CN104948316B - For the model predictive control system and method for internal combustion engine - Google Patents

Abstract

The invention discloses the model predictive control systems and method for internal combustion engine.Torque request module inputs the first torque request generated for spark ignition engine based on driver.First torque request is converted to the second torque request by torque modular converter.Model Predictive Control（MPC）Module determines desired value group based on the matrix of the second torque request, the model of engine and dimension with (m+n) × (m+n).N be equal to for determine desired value group following bound constrained quantity be more than zero integer.M be equal to for determine desired value group the amount of constraint other than following bound constrained be more than zero integer.Aperture of the actuator module based on the first value control engine actuators in desired value.

Description

For the model predictive control system and method for internal combustion engine

Cross reference to related applications

The U.S. Patent Application No. that this application is related to submitting on March 26th, 2014 is carried on March 26th, 14/225,502,2014 The U.S. Patent Application No. 14/225,626,2014 that the U.S. Patent Application No. of friendship is submitted on March 26th, 14/225,516,2014 The U.S. Patent Application No. 14/ that the U.S. Patent Application No. submitted on March 26, is submitted on March 26th, 14/225,817,2014 225,896th, the U.S. Patent Application No. U.S. submitted on March 26th, 14/225,531,2014 submitted on March 26th, 2014 is special U.S. Patent Application No. on March 26th, 14/225,808,2014 that sharp application number is submitted on March 26th, 14/225,507,2014 U.S. Patent Application No. 14/225,492 that the U.S. Patent Application No. of submission is submitted on March 26th, 14/225,587,2014, The U.S. Patent Application No. submitted on March 26th, 2014 U.S. Patent Application No. submitted on March 26th, 14/226,006,2014 What the U.S. Patent Application No. 14/225,496 and on March 26th, 2014 that the 14/226,121, on March 26th, 2014 submits were submitted U.S. Patent Application No. 14/225,891.The whole disclosure contents applied above are hereby incorporated herein by.

Technical field

This disclosure relates to internal combustion engine, and systems engine control system and side for vehicle Method.

Background technology

The purpose of background technology description provided in this article is to introduce the background of the disclosure on the whole.Currently refer to The work --- with being limited described in this background technology part --- of inventor and submit when otherwise may not structure Into the various aspects of the description of the prior art, neither expressly and also tacit declaration be recognized as being the existing skill for the disclosure Art.

For internal combustion engine in combustor inner cylinder air-and-fuel mixture to drive piston, this generates driving torque.Into The air mass flow of engine is adjusted by air throttle.More specifically, air throttle adjustment throttle area, this is increased or decreased Into the air mass flow of engine.When throttle area increase, the air mass flow into engine increases.Fuel Control System The rate that adjustment fuel is sprayed is so as to provide to cylinder and/or realize required torque required air/fuel mixture Output.The torque output for providing to the air of cylinder and the amount of fuel and increasing engine is provided.

In spark ignition engine, spark starts the burning provided to the air/fuel mixture of cylinder.In compression point In fiery engine, the compression and combustion in cylinder provides the air/fuel mixture to cylinder.Spark timing and air mass flow can be with It is the principal organ for adjusting the output of the torque of spark ignition engine, and The fuel stream can be for adjusting compression ignition hair The principal organ of the torque output of motivation.

Engine control system has been developed to control engine output torque to realize required torque.It is however, traditional Engine control system not if desired for equally accurately controlling engine output torque.In addition, traditional engine control System does not provide quick response to control signal or coordinates to start between the various equipment for influencing engine output torque Machine moment of torsion control.

Invention content

In a feature, a kind of engine control system for vehicle is disclosed.Torque request module is based on driver Input generates the first torque request for spark ignition engine.First torque request is converted to second by torque modular converter Torque request.Model Predictive Control（MPC）Module is based on the second torque request, the model of engine and with (m+n) × (m+ N) matrix of dimension determines desired value group.N is equal to determine that the quantity of the following bound constrained of desired value group is more than Zero integer.M be equal to for determine desired value group the amount of constraint other than following bound constrained be more than zero integer. Aperture of the actuator module based on the first value control engine actuators in desired value.

In other features, actuator module controls the aperture of throttler valve based on a value in desired value.

In other other features, actuator module controls the exhaust gas of turbocharger based on a value in desired value The aperture of door.

In other other features, actuator module controls exhaust gas to recycle based on a value in desired value（EGR） The aperture of valve.

In other features, actuator module controls inlet valve to determine phase based on a value in desired value.

In other other features, actuator module controls exhaust valve to determine phase based on a value in desired value.

In other other features：The liter of the aperture of waste gate based on the second value control turbocharger in desired value Hydraulic actuator module；Exhaust gas recirculatioon is controlled based on the third value in desired value（EGR）The EGR actuator module of the aperture of valve； And the 4th value being based respectively in desired value and the 5th value control inlet valve and exhaust valve to determine the phaser actuator module of phase, Wherein actuator module controls the aperture of throttler valve based on a value in desired value.

In other features, referrer module determines the reference value for desired value respectively, and wherein MPC modules are based further on Reference value determines desired value.

In other other features, constraint includes the constraint for desired value and the constraint for controlled variable.

In a feature, a kind of engine control for vehicle includes：It inputs to generate based on driver and be used for First torque request of spark ignition engine；First torque request is converted into the second torque request；Use model prediction control System（MPC）Module, the matrix based on the second torque request, the model of engine and dimension with (m+n) × (m+n) come true Target value group, wherein n be equal to for determine desired value group following bound constrained quantity more than zero integer and m be Equal to for determine the amount of constraint other than following bound constrained of desired value group be more than zero integer；And based on target The aperture of the first value control engine actuators in value.

In other features, engine actuators are throttler valves

In other other features, engine actuators are the waste gates of turbocharger.

In other other features, engine actuators are exhaust gas recycling（EGR）Valve.

In other features, engine actuators are intake valve phase devices.

In other other features, engine actuators are exhaust valve phasers.

In other other features, engine control further comprises：Whirlpool is controlled based on the second value in desired value Take turns the aperture of the waste gate of booster；Aperture based on the third value control EGR valve in desired value；And it is based respectively on desired value In the 4th value and the 5th value control inlet valve and exhaust valve determine phase, wherein engine actuators are throttler valves.

In other features, engine control further comprises：The reference value for desired value is determined respectively；And Reference value is based further on to determine desired value.

In other other features, constraint includes the constraint for desired value and the constraint for controlled variable.

The present invention includes following scheme：

1. a kind of engine control system for vehicle, including：

Torque request module, the torque request module are inputted based on driver and generated for the of spark ignition engine One torque request；

First torque request is converted to the second torque request by torque modular converter, the torque modular converter；

Model Predictive Control（MPC）Module, mould of the MPC modules based on second torque request, the engine The matrix of type and dimension with (m+n) × (m+n) determines desired value group, and wherein n is equal to for the desired value group Determining following bound constrained quantity more than zero integer and m be equal to for the desired value group it is determining in addition to The integer for being more than zero of amount of constraint except the following bound constrained；And

Actuator module, the actuator module are opened based on the first value control engine actuators in the desired value Degree.

