JP4797976B2 - Turbocharger control device and control method - Google Patents

Description

  The present invention relates to a control device and a control method for a turbocharger.

In a turbocharger having a turbine provided in an exhaust passage, a compressor provided in an intake passage, and a motor-operated valve (regulating element) that opens and closes a passage bypassing the turbine, parameters for controlling the motor-operated valve are Some have a function of flow rate (see Patent Document 1).
JP 2005-504210 Gazette

  By the way, in order to control the target supercharging pressure, it is necessary to control the amount of turbine work, and the technique of Patent Document 1 uses the opening area of the bypass passage as the control parameter.

  Here, if a butterfly valve is provided in the passage and the butterfly valve opening degree is directly controlled, the opening area of the passage can be controlled with high accuracy. However, the butterfly is provided in the passage bypassing a part of the exhaust gas guided to the turbine. Use of a valve is not common due to heat resistance and layout constraints.

  For this reason, the supercharging pressure control device, which has become mainstream because of its excellent heat resistance and relatively free layout, uses supercharging pressure or suction negative pressure (intake pipe pressure downstream of the throttle valve) as a pressure source. This is a system that creates (regulates) a control pressure by a three-way valve and opens a poppet type wastegate via a lever mechanism by an actuator stroke that responds to this control pressure. Specifically, a poppet type wastegate that opens and closes a passage that bypasses the turbine, an actuator that can variably control the degree of opening and closing of the wastegate in response to the control pressure supplied to the pressure chamber, and the actuator A link mechanism for expanding or reducing the rod stroke to the stroke of the wastegate, and a three-way solenoid valve capable of adjusting the control pressure supplied to the pressure chamber.

  When the present inventors experimented with such a supercharging pressure control apparatus, even if the same control pressure was applied to the pressure chamber of the actuator so as to obtain the target wastegate opening area, the influence of the component friction and link geometry was not affected. Accordingly, it has been found that the stroke amount of the actuator changes, and as a result, the actual wastegate opening area deviates from the target wastegate opening area. When the actual wastegate opening area deviates from the target wastegate opening area, for example, when the actual wastegate opening area becomes larger than the target wastegate opening area, the actual supercharging pressure falls below the target supercharging pressure and is desired. No output can be obtained. Conversely, when the actual waste gate opening area becomes smaller than the target waste gate opening area, the actual supercharging pressure becomes higher than the target supercharging pressure, and knocking is likely to occur particularly at a high load and low rotation speed.

  Accordingly, the present invention provides a supercharging pressure control in which the actual wastegate opening area coincides with the target wastegate opening even if the mainstream supercharging pressure control device is affected by the friction of the actuator components and the link geometry. An object is to provide an apparatus and a control method.

According to the present invention, a turbine provided in an exhaust passage, a compressor provided in an intake passage, a poppet type wastegate that opens and closes a passage that bypasses the turbine, and the degree of opening and closing of the wastegate are supplied to a pressure chamber. An actuator that can be variably controlled in response to the control pressure, a link mechanism that expands or contracts the rod stroke of the actuator to the stroke of the wastegate, and a three-way solenoid valve that can adjust the control pressure supplied to the pressure chamber The three-way solenoid valve is controlled by the actuator operating force (FWG) calculated based on at least the frictional force of the actuator.

According to the present invention, the turbine provided in the exhaust passage, the compressor provided in the intake passage, the poppet type wastegate that opens and closes the passage that bypasses the turbine, and the degree of opening and closing of the wastegate is supplied to the pressure chamber. An actuator that can be variably controlled in response to the control pressure applied, a link mechanism that expands or contracts the rod stroke of the actuator to the stroke of the wastegate, and a three-way solenoid that can adjust the control pressure supplied to the pressure chamber And the three-way solenoid valve is controlled by the actuator operating force (FWG) calculated based on at least the frictional force of the actuator, so that the frictional force of the actuator can be taken into account, and the friction of the actuator parts Target Westgate opening area even if there is power It is possible to obtain a target supercharging pressure).

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 shows a schematic configuration of a supercharging pressure control apparatus that is directly used to implement a supercharging pressure control method applied to a V-type six-cylinder twin turbo gasoline engine. In the present embodiment, a V-type 6-cylinder twin turbo engine will be specifically described. However, the present invention is not limited to this, and the present invention can be applied to a bank engine such as a V-type engine or a horizontally opposed engine. Further, the present invention can be applied to a case where a normal engine such as an in-line engine has one turbocharger.

  In FIG. 1, among the engines 2 composed of the right bank 2A and the left bank 2B, the right bank 2A is formed with three cylinders, and each intake port opening to the cylinder is connected to the intake passage 3 via the intake manifold. Each exhaust port that is also open to the cylinder communicates with the exhaust passage 4 through an exhaust manifold.

  The engine 2 includes turbochargers 5A and 5B for each bank. That is, in the right bank turbocharger 5A in which the exhaust turbine 6 provided in the exhaust passage 4 and the intake compressor 7 provided in the intake passage 3 are connected by the same shaft 8, the exhaust turbine 6 is rotationally driven by exhaust energy. Then, the intake compressor 7 is rotationally driven by this rotational driving force to increase (supercharge) the pressure of the intake air flowing into the cylinder above the atmospheric pressure.

  An intercooler 9 is provided downstream of the intake compressor 7 to cool the hot air after supercharging.

  In the turbocharger 5A, the maximum supercharging pressure is reached in the medium and high speed rotation speed region, and the supercharging pressure is excessively increased when the rotation speed region is higher than that. For this reason, a passage 11 bypassing the exhaust turbine 6 is branched from the exhaust passage 4, and a poppet type wastegate 12 driven by a wastegate actuator 13 is provided at this branching portion.

  The wastegate actuator 13 includes a pressure chamber 15 defined by the diaphragm 14, a rod 16 fixed to the diaphragm 14, a link mechanism 17 that connects the rod 16 and the wastegate 12, and the diaphragm 14 is connected to the wastegate 12. A spring 18 that urges in the closing direction (rightward in the figure), a passage 19 that guides the control pressure to the pressure chamber 15, a passage 21 that branches from the control pressure passage 19, the intake passage 3 upstream of the intake compressor 7, and the intake compressor 7 includes a three-way solenoid valve 20A connected to three passages 22 which are branched from the intake passage 3 downstream.

