA of the throttle valve 3 and constitutes the actual opening detecting means of the present invention. The sensor 6 is constituted by, for example, a potentiometer. The accelerator sensor 7 detects the depression amount of an accelerator pedal (not shown) operated by the driver as the target opening RTA in order to set the target opening RTA of the throttle valve 3. The target opening degree setting means is constituted. This sensor 7 is composed of, for example, a potentiometer.

  The electronic control unit (ECU) 21 includes a computer 22, first and second A / D converters 23 and 24, and a drive circuit 25. The computer 22 supervises the control of the electronic throttle valve 1, and constitutes the control means and the control amount correction means of the present invention. The computer 22 includes a central processing unit (CPU), a read / write memory (RAM), a read-only memory (ROM), and the like. A program for controlling the electronic throttle valve 1 is stored in the ROM. The A / D converters 23 and 24 convert analog signals output from the sensors 6 and 7 into digital signals and output the digital signals to the computer 22. The drive circuit 25 receives a control signal output from the computer 22 and outputs a drive signal to the motor 4.

  An analog signal corresponding to the actual opening degree VTA output from the throttle sensor 6 is converted into a digital actual opening degree signal sigV by the first A / D converter 23, and the signal is input to the computer 22. The analog signal corresponding to the target opening RTA output from the accelerator sensor 7 is converted into a digital target opening signal sigR by the second A / D converter 24, and the signal is input to the computer 22.

  The computer 22 controls the electronic throttle valve 1 based on the input actual opening signal sigV and the target opening signal sigR in accordance with the PID control method. That is, the computer 22 calculates the opening deviation ERROR between the target opening RTA and the actual opening VTA based on the input signals sigV and sigR, and drives as a control amount based on the calculated opening deviation ERROR. The duty ratio DUTY is calculated. Then, the computer 22 outputs a control signal corresponding to the calculated drive duty ratio DUTY to the motor 4 as a drive signal via the drive circuit 25, and controls the coil current of the motor 4. As a result, the actual opening VTA of the throttle valve 3 is made to approach the target opening RTA by feedback-controlling the motor 4. In this embodiment, in particular, the computer 22 corrects the drive duty ratio DUTY based on the second-order differential value VIA of the opening deviation calculated by performing second-order differentiation of the opening deviation ERROR.

  The drive circuit 25 is, specifically, a PWM-type drive circuit that switches the voltage applied to the motor 4 based on the drive duty ratio DUTY calculated by the computer 22 and changes the coil current of the motor 4. . In this PWM drive method, the coil current is proportional to the drive duty ratio DUTY of the pulse wave applied to the motor 4. That is, as the drive duty ratio DUTY increases, the coil current increases in proportion thereto.

  Here, the operating characteristics of the motor 4 will be described. FIG. 3 shows the angle-torque characteristics of the motor 4. In the figure, “Ic” indicates a coil current, and “θ” indicates an operation angle. When the motor 4 rotates the output shaft 11, that is, the throttle shaft 5, greatly, the throttle shaft 5 can be rotated with a relatively large torque at the beginning of rotation, and a large angular acceleration can be obtained. Therefore, for example, the throttle valve 3 is changed from a position near fully closed (θ = 45 degrees) to a position near fully opened (θ = 135 degrees), or conversely, from a position near fully opened to a position near fully closed. In some cases, the responsiveness of the throttle valve 3 can be increased. At the end of the rotation, the obtained torque becomes small, so that the throttle valve 3 can be stopped smoothly. On the other hand, when the throttle shaft 5 is rotated small, it is not necessary to increase the responsiveness because the change amount of the operating angle θ is small, and there is no problem even if the obtained torque is small. Can be controlled. Moreover, since the size and weight of the stator 13 are relatively small, the motor 4 can be reduced in size and weight. Therefore, the entire electronic throttle valve 1 can be reduced in size and measured.

  Next, a control program of the electronic throttle valve 1 executed by the computer 22 will be described in detail. FIG. 4 shows a flowchart relating to the contents of the control program. The computer 22 executes this routine periodically at predetermined time intervals.

  When the process proceeds to this routine, in step 100, the computer 22 calculates the value of the opening deviation ERROR by subtracting the value of the actual opening VTA from the value of the target opening RTA. The computer 22 performs this calculation based on the target opening signal sigR and the actual opening signal sigV detected by the sensors 6 and 7 and output from the A / D converters 23 and 24.

In step 110, the computer 22 calculates the value of the proportional term VIP, which is one of the feedback correction terms, based on the value of the opening deviation ERROR. The computer 22 calculates the value of the proportional term VIP according to the following equation (1).
VIP = KP * ERROR (1)
Here, “KP” is a proportional constant that is one of the feedback control gains.

