JPS6211722B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method of controlling a digital actuator.

Digital actuators used in digital control systems with feedback loops are
If the response speed is slow, just turn on
Hunting does not occur even with off control, but hunting tends to occur when the response speed is increased.

This is because there is almost always a component of response delay or hysteresis in the control system. Especially in digital control, the value of the feedback signal is generally affected by the presence of response delay or hysteresis. Regardless of the magnitude, hunting is likely to occur because the gain change at the rise or end of the instruction signal sent to the digital actuator must be abrupt.

Conventionally, to solve these problems, the signal to the digital actuator is given as a periodic pulse signal with double swings, and the center of the amplitude of the double swings is proportional to the difference between the feedback signal value and its target value. There are methods such as PWM that prevent the hunting phenomenon by moving the digital actuator, but these methods always use the digital actuator in vibration, which deteriorates the durability of the actuator. It is not suitable for devices that require durability.

The purpose of the present invention is to solve the above problems.
Improves control system responsiveness and control precision without sacrificing durability.
An object of the present invention is to provide a method for controlling a digital actuator that can increase the performance of a digital actuator.

Hereinafter, the present invention will be explained based on Examples.

FIG. 1 shows a system diagram when a digital actuator control method according to an embodiment of the present invention is used to operate an injection timing adjustment device 2 of a fuel injection pump 4 in a diesel engine 1. and a gear 1c fitted on the crankshaft 1a of the diesel engine 1,
A gear 2c fitted on an input shaft 2a of the injection timing adjustment device 2 forms a gear connection, and an output shaft 2b of the injection timing adjustment device 2 drives a fuel injection pump 4. , depending on the operating state of the diesel engine 1, the input shaft 2
By changing the rotational phase angle between the fuel injection pump a and the output shaft 2b, the injection timing in the fuel injection pump 4 is appropriately set, and the injection timing adjustment device 2 uses a known one. It is something.

The hydraulic pump device 3 is driven via gears 2c and 3a, and the hydraulic pump device 3 is connected to a pipe 3b.
It serves as a constant oil pressure source for the solenoid valve 5F via the solenoid valve 5F.

A disc 1b for measuring rotational angle and rotation speed is fitted onto the crankshaft 1a, and a similar disc 4a is fitted onto the output shaft 2b, and the circumferences of each of the discs 1b and 4a are fitted. On the top, protrusions are arranged at equally divided positions in the circumferential direction, and the disc 1b
and 4a, electromagnetic pickups 5H and 5G for detecting the rotational position of the above-mentioned notation are fixedly installed, respectively. Note that 5a and 5b are electric wires.

The electric wire 5c is an input interface 5 for inputting the displacement of the accelerator pedal that operates the diesel engine 1.
The electric wire 5d is for transmitting the water temperature in the water jacket of the diesel engine 1 to the input interface 5A, and the electric wire 5e is for transmitting the atmospheric temperature to the input interface 5A. .

Input interface 5A, central processing circuit 5
B, memory 5E and output interface 5D
The microcomputer 5 is configured by the electric wire 5k, which consists of one electric wire _5k1 in FIG. 6 and the other electric wire _5k2 not shown in the figure, and the output from the microcomputer 5 is transmitted via the electric wire 5m. It controls the solenoid valve 5F, and the solenoid valve 5
F is connected to the injection timing adjustment device 2 via the hydraulic pipe 5n.
It is used to operate.

The input interface 5A, as shown in FIG.
t is each electric wire.

FIG. 6 shows one output interface 5D ₁ in the circuit diagram of the output interface 5D, and one electric wire 5k ₁ , which is the output of the central processing circuit 5B, is connected to the resistor R ₁ . The electric wire 5u is connected to a constant voltage power source, and the electric wire 5m is connected to one solenoid 5 of the solenoid valve 5F in FIG.
Connected to F ₁ , D is a flywheel diode, R ₂ and R ₃ are resistors, and TR ₁ and TR ₂ are transistors. The other output interface to which the other electric wire _5k2 is input is omitted because it is the same as in FIG. 6.

