| 摘要 |
PROBLEM TO BE SOLVED: To reduce a cost by eliminating necessity for a circuit minor loop and an additional circuit or high speed processor treating, while compensation relating to disturbance torque, when movement of a throttle valve, for instance, in ISC or the like is relatively small to hold a fixed opening, in an electronic throttle system. SOLUTION: In order to compensate load torque TL (disturbance toque), a disturbance torque value Tdis, calculated to be based on an actual current value Ia flowing in a DC motor 12 and an actual throttle opening θth, is converted in dimension of a current, thereafter relational expression of Dr=(R/E) IM is used, to substitute a motor mean current value for IM, motor resistance value Ra for R and battery voltage +B for E, with conversion into dimension of duty ratio Dr. Since the duty ratio driving the DC motor is corrected by this duty ratio Dr, a disturbance feedback can be realized. |
