초록 ▼

There are provided a control device, a control method, a control unit, and an engine control unit, which are capable of controlling a controlled object with relatively large phase delay and dead time, while attaining elimination of lag in control timing between the input and output of the controlled

There are provided a control device, a control method, a control unit, and an engine control unit, which are capable of controlling a controlled object with relatively large phase delay and dead time, while attaining elimination of lag in control timing between the input and output of the controlled object and improvement of control accuracy at the same time. A state predictor calculates a deviation (output deviation) between an output from an oxygen concentration sensor and a predetermined target value at a predetermined deviation calculation period. Then, a DSM controller calculates a target air-fuel ratio for converging the output from the oxygen concentration sensor to the predetermined target value, according to the calculated deviation, based on any one of a Δ modulation algorithm, a ΔΣ modulation algorithm, and a ΣΔ modulation algorithm at a predetermined calculation period shorter than the predetermined deviation calculation period.

대표청구항 ▼

What is claimed is: 1. A control device comprising: deviation-calculating means for calculating a deviation between an output from a controlled object and a predetermined target value at a predetermined deviation calculation period; and control input-calculating means for calculating a control inpu

What is claimed is: 1. A control device comprising: deviation-calculating means for calculating a deviation between an output from a controlled object and a predetermined target value at a predetermined deviation calculation period; and control input-calculating means for calculating a control input to the controlled object so as to converge the output from the controlled object to the target value, according to the calculated deviation, based on one of a Δ modulation algorithm, a Δ Σ modulation algorithm, and a ΣΔ modulation algorithm at a predetermined control input calculation period shorter than the predetermined deviation calculation period. 2. A control device according to claim 1, wherein said control input-calculating means calculates a first intermediate value according to the deviation, based on the one of the modulation algorithms, and calculates the control input based on a value obtained by multiplying the calculated first intermediate value by a predetermined gain. 3. A control device according to claim 1, wherein said control input-calculating means calculates a second intermediate value according to the deviation, based on the one of the modulation algorithms, and calculates the control input by adding a predetermined value to the calculated second intermediate value. 4. A control device comprising: predicted value-calculating means for calculating a predicted value of a value indicative of an output from a controlled object, based on a predictive algorithm at a predetermined predicted value calculation period; and control input-calculating means for calculating a control input to the controlled object so as to control the output from the controlled object according to the calculated predicted value, based on one of a Δ modulation algorithm, a ΔΣ modulation algorithm, and a ΣΔ modulation algorithm at a predetermined control input calculation period shorter than the predetermined predicted value calculation period. 5. A control device according to claim 4, wherein said control input-calculating means calculates a first intermediate value according to the predicted value, based on the one of the modulation algorithms, and calculates the control input based on a value obtained by multiplying the calculated first intermediate value by a predetermined gain. 6. A control device according to claim 4, wherein said control input-calculating means calculates a second intermediate value according to the predicted value, based on the one of the modulation algorithms, and calculates the control input by adding a predetermined value to the calculated second intermediate value. 7. A control device according to claim 4, further comprising output sampling means for sampling the value indicative of the output from the controlled object as discrete data at a predetermined output sampling period longer than the predetermined input calculation period, and wherein the predictive algorithm is an algorithm for calculating the predicted value according to the sampled discrete data of the value indicative of the output from the controlled object. 8. A control device according to claim 7, further comprising input sampling means for sampling at least one of a value indicative of the control input and a value reflecting the control input inputted into the controlled object as discrete data at a first predetermined input sampling period longer than the predetermined input calculation period, and wherein the predictive algorithm is an algorithm for calculating the predicted value further according to at least one of the sampled discrete data of the value indicative of the control input and the sampled discrete data of the value reflecting the control input inputted into the controlled object. 9. A control device according to claim 8, wherein said input sampling means samples the at least one of the discrete data of the value indicative of the control input and the discrete data of the value reflecting the control input inputted into the controlled object at the first predetermined input sampling period, by performing decimation on values thereof sampled at a second predetermined input sampling period shorter than the first predetermined input sampling period. 10. A control device according to claim 4, wherein the predictive algorithm is an algorithm for calculating the predicted value based on a controlled object model using one of the value indicative of the control input and the value reflecting the control input inputted into the controlled object and the value indicative of the output from the controlled object as variables. 11. A control device according to claim 10, further comprising sampling means for sampling at least one of the value indicative of the control input and the value reflecting the control input inputted into the controlled object and the value indicative of the output from the controlled object, as discrete data, at a first predetermined sampling period longer than the predetermined input calculation period, and wherein the controlled object model is a discrete-time system model using one of the sampled discrete data of the value indicative of the control input and the sampled discrete data of the value reflecting the control input inputted into the controlled object and the sampled discrete data of the value indicative of the output from the controlled object as variables. 12. A control device according to claim 11, wherein said sampling means samples the at least one of the discrete data of the value indicative of the control input and the discrete data of the value reflecting the control input inputted into the controlled object at the first predetermined sampling period, by performing decimation on values thereof sampled at a second predetermined sampling period shorter than the first predetermined sampling period. 