  The three-way solenoid valve 20A is a duty controllable solenoid valve. Here, the duty refers to a valve opening ratio with respect to a fixed period. When the duty is 0% (the valve opening ratio is 0%), the three-way solenoid valve 20A communicates the control pressure passage 19 and the branch passage 21 from the upstream side of the intake compressor. Then, the communication between the control pressure passage 19 and the branch passage 22 from the intake passage downstream of the intake compressor is blocked. At this time, atmospheric pressure is introduced into the pressure chamber 15, but the chamber in which the spring 18 is housed is also open to the atmosphere, so that the diaphragm 14 is not changed by the introduction of atmospheric pressure into the pressure chamber 15. The wastegate 12 is in the fully closed position by the urging force of the spring 18, that is, the wastegate opening area is zero.

  On the other hand, when the duty is 100% (the valve opening ratio is 100%), the three-way solenoid valve 20A communicates the control pressure passage 19 and the branch passage 22 from the intake compressor downstream, and branches from the control pressure passage 19 and the intake compressor upstream. The communication with the passage 21 is blocked. At this time, if a supercharging pressure higher than the atmospheric pressure is introduced into the pressure chamber 15, the supercharging pressure causes the diaphragm 14 to move the rod 16 to the left in FIG. Is transmitted to the wastegate 12 via the link mechanism 17, and the wastegate 12 is opened to the maximum position, that is, the wastegate opening area is maximized. In this case, the displacement amount of the rod 16 is enlarged or reduced by the lever ratio of the link mechanism 17 and transmitted to the wastegate 12.

  As the duty given to the three-way solenoid valve 20A increases from 0% to 100%, the waste gate opening area increases, and the waste gate opening area can be controlled by the duty given to the three-way solenoid valve 20A.

  Similarly to the right bank 2A, the left bank 2B includes an intake passage, an exhaust passage, a turbocharger 5B, a wastegate actuator, and a three-way solenoid valve 20B, which are given to the three-way solenoid valve 20B. The waste gate opening area on the left bank 2B side can be controlled by the duty. For the left bank 2B, the intake passage, the exhaust passage, and the wastegate actuator are not shown.

  The engine controller 31 controls each duty given to the three-way solenoid valve 20A on the right bank 2A side and the three-way solenoid valve 20B on the left bank 2B side. A signal of the accelerator opening APO from the accelerator sensor 32, a signal of the engine rotational speed NE from the engine rotational speed sensor 33, a signal of the right bank side actual supercharging pressure PBr from the supercharging pressure sensor 34, and a supercharging pressure sensor 35 In the engine controller 31 to which the left bank side actual supercharging pressure PBl signal and the atmospheric pressure PPAMB signal from the atmospheric pressure sensor 36 are inputted, the target overload according to the operating condition determined from the accelerator opening APO and the engine speed NE is inputted. Duty control signals to be given to the three-way solenoid valves 20A and 20B are generated so as to obtain a supply pressure, and these duty control signals are output to the three-way solenoid valves 20A and 20B.

  Further, a fuel injection valve 41 is provided for each intake port of each cylinder, and an ignition plug (not shown) is provided facing the combustion chamber of each cylinder. The engine controller 31 performs fuel injection control via the fuel injection valve 41. The ignition timing is controlled via the spark plug. In the fuel injection control, for example, the basic injection pulse width TP0 [ms] is calculated from the intake air amount QA [kg / h] detected by the air flow meter 37 and the engine rotational speed NE [rpm] by the following equation.

TP0 = K × QA / NE (1)
The constant K is set so that a fuel having the basic injection pulse width TP0 can provide a stoichiometric air-fuel mixture in the cylinder. Further, the cylinder inflow basic pulse width TP [ms] is calculated by the following equation using the basic injection pulse width TP0 and the weighted average coefficient FLOAD [−].

TP = TP0 × FLOAD + TP (10 ms before) × (1−FLOAD)
... (2)
However, TP (10 ms before): value 10 ms before TP,
Here, the basic injection pulse width TP0 is added to the initial value of TP (10 ms before), which is the value 10 ms before the cylinder inflow basic pulse width TP in equation (2).

  Equation (2) is an equation in which the weighted average value of the basic pulse width TP0 is the cylinder inflow basic pulse width TP. This is because air at the air flow meter position (upstream of the intake passage) flows into the cylinder with a response delay corresponding to the intake pipe volume from the air flow meter position to the cylinder inlet. To do.

  Then, the fuel injection pulse width Ti [ms] is calculated by the following formula using the cylinder inflow basic pulse width TP, and when a predetermined fuel injection timing comes, the fuel injection signal is changed to the fuel injection valve 41 of each cylinder. Output.

Ti = (TP + KATHOS) × TFBYA × (α + αm−1) × 2 + TS
... (3)
However, KATHOS: wall flow correction amount,
TFBYA: target equivalent ratio,
α: Air-fuel ratio feedback correction coefficient,
αm: air-fuel ratio learning value,
TS: Invalid pulse width,
Now, in a turbocharger having a turbine provided in an exhaust passage, a compressor provided in an intake passage, and a motor-operated valve (adjusting element) that opens and closes a passage bypassing the turbine, parameters for controlling the motor-operated valve are set. There are known techniques as a function of exhaust flow rate. When this technology is applied to the supercharging pressure control device of the present embodiment, a turbine 6 provided in the exhaust passage 4, a compressor 7 provided in the intake passage 3, and a wastegate 12 that opens and closes a passage 11 that bypasses the turbine 6. In the turbocharger 5A having the wastegate actuator 13 that can variably control the degree of opening and closing of the wastegate 12, the parameter for controlling the wastegate actuator 13 is a function of the exhaust flow rate.

  However, if the exhaust flow rate is used as in the technology in which a known technique is directly applied to the supercharging pressure control device of the present embodiment, it is necessary to detect or estimate the exhaust temperature and the exhaust pressure in order to calculate the exhaust flow rate. Become. A thermocouple that can detect an exhaust gas temperature as high as 900 ° C. with a response in a gasoline engine vehicle has not been put into practical use. The exhaust pressure sensor also has a problem of heat resistance, and the turbine inlet pressure necessary for control cannot be detected. Although it is possible to estimate the exhaust temperature and the exhaust pressure, since the exhaust changes entropy depending on the work of the turbocharger itself and the wall temperature of the exhaust manifold, the exhaust temperature and the exhaust pressure are uniquely and accurately determined. It is difficult to estimate.