2. engine control system as described in scheme 1, wherein the actuator module is based on one in the desired value A value controls the aperture of throttler valve.

3. engine control system as described in scheme 1, wherein the actuator module is based on the institute in the desired value A value is stated to control the aperture of the waste gate of turbocharger.

4. engine control system as described in scheme 1, wherein the actuator module is based on the institute in the desired value A value is stated exhaust gas to be controlled to recycle（EGR）The aperture of valve.

5. engine control system as described in scheme 1, wherein the actuator module is based on the institute in the desired value A value is stated inlet valve to be controlled to determine phase.

6. engine control system as described in scheme 1, wherein the actuator module is based on the institute in the desired value A value is stated exhaust valve to be controlled to determine phase.

7. engine control system as described in scheme 1, further comprises：

Boost actuator module, the boost actuator module control turbocharging based on the second value in the desired value The aperture of the waste gate of device；

Exhaust gas recirculatioon（EGR）Actuator module, the EGR actuator module is based on the third value control in the desired value The aperture of EGR valve processed；And

Phaser actuator module, the phaser actuator module are based respectively on the 4th value and in the desired value Five values control inlet valve and exhaust valve to determine phase,

Wherein described actuator module controls the aperture of throttler valve based on one value in the desired value.

8. engine control system as described in scheme 1 further comprises referrer module, the referrer module difference It determines for the reference value of the desired value,

Wherein described MPC modules are based further on the reference value to determine the desired value.

9. engine control system as described in scheme 1, wherein the constraint include for the desired value constraint and For the constraint of controlled variable.

10. a kind of engine control for vehicle, including：

The first torque request generated for spark ignition engine is inputted based on driver；

First torque request is converted into the second torque request；

Use Model Predictive Control（MPC）Module, model and tool based on second torque request, the engine There is the matrix of the dimension of (m+n) × (m+n) to determine desired value group, wherein n is equal to for the determining of the desired value group The integer more than zero and m of the quantity of following bound constrained are equal to for the determining in addition to described following of the desired value group The integer for being more than zero of amount of constraint except bound constrained；And

Aperture based on the first value control engine actuators in the desired value.

11. the engine control as described in scheme 10, wherein the engine actuators are throttler valves

12. the engine control as described in scheme 10, wherein the engine actuators are the useless of turbocharger Valve.

13. the engine control as described in scheme 10, wherein the engine actuators are exhaust gas recycling （EGR）Valve.

14. the engine control as described in scheme 10, wherein the engine actuators are intake valve phase devices.

15. the engine control as described in scheme 10, wherein the engine actuators are exhaust valve phasers.

16. the engine control as described in scheme 10, further comprises：

The aperture of waste gate based on the second value control turbocharger in the desired value；

Aperture based on the third value control EGR valve in the desired value；And

The 4th value being based respectively in the desired value and the 5th value control inlet valve and exhaust valve determine phase,

Wherein described engine actuators are throttler valves.

17. the engine control as described in scheme 10, further comprises：

It is determined respectively for the reference value of the desired value；And

The reference value is based further on to determine the desired value.

18. the engine control as described in scheme 10, wherein the constraint includes the constraint for the desired value With the constraint for controlled variable.

Other suitable application areas of the disclosure will become apparent from detailed description, claims and figure.It retouches in detail It states and is merely intended to illustration purpose with specific example and is not intended to limitation the scope of the present disclosure.

Description of the drawings

The disclosure will become more complete understanding from the detailed description and the accompanying drawings, wherein：

Fig. 1 is the functional-block diagram according to the exemplary engine system of the disclosure；

Fig. 2 is the functional-block diagram according to the exemplary engine control system of the disclosure；

Fig. 3 is the functional-block diagram according to the exemplary air control module of the disclosure；And

Fig. 4 includes describing controls throttler valve, inlet valve and exhaust valve according to the use Model Predictive Control of the disclosure Determine phase, waste gate and exhaust gas recirculatioon（EGR）The flow chart of the illustrative methods of valve.

In figure, reference number may be reused to indicate similar and/or similar elements.

Specific embodiment

Engine control module（ECM）Control the torque output of engine.More specifically, ECM is based respectively on according to institute The desired value that the torque capacity of request determines controls the actuator of engine.For example, ECM is based on target inlet air and exhaust cam phaser Angle is to control air inlet and exhaust cam shaft to determine phase, based on target throttle opening to control throttler valve, based on target EGR apertures Control exhaust gas recirculatioon（EGR）Valve and based on the waste gate of Target exhaust door Duty ratio control turbocharger.

Multiple single-input single-outputs can be used alone in ECM（SISO）Controller（Such as proportional integral differential（PID）Control Device processed）To determine desired value.However, when using multiple SISO controllers, desired value can be set to damage possible combustion Material consumption maintains system stability in the case of reducing.In addition, the calibration and design of indivedual SISO controllers may be it is expensive and Time-consuming.

The ECM of the disclosure uses Model Predictive Control（MPC）To generate desired value.ECM based on engine torque request come Identify the possibility group of desired value.ECM is determined for each Prediction Parameters that may be organized.ECM is based on each prediction ginseng that may be organized It counts to determine and the relevant cost of the use of the group.ECM can select that one with least cost constrained may be met in group A group.Constraint can include for example for the upper and lower bound of Prediction Parameters, for the upper and lower bound of desired value and/or other Constraint.ECM sets the desired value for controlling engine actuators using the selected desired value that may be organized.

Referring now to fig. 1, the functional-block diagram of exemplary engine system 100 is presented.Engine system 100 includes being based on Driver from driver input module 104 inputs combustion air/fuel mixture to generate the driving torque for vehicle Engine 102.Engine 102 can be gasoline spark ignition IC engine.

Air is inhaled by throttler valve 112 in inlet manifold 110.Only for example, throttler valve 112 can wrap Include the butterfly valve with rotatable blades.Engine control module（ECM）114 control to adjust the aperture of throttler valves 112 to control System is drawn into the throttle actuator module 116 of the air capacity in inlet manifold 110.

Air from inlet manifold 110 is inhaled into the cylinder of engine 102.Although engine 102 can include Multiple cylinders, but for illustrative purposes, single representative cylinder 118 is shown.Only for example, engine 102 can include 2nd, 3,4,5,6,8,10 and/or 12 cylinders.ECM 114 can indicate that cylinder actuator module 120 selectively deactivates Cylinder, this can improve fuel economy under certain engine operating conditions.

Engine 102 can be operated using four-stroke cycle.Four stroke described below can be referred to as induction stroke, Compression stroke, combustion stroke and exhaust stroke.In bent axle（It is not shown）Each rotary course in, two in four strokes Occur in cylinder 118.Therefore, cylinder 118 undergoes all four strokes and bent axle must rotate twice.