In the configurations shown in FIGS. 1, 2, and 6, the functions thereof will be explained. The diesel engine 1 is driven by the operation of an accelerator pedal (not shown), and the fuel injection pump 4 is driven by the crankshaft 1.
a, gears 1c and 2c, input shaft 2a, injection timing adjustment device 2 and output shaft 2b,
The injection timing adjustment device 2 is controlled by the rotational speed of the diesel engine 1, the displacement of the accelerator pedal, the water temperature of the water jacket (hereinafter simply referred to as water temperature), and the atmospheric condition, and by this control, the injection timing is adjusted. The adjusting device 2 appropriately sets the injection timing of the fuel injection pump 4 by changing the relative rotational phase angle between the input shaft 2a (that is, also equivalent to the crankshaft 1a) and the output shaft 2b.

The above injection timing is set by turning on and turning on the solenoid valve 5F using an output instruction signal from the microcomputer 5.
The solenoid valve 5 is turned off and amplified by the operation.
The hydraulic pressure signal from F controls the operation and setting of the injection timing adjustment device 2. Hereinafter, the operation of the microcomputer 5 that controls the solenoid valve 5F, which is a digital actuator, will be explained.

The displacement of the accelerator pedal, the water temperature, and the atmospheric temperature are detected in analog form by detectors (not shown), and as shown in FIG. 2, command signals are sent from the central processing circuit 5B via the electric wire 5r at any time. Depending on the detection value, each detection value is
In the multiplexer 5AD, the detection signals A-
In the D converter 5AE, the analog values are converted into digital values and each is input to the central processing circuit 5B.

The respective rotation angles of the crankshaft 1a and the output shaft 2b are determined by the electromagnetic pickups 5H and 5.
G, and the respective detected signals are the signals 5as and 5 as shown in FIG.
As the bs detection signal, Schmitt circuit 5AB
(Figure 2) is used as an input.

Note that the horizontal axis in FIG. 3 indicates elapsed time.

Pulse signals sa and sb in FIG.
It shows the voltage change value that occurs when the voltage exceeds G.

These pulse signals sa and sb are connected to pa ₁ and pb in Schmitt circuit 5AB, respectively.
Each signal is converted into a rectangular pulse signal,
It is input to the central processing circuit 5B.

As the rotational speed of the crankshaft 1a increases, the waveforms of the pulse signals sa and sb change as shown by sa', so the pulse signals _pa1 and pb whose waveforms are shaped as a reference for the reference voltage level d are
pa changes as ₁ ′, but the pulse signals sa and sb
Since the positions of points a and b of zero voltage in are not affected by the rotational speed, the pulse signal pa ₁
and pb have their reference points at elapsed times corresponding to points a and b.

t ₁ and t ₂ are pulse signals pa ₁ and
pb, and the measurement time between pulse signals pa ₁ and pa ₂ , respectively, and due to its nature, the rotational phase angle pe between the input shaft 2a and the output shaft 2b, and the rotational phase angle pe of the crankshaft 1a. Rotational speed n
is as follows.

pe=(c ₁ ×t ₁ )/t ₂ ………(1) n=c ₂ /t ₂ ………(2) However, c ₁ and c ₂ depend on the number of protrusions on the discs 1b and 4a. It is a fixed constant.

In the memory 5E in FIG. 1, various data necessary for calculation in the central processing circuit 5B are stored.

To explain an example of this stored data, for example, the fuel injection timing of the diesel engine 1 is ideally determined depending on the conditions of the water temperature, the atmospheric temperature, the displacement θ of the accelerator pedal, and the rotational speed n of the crankshaft 1a. When set, it is possible to optimize the fuel consumption rate or exhaust gas components of the diesel engine 1. For this reason, the memory 5E stores information such as the displacement θ of the accelerator pedal and the crankshaft. The target rotational phase angle peo to be set in the injection timing adjustment device 2 in relation to the rotational speed n of the shaft 1a is stored in the form of a map as shown in FIG.