  Therefore, the inventors of the present invention prior to the present invention conducted an experiment using the exhaust flow rate as a control parameter for a technique in which such a known technique was directly applied to the supercharging pressure control apparatus of the present embodiment, and the exhaust pressure and the exhaust temperature were controlled. The results of examining the influence are shown in FIGS. In FIG. 2, the horizontal axis represents the intake air flow rate QA [kg / h], the left vertical axis represents the wastegate duty (duty given to the three-way solenoid valves (20A, 20B)) [%], and the right vertical axis represents the turbine. As the pre-exhaust temperature [° C.], steady data when the accelerator opening and the engine speed are variously plotted is plotted. However, while setting the cooling target temperature of the intercooler 9, feedback control of the supercharging pressure is performed. From FIG. 2, the influence of the intake air temperature is absorbed by the feedback control of the supercharging pressure. Further, when the intake air temperature is low, the wastegate duty is increased and the wastegate is driven in the closing direction to obtain the target supercharging pressure.

  In FIG. 3, the horizontal axis represents the intake air flow rate QA [kg / h], and the vertical axis represents the supercharging pressure [kPa]. Data are plotted. As shown in FIG. 3, when the exhaust resistance is small, the supercharging pressure increases with the same wastegate duty, but the influence is small.

  2 and 3, there is no influence (sensitivity) of exhaust temperature or exhaust pressure on the supercharging pressure (several percent of wastegate duty), and supercharging of exhaust temperature or exhaust pressure by feedback control of supercharging pressure. It was found to be a level that can absorb the effect on pressure.

  On the other hand, FIG. 4 plots steady data when the experiment is performed again with a combination of five accelerator openings and three engine rotation speeds, with the intake air amount on the horizontal axis and the boost pressure [kPa] on the vertical axis. Has been. From FIG. 4, the characteristic of each wastegate duty is a supercharging pressure that is generally determined by the intake air amount regardless of the engine speed. That is, in a steady state, there is a strong relationship between the target boost pressure, the intake air amount QA detected by the air flow meter 37, and the wastegate duty (= wastegate opening area) that is a parameter for controlling the wastegate actuator. There is a correlation.

  Therefore, in the invention preceding the present invention, the parameters for controlling the wastegate actuator 13 are set as a function of the intake air amount instead of the exhaust flow rate based on the experimental results of FIGS. Here, a turbine inflow air amount MATB00 described later is used as the intake air amount. A target wastegate passage gas amount (FFMAWG) is calculated as a function of the intake air amount. The parameter for controlling the wastegate actuator 13 is a target wastegate opening area TGAWG described later.

  On the other hand, in order to control the target supercharging pressure, it is necessary to control the turbine work amount, and the known technique uses the opening area of the bypass passage as the control parameter.

  Here, if a butterfly valve is provided in the passage and the butterfly valve opening degree is directly controlled, the opening area of the passage can be controlled with high accuracy. However, the butterfly is provided in the passage bypassing a part of the exhaust gas guided to the turbine. Use of a valve is not common due to heat resistance and layout constraints.

  For this reason, as shown in FIG. 1, the supercharging pressure control device that has been mainstream because of its excellent heat resistance and relatively free layout is a poppet type waist that opens and closes a passage that bypasses the turbine 6. A gate 12, a wastegate actuator 13 (an actuator capable of variably controlling the degree of opening and closing of the wastegate in response to a control pressure supplied to the pressure chamber), and a rod stroke of the wastegate actuator 13 A link mechanism 17 that expands or contracts in the stroke and a three-way solenoid valve (20A, 20B) that can adjust the control pressure supplied to the pressure chamber 15 are provided.

  The inventors have experimented with such a supercharging pressure control device. As a result, even if the same control pressure is applied to the pressure chamber 15 of the waste actuator so as to obtain the target wastegate opening area, the friction of the wastegate actuator components and It has been found that the stroke amount of the waste actuator 13 changes under the influence of the link geometry, and as a result, the actual waste gate opening area deviates from the target waste gate opening area. When the actual wastegate opening area deviates from the target wastegate opening area, for example, when the actual wastegate opening area becomes larger than the target wastegate opening area, the actual supercharging pressure falls below the target supercharging pressure and is desired. No output can be obtained. Conversely, when the actual waste gate opening area becomes smaller than the target waste gate opening area, the actual supercharging pressure becomes higher than the target supercharging pressure, and knocking is likely to occur particularly at a high load and low rotation speed.

  Therefore, in the present invention, the parameter for controlling the three-way solenoid valve (20A, 20B) is the operating force (FWG) of the wastegate actuator 13. Specifically, the operating force (FWG) of the wastegate actuator is calculated by correcting the basic operation force value (FWG0) of the wastegate actuator with the frictional force of the wastegate actuator.

  This control executed by the engine controller 31 will be described in detail based on the flowcharts of FIGS.

  First, FIG. 5 is for calculating a target wastegate opening area TGWG (a parameter for controlling the wastegate actuator 13), which is executed at regular intervals (for example, every 10 ms).

  In step 1, a predetermined target boost pressure map MPCHS # [kPa] is determined from the accelerator opening APO [deg] detected by the accelerator sensor 32 and the engine rotational speed NE [rpm] detected by the rotational speed sensor 33. Is calculated to calculate the target boost pressure PCHS [kPa]. Since the target supercharging pressure corresponding to the operating conditions (APO, NE) is determined by the engine specifications, the map MPCHS # may be used in accordance with the desktop.

  In Step 2, the air flow rate MA0 flowing into the cylinder is calculated by multiplying the cylinder inflow basic pulse width TP [ms] by a constant K #, and further, the amount of air flowing into the turbine 6 is multiplied by the number of cylinders NCYL #. MATB00 [kg / s] is calculated, that is, the amount of air MATB00 flowing into the turbine 6 is calculated by the following equation.

MATB00 = TP × K # × NCYL # (4)
The amount of air MATB00 flowing into the turbine 6 is a value that does not distinguish between the left and right banks.