During induction stroke, the air from inlet manifold 110 is inhaled by inlet valve 122 in cylinder 118. ECM 114 control to adjust fuel injection with realize target air than fuel actuator module 124.Fuel can be in Heart position or in multiple positions（Such as close to the inlet valve 122 of each cylinder）It is ejected into inlet manifold 110.In each reality It applies（It is not shown）In, fuel can be directly sprayed into cylinder or be ejected into in the relevant mixing chamber of cylinder.Fuel causes Dynamic device module 124 can suspend the fuel injection of the cylinder to being deactivated.

In cylinder 118, the fuel of injection mixes with air and generates air/fuel mixture.In the compression stroke phase Between, the piston in cylinder 118（It is not shown）Compressed air/fuel mixture.Spark actuator module 126 is based on from ECM 114 signal for lighting air/fuel mixture encourages the spark plug 128 in cylinder 118.The timing of spark can be relative to Piston is located at its top position（Referred to as top dead centre（TDC））Time specify.

Spark actuator module 126 can timing signal how long generates fire to control before tdc or later by specifying Flower.Because piston position and bent axle rotation are directly related, the operation of spark actuator module 126 can be same with crank shaft angle Step.It generates spark and is properly termed as ignition event.Spark actuator module 126 can have changes spark for each ignition event The ability of timing.When spark timing changes between last time ignition event and next time ignition event, spark actuator Module 126 can change spark timing for ignition event next time.Spark actuator module 126 can suspend to being deactivated The spark of cylinder provides.

During combustion stroke, the burning driving piston of air/fuel mixture leaves TDC, thus drives bent axle.Burning Stroke can be defined as piston and reach TDC and piston arrival lower dead center（BDC）Time between time.In the exhaust stroke phase Between, piston begins to move off BDC, and discharges combustion by-products by exhaust valve 130.Combustion by-products pass through exhaust system 134 discharge from vehicle.

Inlet valve 122 can be controlled by admission cam shaft 140, and exhaust valve 130 can be controlled by exhaust cam shaft 142. In each implementation, multiple admission cam shafts（Including admission cam shaft 140）Multiple inlet valves for cylinder 118 can be controlled （Including inlet valve 122）And/or multiple rows of cylinder can be controlled（Including cylinder 118）Inlet valve（Including inlet valve 122）.It is similar Ground, multiple exhaust cam shafts（Including exhaust cam shaft 142）Can control for cylinder 118 multiple exhaust valves and/or can be with Control is for multiple rows of cylinder（Including cylinder 118）Exhaust valve（Including exhaust valve 130）.In other each implementations, inlet valve 122 and/or exhaust valve 130 can be by the equipment in addition to camshaft（Such as camless valve actuator）Control.Actuating cylinders Device module 120 can cannot be opened by inlet valve 122 and/or exhaust valve 130 come cylinder deactivation 118.

The time that inlet valve 122 is opened can be changed by exhaust cam phaser 148 relative to piston TDC.Exhaust The time that door 130 is opened can be changed by exhaust cam phaser 150 relative to piston TDC.Phaser actuator module 158 can control exhaust cam phaser 148 and exhaust cam phaser 150 based on the signal from ECM 114.Implementing When, lift range variable（It is not shown）It can also be controlled by phaser actuator module 158.

Engine system 100 can include turbocharger, which includes the heat by flowing through exhaust system 134 Exhaust is provided with the hot turbine 160-1 of power.Turbocharger further includes the cold air compressor 160-2 driven by turbine 160-1. Compressor 160-2 compressions are introduced into the air in throttler valve 112.In each implementation, by bent shaft-driven booster（Do not show Go out）The air from throttler valve 112 can be compressed and the air of compression is transmitted to inlet manifold 110.

Waste gate 162 can allow exhaust to get around turbine 160-1, thus reduce the boosting provided by turbocharger（Into The amount of gas air compression）.Boost actuator module 164 can control turbocharger by controlling the aperture of waste gate 162 Boosting.In each implementation, two or more turbocharger can be carried out and can be by boost actuator module 164 control.

Aerial cooler（It is not shown）Heat from compressed air charge can be transferred to cooling medium（Such as start Machine coolant or air）.Using engine coolant come cool down the aerial cooler of compressed air charge be properly termed as it is intermediate cold But device.Using air charge air cooler is properly termed as to cool down the aerial cooler of compressed air charge.Compressed air is filled Amount for example can receive heat by compression and/or from the component of exhaust system 134.Although separately showing for illustrative purposes, But turbine 160-1 and compressor 160-2 can be attached to each other, so as to be placed in inlet air close to thermal exhaust.

The exhaust that engine system 100 can be back to inlet manifold 110 including selectively rebooting exhaust follows again Ring（EGR）Valve 170.EGR valve 170 can be located at the upstream of the turbine 160-1 of turbocharger.EGR valve 170 can be caused by EGR Dynamic device module 172 is controlled based on the signal from ECM 114.

The position of bent axle can be measured using crankshaft position sensor 180.The rotary speed of bent axle（Engine speed） It can be determined based on crank position.The temperature of engine coolant can use engine coolant temperature（ECT）Sensor 182 measure.ECT sensor 182 can be located in engine 102 or at the other positions of coolant cycle, such as dissipate Hot device（It is not shown）Place.

Pressure in inlet manifold 110 can use manifold absolute pressure（MAP）Sensor 184 measures.In each reality Shi Zhong can measure engine vacuum（It is the difference between the pressure in ambient air pressure and inlet manifold 110）.It is flowed into The mass flowrate of air in inlet manifold 110 can use air quality flow（MAF）Sensor 186 measures.Each In implementation, maf sensor 186 can be located at housing（It also includes throttler valve 112）In.

Throttle actuator module 116 can use one or more throttle position sensor（TPS）190 save to monitor The position of air valve 112.Intake air temperature can be used by being drawn into the ambient temperature of the air in engine 102（IAT）Sensor 192 measure.Engine system 100 can also include one or more other sensors 193, such as ambient humidity, light and temperature sensor, One or more detonation sensor, compressor delivery pressure sensor and/or throttle inlet pressure sensor, waste gate position Sensor, EGR position sensor and/or other one or more suitable sensors.ECM 114 can be used from sensor Signal make for the control decision of engine system 100.

ECM 114 can communicate to coordinate speed changer with transmission control module 194（It is not shown）In transfer the files.For example, ECM 114 can reduce engine torque during gear shift.ECM 114 can communicate to coordinate to send out with mixing control module 196 The operation of motivation 102 and motor 198.

Motor 198 is also used as generator, and can be used for producing electricl energy for vehicle electrical systems use and/ Or for storing in the battery.In each implementation, ECM 114, transmission control module 194 and mixing control module 196 Various functions be desirably integrated into one or more modules.

Engine actuators can be known as by changing each system of engine parameter.For example, throttle actuator module 116 can adjust the aperture of throttler valve 112 to realize that target throttle opens area.Spark actuator module 126 controls fire Hua Sai is to realize the target spark timing relative to piston TDC.Fuel actuator module 124 controls fuel injector to realize mesh Mark refuelling parameter.Phaser actuator module 158 can control exhaust cam phaser 148 and exhaust cam phaser respectively 150 to realize target inlet air cam phaser angle and target exhaust cam phaser angle.EGR actuator module 172 can control EGR valve 170 with realize target EGR open area.Boost actuator module 164 controls waste gate 162 to realize Target exhaust door Open area.Cylinder actuator module 120 controls cylinder deactivation to realize the enabling of destination number or deactivated cylinder.