13. A control device according to claim 11, further comprising identification means for identifying model parameters of the discrete-time system model according to the discrete data of the value indicative of the output from the controlled object. 14. A control device according to claim 13, wherein said identification means identifies the model parameters further according to the at least one of the discrete data of the value indicative of the control input and the discrete data of the value reflecting the control input inputted into the controlled object. 15. A control device according to claim 13, wherein an identification period at which the model parameters are identified by said identification means is set to a longer time period than the predetermined input calculation period. 16. A control method comprising the steps of: calculating a deviation between an output from a controlled object and a predetermined target value at a predetermined deviation calculation period; and calculating a control input to the controlled object so as to converge the output from the controlled object to the target value, according to the calculated deviation, based on one of a Δ modulation algorithm, a ΔΣ modulation algorithm, and a Σ Δ modulation algorithm at a predetermined control input calculation period shorter than the predetermined deviation calculation period. 17. A control method according to claim 16, wherein the control input-calculating step includes calculating a first intermediate value according to the deviation, based on the one of the modulation algorithms, and calculating the control input based on a value obtained by multiplying the calculated first intermediate value by a predetermined gain. 18. A control method according to claim 16, wherein the control input-calculating step includes calculating a second intermediate value according to the deviation, based on the one of the modulation algorithms, and calculating the control input by adding a predetermined value to the calculated second intermediate value. 19. A control method comprising the steps of: calculating a predicted value of a value indicative of an output from a controlled object, based on a predictive algorithm at a predetermined predicted value calculation period; and calculating a control input to the controlled object so as to control the output from the controlled object according to the calculated predicted value, based on one of a Δ modulation algorithm, a Δ Σ modulation algorithm, and a ΣΔ modulation algorithm at a predetermined control input calculation period shorter than the predetermined predicted value calculation period. 20. A control method according to claim 19, wherein the control input-calculating step includes calculating a first intermediate value according to the predicted value, based on the one of the modulation algorithms, and calculating the control input based on a value obtained by multiplying the calculated first intermediate value by a predetermined gain. 21. A control method according to claim 19, wherein the control input-calculating step includes calculating a second intermediate value according to the predicted value, based on the one of the modulation algorithms, and calculating the control input by adding a predetermined value to the calculated second intermediate value. 22. A control method according to claim 19, further comprising the step of sampling the value indicative of the output from the controlled object as discrete data at a predetermined output sampling period longer than the predetermined input calculation period, and wherein the predictive algorithm is an algorithm for calculating the predicted value according to the sampled discrete data of the value indicative of the output from the controlled object. 23. A control method according to claim 22, further comprising the step of sampling at least one of a value indicative of the control input and a value reflecting the control input inputted into the controlled object as discrete data at a first predetermined input sampling period longer than the predetermined input calculation period, and wherein the predictive algorithm is an algorithm for calculating the predicted value further according to at least one of the sampled discrete data of the value indicative of the control input and the sampled discrete data of the value reflecting the control input inputted into the controlled object. 24. A control method according to claim 23, wherein the step of sampling at least one of a value indicative of the control input and a value reflecting the control input inputted into the controlled object includes sampling the at least one of the discrete data of the value indicative of the control input and the discrete data of the value reflecting the control input inputted into the controlled object at the first predetermined input sampling period, by performing decimation on values thereof sampled at a second predetermined input sampling period shorter than the first predetermined input sampling period. 25. A control method according to claim 19, wherein the predictive algorithm is an algorithm for calculating the predicted value based on a controlled object model using one of the value indicative of the control input and the value reflecting the control input inputted into the controlled object, and the value indicative of the output from the controlled object, as variables. 26. A control method according to claim 25, further comprising the step of sampling at least one of the value indicative of the control input and the value reflecting the control input inputted into the controlled object and the value indicative of the output from the controlled object, as discrete data, at a first predetermined sampling period longer than the predetermined input calculation period, and wherein the controlled object model is a discrete-time system model using one of the sampled discrete data of the value indicative of the control input and the sampled discrete data of the value reflecting the control input inputted into the controlled object and the sampled discrete data of the value indicative of the output from the controlled object as variables. 27. A control method according to claim 26, the step of sampling at least one of the value indicative of the control input and the value reflecting the control input inputted into the controlled object and the value indicative of the output from the controlled object includes sampling the at least one of the discrete data of the value indicative of the control input and the discrete data of the value reflecting the control input inputted into the controlled object at the first predetermined sampling period, by performing decimation on values thereof sampled at a second predetermined sampling period shorter than the first predetermined sampling period. 28. A control method according to claim 26, further comprising the step of identifying model parameters of the discrete-time system model according to the discrete data of the value indicative of the output from the controlled object. 29. A control method according to claim 28, wherein the identifying step includes identifying the model parameters further according to the at least one of the discrete data of the value indicative of the control input and the discrete data of the value reflecting the control input inputted into the controlled object. 30. A control method according to claim 28, wherein an identification period at which the model parameters are identified in the identifying step is set to a longer time period than the predetermined input calculation period. 