JP2019060369A - Control device of fluid control valve - Google Patents

Abstract

A control device for a fluid control valve capable of improving the responsiveness of opening degree control and/or reducing the load on the seal member in consideration of sliding resistance fluctuations due to the seal member. A first aspect of the present disclosure includes a valve seat (13), a valve body (14), and a motor section (3) that drives the valve body (14) to adjust an opening degree, and the valve seat (13) and the valve body (14) are provided. In a control device for a fluid control valve having a fluid control valve 1 provided with a rubber seal portion 13a for sealing between a valve seat 13 and a control section 21 for controlling the fluid control valve 1, the control section 21: When the valve is opened and closed, the control amount of the motor portion 3 is corrected within the rubber seal influence range, which is the opening degree range in which the valve body 14 slides on the rubber seal portion 13a. [Selection drawing] Fig. 7

Description

  The present disclosure relates to a control device of a fluid control valve that controls fluid flow.

  As a prior art, Patent Document 1 discloses a device having a dual eccentric valve as a fluid control valve and a control unit for controlling the dual eccentric valve. The double eccentric valve has a valve seat, a valve body, and a motor unit that drives the valve body to adjust the opening degree.

International Publication No. 2016/002599

  In a fluid control valve such as a double eccentric valve disclosed in Patent Document 1, a seal member may be provided on a valve seat. In this case, at the time of the on-off valve, sliding resistance of the seal member occurs in a low opening area where the valve body slides on the seal member. As a result, in the low opening region, the movement of the valve body is delayed, and there is a possibility that a delay occurs in the time until the required opening is reached, and the responsiveness of the opening control may be reduced. Alternatively, since the sliding resistance of the seal member is large, the durability required for the valve body or the valve seat may be severe.

  Therefore, the present disclosure has been made to solve the above-described problems, and in view of the sliding resistance of the valve provided with the seal member, the response of the opening control can be improved and the seal member can be improved. It is an object of the present invention to provide a control device of a fluid control valve capable of achieving at least one of load reduction.

  One aspect of the present disclosure made to solve the above problems includes a valve seat, a valve body, and a drive unit that drives the valve body to adjust the opening degree, and the valve seat or the valve Control device for fluid control valve having fluid control valve provided with seal member for sealing between the valve body and the valve seat in any one of the body, and control unit for controlling the fluid control valve Wherein the control unit corrects the control amount of the drive unit at an opening within a seal member influence range which is an opening range where the valve body or the valve seat slides on the seal member at the time of the on-off valve To be characterized.

  According to this aspect, at the time of the on-off valve, by correcting the control amount of the drive unit at the opening within the seal member affected range, the drive of the valve is made faster to improve the response of the opening control. Can. Alternatively, by correcting the control amount of the drive unit at the opening within the seal member influence range, the drive of the valve body can be delayed to reduce the load on the seal member.

  In the above aspect, the control amount is calculated as a PID operation value, and the control unit offsets the PID operation value or multiplies the PID operation value by an arbitrary constant, or Preferably, the gain is changed to correct the PID calculation value.

  According to this aspect, by increasing the PID operation value, the drive of the valve body can be made faster, and the responsiveness of the opening control can be improved. Alternatively, by reducing the PID calculation value, the drive of the valve body can be delayed to reduce the load on the seal member.

  In the above aspect, it is preferable that the PID calculation value be corrected using an index that is correlated with the hardness or the friction coefficient of the seal member.

  According to this aspect, it is possible to appropriately control the drive of the valve body by adjusting the control amount of the drive unit according to the hardness or the friction coefficient of the seal member.

  In the above aspect, preferably, the control unit performs learning of the seal member influence range.

  According to this aspect, robustness can be improved. That is, for example, even when the seal member affected range fluctuates due to the individual difference of the fluid control valve or the influence of some disturbance, etc., the opening / closing valve within the seal member affected range at the time of opening and closing stably. Control amount can be corrected.

  Then, as an aspect of learning the seal member influence range, learning of the seal member influence range is performed by closing the valve with the control amount of the drive unit kept constant from an arbitrary opening degree outside the seal member influence range. The opening degree when the change amount of the actual opening degree is equal to or less than the predetermined value is an opening degree equal to or less than the design upper limit opening degree which is the design value of the upper limit opening degree in the seal member affected range. Preferably, learning is performed as the upper limit opening degree of

  Further, as another aspect of learning the seal member influence range, learning of the seal member influence range is performed by closing the valve with the control amount of the drive unit kept constant from an arbitrary opening degree outside the seal member influence range. When the opening degree is less than the opening degree when the inflection point appears in the curve showing the time change of the actual opening degree, the opening degree when the change amount of the actual opening degree becomes equal to or less than the predetermined value Preferably, learning is performed as the upper limit opening degree of the member influence range.

  Further, as another aspect of learning the seal member influence range, learning of the seal member influence range may be performed by decreasing the commanded opening degree each time the actual opening degree approaches the commanded opening degree, and optionally outside the seal member influence range. When closing the valve every minute opening degree from the opening degree, the opening degree when the time required for the actual opening degree to approach the command opening degree becomes longer than a predetermined time is the upper limit opening of the seal member affected range Preferably, it is done to learn as a degree.