ECM 114 generates the desired value for engine actuators so that engine 102 generates target engine output Torque.ECM 114 generates the desired value for engine actuators using Model Predictive Control, as discussed further below.

Referring now to Fig. 2, the functional-block diagram of exemplary engine control system is presented.The exemplary implementation of ECM 114 Including driver's torque module 202, axle torque arbitration module 204 and propulsive torque arbitration modules 206.ECM 114 can be with Including hybrid optimization module 208.ECM 114 can also include reserve/load module 220, torque request module 224, air control Molding block 228, spark control module 232, cylinder control module 236 and fuel control module 240.

Driver's torque module 202 can input 255 to determine to drive based on the driver from driver input module 104 The person's of sailing torque request 254.The position and the position of brake pedal that driver's input 255 can be based on such as accelerator pedal.It drives Person's input 255 is also based on cruise control, which can change car speed to remain predetermined with following distance Adaptive cruise control system.Driver's torque module 202 can store accelerator pedal position to one or more of target torque It is a to map and map determine driver's torque request 254 based on selected one.

Axle torque arbitration module 204 carries out secondary between driver's torque request 254 and other axle torques request 256 It cuts out.Axle torque（Torque at wheel）It can be by each introduces a collection（Including engine and/or motor）It generates.For example, axle is turned round Square request 256 can be included in when detecting positive wheelslip to be reduced by the torque that pull-in control system is asked.Work as axle torque Positive wheelslip occurs when overcoming the friction between wheel and road surface, and wheel starts to slide on the contrary with road surface.Axle is turned round Square request 256 can also include offsetting the torque buildup request of negative wheelslip, wherein because axle torque causes vehicle to be negative Tire slid in another direction relative to road surface.

Axle torque request 256 can also include brake management request and overspeed of vehicle torque request.Brake management is asked Axle torque can be reduced to ensure axle torque without departing from the stopping power for maintaining vehicle when the vehicle is stopped.Vehicle surpasses Fast torque request can reduce axle torque to prevent vehicle from exceeding predetermined speed.Axle torque request 256 can also be by vehicle Stabilitrak generates.

Axle torque arbitration module 204 exports prediction based on the arbitration result between the torque request 254 and 256 received Torque request 257 and instant torque request 258.As described below, the prediction torque from axle torque arbitration module 204 please Ask 257 and instant torque request 258 can for before controlling engine actuators selectively by other moulds of ECM 114 Block adjusts.

In general, torque request 258 can be the amount of current desired axle torque immediately, and predicted torque request 257 can be the amount of axle torque that may be needed suddenly.ECM 114 controls engine system 100 and is turned round immediately with generating to be equal to The axle torque of square request 258.However, the various combination of desired value can generate identical axle torque.Therefore, ECM 114 Desired value can be adjusted and enable to fast transition to predicted torque request 257, at the same will axle torque maintain immediately Torque request 258.

In each implementation, predicted torque request 257 can be set based on driver's torque request 254.Instant torque Request 258 is in some cases（Such as when driver's torque request 254 so that wheel in ice face when sliding）It can be set Into less than predicted torque request 257.In this situation, pull-in control system（It is not shown）Instant torque request 258 can be passed through Request is reduced, and ECM 114 is reduced to the engine torque output of instant torque request 258.However, once wheelslip stops Only then ECM 114 performs reduction, therefore engine system 100 can promptly be restored to generate predicted torque request 257.

In general, immediately torque request 258 with（It is usually higher）Difference between predicted torque request 257 can claim For torque deposit.Torque deposit, which can represent engine system 100, can start the amount of the additional torque generated with the minimum delay （Higher than instant torque request 258）.Fast engine actuator is used for increasing or decreasing current axle torque with the minimum delay.Soon Fast engine actuators define on the contrary with slow speed engines actuator.

In general, fast engine actuator can more quickly change axle torque than slow speed engines actuator. Slow actuator can be than fast actuator more slowly in response to the change of its corresponding desired value.For example, slow actuator can To include needing the time to be moved to come the change in response to desired value the mechanical part of another position from a position.At a slow speed Actuator is further characterized in that it is so that axle torque starts if slow actuator comes into effect the desired value of change The time quantum for changing and spending.In general, the area of a room will be longer than for fast actuator for slow actuator at this time.This Outside, even if after change is started, axle torque may take longer for carrying out the change in complete response slow actuator.

Only for example, spark actuator module 126 can be fast actuator.Spark ignition engine can be by applying Flame enrichment, which is spent, carrys out burning fuel, and fuel includes such as gasoline and ethyl alcohol.As a comparison, throttle actuator module 116 can be slow Fast actuator.

For example, as described above, when spark timing becomes between last time ignition event and next time ignition event During change, spark actuator module 126 can change for the spark timing of next ignition event.As a comparison, air throttle is opened The change of degree takes a long time to influence engine output torque.Throttle actuator module 116 is by adjusting throttler valve The angle of 112 blade changes throttle opening.Therefore, when the desired value of the aperture for throttler valve 112 is changed, by New position is moved to from its prior location and there are mechanical delays in throttler valve 112 in response to the change.In addition, based on solar term The air mass flow of door aperture changes undergoes air delivery delay in inlet manifold 110.It is in addition, increased in inlet manifold 110 Air mass flow is until cylinder 118 receives additional air, compression additional air in next induction stroke and starts burning punching Journey is just implemented as the increase of engine output torque.

Using these actuators as example, torque deposit can be by the way that throttle opening to be set as to allow to start Machine 102 generates the value of predicted torque request 257 to generate.Meanwhile spark timing can be set based on instant torque request 258 It puts, which is less than predicted torque request 257.Although throttle opening generates enough engines 102 and generates prediction The air mass flow of torque request 257, but spark timing is based on instant torque request 258 and is postponed（This reduces torque）. Therefore, engine output torque will be equal to instant torque request 258.

When needing additional torque, spark timing can be based on predicted torque request 257 or predicted torque request 257 with being When torque request 258 between torque set.By subsequent ignition event, spark actuator module 126 can be by spark Timing is generated back to permission engine 102 can pass through whole engine output torques that already existing air mass flow is realized Optimum value.Therefore, engine output torque can be rapidly populated predicted torque request 257, without due to changing solar term Door aperture and undergo delay.

Predicted torque request 257 and instant torque request 258 can be output to propulsion and turned round by axle torque arbitration module 204 Square arbitration modules 206.In each implementation, axle torque arbitration module 204 can be by predicted torque request 257 and instant torque Request 258 is output to hybrid optimization module 208.

Hybrid optimization module 208 can determine that engine 102 should generate how many torque and motor 198 should generate how many torsion Square.Hybrid optimization module 208 is then respectively by modified predicted torque request 259 and modified instant torque request 260 It is output to propulsive torque arbitration modules 206.In each implementation, hybrid optimization module 208 can be in control module 196 be mixed Implement.