In addition, each + mark in FIG. 5 represents p ₃₃ , p ₃₄ ,
Displacement θ of each accelerator pedal as p ₄₃ and p ₄₄
Each target rotational phase angle corresponding to the relationship between the rotational speed n of the crankshaft 1a and the rotational speed n of the crankshaft 1a is stored at equal intervals, and values that change according to changes in water temperature and atmospheric temperature are stored. .

In addition, in FIG. 5, the electromagnetic pick-up 5H
Actual operating point p determined by the rotational speed n found from and the displacement θ of the accelerator pedal at that time.
The target rotational phase angle peo is determined by the target rotational phase angles p ₃₃ , p ₃₄ , p ₄₃ and p ₄₄ of the state in the vicinity e of point p, and the vicinity e is shown in FIG. 4 in an enlarged manner.

In FIG. 4, Ld and dL are the displacement differences of the accelerator pedal, nd and dn each indicate the rotation difference, and the target rotational phase angle peo at point p is calculated in the central processing circuit 5B using the following formula. ing.

peo={(A-B)dn/nd}+B……(3) However, A={(P ₄₄ −p ₃₄ )dL/Ld}+p ₃₄ ……(4) B={(p ₄₃ −p ₃₃ ) dL/Ld}+p ₃₃ (5) All of the above equations (1) to (5) are stored in the memory 5E.

The target rotational phase angle peo obtained from the above equation (3) is compared with the actual rotational phase angle pe obtained from the equation (1), and based on the comparison, the central processing circuit 5B performs a calculation. However, for convenience of explanation, the problem when the calculation is performed by a conventional digital control method will be explained here.

The calculation steps in the conventional central processing circuit are as follows:
It's Tsupu.

Step (1) Find peo−pe=Er.

Step (2) Determine whether the absolute value of the deviation Er is larger or smaller than the absolute value of the minimum standard deviation Ero stored in the memory.

Step (3) When the determination in step (2) is small, the voltage value of the output instruction signal in the central processing circuit 5B is set to zero.

Alternatively, when the determination in step (2) is large, the sign of the deviation Er is determined, and depending on whether the sign is positive or negative, the central processing circuit 5B
When the step-shaped output instruction signal is set as one or the other voltage value, when it is positive, the electric wire 5
k ₁ , and when it becomes negative, it continues to be output to the electric wire 5k ₂ (not shown), and the indication signal is the current deviation value that is corrected by the indication signal.
When the absolute value of Er becomes smaller than the absolute value of the minimum standard deviation Ero, the voltage value becomes zero.

That is, the instruction signal continues to be output until the value of the currently detected deviation Er becomes the minimum standard deviation Ero.

According to the above calculation result, when the output command voltage in step (3) is zero, the microcomputer 5 closes the solenoid valve 5F, fixes the rotational phase angle in the injection timing adjustment device 2, and proceeds to step (3). 3)
When the output command voltage is one or the other, the rotational phase angle in the injection timing adjustment device 2 is corrected in the positive direction or the negative direction by operating the solenoid valve 5F in one direction or the other.

However, when operating the solenoid valve 5F, the voltage of the output instruction signal from the microcomputer 5 continues until the correction progresses and the absolute value of the new deviation Er becomes smaller than the absolute value of the minimum standard deviation Ero. In the above-mentioned conventional method in which the db does not become zero, a hunting phenomenon occurs when trying to increase the responsiveness of the system.

The above reason will be explained below.

One output signal voltage from the central processing circuit 5B is
When applied stepwise to the electric wire _5k1 in FIG. 6, the voltage is applied to the transistor through the resistor _R1 .
As a result of being applied to the base at TR ₁ , the current I from the constant voltage source flows from the electric wires 5u and 5m to the ground via one solenoid 5F _1. In this case, the current characteristics with respect to the elapsed time t are as shown in Figure 7. This is a characteristic.