  Here, when the fuel injection valve 41 provided for each cylinder is opened for a period of the cylinder inflow basic pulse width TP, a mixture of stoichiometric air-fuel ratio is obtained in the cylinder into which the fuel from the fuel injection valve 41 flows. Therefore, by multiplying the cylinder inflow basic pulse width TP by a constant K1, the amount of air [kg] flowing into one cylinder when a stoichiometric air-fuel mixture is obtained is obtained, and the rotation at that time is obtained. By multiplying the speed NE × 60 [times / s], the air flow rate [kg / s] flowing into the turbine 6 can be converted. Accordingly, since the turbine inflow air flow rate = TP × K1 × Ne × 60, if K1 × NE × 60 is changed to the constant K #, the turbine inflow air flow rate is multiplied by the constant K # and the cylinder inflow basic pulse width TP. Can be requested.

  The number of cylinders NCYL # in the equation (1) is the case of a V-type 6-cylinder twin turbo engine in this embodiment, so the number of cylinders NCYL # = 3 is set. Since the cylinder inflow basic pulse width TP is calculated by the fuel injection control, the value is used.

  In step 3, the first weighted average coefficient map MTAUCT1 # and the second weighted average coefficient map MTAUCT2 # are respectively retrieved from the accelerator opening APO [deg] and the engine speed NE [rpm], thereby obtaining the first weight. An average coefficient TAUCT1 [−] and a second weighted average coefficient TAUCT2 [−] are calculated. Here, the first weighted average coefficient TAUCT1 has a reciprocal relationship with the time constant in the boost pressure response of the right bank turbocharger 5A, and the first weighted average coefficient MTAUCT1 is the right bank turbocharger 5A. In addition to the dead time (first dead time) DTTB1 # in the supercharging pressure response, the supercharging pressure response of the right bank turbocharger 5A measured in advance is set. Similarly, the second weighted average coefficient MTAUCT2 has a reciprocal relationship with the time constant in the supercharging pressure response of the left bank turbocharger 5B, and the second weighted average coefficient MTAUCT2 is the left bank turbocharger. In addition to the dead time (second dead time) DTTB2 # in the supercharging pressure response of the machine 5B, it is set in accordance with the supercharging pressure response of the left bank turbocharger 5B measured in advance.

  In step 4, the value before the first dead time DTTB1 # [ms] of the turbine inflow air amount MATB00 [kg / s] is set as the right bank side pre-dead time turbine inflow air amount MATB0r [kg / s]. The turbine inflow air amount MABr [kg / s] corresponding to the right bank side supercharging pressure response by the following equation using the turbine inflow air amount MABOr [kg / s] before the side dead time and the first weighted average coefficient TAUCT1 [−] Is calculated.

MABr = MATB0r × TAUCT1
+ MATBr (10ms before) x (1-TAUCT1)
... (5a)
However, MATBr (10 ms before): value of 10 ms before MATBr,
Here, the initial value of “MATBr (10 ms before)” which is the value 10 ms before the turbine inflow air amount MABr corresponding to the right bank side supercharging pressure response in the equation (5a) is the turbine inflow air amount before the right bank side dead time. Insert MATB0r.

  Similarly, in step 5, the value before the second dead time DTTB2 # [ms] of the turbine inflow air amount MATB00 [kg / s] is set to the turbine inflow air amount MATB01 [kg / s] before the left bank side dead time. The left bank side pre-dead time turbine inflow air amount MATBol [kg / s] and the second weighted average coefficient TAUCT2 [−] are used to calculate the left bank side supercharging pressure response equivalent turbine inflow air amount MATBl [ kg / s] is calculated.

MATBl = MATB0l × TAUCT2
+ MATBl (10ms before) x (1-TAUCT2)
... (5b)
However, MATBl (10 ms before): value of 10 ms before MATBl,
Here, the initial value of “MATBl (10 ms before)”, which is the value 10 ms before the left bank side supercharging pressure response equivalent turbine inflow air amount MATBl in the equation (5b), is the turbine inflow air amount before the left bank side dead time. Add MATB01.

  In Step 6, the right bank side supercharging pressure response equivalent turbine inflow air amount MABr [kg / s] and the left bank side supercharging pressure response equivalent turbine inflow air amount MATBl [kg / s] are calculated as 2 An average supercharging pressure response equivalent turbine inflow air amount MATBAVE [kg / s] is calculated between the two banks.

  In step 7, a predetermined target wastegate passage gas amount feedforward amount map MFFMAWG # is retrieved from the average supercharging pressure response equivalent turbine inflow air amount MATBAVE and the target supercharging pressure PCHS [kPa]. A feedforward amount FFMAWG [kg / s] of the target wastegate passage gas amount is calculated.

  This feedforward amount FFMAWG of the target wastegate passage gas amount is simply the amount of gas that must pass through the wastegate 12 in order to obtain the target boost pressure PCHS, and the amount of gas that passes through the wastegate 12. As the value increases, the supercharging pressure decreases. Therefore, the value of the feedforward amount FFMAWG of the target wastegate passage gas amount decreases as the target boost pressure PCHS increases when the average boost pressure response equivalent turbine inflow air amount MATBAVE is constant, and the target boost pressure PCHS decreases. It is a value that increases as the turbine inflow air amount MATBAVE corresponding to the average boost pressure response increases at a constant time.

  In this embodiment, the right bank side supercharging pressure response equivalent turbine inflow air amount MABr and the left bank side supercharging pressure response equivalent turbine inflow air amount MATBl are averaged between the two banks 2A and 2B, and based on this average value. The feedforward amount of the target wastegate passage gas amount equivalent to one turbocharger is calculated, but the total gas amount of the two turbochargers 5A and 5B is calculated, and the wastegate described later is calculated. In the opening area calculation step, half of the total gas amount may be obtained as a feedforward amount of the target wastegate passage gas amount corresponding to one turbocharger.

  In step 8, the right bank side actual supercharging pressure PBr [kPa] and the left bank side actual supercharging pressure PBl [kPa] detected by the supercharging pressure sensors 34, 35 provided for the banks 2A, 2B are averaged. The average actual supercharging pressure PBAVE [kPa] is calculated, the deviation TPBERR [kPa] is calculated by the following equation using the average actual supercharging pressure PBAVE and the target supercharging pressure PCHS [kPa], At 9, the feedback amount FBMAWG [kg / s] of the target wastegate passage gas amount is calculated from this deviation TPBERR using the PI controller.

TPBERR = PBAVE-PCHS (6)
In step 10, a value obtained by adding the feedback amount FBMAWG and the feedforward amount FFMAWG is set as a target wastegate passage gas amount MAWG [kg / s], that is, the target wastegate passage gas amount MAWG is calculated by the following equation.