The predicted torque request and instant torque request that propulsive torque arbitration modules 206 receive are from axle torque domain（Vehicle Torque at wheel）Be converted to propulsive torque domain（Torque at bent axle）.This conversion can before hybrid optimization module 208, it Afterwards, as part of it or its generation is substituted.

Propulsive torque arbitration modules 206 ask 290 in propulsive torque（Including transformed predicted torque request and instant torsion Square is asked）Between arbitrated.Propulsive torque arbitration modules 206 generate the predicted torque request 261 of arbitration and arbitrate instant Torque request 262.The torque request 261 and 262 of arbitration can by selected from the torque request received win request To generate.Alternatively or additionally, the torque request of arbitration can by based in the torque request received another or It is multiple to be generated to change one in the request received.

For example, propulsive torque request 290 can include reducing for the torque of racing of the engine protection, be prevented for stall Torque increase and by transmission control module 194 ask adapt to gear shift torque reduce.Propulsive torque request 290 can be with Caused by clutch fuel-cut, clutch fuel-cut driver step on the clutch pedal in manual transmission vehicles with Engine output torque is reduced during the mutation for preventing engine speed.

Propulsive torque request 290 can also be included in the engine shutoff request that can start when detecting critical failure. Only for example, critical failure can include vehicle theft, block starter motor, Electronic Throttle Control problem and non-pre- The increased detection of torque of phase.In each implementation, when there are during engine shutoff request, arbitration selects engine shutoff request Request as triumph.When there are during engine shutoff request, propulsive torque arbitration modules 206 can export zero as arbitration Predicted torque request 261 and the instant torque request 262 of arbitration.

In each implementation, engine shutoff request can dividually be simply turned off engine 102 with arbitrated procedure.It promotes and turns round Square arbitration modules 206 can still receive engine shutoff request, so that for example appropriate data can be fed back to other Torque request person.For example, every other torque request person can be informed that they have lost arbitration.

Reserve/load module 220 receives the predicted torque request 261 of arbitration and the instant torque request 262 of arbitration.Storage Standby/load blocks 220 can adjust the predicted torque request 261 of arbitration and the instant torque request 262 of arbitration to create torque Deposit and/or the one or more loads of compensation.Reserve/load module 220 then by the predicted torque request 263 after adjustment and is adjusted Instant torque request 264 after whole is output to torque request module 224.

Only for example, catalyst light-off process or cold start-up emission reduction process may require the spark timing of delay.Therefore, Predicted torque request 263 after adjustment can be increased above the instant torque request after adjustment by reserve/load module 220 264 are used for the spark of the delay of cold start-up emission reduction process with establishment.In another example, the air/fuel ratio of engine and/ Or air quality flow can be directly changed, and such as invade equivalence ratio test by diagnosis and/or new engine purifies.Starting Before these processes, torque deposit can be created or increase to make up rapidly during these processes due to desaturation air/combustion The reduction of engine output torque caused by expecting mixture.

Reserve/load module 220 can also create in the case of expected future load or increase torque deposit, such as dynamic Power steering pump operates or air conditioning（A/C）The engagement of compressor clutch.It, can be with when driver asks air conditioning for the first time Create the deposit of the engagement for A/C compressor clutches.Reserve/load module 220 can increase the prediction torque after adjustment Request 263 causes the instant torque request 264 after adjustment constant to generate torque deposit simultaneously.Then, when A/C compressor clutches When device engages, after reserve/load module 220 can increase adjustment by the load estimated of A/C compressor clutches Instant torque request 264.

Torque request module 224 receives the predicted torque request 263 after adjustment and the instant torque request 264 after adjustment. Torque request module 224 determines how to realize the predicted torque request 263 after adjusting and the instant torque request after adjustment 264.Torque request module 224 can be that engine model is proprietary.For example, torque request module 224 can differently be implemented Or different control programs is used with respect to compression ignition engine for spark ignition engine.

In each implementation, torque request module 224 can define the module shared across all engine model and hair Boundary line between the proprietary module of motivation model.For example, engine model can include spark ignition and compression ignition.Torque please Module before modulus block 224（Such as propulsive torque arbitration modules 206）It can be across what engine model shared, and torque Request module 224 and subsequent module can be that engine model is proprietary.

Torque request module 224 is true based on the predicted torque request 263 after adjustment and the instant torque request 264 after adjustment Determine air torque request 265.Air torque request 265 can be braking torque.Braking torque may refer in current operation item Torque under part at bent axle.

Determined based on air torque request 265 for control engine actuators air stream desired value.It is more specific next It says, based on air torque request 265, air control module 228 determines that Target exhaust door opens area 266, target throttle is beaten Open area 267, target EGR opens area 268, target inlet air cam phaser angle 269 and target exhaust cam phaser angle 270.Air control module 228 determines that Target exhaust door opens area 266, target throttle is opened using Model Predictive Control Area 267, target EGR open area 268, target inlet air cam phaser angle 269 and target exhaust cam phaser angle 270, it is as discussed further below.

Boost actuator module 164 controls waste gate 162 to realize that Target exhaust door opens area 266.For example, first turn Target exhaust door opening area 266 can be converted to target duty and be applied to waste gate 162 than 274 by mold changing block 272, and Boost actuator module 164 can apply signals to waste gate 162 than 274 based on target duty.In each implementation, first Target exhaust door can be opened area 266 and be converted to Target exhaust door position by modular converter 272（It is not shown）, and by target Waste gate position is converted to target duty than 274.

Throttle actuator module 116 controls throttler valve 112 to realize that target throttle opens area 267.For example, the Target throttle opening area 267 can be converted to target duty and be applied to throttler valve than 278 by two modular converters 276 112, and throttle actuator module 116 can apply signals to throttler valve 112 than 278 based on target duty.Each In a implementation, target throttle can be opened area 267 and be converted to target throttle position by the second modular converter 276（Do not show Go out）, and target throttle position is converted into target duty than 278.

EGR actuator module 172 controls EGR valve 170 to realize that target EGR opens area 268.For example, third modulus of conversion Target EGR opening areas 268 can be converted to target duty and be applied to EGR valve 170, and EGR valve actuation than 282 by block 280 Device module 172 can apply signals to EGR valve 170 than 282 based on target duty.In each implementation, third modular converter Target EGR can be opened area 268 by 280 is converted to target EGR position（It is not shown）, and target EGR position is converted to Target duty is than 282.

Phaser actuator module 158 controls exhaust cam phaser 148 to realize target inlet air cam phaser angle 269.Phaser actuator module 158 also controls exhaust cam phaser 150 to realize target exhaust cam phaser angle 270. In each implementation, the 4th modular converter can be included（It is not shown）And it can be by target inlet air and exhaust cam phaser Angle is respectively converted into target inlet air duty ratio and target exhaust duty ratio.Phaser actuator module 158 can be respectively by target Air inlet duty ratio and target exhaust duty ratio are applied to exhaust cam phaser 148 and exhaust cam phaser 150.In each reality Shi Zhong, air control module 228 can determine target overlapping factor and target effective displacement, and phaser actuator module 158 can control exhaust cam phaser 148 and exhaust cam phaser 150 to realize target overlapping factor and target effective position It moves.