In step 120, the computer 22 calculates the value of the integral term VII, which is one of the feedback correction terms, based on the value of the opening deviation ERROR. The computer 22 calculates the value of the integral term VII according to the following equation (2).
VII = Σ (KI * ERROR) (2)
Here, “KI” is an integration constant that is one of the feedback control gains.

In step 130, the computer 22 calculates the value of the first derivative term VID, which is one of the feedback correction terms, based on the value of the opening deviation ERROR. The computer 22 calculates the value of the first derivative term VID according to the following equation (3).
VID = KD * (d (ERROR) / dt) (3)
Here, “KD” is a first-order differential constant which is one of the feedback control gains.

In step 140, the computer 22 calculates the value of the second derivative term VIA, which is one of the feedback correction terms, based on the value of the opening deviation ERROR. The computer 22 calculates the value of the second derivative term VIA according to the following equation (4).
VIA = KA * (d ² (ERROR) / dt ² ) (4)
Here, “KA” is a second-order differential constant that is one of the feedback control gains.

In step 150, the computer 22 calculates a value of the drive duty ratio DUTY as a control amount based on the calculated terms VIP, VII, VII, and VIA. The computer 22 calculates the value of the drive duty ratio DUTY according to the following equation (5).
DUTY = VIP + VII + VID + VIA (5)

  Then, in step 160, the computer 22 outputs the calculated drive duty ratio DUTY to the drive circuit 25 to control the motor 4, that is, to control the throttle valve 3, and terminates the subsequent processing once. .

  Here, the above PID control system is shown in a block diagram in FIG. "PWM output means" in the figure means the drive circuit 25 employing the PWM method. As can be seen from this block diagram, in the PID control system, the proportional term VIP, the integral term VII, and the first derivative calculated based on the value of the opening deviation ERROR between the target opening RTA and the actual opening VTA. The value of the drive duty ratio DUTY is calculated by adding the values of the term VID and the second derivative term VIA to each other. The value of the drive duty ratio DUTY is output to the motor 4 from the drive circuit 25 which is the output means of the PWM system, so that the throttle valve 3 is opened and closed. Then, the value of the actual opening VTA of the throttle valve 3 detected by the throttle sensor 6 is fed back for calculating the value of the opening deviation ERROR, so that the actual opening VTA approaches the target opening RTA.

  As described above, according to the electronic throttle valve control device of this embodiment, the accelerator sensor 7 is operated in accordance with the depression of the accelerator pedal by the driver of the vehicle, and the target of the throttle valve 3 is controlled by the sensor 7. The value of the opening RTA is set, and the value of the target opening RTA is output from the sensor 7 as a detection value. On the other hand, the value of the actual opening degree VTA of the throttle valve 3 driven to open and close by the motor 4 at that time is detected by the throttle sensor 6. Here, the computer 22 calculates the value of the opening deviation ERROR between the value of the set target opening RTA and the detected actual opening VTA. The computer 22 calculates a value of the drive duty ratio DUTY as a control amount based on the calculated value of the opening deviation ERROR. The computer 4 performs feedback control (PID control) of the motor 4 based on the calculated value of the drive duty ratio DUTY to open and close the throttle valve 3, and the value of the actual opening degree VTA is set to the target opening degree. It approaches the value of RTA.

  Here, according to the above-described PID control, the value of the drive duty ratio DUTY is determined based on the respective values of the proportional term VIP, the integral term VII, and the first derivative term VID, which are calculated based on the value of the opening degree error ERROR. Is calculated. Therefore, the drive duty ratio DUTY is a value reflecting the characteristics of the proportional term VIP, the integral term VII, and the first derivative term VID, which are feedback correction terms in PID control, respectively. Therefore, the followability of the actual opening degree VTA to the target opening degree RTA is improved by increasing the value of the proportional term VIP. According to the integral term VII, a steady-state error that cannot be obtained only by the proportional term VIP is compensated. According to the first-order differential term VID, the rising characteristic of following the actual opening degree VTA with respect to the target opening degree RTA is improved. These characteristics improve the controllability of the throttle valve 3.

  Here, in order to increase the responsiveness of the throttle valve 3, the proportional constant VIP, the integral constant KI, and the integral constant KI and the first derivative constant KD, which are control gains corresponding to the proportional term VIP, the integral term VII, and the first derivative term VID, respectively. It is said that it is effective to relatively increase. However, if the constants KP, KI, and KD are simply increased, an oscillation phenomenon may occur in the behavior of the actual opening degree VTA, so that the control of the electronic throttle valve 1 becomes unstable and the controllability decreases. There is a risk.