MAWG = FFMAWG + FBMAWG (7)
For example, when the average actual supercharging pressure PBAVE is higher than the target supercharging pressure PCHS, it is necessary to increase the amount of waste gas passing through the wastegate so that the supercharging pressure becomes low. When the pressure is lower than the supply pressure PCHS, it is necessary to reduce the amount of gas passing through the waste gate so that the supercharging pressure becomes higher. That is, when the average actual supercharging pressure PBAVE is higher than the target supercharging pressure PCHS, the deviation TPBERR becomes a positive value from the above equation (6), the feedback amount FBMAWG becomes a positive value, and the target wastegate from the above equation (7). The passing gas amount is corrected to the increase side, and thereby the actual supercharging pressure is returned to the target supercharging pressure. Conversely, when the average actual supercharging pressure PBAVE is lower than the target supercharging pressure PCHS, the deviation TPBERR is a negative value from the above equation (6), the feedback amount FBMAWG is a negative value, and the target from the above equation (7). The amount of gas passing through the wastegate is corrected to the decreasing side, whereby the actual supercharging pressure is returned to the target supercharging pressure.

  In step 11, by searching a predetermined wastegate passage gas density flow velocity map MMITDORYU # from the target supercharging pressure PCHS [kPa] and the above-mentioned average supercharging pressure response equivalent turbine inflow air amount MATBAVE [kg / s]. , Westgate passage gas density flow velocity MITDORYU [kg / m ^ 2s] is calculated.

  Here, the wastegate passage gas density flow velocity is a value defined by a value obtained by dividing the wastegate passage gas amount [kg / s] by the gas passage cross-sectional area [m ^ 2]. Westgate passage gas density flow rate MITDORYU is equivalent to the exhaust pressure and exhaust pressure measured in the standard condition (1 atm, 20 ° C), the wastegate opening area obtained from the measured value of the stroke amount of the wastegate actuator, and the boost pressure response. It is obtained based on the four parameters of the turbine inflow air amount, and these obtained data groups are stored in the wastegate passage gas density flow velocity map MMITDORIYU #. In these processes, the actual boost pressure may be used instead of the target boost pressure.

  In step 12, the target wastegate opening area TGAWG [m ^ 2] is calculated from the wastegate passage gas density flow rate MITDORYU [kg / m ^ 2s] and the target wastegate passage gas amount MAWG [kg / h] according to the following equation. Is calculated.

TGAWG = MAWG / MITDORYU (8)
In this way, the target wastegate opening area per bank is obtained without distinguishing between the left and right banks 2A, 2B.

  Next, FIG. 6 is for calculating a target wastegate duty to be given to the three-way solenoid valves 20A and 20B, and is executed at regular intervals (for example, every 10 ms) following FIG.

  In step 21, the target wastegate stroke area STWGVL [m] is calculated from the target wastegate opening area TGAWG [m ^ 2] (already calculated by the flow of FIG. 5) using the opening area to stroke conversion table TTWGLST #.

  Here, the target stroke amount STWGVL of the wastegate 12 is that the wastegate 12 must move in the opening direction (leftward in FIG. 1) against the spring 18 in order to obtain the target opening area TGAWG of the wastegate 12. It is a quantity. A conversion table between the target opening area TGAWG of the wastegate 12 and the target stroke amount STWGVL of the wastegate 12 may be created as follows. That is, the relationship between the target opening area TGAWG of the wastegate 12 and the target stroke amount STWGVL of the wastegate 12 is obtained from the following two formulas (9) (experimental formula of KASTNER) and (10). Create in the table.

Cv = 1.0−1.5 × STWGVL / DWGV # (9)
TGAWG = Cv × DWGV # × STWGVL × π (10)
However, DWGV #: predetermined value,
Here, the target wastegate opening area TGAWG becomes maximum when the stroke amount STWGVL = predetermined value DWGV # / 3 of the wastegate 12 because of the mechanism. Therefore, when the stroke amount is larger than this, the target stroke of the wastegate 12 is reached. Calculate as quantity STWGV = DWGV # / 3. In an actual control model, calculation is performed in advance on a desk and set as a table TTWGLST #.

  Steps 22 to 26 are parts for calculating a target wastegate actuator pressure (relative pressure) using a dynamic model of the wastegate actuator 13.

  First, at step 22, the target wastegate actuator rod stroke amount STWGRL [m] is calculated from the target wastegate stroke amount STWGVL [m] and the actuator lever ratio RLEVERWG # [−] of the link mechanism 17 by the following equation.

STWGRL = STWGVL / RLEVELVER (11)
This is because the wastegate 12 and the rod 16 are connected via the link mechanism 17 and the stroke amount of the rod 16 is increased or reduced by the lever ratio of the link mechanism 17 to be the stroke amount of the wastegate 12. Therefore, when the wastegate 12 moves in the opening direction by the target stroke amount STWGVL, the amount of movement of the rod 16 in the opening direction of the wastegate 12 is obtained.

  In step 23, a force conversion map FEXHWGV # acting on the wastegate 12 by the exhaust pressure is searched from the target boost pressure PCHS [kPa] and the above-described average boost pressure response equivalent turbine inflow air amount MATBAVE [kg / s]. As a result, a force [N] acting on the wastegate 12 by the exhaust pressure is calculated, and a value obtained by multiplying the calculated force by the actuator lever ratio RLEVELWG # of the link mechanism 17 is calculated by the rod 16 (that is, the waist 16) by the exhaust pressure. It is calculated as a force FWGV [N] acting on the gate actuator 13).

  Here, the value of the force conversion map FEXHWGV # acting on the wastegate 12 due to the exhaust pressure is measured by making the target boost pressure and the turbocharged response equivalent turbine inflow air amount different from each other, and is adapted in advance. The reason for multiplying the force acting on the wastegate 12 by the exhaust pressure by the actuator lever ratio of the link mechanism 17 is to convert the force acting on the wastegate 12 into the force acting on the rod 16.

  In step 24, the target wastegate actuator force FWG0 [N] (before the static friction force correction) is calculated from the force FWGV acting on the rod 16 by the exhaust pressure and the target wastegate actuator rod stroke amount STWGRL by the following equation. Actuator operating force basic value) is calculated.