  Further, as another aspect of learning the seal member influence range, learning of the seal member influence range may be performed by decreasing the commanded opening degree each time the actual opening degree approaches the commanded opening degree, and optionally outside the seal member influence range. Assuming that when the amount of change of the actual opening per predetermined time becomes equal to or less than a predetermined value when closing the valve every minute opening from the opening of is the upper limit opening of the seal member affected range Preferably, it is done to learn.

  In the aspect in which the seal member influence range is learned, it is preferable that the control unit perform totally closed learning in which the fully closed position of the fluid control valve is learned.

  According to the control device for a fluid control valve of the present disclosure, at least one of improvement in responsiveness of opening control and reduction in load on the seal member can be achieved.

It is a perspective view of a motor-driven fluid control valve provided with a double eccentric valve. It is a perspective view which fractures and shows a valve part in a fully closed state. It is a perspective view which fractures | ruptures and shows the valve part in a full open state partially. It is a side view showing a valve seat, a valve body, and a rotating shaft in a fully closed state. It is the sectional view on the AA line of FIG. It is a block diagram of PID control performed by this embodiment. It is a figure which shows an example of the control flow which correct | amends drive duty ratio. It is a control flowchart of a rubber correction flag. It is a figure which shows an example of the control flow which correct | amends drive duty ratio. It is a figure which shows the relationship between a deviation and a proportional gain. It is a figure which shows the relationship between a deviation and integral gain. It is a figure which shows the relationship between stack temperature and predetermined value. It is a control flow diagram showing a first learning method for learning of the rubber seal influence range. It is a figure which shows the time change of an opening degree. It is a control flow diagram showing a second learning method for learning of the rubber seal influence range. It is a control flow figure showing the 3rd and 4th learning method about learning of a rubber seal influence range. It is a control-flow figure in the case of determining by the time required until an actual opening degree approaches command opening degree. It is a control flow figure in the case of judging by change amount of real opening. It is a figure which shows the time change of an opening degree. It is a figure which shows the responsiveness of opening control in the rubber seal influence range.

  A controller for a fluid control valve according to an embodiment of the present disclosure will be described in detail with reference to the drawings.

  In the present embodiment, a motorized fluid control valve 1 having a double eccentric valve is used. The fluid control valve 1 is mounted on, for example, a fuel cell vehicle, and is discharged from a fuel cell stack that generates electric power using fuel gas and oxidant gas in a fuel cell system that supplies electric power to a drive motor (not shown). It is used as a sealing valve that opens and closes a passage through which air flows.

  As shown in FIG. 1, the fluid control valve 1 includes a valve unit 2 configured of a double eccentric valve, a motor unit 3 (an example of a “drive unit”) incorporating a motor, and a reduction gear incorporating a plurality of gears. And a mechanism unit 4. The valve portion 2 includes a metal pipe portion 12 having a flow path 11 through which fluid flows, and in the flow path 11, a valve seat 13, a valve body 14 and a rotation shaft 15 are disposed. The inner shape of the flow passage 11, the outer shape of the valve seat 13, and the outer shape of the valve body 14 are circular or substantially circular in plan view, respectively. The rotational force of the motor is transmitted to the rotating shaft 15 through a plurality of gears. In this embodiment, the pipe portion 12 having the flow path 11 corresponds to a part of the housing 6, and the motor of the motor portion 3 and the plurality of gears of the reduction mechanism portion 4 are covered by the housing 6. The housing 6 is formed of metal such as aluminum.

  As shown in FIGS. 2 and 3, a stepped portion 10 is formed in the flow passage 11, and a valve seat 13 is incorporated in the stepped portion 10. The valve seat 13 has an annular shape, and has a circular or substantially circular valve hole 16 at the center. An annular seat surface 17 is formed at the edge of the valve hole 16. In the present embodiment, the valve seat 13 is provided with a rubber seal portion 13a (an example of a "seal member") for sealing between the valve seat 13 and the valve body 14, and the rubber seal portion 13a has a seat surface. 17 are formed. The valve body 14 has a disk shape, and an annular seal surface 18 corresponding to the seat surface 17 is formed on the outer periphery thereof. The valve body 14 is fixed to the rotation shaft 15 and is configured to rotate integrally with the rotation shaft 15.

  As shown in FIGS. 2 to 5, the axis L1 of the rotary shaft 15 extends parallel to the radial direction of the valve body 14 and the valve hole 16 and is disposed eccentrically in the radial direction of the valve hole 16 from the center P1 of the valve hole 16 At the same time, the sealing surface 18 of the valve body 14 is disposed eccentrically in the direction in which the axis L2 of the valve body 14 extends from the axis L1 of the rotating shaft 15. Further, by rotating the valve body 14 about the axis L1 of the rotating shaft 15, the sealing surface 18 of the valve body 14 is in a fully closed position (see FIG. 2) in surface contact with the seat surface 17 of the valve seat 13. It is configured to be movable between a fully open position (see FIG. 3) farthest from the seat surface 17.

