Control apparatus, control method, and engine control unit
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B60T-007/12
F02D-013/04
출원번호
US-0907505
(2007-10-12)
등록번호
US-7493207
(2009-02-17)
우선권정보
JP-2006-285521(2006-10-19)
발명자
/ 주소
Yasui,Yuji
Kawasumi,Ikue
Higashitani,Kosuke
출원인 / 주소
Honda Motor Co., Ltd.
대리인 / 주소
Squire, Sanders & Dempsey L.L.P.
인용정보
피인용 횟수 :
11인용 특허 :
3
초록▼
A control apparatus which is capable of compensating for a control error properly and quickly even under a condition where the control error is temporarily increased e.g. by degradation of reliability of the detection results of reference parameters other than controlled variables, thereby making it
A control apparatus which is capable of compensating for a control error properly and quickly even under a condition where the control error is temporarily increased e.g. by degradation of reliability of the detection results of reference parameters other than controlled variables, thereby making it possible to ensure a high accuracy of control. An air-fuel ratio controller of the control apparatus calculates modified errors by multiplying e.g. an air-fuel ratio error estimated value by link weight functions, calculates basic local correction values such that the modified errors become equal to 0; calculates local correction values by multiplying the basic local correction values and the like by the link weight functions; calculates corrected valve lift by adding a lift correction value, which is the total sum of the local correction values, to a value of valve lift; calculates a first estimated intake air amount for feedforward control of an air-fuel ratio, based on the corrected valve lift; calculates an air-fuel ratio correction coefficient for feedback control of the air-fuel ratio; and calculates a fuel injection amount based on these.
대표청구항▼
What is claimed is: 1. A control apparatus for controlling a controlled variable of a controlled object by a control input, comprising: controlled variable-detecting means for detecting the controlled variable; reference parameter-detecting means for detecting a reference parameter of the controlle
What is claimed is: 1. A control apparatus for controlling a controlled variable of a controlled object by a control input, comprising: controlled variable-detecting means for detecting the controlled variable; reference parameter-detecting means for detecting a reference parameter of the controlled object other than the controlled variable of the controlled object; target controlled variable-setting means for setting a target controlled variable serving as a target to which the controlled variable is controlled; and control input-calculating means for calculating a first input value for feedforward control of the controlled variable, according to the reference parameter, using a correlation model representative of a correlation between the reference parameter and the first input value, calculating a second input value for performing feedback control of the controlled variable such that the controlled variable is caused to converge to the target controlled variable, with a predetermined feedback control algorithm, and calculating the control input based on the first input value and the second input value, wherein said control input-calculating means comprises: error parameter-calculating means for calculating an error parameter indicative of a control error to be compensated for by the first input value, based on the controlled variable and the target controlled variable; model-modifying means for calculating a plurality of modification values respectively associated with a plurality of regions formed by dividing a region within which the reference parameter is variable, with a predetermined control algorithm, such that the error parameter becomes equal to a predetermined target value, and modifying the correlation model using the plurality of modification values; and first input value-calculating means for calculating the first input value using the modified correlation model. 2. A control apparatus as claimed in claim 1, wherein said reference parameter-detecting means detects a plurality of reference parameters as the reference parameter, wherein the correlation model is configured such that the correlation model is representative of a relationship between the plurality of reference parameters and the first input value, and wherein said model-modifying means calculates the plurality of modification values such that the plurality of modification values are associated with a region within which at least one of the plurality of reference parameters is variable. 3. A control apparatus as claimed in claim 1, wherein said model-modifying means calculates a plurality of first multiplication values by multiplying a difference between the error parameter and the predetermined target value, by values of a respective plurality of predetermined functions, and calculates the plurality of modification values according to the plurality of first multiplication values, respectively, wherein the plurality of regions have adjacent regions overlapping each other, and wherein the plurality of predetermined functions are associated with the plurality of regions, respectively, and are set to values other than 0 only in the associated regions and to 0 in regions other than the associated regions, such that in regions overlapping each other, an absolute value of a total sum of values of the respective functions associated with the overlapping regions becomes equal to an absolute value of a maximum value of the functions. 4. A control apparatus as claimed in claim 3, wherein said model-modifying means calculates a plurality of second multiplication values by multiplying the plurality of modification values by values of the respective plurality of predetermined functions, respectively, and modifies the correlation model using a total sum of the plurality of second multiplication values. 5. A control apparatus as claimed in claim 1, wherein said model-modifying means calculates a plurality of multiplication values by multiplying the plurality of modification values by values of a respective plurality of predetermined functions, respectively, and modifies the correlation model using a total sum of the plurality of multiplication values, wherein the plurality of regions have adjacent regions overlapping each other, and wherein the plurality of predetermined functions are associated with the plurality of regions, respectively, and are set to values other than 0 only in the associated regions and to 0 in regions other than the associated regions, such that in regions overlapping each other, an absolute value of a total sum of values of the respective functions associated with the overlapping regions becomes equal to an absolute value of a maximum value of the functions. 