That is, even if a voltage with a rectangular waveform is applied to the electric wire _5k1 , the current I gradually increases between o and f due to the inductance of the solenoid _5F1 , and reaches point f, when the solenoid valve The spool valve begins to move. As a result, due to the movement,
An electromotive force is generated in the coil of solenoid 5F ₁ ,
Between f and g, the current I decreases and g
When the spool valve completely opens and stops moving at this point, the decrease in the current I also ends.

Furthermore, as mentioned above, even after the solenoid valve 5F is completely opened, if the voltage of the instruction signal continues to be applied to the electric wire _5K1 , the current will further increase as shown in the characteristics between g and h. , its value eventually becomes saturated.

After the above action, when the voltage of the instruction signal on the electric wire _5k1 becomes zero at point h where the elapsed time t becomes t=ts, the flywheel diode D
and resistor R ₃ , the current I becomes h~i
It decreases while exhibiting the characteristics shown in between.
Since the spool valve starts to close when it reaches point i, the movement of the spool valve generates an electromotive force in the coil of solenoid _5F1 , until it reaches point j, when the spool valve finishes closing completely. , the current increases again and decreases again after point j.
It should be noted that when an instruction signal is applied to the aforementioned electric wire _5k2 (not shown), the other solenoid valve 5F in FIG. 1 is actuated by performing the same action on the other side.

In addition, o~f~g or h~ in FIG.
The characteristics between i to j vary depending on the selection of the resistance value shown in FIG. 6 to be used.

As is clear from the above actions in _FIG .
There is a corresponding time delay between ~j.

In this way, the above explanation has been about the output interface 5D system including the load circuit, but generally speaking, the control system including the load includes inductance, inertia, viscous resistance, etc. to a greater or lesser extent. There is a delay or hysteresis due to frictional resistance, etc.

〓〓〓〓
As a result, in order to improve the responsiveness of the system, the gain of the system can be increased, and the minimum standard deviation mentioned above can be increased.
When trying to minimize the deviation Er of the rotational phase angle from the target set value by decreasing Ero, if the conventional method described above is used, the moment when the deviation Er becomes smaller than the minimum standard deviation Ero, which is close to zero, Since the instruction signal for correcting up to The correction is continued by the amount of the delay, resulting in a so-called hunting phenomenon.

When an instruction signal according to the conventional control method as described above is applied to the electric wire 5K in FIG. 1, the instruction signal voltage V has a characteristic as shown in FIG. 8.

In contrast, in the present invention, the characteristics shown in FIG. 8 are improved to those shown by the solid line in FIG. 9, and the application time ts of the instruction signal uses the relationship shown in FIG. 11, which will be described later.

The operation of FIG. 9 will be explained below.

The difference between the control method in FIG. 9 and the conventional control method in FIG. 8 is that after the deviation Er has been detected, an instruction signal is output based on the deviation Er, and is the deviation Er
is not detected, and the control while correcting the deviation is in a state equivalent to open-loop control due to the instruction signal.

In addition, the application time ts in FIG. 9 is determined by experimentally researching the application time required for each deviation Er until the deviation becomes zero, and then calculating the application time ts and the deviation. The relationship with Er is as shown in Figure 9.

Here, the raw data obtained experimentally above is as shown in FIG. 11, and the horizontal axis in FIG. The application time with the signal of time ts added is shown, and the vertical axis dpe is the amount of movement of the actuator by the pressure oil from the solenoid valve 5F opened by the instruction signal of the application time ts. The amount of movement dpe is proportional to the amount of displacement of the rotational phase angle of the injection timing adjustment device 2, and the amount of displacement corresponds to the amount of deviation by which the deviation Er is corrected.

Moreover, tsf in FIG. 11 corresponds to ts ₁ in FIG. 9, and characteristics A and B are
One case is when it is activated in one direction, and the other is when it is activated in the other direction.