  In this embodiment, the rotational force of the motor of the motor unit 3 is transmitted to the rotational shaft 15, whereby the rotational shaft 15 rotates about the axis L1. Thereby, in FIG. 5, at the same time as the valve body 14 starts rotating in the valve opening direction (the direction of the arrow F1 shown in FIG. 5, ie, clockwise in FIG. 5) from the fully closed position Start to move away from the seat surface 17 of the valve seat 13 and start to move along rotational loci t1 and t2 about the axis L1 of the rotation shaft 15. In this manner, the motor of the motor unit 3 rotates the rotary shaft 15 in the valve opening direction about the axis L1, and drives the valve body 14 to adjust the opening degree.

  As shown in FIGS. 4 and 5, the valve body 14 includes a mountain-shaped fixing portion 14 b which protrudes from the plate surface 14 a on the upper side thereof and is fixed to the rotation shaft 15. The fixing portion 14 b is fixed to the rotary shaft 15 via a pin 15 a protruding from the tip of the rotary shaft 15 at a position shifted in the radial direction of the rotary shaft 15 from the axis L 1 of the rotary shaft 15. Further, as shown in FIG. 5, the fixing portion 14 b is disposed on the axis L 2 of the valve body 14, and the valve body 14 including the fixing portion 14 b has a left-right symmetrical shape about the axis L 2 of the valve 14. Is formed.

  The fluid control valve 1 also has a return spring (not shown). The return spring biases the rotary shaft 15 to rotate in the valve closing direction, against the motor driving force generated by the motor of the motor unit 3 to rotate the rotary shaft 15 in the valve opening direction. .

  The control device of the fluid control valve according to the present embodiment includes the control unit 21 that controls the motor unit 3 and the like provided in the motorized fluid control valve 1 provided with such a double eccentric valve (see FIG. 1). reference).

  Here, the control unit 21 controls the opening degree of the fluid control valve 1 based on the input actual opening degree signal and the required opening degree signal by PID control. For example, as shown in FIG. 6, the control unit 21 calculates the deviation between the required opening degree and the actual opening degree based on the input actual opening degree signal and the required opening degree signal, and based on the calculated deviation. A drive duty ratio DUTY as a control amount of the motor (control target) of the motor unit 3 is calculated. Thus, in the present embodiment, the drive duty ratio DUTY is calculated as a PID operation value. Then, the control unit 21 controls the voltage to be applied to the motor according to the calculated drive duty ratio DUTY. In this manner, the control unit 21 controls the opening degree of the fluid control valve 1 by feedback controlling the motor so that the actual opening degree of the fluid control valve 1 approaches the required opening degree.

  By the way, in the fluid control valve 1, in the low opening region, the rubber seal portion 13a has a range that affects the operation of the valve body 14, that is, the opening range where the valve body 14 slides on the rubber seal portion 13a. Sliding resistance of the rubber seal portion 13a is generated. Then, from the viewpoint of responsiveness of the opening control, the movement of the valve 14 slows down, and the rubber seal influence range (the rubber seal portion 13 a affects the operation of the valve 14 as shown by the solid line in FIG. In the range), for example, there may be a delay in the time until the required opening degree is reached at the time of valve opening than the ideal control shown by the dotted line in FIG. Thus, the responsiveness of the opening control may be reduced. Alternatively, in view of the durability of the rubber seal portion 13a, since the sliding resistance is large, the durability required for the valve body 14 or the valve seat 13 may be severe.

  Therefore, in the present embodiment, in order to reduce the responsiveness of the opening control in the low opening region or to reduce the burden on the rubber seal portion 13a, the control unit 21 is within the rubber seal influence range at the time of the on-off valve. In the opening degree, the control output, that is, the drive duty ratio DUTY which is a control amount of the motor of the motor unit 3 is corrected.

  Specifically, the control unit 21 executes control based on the control flowchart shown in FIG. As shown in FIG. 7, when the normal drive duty ratio DUTY is calculated (step S1), when the rubber correction flag rflg is turned "ON" (step S2: YES), the drive duty ratio DUTY is corrected. (Step S3). The contents of the correction performed in step S3 will be described later.

  Here, as shown in FIG. 8, when the opening degree sensor value an acquired in step S11 is less than or equal to the rubber opening degree learning value ran acquired in step S12, the rubber correction flag rflg (step S13: YES) To "ON" (step S14). On the other hand, when the opening degree sensor value an is larger than the rubber opening degree learning value ran (step S13: NO), the rubber correction flag rflg is "OFF" (step S15).

  Here, the opening degree sensor value an is an actual opening degree, and is, for example, a detection value of an opening degree sensor (not shown) provided in the fluid control valve 1. Further, the rubber opening degree learning value ran is a value of the upper limit opening degree in the rubber seal affected range, and is a value learned by a learning method described later in detail, for example. A design value determined in advance may be used as the value of the upper limit opening in the rubber seal affected range instead of the rubber opening learning value ran.

  In this manner, the control unit 21 controls the drive duty ratio when the actual opening is equal to or less than the upper limit opening in the rubber seal affected range, that is, when the actual opening is an opening within the rubber seal affected range (low opening region). Correct the DUTY.

