CN104047748A - Active disturbance observation-based fuel pressure controller and control method thereof - Google Patents
Active disturbance observation-based fuel pressure controller and control method thereof Download PDFInfo
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Abstract
The invention relates to an active disturbance observation-based fuel pressure control method, aims at solving the problems of time-varying characteristics and non-linearity of an internal combustion engine fuel injection system and non-ideal application of traditional PID (proportion integration differentiation) control in fuel pressure control and the like, and provides the method of realizing control on fuel pressure by adopting model-based feedforward control and state observation-based feedback control. The method mainly comprises target fuel pressure computation, fuel pressure sensor practical fuel pressure collection and computation, fuel measuring unit fuel volume flow rate feedback regulation amount computation, fuel measuring unit fuel volume flow rate feedforward control amount computation, conversion of fuel measuring unit fuel volume flow rate into current, conversion of fuel measuring unit current into a PWM (Pulse Width Modulation) duty ratio, fuel measuring unit practical work current measurement and computation, a fuel measuring unit current feedback regulator, fuel measuring unit PWM modulation frequency computation, a fuel measuring unit PWM drive, a fuel measuring unit, a fuel injection system and a fuel pressure active disturbance observer.
Description
Technical Field
The invention belongs to the technical field of internal combustion engine control, relates to a fuel injection system of an internal combustion engine, and particularly relates to a fuel pressure control method of the fuel injection system of the internal combustion engine, in particular to a fuel pressure control method based on active disturbance observation.
Background
The internal combustion engine is a model with highest thermal efficiency, best energy utilization rate and best energy conservation in various power machines which are industrially applied at present, is widely applied to wide fields such as power generation, irrigation, ship power, vehicle power and the like, has the most obvious advantages in the aspect of vehicle power, and has a tendency of internal combustion engine organization in the global vehicle power.
Internal combustion engines can be classified into spark ignition engines (e.g., gasoline engines, i.e., gasoline engines) and compression ignition engines (e.g., diesel engines, i.e., diesel engines) according to the type of ignition. It is well known that both gasoline and diesel engines have fuel injection systems, the performance of which is critical to the combustion process of the internal combustion engine. At present, most of fuel systems are electronic control fuel injection systems, and the electronic control fuel injection systems can flexibly control fuel injection parameters and effectively reduce the emission of an internal combustion engine, so that the electronic control fuel injection systems become main means of an electronic control technology of the internal combustion engine. In an electronic control fuel injection system (hereinafter referred to as a fuel injection system), the fuel pressure not only determines the height of the fuel injection pressure, but also is an important parameter of fuel metering, and the fluctuation of the fuel pressure directly influences the change of parameters such as the fuel injection pressure, the circulating fuel injection quantity, the fuel injection rate and the like, so that the development and research of a fuel pressure control method in the fuel injection system are the key technical problems of the control of an internal combustion engine.
The fuel injection system is generally composed of a fuel delivery pump, a fuel supply pump, a fuel metering unit, a high-pressure accumulator, a fuel pressure sensor, a high-pressure fuel pipe and an electric control fuel injector. The fuel pressure controller of the fuel injection system is a control loop composed of an Electronic Control Unit (ECU), a fuel pressure sensor, and a fuel metering unit, as shown in fig. 1.
The electronically controlled fuel injectors are fluidly connected to the high pressure accumulator via respective associated high pressure fuel lines and require repeated opening and closing to provide precisely metered amounts of fuel to the engine.
The fuel metering unit is arranged at the oil inlet position of the oil supply pump and used for adjusting the fuel amount entering the plunger cavity of the oil supply pump through the oil supply pump so as to control the pressure of the fuel in the high-pressure accumulator, and the specific adjustment of the fuel metering unit needs to be controlled by the ECU. The ECU controls the current of an internal control coil (namely an electromagnetic valve) of the fuel metering unit through a Pulse Width Modulation (PWM) signal, so that the oil inlet sectional area of the fuel supply pump is changed to increase or reduce the fuel supply quantity. The fuel supply characteristic curve diagram of the fuel metering unit is shown in fig. 2.
When the fuel metering unit is not electrified in the control coil, the opening of the fuel flow section on the plunger corresponding to the oil inlet of the fuel feed pump is maximum, and the fuel with the maximum flow can be provided for the plunger cavity of the fuel feed pump, namely the fuel metering unit is in a normally open state. When the control coil of the fuel metering unit is electrified, the current of the coil in the fuel metering unit is controlled by adjusting the duty ratio and the modulation frequency of the PWM pulse signal which is controlled and output by the ECU, so that the opening degree (corresponding to the oil inlet sectional area of the oil supply pump) of the fuel metering unit is changed, and the control of the fuel pressure in the high-pressure energy accumulator is realized.
The amount of fuel delivered by the injector during an injection event is determined by the fuel injection pressure at the time the injector is opened and the injection pulsewidth of the injector, where the injection pulsewidth value is the time between opening and closing of the injector. The fuel injection pressure is the pressure of the fuel in the fuel injection system when the injector is open and is typically measured by means of a fuel pressure sensor mounted on the high pressure accumulator. Fig. 3 is a schematic diagram of a characteristic curve of the fuel pressure sensor.