31. A control unit including a control program for causing a computer to control a controlled object, wherein the control program causes the computer to calculate a deviation between an output from the controlled object and a predetermined target value at a predetermined deviation calculation period, and calculate a control input to the controlled object so as to converge the output from the controlled object to the target value, according to the calculated deviation, based on one of a Δ modulation algorithm, a ΔΣ modulation algorithm, and a Σ Δ modulation algorithm at a predetermined control input calculation period shorter than the predetermined deviation calculation period. 32. A control unit according to claim 31, wherein in calculating the control input, the control program causes the computer to calculate a first intermediate value according to the deviation, based on the one of the modulation algorithms, and calculate the control input based on a value obtained by multiplying the calculated first intermediate value by a predetermined gain. 33. A control unit according to claim 31, wherein in calculating the control input, the control program causes the computer to calculate a second intermediate value according to the deviation, based on the one of the modulation algorithms, and calculate the control input by adding a predetermined value to the calculated second intermediate value. 34. A control unit including a control program for causing a computer to control a controlled object, wherein the control program causes the computer to calculate a predicted value of a value indicative of an output from the controlled object, based on a predictive algorithm at a predetermined predicted value calculation period, and calculate a control input to the controlled object so as to control the output from the controlled object according to the calculated predicted value, based on one of a Δ modulation algorithm, a ΔΣ modulation algorithm, and a ΣΔ modulation algorithm at a predetermined control input calculation period shorter than the predetermined predicted value calculation period. 35. A control unit according to claim 34, wherein in calculating the control input, the control program causes the computer to calculate a first intermediate value according to the predicted value, based on the one of the modulation algorithms, and calculate the control input based on a value obtained by multiplying the calculated first intermediate value by a predetermined gain. 36. A control unit according to claim 34, wherein in calculating the control input, the control program causes the computer to calculate a second intermediate value according to the predicted value, based on the one of the modulation algorithms, and calculate the control input by adding a predetermined value to the calculated second intermediate value. 37. A control unit according to claim 34, wherein the control program causes the computer to further sample the value indicative of the output from the controlled object as discrete data at a predetermined output sampling period longer than the predetermined input calculation period, and wherein the predictive algorithm is an algorithm for calculating the predicted value according to the sampled discrete data of the value indicative of the output from the controlled object. 38. A control unit according to claim 37, wherein the control program causes the computer to further sample at least one of a value indicative of the control input and a value reflecting the control input inputted into the controlled object as discrete data at a first predetermined input sampling period longer than the predetermined input calculation period, and wherein the predictive algorithm is an algorithm for calculating the predicted value further according to at least one of the sampled discrete data of the value indicative of the control input and the sampled discrete data of the value reflecting the control input inputted into the controlled object. 39. A control unit according to claim 38, wherein when the control program causes the computer to sample at least one of a value indicative of the control input and a value reflecting the control input inputted into the controlled object, the control program causes the computer to sample the at least one of the discrete data of the value indicative of the control input and the discrete data of the value reflecting the control input inputted into the controlled object at the first predetermined input sampling period, by performing decimation on values thereof sampled at a second predetermined input sampling period shorter than the first predetermined input sampling period. 40. A control unit according to claim 34, wherein the predictive algorithm is an algorithm for calculating the predicted value based on a controlled object model using one of the value indicative of the control input and the value reflecting the control input inputted into the controlled object, and the value indicative of the output from the controlled object, as variables. 41. A control unit according to claim 40, wherein the control program causes the computer to further sample at least one of the value indicative of the control input and the value reflecting the control input inputted into the controlled object and the value indicative of the output from the controlled object, as discrete data, at a first predetermined sampling period longer than the predetermined input calculation period, and wherein the controlled object model is a discrete-time system model using one of the sampled discrete data of the value indicative of the control input and the sampled discrete data of the value reflecting the control input inputted into the controlled object and the sampled discrete data of the value indicative of the output from the controlled object as variables. 42. A control unit according to claim 41, wherein when the control program causes the computer to sample at least one of the value indicative of the control input and the value reflecting the control input inputted into the controlled object and the value indicative of the output from the controlled object, the control program causes the computer to sample the at least one of the discrete data of the value indicative of the control input and the discrete data of the value reflecting the control input inputted into the controlled object at the first predetermined sampling period, by performing decimation on values thereof sampled at a second predetermined sampling period shorter than the first predetermined sampling period. 43. A control unit according to claim 41, wherein the control program causes the computer to further identify model parameters of the discrete-time system model according to the discrete data of the value indicative of the output from the controlled object. 44. A control unit according to claim 43, wherein when the control program causes the computer to identify model parameters of the discrete-time system model, the control program causes the computer to identify the model parameters further according to the at least one of the discrete data of the value indicative of the control input and the discrete data of the value reflecting the control input inputted into the controlled object. 45. A control unit according to claim 43, wherein an identification period at which the model parameters are identified is set to a longer time period than the predetermined input calculation period.