Here, when correcting the drive duty ratio DUTY in step S3 of FIG. 7, the control unit 21 offsets the normal drive duty ratio DUTY and corrects the drive duty ratio DUTY, for example, as shown in the following formula. Do.
[Equation 1]
(Drive duty ratio DUTY after correction) = (normal drive duty ratio DUTY) + (predetermined value A)

  The predetermined value A is an offset value. The predetermined value A is a positive value of the drive duty ratio DUTY (for example, a value corresponding to 5%) when the movement of the valve body 14 is made faster in order to improve the response of the opening control. On the other hand, the predetermined value A is a negative drive duty ratio DUTY (e.g., a value corresponding to -5%) when the movement of the valve 14 is delayed to reduce the load on the rubber seal portion 13a.

As another example, when correcting the drive duty ratio DUTY in step S3 of FIG. 7, the control unit 21 sets an arbitrary constant (for example, a normal drive duty ratio DUTY) as shown in the following formula. The drive duty ratio DUTY may be corrected by multiplying the predetermined value B).
[Equation 2]
(Drive duty ratio DUTY after correction) = (normal drive duty ratio DUTY) × (predetermined value B)

  The predetermined value B is a value (for example, 1.5) larger than 1 when the movement of the valve 14 is made faster to improve the response of the opening control, while the load on the rubber seal portion 13a is The value is less than 1 (e.g., 0.7) when the movement of the valve body 14 is to be slowed down for the purpose of mitigation.

  In addition, the control unit 21 may correct the drive duty ratio DUTY by changing the gain of PID control. Therefore, as shown in FIG. 9, if the rubber correction flag rflg is "ON" (step S21: YES), the gain of PID control at the time of rubber correction is acquired (step S22), and the calculation of the drive duty ratio DUTY (Step S23). On the other hand, if the rubber correction flag rflg is "OFF" (step S21: YES), the gain of PID control at the normal time is acquired (step S24), and the drive duty ratio DUTY is calculated (step S23).

  And as an example of the gain of PID control at this time, the proportional gain KP is shown in FIG. 10, and the integral gain KI is shown in FIG. As shown in FIGS. 10 and 11, for the proportional gain KP and the integral gain KI, when the movement of the valve body 14 is made faster (short dashed line in the figure), the value at the normal time (in the figure, denoted as "base") The value at the time of rubber correction is made larger than the value at the time of rubber correction, while the value at the time of rubber correction is made smaller than the normal value when the movement of the valve body 14 is delayed (long broken line in the figure).

  Furthermore, in the present embodiment, the temperature of the rubber seal portion 13a may be estimated, and the drive duty ratio DUTY may be corrected based on the estimation result. At this time, based on, for example, the water temperature (stack temperature), the intake air temperature, and the outside air temperature, the temperature of the rubber seal portion 13a is determined (such as low temperature determination). For example, using the relationship between the stack temperature and the predetermined value A as shown in FIG. 12, the drive duty ratio DUTY is corrected using the predetermined value A which changes in accordance with the stack temperature. Note that, in FIG. 12, the higher the stack temperature, the larger the predetermined value A, and the lower the stack temperature, the smaller the predetermined value A. In this manner, the control unit 21 may further correct the drive duty ratio DUTY using an index that is correlated with the hardness of the rubber seal portion 13a. In addition, as an index which has correlation with the hardness of rubber seal part 13a, the total energization time to the motor of motor part 3 between 1 trip is also considered.

  As described above, according to the present embodiment, the control unit 21 corrects the drive duty ratio DUTY at the opening degree within the rubber seal influence range at the time of the on-off valve. Thereby, at the time of opening / closing valve, the drive duty ratio DUTY is made larger at the opening within the rubber seal affected range than at the opening outside the rubber seal affected range, thereby speeding up the drive of the valve body 14 to control the opening. The responsiveness of can be improved. Alternatively, by making the drive duty ratio DUTY smaller at the opening within the rubber seal affected range than at the opening outside the rubber seal affected range, the drive of the valve body 14 is delayed to reduce the load on the rubber seal portion 13a. can do. When the magnitude of the sliding resistance of the rubber seal portion 13a changes depending on the size of the opening within the rubber seal affected range, the correction amount of the drive duty ratio DUTY is determined according to the size of the opening within the rubber seal affected range. It may be changed.

  Further, the control unit 21 offsets the drive duty ratio DUTY to correct the drive duty ratio DUTY. As a result, by making the offset value a positive value and increasing the drive duty ratio DUTY, the drive of the valve body 14 can be made faster, and the responsiveness of the opening control can be improved. Alternatively, by setting the offset value to a negative value and reducing the drive duty ratio DUTY, the drive of the valve body 14 can be delayed to reduce the load on the rubber seal portion 13a.

  In addition, the control unit 21 may correct the drive duty ratio DUTY by multiplying the drive duty ratio DUTY by an arbitrary constant. Thus, by increasing the drive duty ratio DUTY by setting the arbitrary constant to a value larger than 1, it is possible to accelerate the drive of the valve body 14 and improve the responsiveness of the opening control. Alternatively, by setting the offset value to be smaller than 1 and reducing the drive duty ratio DUTY, the drive of the valve body 14 can be delayed to reduce the load on the rubber seal portion 13a.