The fuel pressure sensor is the most critical sensor in the fuel injection system, and the main function of the fuel pressure sensor is to measure the real-time fuel pressure in the fuel injection system with sufficient precision and in a relatively short time, and convert the real-time fuel pressure into a voltage signal to be provided to an engine electronic control unit. However, the fuel pressure at the high pressure accumulator does not always correspond to the fuel injection pressure, since the fuel pressure is affected by numerous factors and always exhibits a phenomenon of constantly fluctuating pressure.
Since the fuel pressure is affected by both the fuel supply process and the fuel injection process, the control method thereof is complicated. The method is mainly embodied in two aspects: (1) the change in fuel pressure during steady state is a pulsating process. In a steady state process, the fuel pressure in the high-pressure accumulator is mainly determined by the fuel supply quantity and the fuel injection quantity, and the working periods of the fuel supply quantity and the fuel injection quantity are related to the working period of the engine and are in pulsating change, so that the fuel pressure is influenced by the fuel inlet quantity and the fuel outlet quantity to have pulsating change. (2) The fuel pressure changes dramatically and frequently during transients. The transient process with more severe changes exists in the working process of the engine, so that the target value of the fuel pressure and the fuel injection quantity can have large changes in a short time, and the transient process of the fuel pressure control can be frequent and severe.
Therefore, corresponding measures are required to balance the fuel pressure fluctuation, so as to realize accurate control of the fuel pressure and further improve the power performance and the economic performance of the internal combustion engine. The ECU designs a fuel pressure controller according to a target fuel pressure determined by the rotating speed and the circulating fuel injection quantity of the engine and the current fuel pressure of a fuel injection system acquired by a fuel pressure sensor, controls and optimizes the control method, and controls the actual fuel flow entering the fuel supply pump by adjusting the duty ratio and the modulation frequency of a PWM pulse signal of the fuel metering unit, thereby finally realizing the accurate control of the fuel pressure.
Advanced control systems are realized by adopting a comprehensive control mode combining feedforward control and feedback control. The current fuel pressure closed-loop control method is implemented by adopting a proportional-integral-derivative (PID) regulation manner, as shown in fig. 4 and 5. The control method utilizes three links of proportion, integration and differentiation of the PID controller to regulate the fuel pressure, but the setting process of three control parameters of the PID controller is relatively complex. At present, there are various implementation manners for the control parameter setting of the PID controller, such as: fixed parameters, fuzzy control, adaptive control, a neural network, a sliding mode variable structure and the like, so that the problems of certain responsiveness, overshoot, oscillation and the like are inevitable, and the implementation in an embedded control system is difficult.
The PID control is essentially a control method for eliminating errors based on errors, but in practical engineering applications, the performance index of a control system is usually set according to the specific requirements of an industrial production process on control, which can be summarized as rapidity, accuracy and stability. Due to the fact that the problems of complexity, time-varying property, nonlinearity and the like of the fuel injection system of the internal combustion engine are obvious, internal parameters of the fuel injection system are changed greatly along with the change of the rotating speed, load and other operation conditions of the engine, so that the PID control performance is not enough to compensate the change of the parameters of the fuel injection system, the performance of the fuel injection system is reduced, and even the system is unstable in operation.
Since the PID control is always regulated after the error has occurred, if a disturbance has occurred but no deviation has occurred, the PID controller will not operate and regulate, so the regulation process of the PID controller always lags behind the disturbance action and there is a lag.
Disclosure of Invention
Aiming at the problems in the prior art, in order to improve the control performance of the fuel injection system and enhance the rapidity and the accuracy of the fuel injection system, an advanced fuel pressure control method and a controller are very important, so that the controller with high reliability, simple algorithm and good performance is the target pursued by the design of the fuel pressure controller of the fuel injection system. However, due to the complexity of the fuel injection system, the fuel pressure state characteristic of the fuel injection system at the last moment can only be measured by the fuel pressure sensor, and the actual change rate, disturbance and the like of the fuel pressure are difficult to directly measure. If a simple state observer based on a mathematical model can equivalently replace the change characteristic of the fuel injection system, the disturbance condition of the fuel injection system can be predicted to realize direct compensation, more detailed research work on the state characteristic of the fuel injection system can be carried out, and the accurate control on the fuel pressure is realized.
In order to overcome the defects of the prior art of the traditional fuel pressure control method in the fuel injection system of the internal combustion engine, balance the fuel pressure fluctuation and realize the accurate control of the fuel pressure, the invention provides a fuel pressure control method based on active disturbance observation on the basis of analyzing the traditional fuel pressure control method. The control method of the invention does not depend on the accurate mathematical model of the controlled object (namely the fuel injection system), is simple, ensures the control accuracy under the actions of unknown nonlinearity and uncertain strong disturbance, and can be well used for controlling the fuel pressure of the fuel injection system and show good engineering application prospect in view of the characteristics of the fuel injection system such as complexity, time-varying property, nonlinearity and the like.