  Therefore, in this embodiment, when calculating the drive duty ratio DUTY, the value of the second-order differential term VIA as the second-order differential value of the opening deviation is obtained by performing the second-order differentiation of the value of the opening deviation ERROR by the computer 22. Is calculated. Then, the value of the second-order differential term VIA is added to the drive duty ratio DUTY, so that the computer 22 corrects the value of the duty ratio DUTY.

  Therefore, the value of the second-order differential term VIA is a value reflecting the change acceleration of the opening degree error ERROR, and the time-dependent phase change is only a predetermined period with respect to the time-dependent phase change of the drive duty ratio DUTY before correction. It will be advanced. For this reason, also with respect to the drive duty ratio DUTY corrected by the value of the second-order differential term VIA, the temporal change in the phase is advanced by a predetermined period with respect to the temporal change in the drive duty ratio DUTY before correction. It will be. As a result, the motor 4 is controlled in such a manner that the change in the opening deviation ERROR is predicted, and the throttle valve 3 is opened and closed prior to the change in the opening deviation ERROR. For this reason, unlike the conventional control device employing the PID control, which simply causes the constants KP, KI, and KD to increase to cause an oscillation phenomenon, the electronic control device according to the present embodiment employs the electronic throttle. The responsiveness of the control of the valve 1 can be improved, and the responsiveness can be stably increased without causing an oscillation phenomenon.

  In particular, in this embodiment, since the movable magnet type DC torque motor is adopted as the motor 4, the control amount supplied to the motor 4, that is, the drive duty ratio DUTY is not controlled by the output shaft 10 for structural reasons. There is a tendency that it is difficult to obtain a sufficient responsiveness in the above operation. However, in this embodiment, since the motor 4 is controlled in such a manner that the change in the opening deviation ERROR is predicted as described above, the opening and closing of the throttle valve 3 is performed prior to the change in the opening deviation ERROR. become. As a result, even in the electronic throttle valve 1 employing the movable magnet type DC torque motor as the motor 4, the responsiveness of the control can be stably enhanced.

  Furthermore, in this embodiment, since the output shaft 10 of the motor 4 is directly connected to the throttle shaft 5 without using a gear, the inertia of the throttle valve 3 is directly applied to the motor 4, and accordingly, Only the inertia of the motor system tends to increase. However, in this embodiment, as described above, since the motor 4 is controlled in such a manner as to predict the change in the opening deviation ERROR, the throttle valve 3 is opened and closed prior to the change in the opening deviation ERROR. Will be. As a result, even if the electronic throttle valve 1 employs a direct-acting motor as the motor 4, the responsiveness of the control can be stably improved.

FIG. 6 is a time chart illustrating the operation of the PID control according to the present embodiment. The time chart includes a throttle valve opening (a target opening RTA and an actual opening VTA), a first derivative of an opening deviation (d (ERROR) / dt), and a second derivative of an opening deviation (d ^2). (ERROR) / dt ² ) and the drive duty ratio DUTY.
As shown in this time chart, when the target opening RTA rises from the predetermined value T1 to the predetermined value T2 at time t0, the actual opening VTA changes from the predetermined value T1 to the predetermined value T2 from time t0 to time t2. It increases in a curve toward. At this time, the first derivative (d (ERROR) / dt) of the opening deviation between the target opening RTA and the actual opening VTA shows a minimal change at the intermediate time t1. Regarding the change of the drive duty ratio DUTY at this time, the behavior of the conventional example which is not corrected by the second order differential value (d ² (ERROR) / dt ² ) of the opening degree deviation is shown by a broken line, and the second order differential value (d ² (ERROR) ) / Dt ² ), the behavior of the present embodiment corrected by solid lines is shown by solid lines.
As is clear from the time chart, the phase change of the second-order differential value (d ² (ERROR) / dt ² ) of the opening degree deviation is a predetermined cycle with respect to the phase change of the drive duty ratio DUTY of the related art before correction. You can see that only advanced. Therefore, the drive duty ratio DUTY of the present embodiment corrected by the second-order differential value (d ² (ERROR) / dt ² ) also has a phase change advanced by a predetermined period with respect to that of the conventional example. It turns out that it becomes. Due to the advance of the phase, the motor 4 is controlled in such a manner that the change in the opening deviation ERROR is predicted and the response delay is compensated, and the opening of the throttle valve 3 is controlled prior to the change in the opening deviation ERROR. Will be.