6. A control apparatus as claimed in claim 1, wherein the controlled object is an internal combustion engine in which an amount of intake air drawn into a cylinder of the engine is changed by a variable intake mechanism, as desired, the controlled variable being an air-fuel ratio of a mixture in the engine, the control input being an amount of fuel to be supplied to the engine, the reference parameter including at least one of an operating condition parameter indicative of an operating condition of the variable intake mechanism, and a rotational speed of the engine. 7. A control apparatus as claimed in claim 1, wherein the controlled object is a vehicle using the engine as a drive source thereof, the controlled variable being a first wheel speed of the vehicle, the control input being an output of the engine, the reference parameter including at least one of a second wheel speed other than the first wheel speed, a limit value of the output of the engine, and a rotational speed of the engine. 8. A method of controlling a controlled variable of a controlled object by a control input, comprising: a controlled variable-detecting step of detecting the controlled variable; a reference parameter-detecting step of detecting a reference parameter of the controlled object other than the controlled variable of the controlled object; a target controlled variable-setting step of setting a target controlled variable serving as a target to which the controlled variable is controlled; and a control input-calculating step of calculating a first input value for feedforward control of the controlled variable, according to the reference parameter, using a correlation model representative of a correlation between the reference parameter and the first input value, calculating a second input value for performing feedback control of the controlled variable such that the controlled variable is caused to converge to the target controlled variable, with a predetermined feedback control algorithm, and calculating the control input based on the first input value and the second input value, wherein said control input-calculating step comprises: an error parameter-calculating step of calculating an error parameter indicative of a control error to be compensated for by the first input value, based on the controlled variable and the target controlled variable; a model-modifying step of calculating a plurality of modification values respectively associated with a plurality of regions formed by dividing a region within which the reference parameter is variable, with a predetermined control algorithm, such that the error parameter becomes equal to a predetermined target value, and modifying the correlation model using the plurality of modification values; and a first input value-calculating step of calculating the first input value using the modified correlation model. 9. A method as claimed in claim 8, wherein said reference parameter-detecting step includes detecting a plurality of reference parameters as the reference parameter, wherein the correlation model is configured such that the correlation model is representative of a relationship between the plurality of reference parameters and the first input value, and wherein said model-modifying step includes calculating the plurality of modification values such that the plurality of modification values are associated with a region within which at least one of the plurality of reference parameters is variable. 10. A method as claimed in claim 8, wherein said model-modifying step includes calculating a plurality of first multiplication values by multiplying a difference between the error parameter and the predetermined target value, by values of a respective plurality of predetermined functions, and calculating the plurality of modification values according to the plurality of first multiplication values, respectively, wherein the plurality of regions have adjacent regions overlapping each other, and wherein the plurality of predetermined functions are associated with the plurality of regions, respectively, and are set to values other than 0 only in the associated regions and to 0 in regions other than the associated regions, such that in regions overlapping each other, an absolute value of a total sum of values of the respective functions associated with the overlapping regions becomes equal to an absolute value of a maximum value of the functions. 11. A method as claimed in claim 10, wherein said model-modifying step includes calculating a plurality of second multiplication values by multiplying the plurality of modification values by values of the respective plurality of predetermined functions, respectively, and modifying the correlation model using a total sum of the plurality of second multiplication values. 12. A method as claimed in claim 8, wherein said model-modifying step includes calculating a plurality of multiplication values by multiplying the plurality of modification values by values of a respective plurality of predetermined functions, respectively, and modifying the correlation model using a total sum of the plurality of multiplication values, wherein the plurality of regions have adjacent regions overlapping each other, and wherein the plurality of predetermined functions are associated with the plurality of regions, respectively, and are set to values other than 0 only in the associated regions and to 0 in regions other than the associated regions, such that in regions overlapping each other, an absolute value of a total sum of values of the respective functions associated with the overlapping regions becomes equal to an absolute value of a maximum value of the functions. 13. A method as claimed in claim 8, wherein the controlled object is an internal combustion engine in which an amount of intake air drawn into a cylinder of the engine is changed by a variable intake mechanism, as desired, the controlled variable being an air-fuel ratio of a mixture in the engine, the control input being an amount of fuel to be supplied to the engine, the reference parameter including at least one of an operating condition parameter indicative of an operating condition of the variable intake mechanism, and a rotational speed of the engine. 