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US 11,237,575 B2Granted
Control apparatus for linear solenoid
AssigneeToyota Jidosha Kabushiki Kaisha
InventorsTakaaki Tokura, Katsumi Kono, Masato Kaigawa, Masato Matsubara, Hitoshi Matsunaga, Akira Hino
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Abstract
A control apparatus for controlling a linear solenoid by controlling a driving current supplied to the linear solenoid through a feedback control. The feedback control is executed by a feedback control system having parameters that are determined in accordance with an ILQ design method. In a frequency characteristic of a gain of a transfer function representing a ratio of an output to a disturbance in the feedback control system, the gain is lower than 0 [dB] throughout all frequency ranges.
Claims8
A control apparatus comprising:
- a processor programmed to:
- approximate an electric circuit of a linear solenoid, through which a driving current flows, by a series circuit of a resistance and an inductance;
- formulate a circuit equation related to an instantaneous value of the driving current flowing through the series circuit;
- formulate an equation related to a controlled variable for controlling the driving current;
- derive a recurrence equation from the equation related to the controlled variable;
- solve the recurrence equation;
- linearize the solved recurrence equation by an approximation equation;
- derive, by an Inverse Linear Quadratic (ILQ) design method, a transfer function of a feedback control from the recurrence equation that has been linearized and solved,
- wherein the transfer function is derived from the linearized equation related to the controlled variable, and is used to determine the controlled variable, and
- execute the feedback control with a feedback control system having parameters that are determined by using the ILQ design method, and which are applied to the derived transfer function,
- wherein a gain of the transfer function is a ratio of an output to a disturbance in the feedback control system, and the gain is lower than 0 throughout all frequency ranges, and
- control, by the feedback control, the linear solenoid by controlling the driving current supplied to the linear solenoid.
9 more elements
Dependencies are inferred from the claim text.