In the PID control of this embodiment, since the drive duty ratio DUTY is corrected based on the second-order differential value (d ² (ERROR) / dt ² ) of the opening deviation, the change in the target opening RTA is not changed. This will be reflected in the value of DUTY. That is, the second-order differential value (d ² (ERROR) / dt ² ) is used to calculate the drive duty ratio DUTY necessary to fill the opening deviation ERROR. For this reason, it is suitable for control aiming at eliminating the opening degree deviation ERROR as in the present embodiment, or for coping with a response delay caused by using the motor 4 as a direct-acting torque motor.

[Second embodiment]
Next, a second embodiment of the electronic throttle valve control device of the present invention will be described with reference to the drawings.
In the following embodiments (including this embodiment), the same members and the like as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

FIG. 7 shows a block diagram of the PID control system in the present embodiment. In the first embodiment, as shown in the block diagram of FIG. 5, the second order differential value (d ² (ERROR) / dt ² ) calculated by performing the second order differentiation of the opening deviation ERROR, that is, 2 The drive duty ratio DUTY is corrected based on the second derivative term VIA. On the other hand, in the present embodiment, the drive duty ratio DUTY is corrected based on the second-order differential value of the actual opening calculated by second-order differentiation of the actual opening VTA, that is, the second-order differential term V2. This is different from the first embodiment in that In this embodiment, the computer 22 constitutes the control amount correcting means of the present invention.

  Specifically, in the PID control system of the present embodiment, the proportional term VIP, the integral term VII, and the first derivative term VII are calculated based on the value of the opening deviation ERROR between the target opening RTA and the actual opening VTA. Are added to each other to calculate the value of the drive duty ratio DUTY. Further, the drive duty ratio DUTY is corrected by subtracting the second-order differential term V2 of the actual opening from the value of the drive duty ratio DUTY. Then, the corrected drive duty ratio DUTY value is output to the motor 4 from the drive circuit 25 which is the output means of the PWM system, so that the throttle valve 3 is opened and closed. The value of the actual opening VTA detected by the throttle sensor 6 is fed back to the calculation of the value of the opening deviation ERROR, and the value of the second derivative V2 of the actual opening VTA is determined based on the value of the opening deviation ERROR. This is used for correcting the drive duty ratio DUTY calculated as above.

  As described above, according to the electronic throttle valve control device of this embodiment, the second-order differential term V2 of the actual opening is calculated by the computer 22 performing the second-order differentiation on the value of the actual opening VTA, The computer 22 corrects the value of the drive duty ratio DUTY based on the second derivative term V2.

  Therefore, according to the PID control of this control device, the second-order differential term V2 of the actual opening degree is a value reflecting the change acceleration of the actual opening degree VTA, and the time-dependent phase change is due to the drive duty ratio DUTY before correction. Is advanced by a predetermined period with respect to the phase change with time. For this reason, even with respect to the drive duty ratio DUTY corrected by the value of the second-order differential term V2 of the actual opening, the temporal change in the phase is a predetermined value with respect to the temporal change in the drive duty ratio DUTY before correction. It will be advanced by the period. As a result, the motor 4 is controlled in a manner predicting a change in the actual opening VTA, and the throttle valve 3 is opened and closed prior to the change in the actual opening VTA. As a result, the responsiveness of the electronic throttle valve control can be stably improved. In addition, even if the electronic throttle valve 1 employs a movable magnet type DC torque motor as the motor 4 or the electronic throttle valve 1 employs a direct-acting motor as the motor 4, the responsiveness of the control is stably improved. Will be able to do it.

[Third Embodiment]
Next, a third embodiment of the electronic throttle valve control device according to the present invention (inventions of claims 1, 3 and 4) will be described with reference to the drawings.

  FIG. 8 is a flowchart showing the contents of the control program for the electronic throttle valve 1 executed by the computer 22. This control program differs from the PID control of the first and second embodiments in that it is a differential leading PID control. In this embodiment, the computer 22 constitutes the actual opening correction means of the present invention.

When the process proceeds to this routine, in step 200, the computer 22 calculates the first order differential term V1 by performing the first order differentiation of the actual opening degree VTA. The computer 22 performs this calculation based on the actual opening signal sigV detected by the throttle sensor 6 and output from the first A / D converter 23 according to the following equation (6).
V1 = KD * (d (VTA) / dt) (6)
Here, “KD” is a first-order differential constant.

In step 210, the computer 22 calculates the second-order differential term V2 by performing the second-order differentiation on the actual opening degree VTA. The computer 22 performs this calculation according to the following equation (7) based on the actual opening signal sigV detected by the throttle sensor 6 and output from the first A / D converter 23.
V2 = KA * (d ² (VTA) / dt ² ) (7)
Here, “KA” is a second-order differential constant.