The invention relates to a fuel pressure control method based on active disturbance observation, which adopts feed-forward control based on a model and feedback control based on state observation to realize the control of fuel pressure and comprises the following steps:
acquiring and calculating the actual fuel pressure of the fuel pressure sensor, wherein the actual fuel pressure is used for acquiring and calculating the current fuel pressure in the fuel injection system;
the fuel pressure active disturbance observation step is that a fuel pressure active disturbance observer in the fuel injection system is constructed according to the current fuel pressure of the fuel injection system, and a mathematical model of the fuel pressure active disturbance observer equivalently replaces a physical model of the fuel injection system, so that a fuel pressure estimated value, a fuel pressure change rate estimated value and a fuel volume flow rate disturbance compensation quantity of a fuel metering unit in the fuel injection system are observed;
calculating a target fuel pressure, namely calculating the target fuel pressure required by the current working condition point;
calculating fuel volume flow rate feedforward control quantity of the fuel metering unit, wherein the fuel volume flow rate feedforward control quantity is used for calculating the fuel volume flow rate feedforward control quantity of the fuel metering unit required by the current working condition point;
the fuel volume flow rate feedback adjustment quantity calculation step of the fuel metering unit is used for determining the fuel volume flow rate feedback adjustment quantity of the fuel metering unit according to the deviation of the target fuel pressure and the current actual fuel pressure, and converting the fuel volume flow rate feedback adjustment quantity of the fuel metering unit into the fuel metering unit current after adding the fuel volume flow rate feedback adjustment quantity of the fuel metering unit and the fuel volume flow rate feedforward control quantity of the fuel metering unit;
converting the volume flow rate of the fuel metering unit into current, and converting the volume flow rate of the fuel metering unit into the current required by the fuel metering unit according to the fuel supply characteristic of the fuel metering unit;
converting the current of the fuel metering unit into a PWM duty ratio step, and converting the current required by the fuel metering unit into the PWM duty ratio of the fuel metering unit according to the electrical characteristics of the fuel metering unit;
calculating the PWM frequency of the fuel metering unit, wherein the calculation step is used for calculating the PWM frequency of the fuel metering unit;
and the fuel metering unit controls and executes the step, the calculated PWM duty ratio of the fuel metering unit and the PWM modulation frequency of the fuel metering unit are sent to the fuel metering unit PWM drive, and the actual setting is carried out through the hardware power drive of the fuel pressure controller, so that the fuel metering unit is driven to work, the fuel pressure in the fuel injection system is adjusted, and the accurate control of the fuel pressure is realized.
The invention relates to a fuel pressure controller based on active disturbance observation, which adopts feed-forward control based on a model and feedback control based on state observation to realize the control of fuel pressure, and comprises:
the actual fuel pressure acquisition and calculation module of the fuel pressure sensor is used for acquiring and calculating the current fuel pressure in the fuel injection system;
the fuel pressure active disturbance observation module is used for constructing an active disturbance observer mathematical model of the fuel pressure in the fuel injection system according to the current fuel pressure of the fuel injection system acquired and calculated by the actual fuel pressure acquisition and calculation module of the fuel pressure sensor, and equivalently replacing a physical model of the fuel injection system, so as to observe a fuel pressure estimated value, a fuel pressure change rate estimated value and a fuel volume flow rate disturbance compensation quantity of a fuel metering unit;
the target fuel pressure calculation module is used for calculating the target fuel pressure required by the current working condition point;
the fuel volume flow rate feedforward control quantity calculation module of the fuel metering unit is used for calculating the fuel volume flow rate feedforward control quantity of the fuel metering unit required by the current working condition point;
the fuel volume flow rate feedback adjustment quantity calculation module of the fuel metering unit is used for determining the fuel volume flow rate feedback adjustment quantity of the fuel metering unit according to the deviation of the target fuel pressure and the current actual fuel pressure, adding the fuel volume flow rate feedback adjustment quantity calculated by the fuel volume flow rate feedback adjustment quantity calculation module of the fuel metering unit and the fuel volume flow rate disturbance compensation quantity calculated by the fuel pressure active disturbance observer module of the fuel metering unit, and transmitting the added fuel volume flow rate feedback adjustment quantity to the fuel metering unit to be converted into the current module;
the fuel volume flow rate conversion module is used for converting the fuel volume flow rate of the fuel metering unit into a required current of the fuel metering unit according to the fuel supply characteristic of the fuel metering unit, serving as an execution current when the fuel metering unit actually works, and sending the required current to the fuel metering unit to be converted into the PWM duty ratio module;
the fuel metering unit current conversion module is used for converting the fuel metering unit required current into the fuel metering unit PWM duty ratio according to the electrical characteristics of the fuel metering unit;
the fuel metering unit PWM modulation frequency calculation module is used for calculating the fuel metering unit PWM modulation frequency;
a fuel injection system that is a controlled object of the fuel pressure controller;
the fuel metering unit in the fuel injection system is used for accurately adjusting fuel to enter the fuel injection system;
and the fuel metering unit PWM driving module is used for driving the fuel metering unit to work by actually setting the calculated fuel metering unit PWM duty ratio and the fuel metering unit PWM modulation frequency through the hardware power drive of the fuel pressure controller, so that the fuel pressure in the fuel injection system is adjusted, and the accurate control of the fuel pressure is realized.