  Further, the control unit 21 may correct the drive duty ratio DUTY by changing the KP gain and the KI gain. As a result, by increasing the drive duty ratio DUTY by increasing the KP gain and the KI gain, the drive of the valve body 14 can be made faster, and the responsiveness of the opening control can be improved. Alternatively, by reducing the drive duty ratio DUTY by reducing the KP gain and the KI gain, the drive of the valve body 14 can be delayed and the load on the rubber seal portion 13a can be reduced.

  Further, the drive duty ratio DUTY may be further corrected using an index that correlates with the hardness of the rubber seal portion 13a. Thus, the drive duty ratio DUTY can be adjusted according to the hardness of the rubber seal portion 13a, and the drive of the valve body 14 can be appropriately controlled.

  For example, when the stack temperature is used as an index correlating with the hardness of the rubber seal portion 13a as shown in FIG. 12, when the stack temperature is high, the temperature of the rubber seal portion 13a is high and the hardness is low. By increasing A (offset value), the drive duty ratio DUTY after correction is increased. And thereby, when hardness of rubber seal part 13a is low, movement of valve element 14 can be speeded up and the response of opening control can be improved further.

  Further, in the case of performing the above-mentioned temperature correction from the region where the stack temperature is low to the region where the stack temperature is high, as shown in FIG.

  Here, although the upper limit opening degree of the rubber seal influence range is set using a learning value or a predetermined value (for example, a design value) as described above, it may be set using a learning value to enhance robustness. desirable.

  So, in this embodiment, the control part 21 learns a rubber seal influence range at the time of the key-off of the vehicle in which an ignition switch (start switch) is turned off (or the time of key-on of the vehicle in which an ignition switch is turned on). At this time, totally closed learning may also be performed to learn the fully closed position of the fluid control valve 1.

  First, the first learning method will be described. In the first learning method, the fluid control valve 1 is closed from an arbitrary opening outside the rubber seal influence range while keeping the drive duty ratio DUTY constant, and the valve body 14 is abutted against the rubber seal portion 13a. Then, based on the behavior of the amount of change per unit time of the actual opening that occurs at this time, the rubber seal influence range is learned (DUTY fixed learning). Here, within the rubber seal influence range, if the drive duty ratio DUTY is constant and the driving force of the motor of the motor unit 3 is constant, the amount of change per unit time of the actual opening is due to the sliding resistance of the rubber seal portion 13a. It becomes smaller than the case outside the rubber seal influence range.

  In the first learning method, specifically, the control unit 21 executes control based on a control flowchart shown in FIG. As shown in FIG. 13, when there is an opening degree learning request (step S31: YES), a predetermined value C (for example, 40 °) is acquired as the opening degree command value goan (step S32). Next, when the condition of | an-goan | ≦ (predetermined value D) is satisfied (step S33: YES), that is, when the opening sensor value an becomes the opening command value goan or when approaching. The drive duty ratio DUTY is set to a predetermined value E (for example, 3% or 0%) (step S34). Then, the drive duty ratio DUTY is reduced as described above, and the valve is closed by the spring force (biasing force by the return spring). The predetermined value D is, for example, 0.1 °.

  Thereafter, if the opening sensor value an is less than or equal to the design upper limit opening (step S35: YES) and the totally closed learning flag fcflg is "OFF" (step S36: NO), the time derivative dant of the opening sensor value an is It is determined whether or not the predetermined value F or less (step S37). Here, the design upper limit opening is a design value of the upper limit opening in the rubber seal affected range. Further, the time differential dant is a value calculated by performing time differentiation on the opening degree sensor value an, and is a change amount per unit time of the opening degree sensor value an. Also, the predetermined value F is, for example, 0.1 °.

  Then, if the time derivative dant is less than or equal to the predetermined value F (step S37: YES), the opening degree sensor value an at that time is learned as the rubber opening degree learning value ran (step S38), and the totally closed learning flag fcflg "ON" (step S39).

  Thus, in the present embodiment, for example, as shown in FIG. 14, the fluid control valve 1 is closed from the arbitrary opening θ0 (time T1) outside the rubber seal influence range with the drive duty ratio DUTY kept constant. I will let you. Then, after reaching the design upper limit opening θ1 (reference opening) (time T2), the time derivative dant of the opening sensor value an becomes a predetermined value F or less at an opening less than the design upper limit opening θ1. Then, the opening degree θ2 at time T3 is learned as the upper limit opening degree of the actual rubber seal affected range. Then, an opening degree range equal to or less than the opening degree θ2 is learned as the rubber seal influence range.

  In the control flowchart shown in FIG. 13, if the totally closed learning flag fcflg is "ON" in step S36 (step S36: YES), totally closed learning is performed (step S40). Thus, totally closed learning is also performed together with learning of the rubber seal influence range.