FWG0 = (STWGRL + CWGSPR #) × KWGSPR #
− (STWGRL−STWGRL (10 ms before)) × CWGDMPAD # + FWGV (12)
Where CWGSPR #: initial rod stroke amount [m],
KWGSPR #: Spring constant of the spring 18 [N / m],
CWGDMPAD #: damper coefficient [Nsec / m]
Here, representing the forces acting (12) when the must open the wastegate 12 by the target opening area (TGWG), the wastegate actuator 13. That is, according to the equation (12), it is necessary to apply the force of the first term on the right side of the equation (12) to the rod 16 in order to open the waste gate 12 by the target opening area (TGWG) against the spring 18. In this case, the force of the third term on the right side of the equation (12) boosts the force, and the force of the second term on the right side of the equation (12) acts as a resistance in the opposite direction.

Further, since the expression (12) is considered when the waste gate 12 is opened, that is, when the rod 16 strokes (moves) in the left direction in FIG. 1, the control cycle (10 ms) of the second term on the right side of the expression (12) ) STWGRL-STWGRL (10 ms before), which is the stroke amount of the rod 16 per unit), is a positive value. Therefore, when this STWGRL-STWGRL (10 ms before) becomes a negative value, (STWGRL-STWGRL (10 ms before) ) × CWGDMPAD # = 0, that is, the second term on the right side of equation (9) is set to zero.

  In step 25, static friction force correction is executed. That is, the target wastegate actuator force FWG (actuator operating force) after the static friction force correction is calculated by dividing into three cases of <1> to <3> as follows.

<1> The absolute value abs (FWG0) (= | FWG 0 |) of the target wastegate actuator force before the static friction force correction is compared with the maximum static friction force FSTMXRRC # of the wastegate actuator 13, and before the static friction force correction. When the absolute value of the target wastegate actuator force is less than the maximum static frictional force FSTMXFRC # of the wastegate actuator 13, the rod 16 (the wastegate actuator 13) does not make a stroke (does not move) even if an attempt is made to stroke in the opening direction. Therefore, it is determined that it is wasteful to perform the supercharging pressure control, and the target wastegate actuator force FWG after the static friction force correction is calculated by the following equation.

FWG = 0 (13)
<2> The absolute value abs (FWG0) of the target wastegate actuator force before the static friction force correction is equal to or greater than the maximum static friction force FSTMXFRC # of the wastegate actuator 13 and the target wastegate actuator force FWG0 before the static friction force correction. Is zero or more, it is determined that if the rod 16 (waist gate actuator 13) is stroked in the opening direction, the rod 16 (wasted) moves (moves). The target wastegate actuator force FWG after the friction force correction is calculated by the following equation.

FWG = FWG0−FSTMFRC # (14)
<3> In cases other than <1> and <2> above, that is, the absolute value abs (FWG0) of the target wastegate actuator force before the static friction force correction is greater than or equal to the maximum static friction force FSTMXFRC # of the wastegate actuator 13, and When the target wastegate actuator force FWG0 before the static friction force correction is a negative value, the target wastegate actuator force FWG after the static friction force correction is calculated by the following equation.

FWG = FWG0 + FSTMFRC # (15)
In step 26, the target wastegate actuator pressure (relative pressure) TGPACT is calculated from the target wastegate actuator force FWG [N] after the static friction force correction and the cup effective diameter AWGACT # [m ^ 2] of the wastegate actuator 13. [KPa] is calculated by the following equation.

TGPACT = FWG / AWGACT # (16)
Here, the cup of the wastegate actuator 13 refers to the diaphragm 14. When the actuator force is divided by the diaphragm area, the pressure acting on the diaphragm 14 is obtained. That is, the equation (16) obtains the control pressure to be applied to the pressure chamber 15 in order to produce the target wastegate actuator force FWG after the static friction force correction.

  However, the target wastegate actuator pressure TGPACT obtained here is a pressure based on the atmospheric pressure, that is, a relative pressure.

  When the control pressure (TGPACT) to be supplied to the pressure chamber 15 is obtained in this way, the duty to be given to the three-way solenoid valve 20A may be set so that the control pressure (TGPACT) can be obtained thereafter. That is, Steps 27 to 29 are parts for calculating the target wastegate duty WGDUTY [%] from the target wastegate actuator actuator pressure TGPACT using the characteristics of the three-way solenoid valve 20A.

  First, at step 27, by subtracting the atmospheric pressure PPAMB [kPa] detected by the atmospheric pressure sensor 36 from the right bank side actual supercharging pressure PBr [kPa] detected by the supercharging pressure sensor 34, that is, by the following equation. The right bank side actual supercharging pressure (relative pressure) PBABSr [kPa] is calculated.

PBABSr = PBr−PPAMB (17a)
Similarly, by subtracting the atmospheric pressure PPAMB [kPa] detected by the atmospheric pressure sensor 36 from the left bank side actual supercharging pressure PBl [kPa] detected by the supercharging pressure sensor 35, that is, The bank side actual supercharging pressure (relative pressure) PBABSl [kPa] is calculated.

PBABSl = PB1-PPAMB (17b)
In step 28, from the right bank side actual supercharging pressure (relative pressure) PBABSr [kPa] and the target wastegate valve actuator pressure (relative pressure) TGPACT [kPa], a predetermined target wastegate duty basic value map MWGDUTY # To calculate the right bank side target wastegate duty basic value WGDUTY0r [%]. Similarly, a predetermined target wastegate duty basic value map MWGDUTY # is obtained from the left bank side actual supercharging pressure (relative pressure) PBABSl [kPa] and the target wastegate valve actuator pressure (relative pressure) TGPACT [kPa]. By searching, the left bank side target wastegate duty basic value WGDUTY01 [%] is calculated.

  Here, the value of the target wastegate duty basic value map MWGDUTY # is determined in advance according to the specifications of the three-way solenoid valves (20A, 20b).

  Finally, in step 29, the accelerator opening APO [deg] at that time is compared with a predetermined opening, and when the accelerator opening APO exceeds the predetermined opening, the right bank side target wastegate duty basic value WGDUTY0r is set. The right bank side target wastegate duty WGDUTYr is set, and the left bank side target wastegate duty basic value WGDUTY01 is set as the left bank side target wastegate duty WGDUTYl.