The second difference from the conventional method is that when the absolute value of the deviation Er becomes larger than the absolute value of the maximum standard deviation Er ₁ and the difference increases significantly, the absolute value of the deviation Er becomes the maximum standard deviation. The point is that the step-like instruction signal continues to be output until the value becomes smaller than the absolute value of Er ₁ .

Note that the characteristics on the right side of the ts axis in FIG. 9 indicate the application time of the signal applied to the electric wire 5k ₁ in FIG _. It shows the application time of the given signal, and tso shows the intersection of the ts axis and the gradient of each solid line.

The calculation steps of the present invention in the central processing circuit 5B will be explained below.

Step (1) Find peo−pe=Er.

Step (2) The absolute value of the detected deviation Er is stored in the memory 5E as the minimum standard deviation.
Compare with the respective absolute values of Ero and maximum standard deviation Er ₁ .

Step (3) When the absolute value of the detected deviation Er is smaller than the absolute value of the minimum standard deviation Ero, the voltage source of the instruction signal is set to zero.

Step (4) When the absolute value of the detected deviation Er is larger than the absolute value of the minimum standard deviation Ero and smaller than the maximum standard deviation _Er1 , the central processing circuit 5B determines the sign of the deviation Er, deviation
When Er is positive, this is applied as one instruction signal to the electric wire 5k ₁ in FIG. 6, and when the deviation Er is negative, it is applied as the other instruction signal to the aforementioned electric wire 5k ₂ . At this time, the application time of the pulse signal in one instruction signal or the other instruction signal is determined by adding the minimum application time tso in Fig. 9 to the application time proportional to the detected deviation Er. It has a pulse width.

Here, the application time ts is, as mentioned above,
An experimentally confirmed application time during which the detected deviation value Er should become exactly zero due to the one-pulse instruction signal.
It is marked as ts.

〓〓〓〓
Step (5) The absolute value of the deviation Er is the maximum standard deviation
When it is larger than the absolute value of Er ₁ , the instruction signal continues to be output to the electric wire _5k1 or _5k2 until the value of the deviation Er is corrected to the state of step (4) by the instruction signal.

Similarly, when this one cycle of calculation is completed, the process returns to step (1) and a new deviation is calculated.
Repeat the action of detecting Er.

The instruction signal characteristics resulting from the above calculation are as shown in FIG.

In addition, in Fig. 10, the upper pulse is the electric wire 5k ₁
, the lower side is given to the wire 5k ₂ .

In addition, in the explanation in FIG. 6 above,
It has been explained that the electric wire 5k in Fig. 1 consists of the electric wires 5k ₁ and 5k ₂ , but this configuration
k as a single wire, one indicating signal as a positive voltage and the other indicating signal as a negative voltage, which is applied to a single wire 5k, which wire 5k is connected on one side to the output interface 5D ₁ . , the other may be connected to the output interface 5D ₂ (the same circuit as 5D ₁ ) on the other side described above via a code converter. In this case, the effect is similar to that described above.

Next, an invention in which further improvements are made to the above basic invention will be described.

Generally, the configuration of the injection timing adjustment device 2 shown in FIG. 1 is such that at least one of the splines on the input shaft 2a and the output shaft 2b is a helical spline, and each spline has
A slider that can slide in the axial direction is spline-fitted.

As a result, due to the existence of the helical spline fitting, when the slider is operated in the axial direction, the relative rotational phase angle between the input shaft 2a and the output shaft 2b is adjusted. When operating the slider, the driving torque from the engine 1 drives the fuel injection pump 4 via the input shaft 2a, the slider, and the output shaft 2b. An axial force is acting, and this axial force has a value proportional to the driving torque.

Therefore, when operating the slider in the injection timing adjustment device 2, the operating energy is different when operating the slider in one axial direction and when operating the slider in the other axial direction.

This means that when the solenoid valve 5F operates the slider by a certain unit distance, when operating the slider in one axial direction, when operating the slider in the other axial direction, an instruction signal is sent for operating the slider in the other direction. It is desirable to shorten the application time of one pulse.