  In step 230, the computer 22 subtracts the value obtained by adding the values of the first-order differential term V1 and the value of the second-order differential term V2 to the value of the actual opening degree VTA from the value k of the target opening degree RTA, thereby obtaining the opening degree. Calculate the value of the deviation ERROR. The computer 22 performs this calculation based on the target opening signal sigR and the actual opening signal sigV detected by the sensors 6 and 7 and output from the A / D converters 23 and 24.

  In step 240, the computer 22 calculates the value of the proportional term VIP, which is one of the feedback correction terms, based on the calculated value of the opening deviation ERROR. The computer 22 calculates the value of the proportional term VIP according to the above equation (1).

  In step 250, the computer 22 calculates the value of the integral term VII, which is one of the feedback correction terms, based on the calculated value of the opening deviation ERROR. The computer 22 calculates the value of the integral term VII according to the above equation (2).

  In step 260, the computer 22 calculates the value of the drive duty ratio DUTY as a control amount by adding the calculated values of the terms VIP and VII.

  Then, in step 270, the computer 22 outputs the calculated drive duty ratio DUTY to the drive circuit 25 in order to control the motor 4, that is, to control the throttle valve 3, and temporarily ends the subsequent processing. .

  Here, the above differential leading PID control system is shown in a block diagram in FIG. As can be seen from the block diagram, in the differential leading PID control system, the first-order differential term V1 and the second-order differential term VIA2 are calculated based on the value of the actual opening degree VTA before calculating the opening degree error ERROR. You. Then, the values of the proportional term VIP and the integral term VII are calculated based on the value of the opening degree error ERROR between the target opening degree RTA and the actual opening degree VTA and the sum of the first-order differential term V1 and the second-order differential term V2. Then, the values are added to each other to calculate the value of the drive duty ratio DUTY. The value of the drive duty ratio DUTY is output to the motor 4 from the drive circuit 25 which is the output means of the PWM system, so that the throttle valve 3 is opened and closed. Then, the value of the actual opening degree VTA of the throttle valve 3 detected by the throttle sensor 6 is used prior to the calculation of the values of the first order differential term V1 and the second order differential term V2, and the value of the opening degree error ERROR is calculated. The feedback to the calculation of the value brings the actual opening VTA closer to the target opening RTA.

  As described above, according to the control device for the electronic throttle valve of the present embodiment, unlike the control device of the first embodiment, the actual opening degree VTA is reduced to the first floor prior to the calculation of the opening degree error ERROR. The computer 22 calculates the values of the first-order differential term V1 and the second-order differential term V2 of the actual opening by the differentiation and the second-order differentiation. The actual opening degree VTA is corrected by the computer 22 based on the values of the first derivative term V1 and the second derivative term V2. Then, the computer 22 calculates the value of the opening deviation ERROR between the value of the set target opening RTA and the corrected value of the actual opening VTA. The computer 22 calculates a value of the drive duty ratio DUTY as a control amount based on the calculated value of the opening deviation ERROR. The computer 4 performs feedback control (PID control) of the motor 4 based on the calculated value of the drive duty ratio DUTY to open and close the throttle valve 3, and the value of the actual opening degree VTA is set to the target opening degree. It approaches the value of RTA.

  Here, according to the above differential leading PID control, the value of the drive duty ratio DUTY is calculated based on the respective values of the proportional term VIP and the integral term VII calculated based on the value of the opening degree error ERROR. . Therefore, the drive duty ratio DUTY is a value reflecting the characteristics of the proportional term VIP and the integral term VII, which are feedback correction terms in PID control. Therefore, the followability of the actual opening degree VTA to the target opening degree RTA is improved by increasing the value of the proportional term VIP. According to the integral term VII, a steady-state error that cannot be obtained only by the proportional term VIP is compensated.

  Here, it is said that in order to increase the response of the throttle valve 3, it is effective to relatively increase the proportional constant KP and the integral constant KI, which are the control gains corresponding to the proportional term VIP and the integral term VII, respectively. I have. However, if the constants KP and KI are simply increased, an oscillation phenomenon may occur in the behavior of the actual opening degree VTA. On the contrary, the control of the electronic throttle valve 1 may become unstable and the controllability may decrease. is there.

  Therefore, in this embodiment, in calculating the drive duty ratio DUTY, the actual opening degree VTA is second-order differentiated prior to the calculation of the opening degree deviation ERROR, so that the second-order differential value of the actual opening degree, that is, the second-order differential The value of the term V2 is calculated. Then, by adding and correcting the value of the actual opening degree VTA based on the value of the second-order differential term V2, the value of the drive duty ratio DUTY is corrected by the computer 22.