Compared with the prior art, the invention has the beneficial effects that:
because the model-based feedforward control in the prior art has its own limitations, as well as the inaccuracy of the model of the feedforward control of the fuel injection system, the abnormal conditions of the components in the fuel injection system (such as blockage and normal injection of an oil injector), the response performance and the heating condition of the fuel injection system, etc., the model-based feedforward control may not achieve the expected control effect, but only roughly adjust and control the fuel injection system. In consideration of the precise control of the fuel injection system, the feedback control of the fuel injection system needs to be constructed, the secondary disturbance of the fuel injection system is compensated and corrected, and the precise control of the fuel injection system is realized so as to ensure the precision requirement of the control of the fuel injection system.
In view of the fact that the state observer not only provides practical possibility for the realization of the state feedback technology, but also has practical application in many aspects of control engineering, such as copying disturbance to realize complete compensation of the disturbance, the invention provides a fuel pressure control method based on active disturbance observation from the perspective of the state observer, thereby realizing active disturbance observation of the fuel pressure in the fuel injection system and providing favorable conditions for the control of the fuel pressure.
Based on the design concept of the state observer, the fuel pressure active disturbance observer designed by the invention is a dynamic model constructed based on the fuel pressure signal acquired by the fuel pressure sensor, and the actual fuel injection system is used as a reference model, so that the active disturbance observer with self-adaption and adjustable functions is realized. The active disturbance observer can analyze and observe the secondary disturbance of the fuel injection system, extract the secondary disturbance and the dynamic deviation, and dynamically compensate the fuel pressure of the fuel injection system. The active disturbance observer considers that most of disturbances of the fuel injection system have regularity, so that the change law of characteristic parameters (such as fuel pressure and disturbances at different working condition points) of the fuel injection system can be found by utilizing a statistical analysis method with reference to a statistical thought, the change law of the fuel pressure is analyzed, and a disturbance compensation model of the fuel injection system is constructed and used for directly compensating the disturbances of the fuel injection system and reducing the dynamic deviation of the system.
The active disturbance observer is used as the core of the fuel pressure controller and is a state observer in the modern control theory. The method includes the steps of reducing various 'disturbances' from the inside and the outside of a fuel injection system into 'total disturbances' of the fuel injection system, then estimating the state of the fuel injection system and the 'total disturbances' in real time, correspondingly compensating the 'total disturbances', and converting nonlinear uncertain objects containing unknown disturbances into 'integral series connection type' linear objects. And the disturbance state observer is used for solving the influence of the unknown part of the model and the unknown external disturbance on the control object comprehensively.
In conclusion, the fuel pressure control method based on active disturbance observation provided by the invention is based on feedforward control based on a model and feedback control based on disturbance observation, takes the fuel pressure active disturbance observer as a guiding idea, and starts from estimation of fuel pressure, fuel pressure change rate and fuel volume flow rate disturbance compensation quantity of a fuel metering unit to control a fuel injection system in multiple directions, has good static performance and dynamic performance, can solve the problem of fluctuation tracking and compensation of the fuel pressure, and realizes quick response and non-static-difference regulation and control of the fuel pressure.
Drawings
The present invention will be understood more fully from the detailed description given below and from the accompanying drawings of preferred embodiments of the invention, for the purpose of illustrating embodiments of the invention or solutions in the prior art more clearly, but the description below is not intended to limit the invention to the specific embodiments, but is for explanation and understanding only.
FIG. 1 is a schematic diagram of a prior art fuel pressure controller for a fuel injection system;
FIG. 2 is a schematic representation of a fuel supply characteristic curve of a fuel metering unit of a prior art fuel injection system;
FIG. 3 is a graphical representation of a characteristic of a fuel pressure sensor of a prior art fuel injection system;
FIG. 4 is a schematic block diagram of a prior art PID controller;
FIG. 5 is a block diagram of a conventional fuel pressure control method in the prior art;
FIG. 6 is a logic diagram of a fuel pressure control method in the fuel pressure control method based on active disturbance observation in which the fuel pressure controller does not have the current measurement function of the fuel metering unit in the present invention;
FIG. 7 is a logic diagram of a fuel pressure control method in the fuel pressure control method based on active disturbance observation in which the fuel pressure controller has the current measurement function of the fuel metering unit;
fig. 8 is a control flowchart of the fuel pressure controller of the present invention;
FIG. 9 is a control flow diagram of the fuel pressure control method S805 of FIG. 8 based on active disturbance observation;
fig. 10 is a diagram of the fuel pressure control effect of the fuel pressure controller based on active disturbance observation in the practical application of the high-pressure common rail fuel injection system of a six-cylinder diesel engine in the invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 6, the fuel pressure controller based on active disturbance observation of the present invention employs a model-based feedforward control and a state observation-based feedback control to realize control of fuel pressure, and includes:
and the actual fuel pressure acquisition and calculation module 30 of the fuel pressure sensor is used for acquiring and calculating the current fuel pressure in the fuel injection system.
The fuel pressure active disturbance observation module 130 is configured to construct an active disturbance observer mathematical model of the fuel pressure in the fuel injection system according to the current fuel pressure of the fuel injection system acquired and calculated by the actual fuel pressure acquisition and calculation module 30 of the fuel pressure sensor, and equivalently replace a physical model of the fuel injection system, so as to observe a fuel pressure estimation value, a fuel pressure change rate estimation value and a fuel volume flow rate disturbance compensation quantity of the fuel metering unit.