That is, when operating the slider in one axis direction between +Ero and +Er ₁ in Fig. 9,
If the application time ts of the pulsed instruction signal to be transmitted is appropriate, the operation in the other axis direction (−Er ₁ to −Ero in FIG. 9) requires less energy than the energy required for operation in the one axis direction. ), if the same application time ts as in the case of one axial operation in the former is used, an overshoot phenomenon will occur in that operation; conversely, if this application time ts is matched with the other case in the latter, This is because if this is the case, the response to one operation will be slow and small.

From the above, the improvements in the present invention are as follows:
In the figure, for the solid line characteristic on the right side (one operation), the other operation gives the characteristic shown in the broken line on the left side of FIG. computer 5
The calculation steps in the basic invention described above are performed as follows.

Note that the intersection point tso' between the extension of the gradient of the broken line characteristic and the ts axis in FIG. 9 is the same minimum application time as the above-described virtual minimum application time tso.

Step (1) Find peo−pe=Er.

Step (2) The absolute value of the detected deviation Er is stored in the memory 5E as the minimum standard deviation.
Compare with the respective absolute values of Ero and maximum standard deviation Er ₁ .

Step (3) When the absolute value of the detected deviation Er is smaller than the absolute value of the minimum standard deviation Ero, the voltage value of the instruction signal is set to zero.

Step (4) When the absolute value of the detected deviation Er is larger than the absolute value of the minimum standard deviation Ero and smaller than the absolute value of the maximum standard deviation Er ₁ , and the sign of the deviation Er is positive, The ninth point stored in the memory 5E has a proportional value of 1 to the absolute value of the deviation Er and is proportional to the application time.
The application time (pulse width) with tso shown in the figure is included〓〓〓〓
And when the sign of the deviation Er is negative,
The application time has an application time proportional to the absolute value of the deviation Er with another proportional value, and the application time tso' shown in FIG. 9 stored in the memory 5E is added.
One or the other instruction signal is respectively given to one electric wire 5k ₁ in FIG. 6 or the other electric wire 5k ₂ (not shown) mentioned above.

Step (5) If the absolute value of the detected deviation Er is greater than the absolute value of the maximum standard deviation Er ₁ , the deviation to be detected next time is determined by the instruction signal.
The instruction signal is continued to be output to the electric wire 5k ₁ or 5k ₂ until the value of Er is newly corrected to the state of step (4).As is clear from the above explanation, the digital actuator control method according to the present invention is , which has the following effects.

(1) Unlike the conventional method of continuing to issue an instruction signal until the deviation becomes zero, the invention as claimed in claim 1 is different from the conventional method of continuing to issue an instruction signal until the deviation Er has been detected. Based on the deviation value Er, the deviation Er that has already been experimentally determined
A method is adopted in which an instruction signal with an application time ts that corrects the value of to exactly zero is output.

Therefore, the deviation Er is corrected to a value of almost zero by only one pulse of the instruction signal in that control cycle.

Therefore, the response of the control becomes very quick, and the number of signal transmissions applied to the solenoid valve is reduced, so that the durability of the solenoid valve is improved.

(2) Regarding the invention as claimed in claim 2, the absolute value of the deviation Er becomes the absolute value of the maximum standard deviation Er ₁ due to sudden changes in the load of the diesel engine 1, etc., or the displacement of the accelerator pedal, etc. When the maximum reference deviation Er1 becomes larger, the instruction signal to the output interface 5D continues to be applied until the absolute value of the deviation Er becomes smaller than the absolute value of the maximum reference deviation _Er1 . Control responsiveness is extremely high even for systems with significant changes.

(3) For the invention as claimed in claim 3, the application time of the instruction signal for operating the solenoid valve 5F is determined by considering the torque in the engine, etc., and changing the application time of the instruction signal to advance the rotational phase angle, etc. By changing the application time characteristic ts of each pulse signal in the other support signal such as delaying the rotational phase angle, the rotational phase angle of the injection timing adjustment device 2 can be advanced or delayed. This makes it possible to increase the responsiveness to the maximum value in both cases.