  Therefore, the value of the second-order differential term V2 of the actual opening is a value reflecting the change acceleration of the actual opening VTA, and the temporal change in the phase is equivalent to the temporal change in the drive duty ratio DUTY before correction. On the other hand, it advances by a predetermined period. For this reason, even with respect to the drive duty ratio DUTY corrected by the second-order differential term V2 of the actual opening, the temporal change in the drive duty ratio DUTY is only a predetermined period with respect to the temporal change in the drive duty ratio DUTY before correction. It will be advanced. As a result, the motor 4 is controlled in such a manner that the change in the actual opening VTA is predicted, and the throttle valve 3 is opened and closed prior to the change in the actual opening VTA. For this reason, unlike the conventional control device employing the differential leading type PID control, unlike the case where the oscillation phenomenon is caused by simply increasing each of the constants KP and KI, according to the control device of the present embodiment, The control responsiveness of the electronic throttle valve 1 can be enhanced, and the responsiveness can be stably enhanced without causing an oscillation phenomenon. In particular, even when the electronic throttle valve 1 employs a movable magnet type DC torque motor as the motor 4, the control responsiveness can be stably enhanced. Further, even with the electronic throttle valve 1 employing a direct-acting motor as the motor 4, the responsiveness of the control can be stably improved.

FIG. 10 is a time chart illustrating the operation of the differential leading PID control according to the present embodiment. This time chart shows the behavior of the throttle valve opening (target opening RTA and actual opening VTA) and the drive duty ratio DUTY. As shown in this time chart, when the target opening RTA rises from the predetermined value T1 to the predetermined value T2 at time t0, the actual opening VTA changes from the predetermined value T1 to the predetermined value T2 from time t0 to time t3. It increases in a curve toward. The value (VTA + V1) obtained by correcting the actual opening degree VTA at this time only by the first-order differential term V1 shows a change that becomes maximum at the intermediate time t2, as indicated by the broken line, and the drive duty ratio DUTY Indicates a minimal change at the same time t2 as indicated by a broken line. On the other hand, the value (VTA + V1 + V2) obtained by correcting the actual opening degree VTA at this time by the first-order differential term V1 and the second-order differential term V2 becomes a maximum at time t1 earlier than time t2, as indicated by the solid line. And the drive duty ratio DUTY shows a minimum change at the same time t1, as shown by the solid line.
As is clear from this time chart, the phase change of the value (VTA + V1 + V2) obtained by correcting the actual opening degree VTA by the first-order differential term V1 and the second-order differential term V2 is obtained by changing the actual opening degree VTA to the first-order differential term V1. It can be seen that the phase change of the value (VTA + V1) corrected only by a predetermined period is advanced by a predetermined period. Therefore, the phase change of the drive duty ratio DUTY calculated based on the opening deviation ERROR between the actual opening VTA and the target opening RTA corrected by the second derivative term V2 is different from that of the conventional example. It can be seen that the data is advanced by a predetermined period. Due to the advance of the phase, the motor 4 is controlled in such a manner that the change in the actual opening VTA is predicted and the response delay is compensated, and the opening of the throttle valve 3 is controlled prior to the change in the actual opening VTA. Because

  In the differential leading PID control of this embodiment, the actual opening VTA used for calculating the opening deviation ERROR is corrected based on the second-order differential term V2 of the actual opening VTA. This is suitable for delay in operation change. In addition, since the value of the second-order differential term V2 is also reflected in the integral term VII, the effect of the integral term VII is enhanced in the minute opening range of the throttle valve 3 where the integral term VII works particularly effectively.

[Fourth embodiment]
Next, a fourth embodiment of the electronic throttle valve control device according to the present invention (the second to fourth aspects of the present invention) will be described with reference to the drawings.

  FIG. 11 is a block diagram of a differential leading PID control system according to the present embodiment. In the third embodiment, as shown in the block diagram of FIG. 9, the actual difference is calculated based on the second-order differential value calculated by performing the second-order differentiation of the actual opening degree VTA, that is, based on the value of the second-order differential term V2. The opening degree VTA was corrected. On the other hand, in the present embodiment, the drive duty ratio DUTY is corrected based on the second-order differential value calculated by second-order differentiation of the opening degree error ERROR, that is, the second-order differential term VIA. This is different from the third embodiment. In this embodiment, the computer 22 constitutes the control amount correcting means of the present invention.

  Specifically, in the differential leading PID control system of the present embodiment, the differential opening type PID control system is based on the value of the opening deviation ERROR between the actual opening VTA corrected by the first order differential term V1 of the actual opening VTA and the target opening RTA. Thus, the values of the proportional term VIP, the integral term VII, and the second derivative term VIA are calculated. Then, the values of the calculated proportional term VIP, integral term VII, and second derivative term VIA are added to each other to calculate the value of the drive duty ratio DUTY. Then, the calculated value of the drive duty ratio DUTY is output to the motor 4 from the drive circuit 25 which is the output means of the PWM system, so that the throttle valve 3 is opened and closed. The value of the actual opening degree VTA detected by the throttle sensor 6 is used for the advance calculation of the value of the first derivative term V1 and is fed back to the calculation of the value of the opening degree error ERROR.