  Further, the opening degree sensor value an is detected every minute time (for example, 2 ms). Therefore, in step S37, if the difference between the currently detected opening sensor value an and the previously detected opening sensor value an is less than or equal to a predetermined value F as the amount of change of the opening sensor value an (step S37: YES), the opening degree sensor value an (this time detected) may be learned as the rubber opening degree learning value ran (step S38).

  Next, the second learning method will be described focusing on differences from the first learning method. Specifically, in the second learning method, the control unit 21 executes control based on the control flowchart shown in FIG. As shown in FIG. 15, a second derivative d2ant2 of the opening sensor value an is determined (step S45). Then, if the inflection point passage flag pflg is "ON" (step S46: YES), the time derivative dant of the opening degree sensor value an is determined (step S49), and the first difference is calculated using this time derivative dant. The rubber opening degree learning value ran is learned in the same manner as the above learning method (see FIG. 13) (steps S50 to S53). Here, the inflection point passage flag pflg is switched from "OFF" to "ON" (step S47: YES) when the absolute value of the second derivative d2ant2 is equal to or less than the predetermined value G (eg, 0.1) (step S47) S48).

  In this manner, in the present embodiment, for example, as shown in FIG. 14, the fluid control valve 1 is closed with the drive duty ratio DUTY kept constant from an arbitrary opening degree θ0 outside the rubber seal influence range. At this time, at a degree of opening less than the degree of opening when the inflection point (shown in FIG. 14) appears in a curve showing the time change of the degree of opening sensor value an, that is, the valve body 14 The rubber seal influence range is learned in the same manner as the first learning method after the opening degree at which the inflection point passage flag pflg is turned “ON” when the valve starts moving and starts closing. Then, thereby, when the time differential dant of the opening degree sensor value an becomes equal to or less than the predetermined value F at the time when the movement of the valve body 14 starts to close the fluid control valve 1 from an arbitrary opening degree θ0. Even if the opening at that time is the upper limit opening in the actual rubber seal affected range, it is possible to avoid learning erroneously (mislearning of movement start).

  Next, the third learning method will be described. In the third learning method, the fluid control valve 1 is closed every minute opening from an arbitrary opening outside the rubber seal influence range, and the actual opening approaches the command opening (commanded opening) The rubber seal influence range is learned on the basis of the time required until (the first lamp start learning). Here, in the rubber seal affected area, due to the sliding resistance of the rubber seal portion 13a, the time until the actual opening degree approaches the commanded opening degree becomes longer than the time outside the rubber seal affected area.

  In the third learning method, specifically, the control unit 21 executes control based on a control flowchart shown in FIG. As shown in FIG. 16, when there is an opening degree learning request (step S61: YES), if the lamp flag rampflg is "ON" (step S62: YES), | an-goan | ≦ (predetermined value D) It is determined whether the condition of) is satisfied (step S66).

  Here, when the opening degree command value goan is acquired as the predetermined value C (step S63) and the condition of | an−goan | ≦ (predetermined value D) is satisfied (step S64: YES), the lamp flag rampflg is From "OFF" to "ON" (step S65).

  Then, if the condition of | an-goan | ≦ (predetermined value D) is satisfied in step S66 (step S66: YES), the time until the opening degree command value goan changes is monitored (observed) to The opening degree learning value ran is estimated (step S67).

  Here, in step S67, as shown in FIG. 17, if the arrival counter fcntr is equal to or more than the predetermined time H (step S81: YES), the opening sensor value an at that time is learned as the rubber opening learning value ran. (Step S82), the totally closed learning flag fcflg is set to "ON" (step S83). The predetermined time H is, for example, 6 ms.

  On the other hand, in the case where the condition of | an-goan | ≦ (predetermined value D) is not satisfied after performing, for example, a change (step S68) of the opening degree command value goan described later in step S66 of FIG. In the case of NO), the arrival counter fcntr is counted up (step S72).

As described above, after the rubber opening degree learning value ran is estimated in step S67, the opening degree command value goan is subjected to change (update) using the following formula (step S68). Here, the predetermined value I is a gradual change opening degree, and is, for example, 0.5 °.
[Equation 3]
(Opening command value goan after gradual change) = (Opening command value goan before gradual change)-(predetermined value I)

  Next, the reach counter fcntr is set to "0" (step S69), and if the totally closed learning flag fcflg is "ON" (step S70: YES), totally closed learning is performed (step S71).

  Thus, in the present embodiment, as shown in FIG. 19, for example, when the opening sensor value an approaches the opening command value goan, the fluid control valve 1 is changed by gradually changing the opening command value goan. Then, the micro opening degree is closed from an arbitrary opening degree θ0 outside the rubber seal influence range. Then, at this time, in the rubber seal affected range, the time taken for the opening degree sensor value an to approach the opening degree command value goan becomes long due to the sliding resistance of the rubber seal portion 13a. Therefore, the opening degree θX (opening degree sensor value an) when the time until the opening degree sensor value an approaches the opening degree command value goan is longer than the predetermined time H is the upper limit opening degree of the actual rubber seal influence range. Learning is performed, and the range of the opening degree equal to or less than the opening degree θX is learned as the rubber seal influence range. Note that, as a modification, the opening degree command value goan may be gradually changed when the opening degree sensor value an catches up with the opening degree command value goan. Further, the opening degree θX when the time for the opening degree sensor value an to become the opening degree command value goan becomes longer than the predetermined time H may be learned as the upper limit opening degree of the actual rubber seal affected range. .