And the target fuel oil pressure calculation module 10 is used for calculating the target fuel oil pressure required by the current working condition point.
And the fuel volume flow rate feedforward control quantity calculation module 20 is used for calculating the fuel volume flow rate feedforward control quantity of the fuel metering unit required by the current working condition point.
The fuel volume flow rate feedback adjustment quantity calculation module 40 of the fuel metering unit is configured to determine a fuel volume flow rate feedback adjustment quantity of the fuel metering unit according to a deviation between the target fuel pressure and the current actual fuel pressure, add the fuel volume flow rate feedback adjustment quantity of the fuel metering unit, the fuel volume flow rate feedforward control quantity of the fuel metering unit calculated by the fuel volume flow rate feedforward control quantity calculation module 20, and the fuel volume flow rate disturbance compensation quantity of the fuel metering unit calculated by the fuel pressure active disturbance observer module 130, and transmit the added fuel volume flow rate feedback adjustment quantity to the fuel metering unit to be converted into the current module 50. The fuel volume flow rate conversion module 50 is configured to convert the fuel volume flow rate of the fuel metering unit into a current required by the fuel metering unit according to the fuel supply characteristic of the fuel metering unit, serve as an execution current when the fuel metering unit actually works, and send the current to the fuel metering unit to be converted into the PWM duty module 60; the fuel metering unit current is converted to a PWM duty cycle module 60 for converting the fuel metering unit demand current to a fuel metering unit PWM duty cycle according to the electrical characteristics of the fuel metering unit.
And the fuel metering unit PWM modulation frequency calculation module 90 is used for calculating the fuel metering unit PWM modulation frequency.
A fuel injection system 120 that is a controlled object of the fuel pressure controller; a fuel metering unit 110 in the fuel injection system for precisely regulating fuel into the fuel injection system 120; and the fuel metering unit PWM driving module 100 is used for actually setting the calculated fuel metering unit PWM duty ratio and the fuel metering unit PWM modulation frequency through the driving of the hardware power of the fuel pressure controller, and is used for driving the fuel metering unit 110 to work, so that the fuel pressure in the fuel injection system 120 is adjusted, and the accurate control of the fuel pressure is realized.
As shown in fig. 7, the fuel pressure controller shown in fig. 6 is further provided with a fuel metering unit actual operation current measurement calculation module 70 and a fuel metering unit current feedback regulator 80.
And the actual working current measuring and calculating module 70 of the fuel metering unit is used for measuring and calculating the actual working current of the fuel metering unit by a hardware driving circuit and a software driving program of the fuel pressure controller.
And the fuel metering unit current feedback regulator 80 is used for determining the PWM duty ratio correction coefficient of the fuel metering unit through the regulation of the PID controller according to the deviation between the required current and the actual working current of the fuel metering unit.
The fuel volume flow rate of the fuel metering unit is converted into the fuel metering unit required current obtained after conversion by the current module 50, and the fuel metering unit required current is subtracted from the working current of the fuel metering unit calculated by the actual working current measuring and calculating module 70 of the fuel metering unit, and then the subtracted current is sent to the current feedback regulator 80 of the fuel metering unit.
The fuel pressure control method based on active disturbance observation realizes the control of the fuel pressure by adopting the feedforward control based on the model and the feedback control based on the state observation. As shown in fig. 8, the fuel pressure control method of the present invention includes the steps of:
and step S801, starting, and activating the fuel pressure controller.
And S802, initializing system parameters, and configuring relevant parameters of the fuel injection system according to the characteristics of the fuel injection system and relevant control parameters of a fuel pressure controller.
Step S803, system initial fault diagnosis, namely performing fault function diagnosis on the initial stage of the fuel injection system, and if a fault exists, ending the operation of a program; if the fuel injection system is normal, the routine continues to run.
And step S804, signal acquisition and measurement, wherein the actual working current and the actual fuel pressure of the fuel metering unit are respectively measured and calculated according to the actual working current measurement and calculation of the fuel metering unit and the actual fuel pressure acquisition and calculation of the fuel pressure sensor.
Step S805, the function specific implementation steps of the fuel pressure control method based on active disturbance observation are shown in fig. 7 and 9, and include the following steps:
and step S901, activating an actual fuel pressure acquisition and calculation step of a fuel pressure sensor, and acquiring and calculating the current fuel pressure in the fuel injection system. The data of the fuel pressure sensor is collected and read by software and hardware of a fuel pressure controller (such as an ECU), and the current actual fuel pressure corresponding to the fuel injection system is obtained after processing such as conditioning, sampling, filtering, converting and the like.
Step S902, a fuel pressure active Disturbance observation step, namely, adso (active Disturbance state observer), configured to construct a fuel pressure active Disturbance observer mathematical model in the fuel injection system according to the current fuel pressure of the fuel injection system acquired and calculated by the actual fuel pressure acquisition and calculation module 30 of the fuel pressure sensor, and equivalently replace a fuel injection system physical model, thereby observing a fuel pressure estimation value, a fuel pressure change rate estimation value, and a fuel volume flow rate Disturbance compensation amount of the fuel metering unit.