  On the other hand, when the accelerator opening APO is equal to or smaller than the predetermined opening, the right bank side target wastegate duty WGDUTYr [%] = 0 and the left bank side target wastegate duty WGDUTYl [%] = 0. As described above, the reason why the wastegate duty is set to zero when the accelerator opening APO is equal to or smaller than the predetermined opening, that is, the opening operation of the wastegate 12 is not performed is as follows. This is because the supercharging pressure does not rise sufficiently in the first place, and there is no need to open the wastegate 12.

  The right bank side target wastegate duty WGDUTYr calculated in this way is converted into a duty signal and applied to the right bank side three-way solenoid valve 20A, and the left bank side target wastegate duty WGDUTYl calculated in this way is It is converted into a duty signal and output to the left bank side three-way solenoid valve 20B.

  Here, the function and effect of the invention preceding the present invention will be described.

  According to this embodiment, the turbine 6 provided in the exhaust passage 4, the compressor 7 provided in the intake passage 3, the wastegate 12 that opens and closes the passage 11 that bypasses the turbine 6, and the degree of opening and closing of the wastegate 12 Since the parameter for controlling the wastegate actuator 13 is a function of the intake air amount in the turbocharger 5A having the wastegate actuator 13 capable of variably controlling the engine (see steps 2 to 12 in FIG. 5), The configuration can be simpler than that of the apparatus, and the supercharging pressure control accuracy equivalent to that of the conventional apparatus can be ensured.

  In addition, according to the present embodiment, there is no need to add an exhaust temperature sensor and an exhaust pressure sensor or to estimate the exhaust temperature and the exhaust pressure as in the conventional device, which increases the cost and the exhaust temperature and the exhaust pressure. It is not affected by the estimation error.

  According to the present embodiment, the deviation TPBERR between the target boost pressure PCHS and the actual boost pressure (PBAV) is calculated, the feedback amount FBMAWG of the waste gas passing through the wastegate is calculated based on the deviation TPBERR, and this feedback amount FBMAWG Thus, the target wastegate passage gas amount (FFMAWG) is corrected (see steps 8 to 10 in FIG. 5), so that the actual supercharging pressure (PBAV) can be quickly converged to the target supercharging pressure PCHS. Further, since the target wastegate passage gas amount (FFMAWG) is calculated, the setting of the feedback gain and the permission condition for the feedback control are not complicated.

  According to the present embodiment, the target wastegate passage gas amount (FFMAWG) is calculated based on the turbocharge pressure response equivalent turbine inflow air amount (MATBr, MATBl) and the target boost pressure PCHS (step of FIG. 5). 7), even if the turbocharge pressure response equivalent turbine inflow air amount (MATBr, MATBl) and the target boost pressure PCHS are different, the target wastegate passage gas amount (FFMAWG) can be obtained with high accuracy.

  According to the present embodiment, the dead time of the supercharging pressure response is obtained in advance, the value before the dead time of the turbine inflow air amount MATB00 is obtained, and the excess of the weighted average value of the turbine inflow air amount MATB0 before the dead time is obtained. Since the turbine inflow air amount (MATBr, MATBl) corresponding to the supply pressure response is calculated (see steps 3 to 5 in FIG. 5), the turbine inflow air amount (MATBr, MATBl) corresponding to the transient response of the actual supercharging pressure is accurate. You can ask well.

  According to the present embodiment, the turbine inflow air amount MATB00 is calculated based on the cylinder suction basic pulse width TP (see step 2 in FIG. 5), and therefore, the existing value (TP) is used to calculate the turbine inflow air amount MATB00. Can be sought.

  Next, the function and effect of the embodiment of the present invention will be described.

  According to the present embodiment (the invention described in claims 1 and 8), the poppet type opens and closes the turbine 6 provided in the exhaust passage 4, the compressor 7 provided in the intake passage 3, and the passage 11 bypassing the turbine 6. A wastegate 12, a wastegate actuator 13 (an actuator capable of variably controlling the degree of opening and closing of the wastegate 12 in response to a control pressure supplied to the pressure chamber 15), and a rod stroke of the actuator 13. A link mechanism 17 that expands or contracts to 12 strokes and a three-way solenoid valve (20A, 20B) that can adjust the control pressure supplied to the pressure chamber 15 and controls the three-way solenoid valve (20A, 20B) Is the target wastegate actuator force FWG (actuator Operating force) (see step 25 in FIG. 6), it becomes possible to consider the frictional force of the actuator component, and even if there is a frictional force of the actuator component, the target wastegate opening area TGAWG (target supercharging pressure PCHS) Can be obtained.

  According to the present embodiment (the invention described in claim 2), the target wastegate actuator force FWG (actuator operating force) after the static friction force correction is used as the target wastegate actuator force FWG0 (actuator before the static friction force correction). Is calculated by performing static friction force correction (correction by actuator friction force) (see step 25 in FIG. 6), even if there is friction force of the wastegate actuator parts, static friction force is calculated. The corrected target wastegate actuator force FWG (actuator operating force) can be applied without excess or deficiency, and the target wastegate opening area TGAWG (target boost pressure PCHS) can be obtained.

According to the present embodiment (the invention according to claim 3), the static friction force correction (correction by the actuator friction force) is the target wastegate actuator force FWG0 (actuator operating force basic value) before the static friction force correction. Is the maximum static friction force FSTMXFRC # and the target wastegate actuator force FWG0 (actuator operating force basic value) before the static friction force correction is zero or more, the target wastegate actuator force before the static friction force correction The value obtained by subtracting the maximum static frictional force FSTMXFRC # from FWG0 is the target wastegate actuator force FWG (actuator operating force) after static frictional force correction,
When the target wastegate actuator force FWG0 before the static friction force correction is less than the maximum static friction force FSTMXFRC #, zero is the target wastegate actuator force FWG (actuator operating force) after the static friction force correction, and before the static friction force correction When the target wastegate actuator force FWG0 is equal to or greater than the maximum static friction force FSTMXFRC # and the target wastegate actuator force WG0 before the static friction force correction is a negative value, the target wastegate actuator force FWG0 before the static friction force correction is Since the value obtained by adding the maximum static friction force FSTMXFRC # is the target wastegate actuator force FWG (actuator operating force) after the static friction force correction (see step 25 in FIG. 6), the maximum static friction force FSTMXFRC # Static according to Frictional force corrected target wastegate actuator force FWG can provide.