  Next, the fourth learning method will be described. In the fourth learning method, the fluid control valve 1 is closed at every minute opening degree from an arbitrary opening degree outside the rubber seal influence range, similarly to the third learning method. However, the fourth learning method is different from the third learning method in that the rubber seal influence range is learned based on the variation per predetermined time 2 ms 時間 the time derivative value (second ramp start learning). Here, in the rubber seal affected range, the amount of change per predetermined time 2 ms ≒ the time differential value is smaller than when outside the rubber seal affected range due to the sliding resistance of the rubber seal portion 13a.

  In the fourth learning method, specifically, as shown in the control flowchart shown in FIG. 16 described above, the control unit 21 monitors the amount of change in the sensor output in step S67 to learn the rubber opening degree learning value ran. presume. In the fourth learning method, the process of steps S69 and S72 shown in FIG. 16 is not performed.

  Here, in step S67, as shown in FIG. 18, when the absolute value of the difference between the current value of the opening degree sensor value an and the previous value becomes equal to or less than a predetermined value J (eg 0.03 °) (step S91: YES), the opening degree sensor value an at that time is learned as the rubber opening degree learning value ran (step S92), and the totally closed learning flag fcflg is set to "ON" (step S93).

  Thus, in the present embodiment, as shown in FIG. 19, when the opening degree sensor value an approaches the opening degree command value goan, the opening degree command value goan is gradually changed, and the fluid control valve 1 is affected by the rubber seal. The valve is slightly closed from an arbitrary opening θ 0 outside the range. Then, at this time, in the rubber seal affected range, the amount of change of the opening degree sensor value an becomes small due to the sliding resistance of the rubber seal portion 13a. Therefore, the opening degree θX (opening degree sensor value an) when the change amount of the opening degree sensor value an (for example, the absolute value of the difference between the current value and the previous value of the opening degree sensor value an) becomes less than a predetermined value J The upper limit opening degree in the rubber seal affected range is learned as the upper limit opening degree, and the range of the opening degree less than the opening degree θX is learned as the rubber seal affected range.

  As described above, according to the present embodiment, the control unit 21 learns the rubber seal influence range. This can improve the robustness. That is, for example, even when the rubber seal affected range fluctuates due to the individual difference of the fluid control valve 1 or the influence of some disturbance, the drive duty ratio is stably maintained at the opening / closing valve within the rubber seal affected range. The duty can be corrected.

  Also, learning of the rubber seal influence range is performed by closing the drive duty ratio DUTY from an arbitrary opening degree θ0 outside the rubber seal influence range (larger than the opening degree of the rubber seal influence range). At this time, learning of the rubber seal influence range is performed when the time differential dant (the amount of change per predetermined time) of the opening sensor value an becomes equal to or less than the predetermined value F at an opening less than the design upper limit opening. The opening degree is learned as the upper limit opening degree of the rubber seal influence range. In this way, when closing the fluid control valve 1 at a constant speed, the opening when the amount of change of the actual opening per predetermined time becomes small is learned as the upper limit opening of the rubber seal influence range. Be done.

  Thus, the rubber seal influence range can be easily learned simply by closing the fluid control valve 1 at a constant speed. Further, in the present embodiment, learning of the rubber seal influence range is performed at an opening degree equal to or less than the design upper limit opening degree. Therefore, even when the time derivative dant of the opening sensor value an becomes equal to or less than the predetermined value F when the valve starts closing from an arbitrary opening θ0 outside the rubber seal influence range, the opening at that time is the design upper limit opening Because it is larger than this, learning of the rubber seal influence range is not performed by mistake. Therefore, it is possible to avoid erroneous learning when the valve body 14 starts to move from an arbitrary opening degree θ0 outside the rubber seal influence range.

  Further, learning of the rubber seal influence range is performed by closing the valve with the drive duty ratio DUTY kept constant from an arbitrary opening degree θ0 outside the rubber seal influence range. Then, at this time, the time derivative dant of the opening sensor value an becomes equal to or less than the predetermined value F at an opening degree smaller than the opening degree when the inflection point appears in a curve showing time change of the opening sensor value an. The degree of opening may be learned as the upper limit opening of the rubber seal influence range.

  Thus, the rubber seal influence range can be easily learned simply by closing the fluid control valve 1 at a constant speed. Further, in the present embodiment, learning of the rubber seal influence range is performed at an opening degree smaller than the opening degree when the inflection point appears in the curve indicating the time change of the opening degree sensor value an. Therefore, even when the time derivative dant of the opening sensor value an becomes equal to or less than the predetermined value F when the valve starts closing from an arbitrary opening θ0 outside the rubber seal influence range, the opening at that time is the opening sensor value Since the degree of opening at which the inflection point appears in the curve showing the time change of an is an opening degree, learning of the rubber seal influence range is not performed erroneously. Therefore, it is possible to avoid erroneous learning when the valve body 14 starts to move from an arbitrary opening degree θ0 outside the rubber seal influence range.