14. A method as claimed in claim 8, wherein the controlled object is a vehicle using the engine as a drive source thereof, the controlled variable being a first wheel speed of the vehicle, the control input being an output of the engine, the reference parameter including at least one of a second wheel speed other than the first wheel speed, a limit value of the output of the engine, and a rotational speed of the engine. 15. An engine control unit including a control program for causing a computer to execute a method of controlling a controlled variable of a controlled object by a control input, wherein the control program causes the computer to detect the controlled variable; detect a reference parameter of the controlled object other than the controlled variable of the controlled object; set a target controlled variable serving as a target to which the controlled variable is controlled; and calculate a first input value for feedforward control of the controlled variable, according to the reference parameter, using a correlation model representative of a correlation between the reference parameter and the first input value, calculate a second input value for performing feedback control of the controlled variable such that the controlled variable is caused to converge to the target controlled variable, with a predetermined feedback control algorithm, and calculate the control input based on the first input value and the second input value, wherein when causing the computer to calculate the control input, the control program causes the computer to calculate an error parameter indicative of a control error to be compensated for by the first input value, based on the controlled variable and the target controlled variable; calculate a plurality of modification values respectively associated with a plurality of regions formed by dividing a region within which the reference parameter is variable, with a predetermined control algorithm, such that the error parameter becomes equal to a predetermined target value, and modifying the correlation model using the plurality of modification values; and calculate the first input value using the modified correlation model. 16. An engine control unit as claimed in claim 15, wherein the control program causes the computer to detect a plurality of reference parameters as the reference parameter, wherein the correlation model is configured such that the correlation model is representative of a relationship between the plurality of reference parameters and the first input value, and wherein the control program causes the computer to calculate the plurality of modification values such that the plurality of modification values are associated with a region within which at least one of the plurality of reference parameters is variable. 17. An engine control unit as claimed in claim 15, wherein the control program causes the computer to calculate a plurality of first multiplication values by multiplying a difference between the error parameter and the predetermined target value, by values of a respective plurality of predetermined functions, and calculate the plurality of modification values according to the plurality of first multiplication values, respectively, wherein the plurality of regions have adjacent regions overlapping each other, and wherein the plurality of predetermined functions are associated with the plurality of regions, respectively, and are set to values other than 0 only in the associated regions and to 0 in regions other than the associated regions, such that in regions overlapping each other, an absolute value of a total sum of values of the respective functions associated with the overlapping regions becomes equal to an absolute value of a maximum value of the functions. 18. An engine control unit as claimed in claim 17, wherein the control program causes the computer to calculate a plurality of second multiplication values by multiplying the plurality of modification values by values of the respective plurality of predetermined functions, respectively, and modify the correlation model using a total sum of the plurality of second multiplication values. 19. An engine control unit as claimed in claim 15, wherein the control program causes the computer to calculate a plurality of multiplication values by multiplying the plurality of modification values by values of a respective plurality of predetermined functions, respectively, and modifying the correlation model using a total sum of the plurality of multiplication values, wherein the plurality of regions have adjacent regions overlapping each other, and wherein the plurality of predetermined functions are associated with the plurality of regions, respectively, and are set to values other than 0 only in the associated regions and to 0 in regions other than the associated regions, such that in regions overlapping each other, an absolute value of a total sum of values of the respective functions associated with the overlapping regions becomes equal to an absolute value of a maximum value of the functions. 20. An engine control unit as claimed in claim 15, wherein the controlled object is an internal combustion engine in which an amount of intake air drawn into a cylinder of the engine is changed by a variable intake mechanism, as desired, the controlled variable being an air-fuel ratio of a mixture in the engine, the control input being an amount of fuel to be supplied to the engine, the reference parameter including at least one of an operating condition parameter indicative of an operating condition of the variable intake mechanism, and a rotational speed of the engine. 21. An engine control unit as claimed in claim 15, wherein the controlled object is a vehicle using the engine as a drive source thereof, the controlled variable being a first wheel speed of the vehicle, the control input being an output of the engine, the reference parameter including at least one of a second wheel speed other than the first wheel speed, a limit value of the output of the engine, and a rotational speed of the engine.
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