Torque request module 224 is also based on predicted torque request 263 and instant torque request 264 generates spark torque Request 283, cylinder closing torque request 284 and fuel torque request 285.Spark control module 232 can be based on spark torque Request 283 come determine so that spark timing from optimum spark timing retard how much（This reduces engine output torque）.Only illustrate For, it can be with reverse torque relationship to solve target spark timing 286.For giving torque request（T_Req）, can be based on following Formula determines target spark timing（S_T）286：

(1) ST = f^-1 (T_Req, APC, I, E, AF, OT, #),

Wherein APC is APC, and I is the fixed mutually value of inlet valve, and E is the fixed mutually value of exhaust valve, and AF is air/fuel ratio, and OT is oil Temperature, and # is the quantity of the cylinder started.This relationship may be embodied as equation and/or look-up table.Air/fuel ratio（AF）It can To be actual air/fuel ratio, as reported as fuel control module 240.

When spark timing is arranged to optimum spark timing, the torque of gained can be as close possible to for best torque Minimum spark shift to an earlier date（MBT spark timing）.Best torque refers to using with the octane volume bigger than predetermined octane rating When the fuel and use stoichiometry refuelling of definite value, since spark timing in advance generates most given air mass flow Big engine output torque.This spark timing most preferably occurred is known as MBT spark timing.Optimum spark timing may be due to for example Fuel mass（Such as when using compared with low octane fuel）And environmental factor（Such as ambient humidity, light and temperature and temperature）And with MBT spark just When it is slightly different.Therefore, the engine output torque of optimum spark timing can be less than MBT.Only for example, corresponding to difference The table of the optimum spark timing of engine operating condition can determine during the calibration phase of Car design, and based on current Engine operating condition determines optimum value from the table.

Cylinder closing torque request 284 can be used for determining the number of targets of the cylinder of disabling by cylinder control module 136 Amount 287.In each implementation, it can use the destination number of cylinder started.Cylinder actuator module 120 is based on number of targets The selective startup of amount 287 and the valve for disabling cylinder.

Cylinder control module 236 also can indicate that fuel control module 240 and provide fuel simultaneously with the cylinder stopped to disabling And spark can be provided with the cylinder stopped to disabling with pilot spark control module 232.Once it is already present on the combustion in cylinder Material/air mixture is burned, then spark control module 232 can stop providing spark to cylinder.

Fuel control module 240 can change the amount for the fuel for being supplied to each cylinder based on fuel torque request 285. More specifically, fuel control module 240 can generate target refuelling parameter 288 based on fuel torque request 285.Target Refuelling parameter 288 can include the destination number of such as desired fuel quality, the timing of target start-of-injection and fuel injection.

In course of normal operation, fuel control module 240 can operate under air bootmode, and wherein fuel controls Module 240 attempts the air/fuel ratio by maintaining stoichiometry based on air flow control refuelling.For example, fuel control Molding block 240 can determine with current per cylinder air（APC）The mesh of the burning of stoichiometry will be generated when quality is combined Mark fuel mass.

Fig. 3 is the functional-block diagram of the exemplary implementation of air control module 228.Referring now to Fig. 2 with 3, such as more than institute It discusses, air torque request 265 can be braking torque.Torque modular converter 304 is by air torque request 265 from braking torque Be converted to base torque.The torque request generated due to being converted to base torque will be referred to as basic air torque request 308.

Base torque may refer to warm when engine 102 and attachment（Such as alternating current generator and A/C compressors）No When applying torque loads to engine 102, the torsion on the bent axle generated in the operating process of engine 102 on dynamometer Square.Torque modular converter 304 can for example using by braking torque mapping associated with base torque or function come by air The conversion of torque request 265 is basic air torque request 308.In each implementation, torque modular converter 304 can turn round air Square request 265 is converted to the torque of another suitable type（All torques as indicated）.The torque of instruction may refer to due to logical Cross the torque at bent axle caused by the work(that the burning in cylinder generates.

MPC modules 312 use MPC（Model Predictive Control）Generating desired value 266 to 270 please with optimized integration air torque Ask 308.MPC modules 312 include state estimator module 316 and optimization module 320.

Mathematical model of the state estimator module 316 based on engine 102, from previous（For example, the last one）Control The engine condition in circuit processed and desired value 266 to 270 from previous control loop are determined for control loop State.For example, state estimator module 316 can determine the state for control loop based on following relationship：

；And

,

Wherein k is k-th of control loop, and x (k) is the state for the engine 102 of k-th of control loop with instruction Object vector, x (k-1) is the vector x (k) from -1 control loop of kth, and A is to include the feature based on engine 102 The matrix of the constant value of calibration, B are the matrixes for the constant value for including the feature calibration based on engine 102, and u (k-1) is to include Object vector for the desired value 266 to 270 used during the last one control loop, y (k) are the lines of vector x (k) Property combination, and C is the matrix for including the constant value that feature based on engine 102 is calibrated.One or more in state parameter A to be adjusted based on the measured value or estimated value of those parameters, the parameter jointly shows by feed back input 330.

The function of being performed by MPC modules 312 usually can be described below.One is greater than for k=1,, N, N Integer carries out：

(1) estimation in the state of time t engine 102 is obtained using above equation and feed back input 330；

(2) when calculating is used for the optimal value of desired value 266 to 270 to minimize from time k to future for time k Between k+p period during cost function；And

(3) desired value 266 to 270 is set as to the optimal value calculated only for time k+1.It is subsequently returned to (1).

Period between time k and k+p refers to estimation range.

Cost function is that have to stay in the optimal control problem that each time step defines in estimation range to minimize Performance standard.Control targe needed for the reflection of this function.It can be for example corresponding to the sum of the different item of tracking error, such as（For tracking the controlled variable of some reference positions）、（For Track the controlled variable of the set-point value needed for some）, control effort（Such asOr）And For the penalty term of constraint violation.More generally, cost function depend on controlled variable u, its variant u, controlled variable y with And constraint violation punishment variable.Desired value 266 to 270 is properly termed as controlled variable and is indicated by variable u.Prediction Parameters can To be known as controlled variable and can be indicated by variable y.

Actuator constraints module 360（Fig. 2）It can set and constrain 348 for the actuator of desired value 266 to 270.For example, Actuator constraints module 360 can set the actuator constraint for throttler valve 112, the actuator for EGR valve 170 about Beam constrains and for the actuator constraint of waste gate valve 162, for the actuator of exhaust cam phaser 148 for being vented The actuator constraint of cam phaser 150.

Actuator constraint 348 for desired value 266 to 270 can include being used for the maximum value of associated target value and be used for The minimum value of that desired value.Actuator can usually be constrained 348 and be provided for associated actuation by actuator constraints module 360 The predetermined operation range of device.More specifically, actuator constraints module 360 usually can be respectively by 348 setting of actuator constraint To be used for throttler valve 112, EGR valve 170, waste gate 162, exhaust cam phaser 148 and exhaust cam phaser 150 Predetermined operation range.However, actuator constraints module 360 can selectively adjust actuator constraint 348 in some cases One or more of.