  As described above, according to the electronic throttle valve control device of this embodiment, in the differential leading type PID control system, the computer 22 differentiates the value of the opening deviation ERROR by the second order to obtain the opening deviation 2 The second derivative term VIA is calculated, and the computer 22 calculates the value of the drive duty ratio DUTY based on the second derivative term VIA.

  Therefore, the second-order differential value of the opening degree deviation, that is, the second-order differential term VIA, is a value reflecting the change acceleration of the opening degree error ERROR, and the temporal change of the phase is the temporal change of the drive duty ratio DUTY before correction. The phase is advanced by a predetermined period with respect to the phase change. For this reason, even with respect to the drive duty ratio DUTY corrected by the second-order differential term VIA of the opening degree deviation, the temporal change of the drive duty ratio DUTY is a predetermined period with respect to the temporal change of the drive duty ratio DUTY before correction. It will be advanced. As a result, the motor 4 is controlled in such a manner as to predict the change in the opening deviation ERROR, and the throttle valve 3 is opened and closed prior to the change in the opening deviation ERROR. As a result, the control responsiveness of the electronic throttle valve can be stably improved. Moreover, the control response of the electronic throttle valve 1 employing a movable magnet type DC torque motor as the motor 4 or the electronic throttle valve 1 employing a direct-acting motor as the motor 4 is stably enhanced. Will be able to do it.

[Fifth Embodiment]
Next, a fifth embodiment of the electronic throttle valve control device according to the present invention will be described with reference to the drawings.

  FIG. 12 is a block diagram of a differential leading PID control system according to the present embodiment. In the fourth embodiment, as shown in the block diagram of FIG. 11, in the differential leading PID control system, the second order differential value calculated by performing the second order differentiation of the opening degree error ERROR, that is, the second order differential The drive duty ratio DUTY is corrected based on the value of the term VIA. On the other hand, in the present embodiment, in the differential leading PID control system, based on the second-order differential value of the actual opening calculated by performing the second-order differentiation of the actual opening VTA, that is, the value of the second-order differential term V2 The fourth embodiment differs from the fourth embodiment in that the calculated drive duty ratio DUTY is corrected. In this embodiment, the computer 22 constitutes the control amount correcting means of the present invention.

  Specifically, in the differential leading PID control system according to the present embodiment, the opening deviation between the actual opening VTA and the target opening RTA, which is corrected in advance by the value of the first order differential term V1 of the actual opening VTA. The values of the proportional term VIP and the integral term VII are calculated based on the value of the ERROR. Then, by adding the values of the proportional term VIP and the integral term VII to each other, the value of the drive duty ratio DUTY is calculated. Furthermore, the value of the drive duty ratio DUTY is corrected by subtracting the value of the second order differential term V2 of the actual opening from the value of the drive duty ratio DUTY. Then, the corrected drive duty ratio DUTY value is output to the motor 4 from the drive circuit 25 which is the output means of the PWM system, so that the throttle valve 3 is opened and closed. The value of the actual opening degree VTA detected by the throttle sensor 6 is fed back to the calculation of the value of the opening degree deviation ERROR, and is used for calculating the second-order differential term V2 of the actual opening degree VTA.

  As described above, according to the electronic throttle valve control device of the present embodiment, the value of the actual opening degree VTA is second-order differentiated by the computer 22 in the differential leading PID control system, so that the actual opening degree is 2 The value of the second derivative term V2 is calculated, and the computer 22 corrects the value of the drive duty ratio DUTY based on the value of the second derivative term V2.

  Therefore, according to this differential leading PID control, the value of the second-order differential term V2 of the actual opening is a value reflecting the change acceleration of the actual opening VTA, and the temporal change in the phase is the driving duty before correction. The ratio is advanced by a predetermined period with respect to the time-dependent phase change of the ratio DUTY. For this reason, even with respect to the drive duty ratio DUTY corrected by the second-order differential term V2 of the actual opening, the temporal change in the drive duty ratio DUTY is only a predetermined period with respect to the temporal change in the drive duty ratio DUTY before correction. It will be advanced. As a result, the motor 4 is controlled in a manner predicting a change in the actual opening VTA, and the throttle valve 3 is opened and closed prior to the change in the actual opening VTA. As a result, the control responsiveness of the electronic throttle valve can be stably improved. Moreover, the control response of the electronic throttle valve 1 employing a movable magnet type DC torque motor as the motor 4 or the electronic throttle valve 1 employing a direct-acting motor as the motor 4 is stably enhanced. Will be able to do it.