Wherein, the mathematical model of the fuel pressure active disturbance observer is expressed as the following mathematical equation:
in the formula:
TOis the execution period of the fuel pressure controller and has the unit of s, TOThe value range of (A) is 0.005-0.1 s; if the execution period of the fuel pressure controller is 10ms, T is takenOIs 0.01 s;
bOis a physical property coefficient of a fuel injection system, bOThe value range of (1) is 30-2000; bOIs the only variable in the overall controller that is relevant to the controlled object (i.e., the fuel injection system) and thus plays an important role in the performance of ADSO. Selection of different bOThe value, corresponding to the total disturbance value, varies in different ranges, i.e. the compensation component will change accordingly. Therefore, bOThe adjustment may be made as a control parameter of the controller. For a high-pressure common rail fuel injection system of a diesel engine, b can be takenOIs 200;
u (0) is the PWM duty ratio of the fuel metering unit of the fuel injection system at the last moment, and the unit is;
y is the actual fuel pressure output by the fuel injection system, and the unit is MPa; the maximum value is determined by the allowable pressure of the fuel injection system;
ωOthe unit of the observation frequency of the fuel pressure active disturbance observer is rad/s, and the value range of the observation frequency is 0.1-100 rad/s;
ωCfor the control frequency of the observer of active disturbance of the fuel pressure, in rad/s, the control frequency, etcAt the above-mentioned observation frequency omegaO2-5 times of the square;
z1(1) the unit is the fuel pressure estimated value output by the fuel pressure active disturbance observer at the current moment and is MPa;
z1(0) the unit is the fuel pressure estimated value output by the fuel pressure active disturbance observer at a moment and is MPa;
z2(1) the unit is the estimated value of the change rate of the fuel pressure output by the active disturbance observer of the fuel pressure at the current moment;
z2(0) the unit is the estimated value of the change rate of the fuel pressure output at a moment on the active disturbance observer of the fuel pressure, and the unit is MPa/s;
uADSOthe unit of the disturbance compensation quantity of the fuel volume flow rate of the fuel metering unit estimated by the active disturbance observer of the fuel pressure is mm3And/s, the maximum of which is determined by the maximum fueling rate of the fuel injection system.
And step S903, calculating the target fuel pressure, wherein the step is used for calculating the target fuel pressure required by the current working condition point (the rotating speed of the engine and the circulating fuel injection quantity). And (3) determining a required target fuel pressure basic value according to the engine speed and the circulating fuel injection quantity by checking a pulse spectrum table, adding a correction quantity of environmental conditions (atmospheric pressure, intake air temperature, engine coolant temperature and the like) on the fuel pressure, and obtaining the finally determined target fuel pressure through the limitation of the change rate of the fuel pressure (the maximum change rate and the minimum change rate) and the limitation of the fuel pressure (the maximum value and the minimum value).
And step S904, calculating the fuel volume flow rate feedforward control quantity of the fuel metering unit, and calculating the fuel volume flow rate feedforward control quantity of the fuel metering unit required by the current working condition point. And determining the required fuel volume flow rate of the fuel metering unit according to the engine speed and a cyclic fuel injection quantity pulse lookup table, and adding the fuel leakage quantity of the fuel injection system determined by the target fuel pressure and the temperature of the engine coolant to obtain the final fuel volume flow rate feedforward control quantity of the fuel metering unit.
Step S905, calculating the fuel volume flow rate feedback adjustment quantity of the fuel metering unit, which is used for determining the fuel volume flow rate feedback adjustment quantity of the fuel metering unit according to the deviation between the target fuel pressure and the current actual fuel pressure through the regulation of the PID controller, adding the fuel volume flow rate feedback adjustment quantity of the fuel metering unit and the fuel volume flow rate feedforward control quantity of the fuel metering unit calculated by the fuel volume flow rate feedforward control quantity calculating module 20, and then sending the sum to the fuel volume flow rate conversion module 50 of the fuel metering unit. The PID controller is segmented PID control based on the engine speed and the fuel pressure deviation, PID control parameters are segmented according to the engine speed, and three sets of PID parameters are designed according to the fuel pressure deviation range.
Step S906, converting the fuel volume flow rate of the fuel metering unit into current, and converting the fuel volume flow rate of the fuel metering unit into a fuel metering unit required current according to the fuel supply characteristic of the fuel metering unit, wherein the fuel metering unit required current is used as an execution current when the fuel metering unit actually works, is sent to the fuel metering unit current converting module 60, is subtracted from the actual working current of the fuel metering unit calculated by the fuel metering unit actual working current measuring and calculating module 70, and is sent to the fuel metering unit current feedback regulator 80. The fuel supply characteristic of the fuel metering unit is characteristic data known when the fuel injection system is designed, and can be stored in a fuel pressure controller (such as an ECU) in the form of a pulse chart.