Output constraint module 364（Fig. 2）Output constraint 352 for controlled variable (y) can be set.For controlled variable Output constraint 352 can include for that controlled variable maximum value and the minimum value for that controlled variable.Output Output constraint 352 can be usually provided for the preset range of relevant controlled variable by constraints module 364 respectively.However, Output constraint module 364 can change one or more of output constraint 352 in some cases.

Referrer module 368（Fig. 2）The reference value 356 for desired value 266 to 270 is generated respectively.Reference value 356 includes using The reference of each in desired value 266 to 270.In other words, reference value 356 includes opening area, reference with reference to waste gate Air throttle opens area, area is opened with reference to EGR, with reference to exhaust cam phaser angle and with reference to exhaust cam phaser angle. Referrer module 368 can for example based on air torque request 265, basic air torque request 308 and/or it is one or more other Suitable parameter determines reference value 356.

Optimization module 320 uses quadratic programming（QP）Solver（Such as Dan Qige QP solvers）To determine desired value 266 To 270.QP solvers solve optimization problem by the secondary cost function under inequality constraints.If for example, vector

Some optimized variables are represented, then the quadratic function of x can be put into following form：

Wherein Q is n × n constant symmetrical matrixes, and Constant is constant value, and

It is constant vector.Linear restriction is following form

Wherein C is constant matrices and b is constant vector.

It will be according to the quantity for referring to desired value（For example, it is 5 in above example）N_uWith the n for referring to controlled variable quantity_yCome The following contents is described.

,

And

Wherein i is 1 and n_uBetween integer.

There is control problem to be solved can be written as：

It minimizes：

Under following constraint

, whereinAnd,

, whereinAndAnd

, whereinAnd,

Wherein as described above,

,

Meet simultaneously

。

w_∆u、w_uAnd w_yIt is positive predetermined weighted value.V_∆u、V_uAnd V_yIt is greater than or equal to zero predetermined soft-constraint value. Predetermined constraints value can for example be arranged to zero to generate the hard constraint to relevant parameter.Lower target value with minimum and maximum Indicate the upper constraint for relevant parameter and lower constraint.

Quadratic programming can be restated as with formula above（QP）Problem conduct,

It minimizes：

,

Under following constraint

,

Wherein

,

,

And

。

The use instruction transposed matrix of subscript T uses.

And if only existIn the case of,It is the unique solution of QP problems, makes in this way ：

(i) Meet

,

(ii) And

(iii) 。

More than, (ii) is related to primary and double constraints and meets, and (iii) is related to complementation.X is properly termed as a variable. It is properly termed as Lagrange multiplier or dual variable.For being limited by the QP problems of constraint, optimal solution includes original It is optimal right with dual variable to come.

New variable y can be introduced, wherein

。

Therefore,.In order to express equation

According toWith, generate

(i) , , And

(ii) 。

X* is solved, we obtain：

。

Therefore,

And

。

So that

And

,

We obtain

。

Therefore,

(i) Meet

,

(ii) , And

(iii) 。

I is unit matrix.

Therefore, x* can be determined using below equation

。

It is optimal right to (iii) that solution meets condition (i)Solver be properly termed as dual solver.Optimize mould Block 320 include dual solver and solve it is optimal right, as described above.

X* includes corresponding to from previous control loop（For example, k-1）Desired value 266 to 270 change it is optimal Value.Optimization module 320 adjusts the desired value 266 to 270 from previous control loop respectively based on the value of x*, to generate use In the desired value 266 to 270 for current control loop of control associated actuators.Only for example, optimization module 320 can be with Respectively desired value 266 to 270 and the value of x* are summed to generate for the desired value 266 to 270 of current control loop.These mesh Scale value 266 to 270 will be used to control.

More than content can be rewritten as：

And

, , and,

Wherein,,And。

The problem of finding satisfaction more than content (w, u) is properly termed as linear complementary problem（LCP）And by optimization module 320 solve.Specifically, this form can be used by Dan Qige QP solvers.Symmetrical matrix A and vector q includes predetermined Data.A is properly termed as table.The size of table influences number of computations necessary to generation desired value 266 to 270.

It is the amount of constraint other than the following bound constrained to x.Cause n_LTo have the component of the x of following bound constrained Quantity.n_LLess than or equal to desired value quantity n_u.The total quantity for the constraint that QP solvers are considered when determining optimal value For：

。

As previously discussed,

,

Wherein total line number of C matrixes is equal to the total quantity (m) of constraint.Therefore, A be () x () matrix （That is, maximum matrix）.

Other kinds of QP solvers（A such as QP solver）It is assumed that the institute of x is important to have following bound constrained.Cause This, for not having the component of the x of following bound constrained, by the following bound constrained with simulation, such as big negative.Cause This, these implementation in A matrixes will be always () x () matrix.

Due to n_LLess than or equal to n_u, so when x institute it is important have following bound constrained when（And therefore n_L=n_u）, optimization Module 320 using size for () x () A matrixes come determine desired value 266 to 270 therefore at least with making With size for () x () A matrixes have the same computational efficiency.When one or more components of x do not have When having following bound constrained, optimization module 320 using size for () x () A matrixes determine desired value 266 to 270 ratio uses () x () computational efficiency higher.

Referring now to Fig. 4, description is presented and uses MPC（Model Predictive Control）To estimate operating parameter and control throttler valve 112nd, exhaust cam phaser 148, exhaust cam phaser 150, waste gate 162（And therefore turbocharger）And EGR valve The flow chart of 170 illustrative methods.Control can be since 404, and wherein torque request module 224 is based on the prediction after adjustment Torque request 263 determines air torque request 265 with the instant torque request 264 after adjustment.

408, torque modular converter 304 air torque request 265 can be converted as basic air torque request 308 or Person is converted to the torque of another suitable type so that MPC modules 312 use.412, state estimator module 316 determines For the state of the engine 102 of current control loop, as described above.

416, optimization module 320 determines optimization for determining desired value 266 to 270 to (x*, λ *), such as more than institute Description.420, optimization module 320 is based respectively on to be come for the desired value 266 to 270 of the last one control loop and the value of x* It determines for the desired value 266 to 270 of current control loop.Only for example, optimization module 320 respectively by by the value of x* with It sums to determine desired value 266 to 270 for the desired value 266 to 270 of the last one control loop.

Target exhaust door opening area 266 is converted into target duty than 274 with application in 428, first modular converters 272 In waste gate 162, target throttle opening area 267 is converted to target duty than 278 to be applied to by the second modular converter 276 Throttler valve 112.428, third modular converter 280 also by target EGR opening areas 268 be converted to target duty than 282 with Applied to EGR valve 170.4th modular converter can also be respectively by target inlet air cam phaser angle 269 and target exhaust cam Phaser angle 270 is converted to target inlet air duty ratio and target exhaust duty ratio for exhaust cam phaser 148 and exhaust Cam phaser 150.