  The present invention is not limited to the above embodiments, and can be implemented as follows without departing from the spirit of the invention.

  (1) In the first and second embodiments, in the PID control system, the drive duty ratio is calculated based on the values of the proportional term VID, the integral term VII, and the first derivative term VID calculated based on the opening deviation ERROR. The value of DUTY was calculated. On the other hand, the value of the drive duty ratio DUTY is calculated based on one or two of the values of the proportional term VID, the integral term VII, and the first derivative term VID calculated based on the opening deviation ERROR. May be.

  (2) In the third to fifth embodiments, in the differential leading PID control system, the value of the drive duty ratio DUTY based on the value of the proportional term VID and the value of the integral term VII calculated based on the opening degree error ERROR Was calculated. On the other hand, the value of the drive duty ratio DUTY may be calculated based on the proportional term VID or the integral term VII calculated based on the value of the opening deviation ERROR.

  (3) In each of the above embodiments, a movable magnet type DC torque motor that enables the output shaft 11 to rotate within a predetermined operating angle range is used as the motor 4, and the output shaft 11 is connected to the throttle shaft 5 via a gear. Without direct connection. On the other hand, a normal DC motor may be used as the motor 4 and the output shaft 11 may be indirectly connected to the throttle shaft 5 via a gear.

FIG. 2 is a schematic configuration diagram showing an electronic throttle valve and a control device thereof according to the first embodiment. FIG. 2 is a configuration diagram illustrating a single-pole movable magnet type DC torque motor. 4 is a graph showing motor angle-torque characteristics. 5 is a flowchart showing the contents of a control program. FIG. 2 is a block diagram showing a PID control system. 5 is a time chart illustrating the operation of PID control. FIG. 10 is a block diagram showing a PID control system according to the second embodiment. 9 is a flowchart illustrating a control program according to the third embodiment. FIG. 2 is a block diagram showing a differential leading PID control system. 5 is a time chart for explaining the operation of differential leading PID control. FIG. 13 is a block diagram showing a differential leading PID control system according to a fourth embodiment. FIG. 13 is a block diagram showing a differential leading PID control system according to a fifth embodiment.

Explanation of reference numerals

Reference Signs List 1 electronic throttle valve 2 intake passage 3 throttle valve 4 motor 5 throttle shaft (support shaft)
6. Throttle sensor (actual opening detection means)
7 accelerator sensor (target opening setting means)
11 output shaft 21 ECU (control means, control amount correction means and actual opening degree correction means)

Claims (4)

An electronic throttle valve control device that drives a throttle valve provided in an intake passage of an engine to open and close by a motor,
Target opening setting means for setting a target opening of the throttle valve,
Actual opening detecting means for detecting the actual opening of the throttle valve,
The actual opening is corrected in advance based on a first-order differential value calculated by first-order differentiation of the detected actual opening, and the set target opening and the corrected actual opening are corrected. The actual opening degree is calculated based on the calculated opening degree deviation, and the actual opening degree is controlled by the feedback control of the motor based on the calculated opening degree deviation. Control means by differential leading PID control for approaching the degree,
An electronic throttle comprising: an actual opening correction means for further correcting the actual opening based on a second differential value of the actual opening calculated by second-order differentiation of the actual opening. Valve control device. An electronic throttle valve control device that drives a throttle valve provided in an intake passage of an engine to open and close by a motor,
Target opening setting means for setting a target opening of the throttle valve,
Actual opening detecting means for detecting the actual opening of the throttle valve,
The actual opening is corrected in advance based on a first-order differential value calculated by first-order differentiation of the detected actual opening, and the set target opening and the corrected actual opening are corrected. The actual opening degree is calculated based on the calculated opening degree deviation, and the actual opening degree is controlled by the feedback control of the motor based on the calculated opening degree deviation. Control means by differential leading PID control for approaching the degree,
Electronic throttle valve control, comprising: control amount correction means for correcting the control amount based on a second-order differential value of the opening degree deviation calculated by second-order differentiation of the opening degree deviation. apparatus. The control device for an electronic throttle valve according to claim 1 or 2,
The control device for an electronic throttle valve, wherein the motor is a movable magnet type direct current torque motor capable of rotating an output shaft within a predetermined operating angle range. The control device for an electronic throttle valve according to any one of claims 1 to 3,
An electronic throttle valve control device, wherein an output shaft of the motor is directly connected to a support shaft of the throttle valve without using a gear.

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