And S907, converting the current of the fuel metering unit into a PWM duty ratio step, and converting the current required by the fuel metering unit into the PWM duty ratio of the fuel metering unit according to the electrical characteristics of the fuel metering unit. Since the resistance value of the fuel metering unit is known, the required average driving voltage can be determined according to the required current of the fuel metering unit and the resistance value of the fuel metering unit, and the required average driving voltage is divided by the actual power supply voltage of the fuel metering unit, so that the PWM duty ratio of the fuel metering unit can be obtained. The actual supplied power voltage of the fuel metering unit is acquired and calculated by a fuel pressure controller (such as an ECU), and the actual power voltage fluctuates dynamically due to load operation.
Step S908, judging whether the fuel pressure controller has a fuel metering unit current detection function, if the controller hardware drive circuit and the software drive program have the function of measuring the working current of the fuel metering unit, sequentially entering step S909 and step S910, and then entering step S911; if the fuel metering unit current detection function is not available, the process proceeds directly to step S911.
And step S909, measuring and calculating the actual working current of the fuel metering unit, wherein the step is used for measuring and calculating the actual working current of the fuel metering unit by a hardware driving circuit and a software driving program of a fuel pressure controller (such as an ECU). The fuel pressure controller (e.g., ECU) software driver collects and reads data of a current detection chip in a hardware drive circuit of the fuel pressure controller (e.g., ECU), and after processing such as conditioning, sampling, filtering, conversion and the like, actual working current of the fuel metering unit is obtained, and the actual working current is converted into fuel metering unit required current which is calculated by the current module 50 by the fuel metering unit volume flow rate and then is subtracted by the fuel metering unit required current, and then is sent to the fuel metering unit current feedback regulator 80.
And S910, a fuel metering unit current feedback adjusting step, namely determining a PWM duty ratio correction coefficient of the fuel metering unit through the adjustment of a PID controller according to the deviation between the required current and the actual working current of the fuel metering unit. Because the fuel metering unit generates heat and the like in actual operation, the actual resistance value of the fuel metering unit is not kept at the initial resistance value and changes, however, the fuel metering unit is a current type proportional solenoid valve, and a PWM duty ratio correction coefficient of the fuel metering unit is obtained after the fuel metering unit is regulated by a current feedback regulator.
And S911, converting the current of the fuel metering unit into a PWM duty ratio step, and converting the current required by the fuel metering unit into the PWM duty ratio of the fuel metering unit according to the electrical characteristics of the fuel metering unit. The fuel metering unit current is converted into the fuel metering unit PWM duty ratio calculated by the PWM duty ratio module 60, and the fuel metering unit PWM duty ratio correction coefficient calculated by the fuel metering unit current feedback regulator 80 is multiplied to obtain the fuel metering unit PWM duty ratio, and the fuel metering unit PWM duty ratio is sent to the fuel metering unit PWM driver 100.
And S912, calculating the PWM modulation frequency of the fuel metering unit, wherein the PWM modulation frequency of the fuel metering unit is calculated. The fuel metering unit 110 has a recommended PWM modulation frequency range during design, determines the actually required fuel metering unit PWM modulation frequency according to the engine speed look-up pulse spectrum table, and selects whether to use the PWM modulation frequency based on the dynamic change of the rotation speed or the fixed PWM modulation frequency as the finally executed PWM modulation frequency according to the power supply voltage fluctuation condition, and sends the PWM modulation frequency to the fuel metering unit PWM driver 100.
And S913, outputting the PWM control parameters of the fuel metering unit, namely outputting the PWM modulation frequency and the duty ratio of the fuel metering unit calculated by the fuel pressure controller.
And step S806, controlling and executing the fuel metering unit, wherein the PWM frequency and the duty ratio of the fuel metering unit calculated by the fuel pressure controller are actually set by the fuel metering unit PWM driving module 100 and driven by the hardware power of the fuel pressure controller, and are output to the fuel metering unit 110 of the fuel injection system to drive the fuel metering unit to work, so that the fuel pressure in the fuel injection system is adjusted, and the accurate control of the fuel pressure is realized.
Step S807, detecting system operation faults, performing fault function diagnosis on the operation stage of the fuel injection system, and if the system has faults, ending the operation of the program; if the system is normal, proceed.
And step S808, outputting PWM control parameters of the fuel metering unit, and outputting the PWM modulation frequency and the duty ratio of the fuel metering unit calculated by the fuel pressure control method through a PWM power driving amplification stage in a fuel pressure controller (such as an ECU) and directly acting on the fuel metering unit.
Step S809, whether to continue operating the program, whether to continue operating the software control program of the fuel pressure control method based on active disturbance observation is judged, and if the fuel pressure controller (such as an ECU) does not stop the work of the fuel pressure controller, the fuel pressure controller continues operating; if the fuel pressure controller (e.g., ECU) terminates its operation, the operation is terminated.
And step S810, ending program operation.
The principle of the fuel pressure control method based on active disturbance observation of the invention is as follows:
the key point of the fuel pressure control is that the fuel pressure can be quickly responded and stably controlled in both a steady state process and a transient state process.
In the steady state process, the fuel pressure in the high-pressure accumulator is mainly determined by the fuel supply quantity and the fuel injection quantity, and the working periods of the fuel supply quantity and the fuel injection quantity are related to the working period of the diesel engine and are in pulsation. The fuel pressure control method based on active disturbance observation has the characteristics of simple algorithm, good robustness, high reliability and the like, the fuel pressure active disturbance observer enables the output of the controller to be arranged in a proper tracking transition process, realizes quick output without overshoot, is very suitable for being applied to a target tracking problem, reflects the change condition of the real pressure of a fuel injection system, and can better solve the control problem of fuel pressure pulsation in a steady state by combining feedforward control and feedback control.