432, throttle actuator module 116 controls throttler valve 112 to realize that target throttle opens area 267, And phaser actuator module 158 controls exhaust cam phaser 148 and exhaust cam phaser 150 to realize target respectively Exhaust cam phaser angle 269 and target exhaust cam phaser angle 270.For example, throttle actuator module 116 can be with target Duty ratio 278 applies signals to throttler valve 112 and opens area 267 so as to fulfill target throttle.In addition it is caused in 432, EGR Dynamic device module 172 controls EGR valve 170 to realize that target EGR opens area 268, and boost actuator module 164 controls exhaust gas Door 162 with realize Target exhaust door open area 266.For example, EGR actuator module 172 can with target duty than 282 by signal Area 268 is opened, and boost actuator module 164 can be with target duty ratio applied to EGR valve 170 so as to fulfill target EGR 274 apply signals to waste gate 162 opens area 266 so as to fulfill Target exhaust door.Although Fig. 4 be shown as 432 it After terminate, but Fig. 4 can show a control loop, and can perform control loop under set rate.

Above description is substantially merely illustrative, and is in no way intended to limit the disclosure, its application or is used.The disclosure Teaching can be implemented in a variety of manners extensively.Therefore, although the disclosure includes specific example, the true scope of the disclosure is not This is should be limited to, because other modifications will become apparent after study attached drawing, specification and appended claims.Such as this Text used, at least one of phrase A, B and C should be interpreted that mean use nonexcludability logic or logic（A or B Or C）.It should be understood that in the case where not changing the principle of the disclosure, the one or more steps in method can be in a different order （Or simultaneously）It performs.

In including this application defined below, term module can be replaced by term circuit.Term module may refer to The following contents is part of it or including the following contents：Application-specific integrated circuit（ASIC）；Number, simulation or hybrid guided mode Plan/number discrete circuit；Number, simulation or hybrid analog-digital simulation/digital integrated electronic circuit；Combinational logic circuit；Field programmable gate array （FPGA）；Perform the processor of code（Shared, special or cluster）；Store the memory of code performed by processor（It is shared, special With or cluster）；Other suitable hardware componenies of described function are provided；It is or some or all of in Yi Shang content Combination, such as system on chip.

Term code as used above can include software, firmware and/or microcode, and may refer to program, Routine, function, classification and/or target.Term shared processor, which covers, performs some or all of codes from multiple modules Single processor.Term clustered processors, which are covered to combine with additional processor, performs some or institute from one or more modules There is the processor of code.Term shared drive covers the single memory of some or all of codes of the storage from multiple modules.Art Language cluster memory covers the memory that some or all of codes of the storage from one or more modules are combined with extra memory.Term Memory can be the subset of term computer-readable medium.Term computer-readable medium be not covered by propagated by medium it is temporary When electric signal and electromagnetic signal, and be therefore considered tangible and permanent.Permanent visible computer readable medium Non-limiting examples include Nonvolatile memory, volatile ram, magnetic storage and optical memory.

Device and method described in this application can be partially or even wholly as performed by one or more processors One or more computer programs are implemented.Computer program includes being stored at least one readable Jie of permanent tangible computer Processor-executable instruction in matter.Computer program can also include and/or dependent on the data stored.

Claims (18)

1. a kind of engine control system for vehicle, including：

Torque request module, the torque request module are inputted to generate based on driver and be turned round for the first of spark ignition engine Square is asked；

First torque request is converted to the second torque request by torque modular converter, the torque modular converter；

Model Predictive Control（MPC）Module, model of the MPC modules based on second torque request, the engine with And the matrix of the dimension with (m+n) × (m+n) determines desired value group, wherein n is equal to for the desired value group really The integer more than zero and m of the quantity of fixed following bound constrained are equal to for the determining in addition to described of the desired value group The integer for being more than zero of amount of constraint except following bound constrained；And

Actuator module, aperture of the actuator module based on the first value control engine actuators in the desired value.

2. engine control system as described in claim 1, wherein the actuator module is based on the institute in the desired value The first value is stated to control the aperture of throttler valve.

3. engine control system as described in claim 1, wherein the actuator module is based on the institute in the desired value The first value is stated to control the aperture of the waste gate of turbocharger.

4. engine control system as described in claim 1, wherein the actuator module is based on the institute in the desired value The first value is stated exhaust gas to be controlled to recycle（EGR）The aperture of valve.

5. engine control system as described in claim 1, wherein the actuator module is based on the institute in the desired value The first value is stated inlet valve to be controlled to determine phase.

6. engine control system as described in claim 1, wherein the actuator module is based on the institute in the desired value The first value is stated exhaust valve to be controlled to determine phase.

7. engine control system as described in claim 1, further comprises：

Boost actuator module, the boost actuator module is based on the second value control turbocharger in the desired value The aperture of waste gate；

Exhaust gas recirculatioon（EGR）Actuator module, the EGR actuator module are controlled based on the third value in the desired value The aperture of EGR valve；And

Phaser actuator module, the phaser actuator module are based respectively on the 4th value and the 5th value in the desired value Control inlet valve and exhaust valve determine phase,

Wherein described actuator module controls the aperture of throttler valve based on first value in the desired value.

8. engine control system as described in claim 1, further comprises referrer module, the referrer module difference is true Surely the reference value of the desired value is used for,

Wherein described MPC modules are based further on the reference value to determine the desired value.

9. engine control system as described in claim 1, wherein the constraint include for the desired value constraint and For the constraint of controlled variable.

10. a kind of engine control for vehicle, including：

The first torque request generated for spark ignition engine is inputted based on driver；

First torque request is converted into the second torque request；

Use Model Predictive Control（MPC）Module, based on second torque request, the model of the engine and with (m + n) the matrix of × dimension of (m+n) determines desired value group, wherein n is equal to for the determining following of the desired value group The integer more than zero and m of the quantity of bound constrained are equal to for the determining in addition to the following boundary treaty of the desired value group The integer for being more than zero of amount of constraint except beam；And

Aperture based on the first value control engine actuators in the desired value.

11. engine control as claimed in claim 10, wherein the engine actuators are throttler valves.

12. engine control as claimed in claim 10, wherein the engine actuators are the useless of turbocharger Valve.

13. engine control as claimed in claim 10, wherein the engine actuators are exhaust gas recycling（EGR） Valve.

14. engine control as claimed in claim 10, wherein the engine actuators are intake valve phase devices.

15. engine control as claimed in claim 10, wherein the engine actuators are exhaust valve phasers.

16. engine control as claimed in claim 10, further comprises：

The aperture of waste gate based on the second value control turbocharger in the desired value；

Aperture based on the third value control EGR valve in the desired value；And

The 4th value being based respectively in the desired value and the 5th value control inlet valve and exhaust valve determine phase,

Wherein described engine actuators are throttler valves.

17. engine control as claimed in claim 10, further comprises：

It is determined respectively for the reference value of the desired value；And

The reference value is based further on to determine the desired value.

18. engine control as claimed in claim 10, wherein the constraint includes the constraint for the desired value With the constraint for controlled variable.