  According to the present embodiment (the invention described in claim 5), the waste gate actuator 13 includes the diaphragm 14 that defines the pressure chamber 15 and the spring 18 that biases the diaphragm 14 in the closing direction of the waste gate 12. The rod stroke amount STWGRL of the waste gate actuator 13 is calculated based on the target waste gate opening area TGAWG, the calculated rod stroke amount STWGRL of the waste gate actuator, and the calculated change amount of the rod stroke amount of the waste gate actuator STWGRL-STWGRL (10 ms before), the spring constant KWGGSPR # of the spring 18 and the damper coefficient CWGDMPAD # before the target friction gate force correction before the waste gate actuator force FWG0 (actuator (Refer to steps 22 and 24 in FIG. 6), even if there is a difference in the strength of the spring 18 and the resistance due to the rod speed, the target wastegate actuator force FWG0 before the static friction force correction (actuator force The operation force basic value) can be calculated with high accuracy.

  Since the force acting on the wastegate actuator 13 due to the exhaust pressure acts in the opening direction of the wastegate 12, the target wastegate actuator force before the static friction force correction is taken into consideration without considering the force acting on the wastegate actuator 13 due to this exhaust pressure When FWG0 (actuator operating force basic value) is calculated, it becomes too large, and the wastegate 12 is excessively opened and the actual supercharging pressure deviates from the target supercharging pressure. According to the sixth aspect of the invention, the target wastegate actuator force FWG0 (actuator operating force basic value) before static friction force correction is corrected by the force FWGV acting on the wastegate actuator 13 by the exhaust pressure (see FIG. 6) (see steps 23 and 24) Even when the force acting on preparative actuator 13 is acting in the opening direction of the waste gate 12, it is possible to provide the optimum static friction corrected target wastegate actuator force FWG (operation force of the actuator).

  As shown in FIG. 7, the force acting on the wastegate actuator 13 due to the exhaust pressure varies depending on the exhaust amount flowing into the turbine 6 and the target supercharging pressure. According to the present embodiment (invention described in claim 7), the force FWGV acting on the wastegate actuator 13 by the exhaust pressure corresponding to the characteristic of FIG. 7 is converted to the average supercharging pressure response equivalent turbine inflow air amount MATBAVE ( Since the calculation is based on the intake air amount) and the target boost pressure PCHS (see step 23 in FIG. 6), the average boost pressure response equivalent turbine inflow air amount MATBAVE and the target boost pressure PCHS are also different. The force FWGV acting on the wastegate actuator 13 can be applied without excess or deficiency by the exhaust pressure.

The schematic block diagram of the supercharging pressure control apparatus of 1st Embodiment of this invention. The characteristic view which shows the result of having investigated the influence of exhaust temperature. The characteristic view which shows the result of having investigated the influence of exhaust pressure. The characteristic view which shows the steady data when experimenting by the combination of five accelerator opening and three engine rotation speeds. The flowchart for demonstrating calculation of a target wastegate opening area. The flowchart for demonstrating calculation of a target wastegate duty. The characteristic figure of the force which acts on a wastegate by exhaust pressure.

Explanation of symbols

DESCRIPTION OF SYMBOLS 3 Intake passage 4 Exhaust passage 5A, 5B Turbocharger 6 Turbine 7 Compressor 12 West gate 13 West gate actuator 15 Pressure chamber 20A, 20B Three-way solenoid valve 31 Engine controller

Claims (8)

A turbine provided in the exhaust passage;
A compressor provided in the intake passage;
A poppet type wastegate that opens and closes a passage that bypasses the turbine; and
An actuator that can variably control the degree of opening and closing of the wastegate in response to the control pressure supplied to the pressure chamber;
A link mechanism for expanding or reducing the rod stroke of the actuator to the stroke of the waste gate;
A three-way solenoid valve capable of adjusting the control pressure supplied to the pressure chamber,
The turbocharger control device , wherein the three-way solenoid valve is controlled by an operating force of the actuator calculated based on at least a frictional force of the actuator. The operation force of the actuator is calculated by correcting the actuator operation force basic value calculated based on a target wastegate opening area or a target wastegate stroke amount by a frictional force of the actuator. Item 2. The turbocharger control device according to Item 1. Correction by the frictional force of the actuator,
When the basic operating force value of the actuator is not less than the maximum static friction force of the actuator and the basic operating force value of the actuator is not less than zero, the value obtained by subtracting the maximum static friction force from the basic operating force value of the actuator is As the operating force of the actuator,
When the operating force basic value of the actuator is less than the maximum static frictional force of the actuator, zero is the operating force of the actuator,
When operating Chikaramoto present value of the maximum static friction force or more and said actuator operating force basic value the actuator of the actuator is a negative value, a value obtained by adding the maximum static frictional force to the operating force basic value of the actuator The turbocharger control device according to claim 2, wherein the control force is an operating force of the actuator.   4. The turbocharger control device according to claim 2, wherein a basic value of the operating force of the actuator is calculated based on a target waste gate opening area or a target waste gate stroke amount. 5.   When the actuator includes a diaphragm that partitions the pressure chamber and a spring that biases the diaphragm in the closing direction of the waste gate, the rod stroke amount of the actuator is calculated based on the target waste gate opening area. And calculating the basic value of the operating force of the actuator based on the calculated rod stroke amount of the actuator, the change amount of the calculated rod stroke amount of the actuator, the spring constant of the spring, and the damper coefficient. The turbocharger control device according to claim 4, wherein   The turbocharger control device according to any one of claims 2 to 5, wherein a basic value of an operating force of the actuator is corrected by a force acting on the actuator by an exhaust pressure. The turbocharger control device according to claim 6, wherein a force acting on the actuator by the exhaust pressure is calculated based on an intake air amount and a target supercharging pressure . A turbine provided in the exhaust passage;
A compressor provided in the intake passage;
A poppet type wastegate that opens and closes a passage that bypasses the turbine; and
An actuator that can variably control the degree of opening and closing of the wastegate in response to the control pressure supplied to the pressure chamber;
A link mechanism for expanding or reducing the rod stroke of the actuator to the stroke of the waste gate;
A three-way solenoid valve capable of adjusting the control pressure supplied to the pressure chamber,
A turbocharger control method , wherein the three-way solenoid valve is controlled by an operating force of the actuator calculated based on at least a frictional force of the actuator.