Furthermore, if the gradient of the broken line characteristic in FIG. 9 is changed in proportion to the driving torque in the engine 1, even better operation can be achieved.

[Brief explanation of the drawing]

FIG. 1 shows a system diagram when the digital actuator control method of the present invention is used in a fuel injection timing adjustment device 2 of a diesel engine 1, and FIG. 2 shows a block diagram of the input interface 5A in FIG. Figure 3 shows the electromagnetic pickup 5G in Figure 1 from the top.
The signals 5as and 5bs detected by the signals 5as and 5H, and the signals 5as and 5bs, respectively, are converted into rectangular wave-like signals 5ap and 5bp in the Schmitt circuit 5AB of FIG.
The characteristics of each are shown. Fourth
The figure is an enlarged view of the neighborhood e in Figure 5, and Figure 5 shows the accelerator pedal θ and the engine rotation speed n
3 shows a map digitally showing the target rotational phase angle of the fuel injection pump determined by the relationship between . FIG. 6 shows one of the output interfaces 5D in FIG.
D ₁ is shown in a circuit diagram, and Fig. 7 shows the characteristics of the current flowing through one solenoid 5F ₁ when a rectangular wave-like voltage signal is applied to the electric wire 5k ₁ in Fig. 6. It is something that FIG. 8 shows the characteristics of the instruction signal voltage V assuming that it is applied to the electric wire 5K in FIG. 1 by the conventional control method, and FIG. 9 shows the characteristics of the instruction signal voltage V in the case of the present invention. FIG. 3 is a characteristic diagram of the applied application time ts. FIG. 10 shows the characteristics of the instruction signal voltage V in the operating state appearing on the electric wire 5k in FIG. 1, in accordance with the characteristics in FIG. 9.
Further, FIG. 11 shows experimental data showing the relationship between the application time of the instruction signal and the amount of movement of the actuator. The symbols used in the examples are as follows. 〓〓〓〓
1: Diesel engine, 1a: Crankshaft,
1b: disk, 1c: gear. 2: injection timing adjustment device, 2a: input shaft, 2b: output shaft, 2c: gear.
3: Hydraulic pump device, 3a: Gear, 3b: Piping.
4: Fuel injection pump, 4a: Disc. 5: Microcomputer, 5A: Input interface, 5
AB: Schmitt circuit, 5AD: Analog multiplexer, 5AE: A-D converter, 5B: Central processing circuit, 5D: Output interface, 5
D ₁ : One output interface, 5E: Memory, 5F: Solenoid valve, 5G and 5H: Solenoid pick-up. 5a, 5b, 5c, 5d, 5e, 5f,
5g, 5h, 5j, 5k, 5k ₁ , 5m, 5p, 5
q, 5r, 5s, 5t and 5u: electric wire, 5n:
Piping, 5as, 5bs, 5ap and 5bp: signal.
sa, sa′, sb, pa ₁ , pa ₁ ′, pa ₂ and pb: pulse signal, t ₁ and t ₂ : measurement time, θ: accelerator pedal displacement, n: rotation speed of diesel engine 1,
p ₃₃ ,, p ₃₄ , p ₄₃ and p ₄₄ : Target rotation phase angle in injection timing adjustment device 2, Ld and dL: Displacement difference, dn and nd: Rotation difference, p: Actual operating point, d:
Reference voltages, a,, b, c, f, g, h, i and j: points, R ₁ , R ₂ and R ₃ : resistors, TR ₁ and
TR ₂ : Transistor, D: Diode, 5F ₁ : One solenoid in solenoid valve 5F, ts: Electric wire 5
Application time of the square wave voltage applied to k, Er: Deviation between the target rotational phase angle and the actual rotational phase angle for the injection timing adjustment device 2, Ero: Minimum standard deviation, Er ₁ :
Maximum standard deviation, ts ₁ : Minimum application time required for solenoid valve 5F to open in the application time of ts, tso
and tso′: virtual minimum application time. 〓〓〓〓