  In addition, learning of the rubber seal influence range reduces the opening degree command value goan whenever the opening degree sensor value an approaches the opening degree command value goan, and the micro opening degree is closed from an arbitrary opening degree θ0 outside the rubber seal influence range. It is done with a valve. At this time, it is learned that the opening sensor value an when the time taken for the opening sensor value an to approach the opening command value goan is longer than the predetermined time H is the upper limit opening of the rubber seal influence range. It may be done.

  In addition, learning of the rubber seal influence range reduces the opening degree command value goan whenever the opening degree sensor value an approaches the opening degree command value goan, and the micro opening degree is closed from an arbitrary opening degree θ0 outside the rubber seal influence range. It is done with a valve. At this time, the opening sensor value an is affected by the rubber seal when the amount of change of the opening sensor value an (for example, the absolute value of the difference between the current value and the previous value of the opening sensor value an) becomes less than a predetermined value J. The upper limit opening degree of the range may be learned.

  Further, the learning of the rubber seal influence range may be performed together with the totally closed learning. Thereby, the fully closed position of the fluid control valve 1 can be learned.

  The embodiment described above is merely an example, and does not limit the present disclosure in any way, and it goes without saying that various improvements and modifications can be made without departing from the scope of the invention. For example, the rubber seal may be provided not on the valve seat 13 but on the valve body 14.

Reference Signs List 1 fluid control valve 2 valve portion 13 valve seat 13 a rubber seal portion 14 valve body 16 valve hole 17 seat surface 18 seal surface 21 control portion DUTY drive duty ratio an opening degree sensor value ran rubber opening degree learning value goan opening degree command value dant time Derivative d2ant2 second derivative

Claims (9)

A valve seat, a valve body, and a drive unit for driving the valve body to adjust an opening degree, and between the valve body and the valve seat in either the valve seat or the valve body In a control device for a fluid control valve, comprising: a fluid control valve provided with a seal member for sealing the fluid; and a control unit for controlling the fluid control valve,
The control unit corrects the control amount of the drive unit at an opening within a seal member influence range which is an opening range where the valve body or the valve seat slides on the seal member at the time of the on-off valve. ,
Control device of fluid control valve characterized by the above. In the control device for a fluid control valve according to claim 1,
The control amount is calculated as a PID operation value,
The control unit may correct the PID operation value by offsetting the PID operation value, multiplying the PID operation value by an arbitrary constant, or changing a gain of PID control.
Control device of fluid control valve characterized by the above. In the control device for a fluid control valve according to claim 2,
The PID calculation value may be corrected using an index correlated with the hardness or friction coefficient of the seal member.
Control device of fluid control valve characterized by the above. The control device for a fluid control valve according to any one of claims 1 to 3.
The control unit performs learning of the seal member influence range;
Control device of fluid control valve characterized by the above. In the control device for a fluid control valve according to claim 4,
The learning of the seal member influence range is a design value of the upper limit opening degree in the seal member influence range when closing the valve with a constant control amount of the drive part from an arbitrary opening degree outside the seal member influence range. The opening degree when the change amount of the actual opening degree becomes a predetermined value or less at an opening degree equal to or less than the design upper limit opening degree is learned as the upper limit opening degree of the seal member affected range as the opening degree. ,
Control device of fluid control valve characterized by the above. In the control device for a fluid control valve according to claim 4,
The learning of the seal member influence range is changed by a curve showing the time change of the actual opening degree when closing the valve with a constant control amount of the drive unit from an arbitrary opening degree outside the seal member influence range. At an opening degree smaller than the opening degree when the inflection point appears, the opening degree when the change amount of the actual opening degree becomes equal to or less than a predetermined value is learned as the upper limit opening degree of the seal member affected range. To be
Control device of fluid control valve characterized by the above. In the control device for a fluid control valve according to claim 4,
The learning of the seal member affected range is performed by decreasing the commanded opening degree every time the actual opening degree approaches the commanded opening degree and closing the micro opening degree from an arbitrary open degree outside the seal member affected range. The opening degree when the time required for the actual opening degree to approach the command opening degree is longer than a predetermined time is learned as the upper limit opening degree of the seal member affected range, as the opening degree.
Control device of fluid control valve characterized by the above. In the control device for a fluid control valve according to claim 4,
The learning of the seal member affected range is performed by decreasing the commanded opening degree every time the actual opening degree approaches the commanded opening degree and closing the micro opening degree from an arbitrary open degree outside the seal member affected range. And learning is performed such that the opening degree when the change amount of the actual opening degree per predetermined time becomes equal to or less than a predetermined value is the upper limit opening degree of the seal member affected range,
Control device of fluid control valve characterized by the above. The control device for a fluid control valve according to any one of claims 4 to 8.
The learning of the seal member influence range is performed together with the totally closed learning of learning the fully closed position of the fluid control valve.
Control device of fluid control valve characterized by the above.

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