Claims (1)

[Scope of Claims] 1. An actuator that operates a load is actuated by application of an instruction signal, and the application of the instruction signal includes: a: a detected value of a set value set in the load; A calculator calculates a deviation value from a target setting value to be set for the load, and b: the absolute value of the detected deviation value and the minimum standard deviation value stored in the memory in the calculator. c: when the absolute value of the detected deviation value is smaller than the absolute value of the minimum standard deviation value, the value of the instruction signal is set to zero; d: the detected deviation value is set to zero; When the absolute value of the finished deviation value is greater than the absolute value of the minimum standard deviation value, the instruction signal is converted into one instruction signal or the other instruction signal by determining the sign of the deviation value. e: The application time of each of the instruction signals is the application time of the value corresponding to the deviation value that has been detected, and f: When the application of the instruction signal is completed, a new one is applied again. The above operation is to detect the deviation and repeat the above operation again based on the new deviation value that has been detected, and the corresponding relationship between the deviation value and the application time is as described above. The application time is stored in the memory of the calculator, and the relationship is that the application time is the application time that is proportional to the absolute value of the deviation value and the minimum application time. A modern method for controlling digital actuators. 2. The actuator that operates the load is actuated by the application of an instruction signal, and the application of the instruction signal is caused by: Calculate the deviation value from the desired target setting value in a calculator, and b: calculate the absolute value of the detected deviation value and the minimum standard deviation value and maximum standard deviation value stored in the memory in the calculator. c: When the absolute value of the detected deviation value is smaller than the absolute value of the minimum standard deviation value, the value of the instruction signal is set to zero; d: The detected When the absolute value of the completed deviation value is larger than the absolute value of the minimum standard deviation value and smaller than the maximum standard deviation value, the instruction is given by determining the sign of the deviation value. Sort the signal into one instruction signal or the other instruction signal, and e: The application time of each instruction signal is a value corresponding to each deviation value that has been detected.
f: When the absolute value of the deviation value is greater than the absolute value of the maximum standard deviation value, the absolute value of the deviation value is smaller than the absolute value of the maximum standard deviation value. Until g: When the application of the instruction signal is completed, one pulse signal or the other pulse signal sorted by the positive/negative sign of the deviation value continues to be output as the instruction signal. The above operation is such that a new deviation is detected and the above operation is repeated again based on the detected new deviation value, and the corresponding relationship between the deviation value and the application time is as described above. The application time is stored in the memory of the calculator, and the relationship is that the application time is the application time that is proportional to the absolute value of the deviation value and the minimum application time. A modern method for controlling digital actuators. 3. The actuator that operates the load is actuated by the application of an instruction signal, and the application of the instruction signal is caused by: Calculate the deviation value from the desired target setting value in a calculator, and b: Compare the absolute value of the detected deviation value with the absolute value of the minimum standard deviation value stored in the memory in the calculator. c: When the absolute value of the deviation value that has been detected is smaller than the absolute value of the minimum standard deviation value, the value of the instruction signal is set to zero, and d: The absolute value of the deviation value that has been detected is When the value is greater than the absolute value of the minimum standard deviation value, classify the instruction signal into one instruction signal or the other instruction signal by determining the positive or negative sign of the deviation value; The application time of each instruction signal is the application time of the value corresponding to the deviation value that has been detected, f: When the application of the instruction signal is completed, a new deviation is detected again and the The above action is repeated again based on the detected new deviation value, and the respective corresponding relationships between the deviation value and the application time are stored in the memory of the calculator. Yes, and the relationship is that the application time is: a: If the deviation value is positive, the application time is proportional to the absolute value of the deviation value with a proportional value of 1;
The application time is the sum of the minimum application time, and b: If the deviation value is negative, the application time is proportional to the absolute value of the deviation value with another proportional value,
A digital actuator control method consisting of the above actions, in which the application time is the sum of the minimum application time.