However, the diesel engine has a large number of severe transient processes during the operation process, so that the target value of the fuel pressure and the amount of the fuel injected in a cycle can be changed greatly in a short time, which causes the transient processes of the fuel pressure control to be frequent and severe. The fuel pressure active disturbance observer can predict the fuel pressure before the fuel pressure fluctuates greatly, well inhibit the fuel pressure fluctuation caused by various factors, compensate and control the disturbance condition of the fuel injection systems, and has good dynamic tracking performance.
The fuel pressure control method based on active disturbance observation does not depend on an accurate model of a fuel injection system, but adopts process error feedback to eliminate errors, the core part of the method is that model uncertainty and external disturbance of the fuel injection system are in the same position, and a fuel pressure active disturbance observer can be used for estimating real-time acting quantity of the fuel injection system and compensating the acting quantity, so that nonlinear and uncertain objects with unknown external disturbance action are converted into a simple integral series connection type, and linearization and determinacy of the objects are realized. Due to the double-channel compensation structure of the fuel pressure active disturbance observer, system disturbance is not required to be processed by adopting an internal model principle, so that an integrator is not required to eliminate steady-state errors, and the controller is favorably and better stabilized.
The fuel pressure active disturbance observer can observe a fuel pressure estimated value, can also observe a fuel pressure change rate estimated value and a fuel volume flow rate disturbance compensation quantity which are difficult to directly measure, and can use the fuel pressure estimated value and the fuel pressure change rate estimated value for adjusting and controlling the fuel pressure so as to realize quick adjustment and accurate control on the fuel pressure; the fuel volume flow rate disturbance compensation quantity of the fuel metering unit is directly used for correcting the control parameter of the final execution element, and static-error-free adjustment and control of fuel pressure can be realized.
Examples
As shown in fig. 10, the fuel pressure controller based on active disturbance observation in the present invention is a fuel pressure control effect diagram for practical application in a high-pressure common rail fuel injection system of a six-cylinder diesel engine.
The six-cylinder diesel engine has the discharge capacity of 11.596L, the rated power of 353kW (corresponding to the rotating speed of 2100rpm of the diesel engine), the maximum torque of 1973 N.m (corresponding to the rotating speed of 1200-1500 rpm of the diesel engine), the matched fuel injection system is a second-generation Boseiki high-pressure common-rail fuel injection system, and the highest injection pressure is 180 MPa.
Fuel oil based on active disturbance observationPressure controller, executing cycle TO0.008s, observation frequency omegaOIs 3rad/s, the frequency omega is controlledC18rad/s, coefficient of physical properties of fuel injection system bOIs 200.
PID-based fuel pressure controller, execution period TOIs 0.008s and has a proportionality coefficient KPIs 2, integral coefficient KIIs 5, the differential coefficient KDIs 100.
The rotating speed of the fixed diesel engine is 1500rpm, the fixed cycle fuel injection quantity is 80mg/cyc, and the sudden change of the target fuel pressure from 80MPa to 100MPa is set, so that the fuel pressure control response characteristic is tested. The stabilization time of the whole transition process of the fuel pressure controller based on active disturbance observation is 1s, the fuel pressure controller based on active disturbance observation can actively observe disturbance change in real time in the adjusting process, active disturbance compensation is carried out on the fuel pressure, the fuel pressure can be controlled within +/-1.2 MPa after stabilization, and the fuel pressure control requirement is met. And the fuel pressure controller based on PID has overshoot and oscillation links in the process of setting the target fuel pressure sudden change, and the stabilization time of the transition process needs 3 s. In comparison, the response speed of the fuel pressure controller based on active disturbance observation is higher than that of the fuel pressure controller based on PID, and the fuel pressure controller is high in speed, stability and robustness and has good control quality on the stability control of the fuel pressure.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modifications, equivalent substitutions and variations made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (5)
1. A fuel pressure control method based on active disturbance observation is characterized in that the control of the fuel pressure is realized by adopting feedforward control based on a model and feedback control based on state observation, and comprises the following steps:
acquiring and calculating the actual fuel pressure of the fuel pressure sensor, wherein the actual fuel pressure is used for acquiring and calculating the current fuel pressure in the fuel injection system;
the fuel pressure active disturbance observation step is that a fuel pressure active disturbance observer in the fuel injection system is constructed according to the current fuel pressure of the fuel injection system, and a mathematical model of the fuel pressure active disturbance observer equivalently replaces a physical model of the fuel injection system, so that a fuel pressure estimated value, a fuel pressure change rate estimated value and a fuel volume flow rate disturbance compensation quantity of a fuel metering unit in the fuel injection system are observed;
calculating a target fuel pressure, namely calculating the target fuel pressure required by the current working condition point;
calculating fuel volume flow rate feedforward control quantity of the fuel metering unit, wherein the fuel volume flow rate feedforward control quantity is used for calculating the fuel volume flow rate feedforward control quantity of the fuel metering unit required by the current working condition point;
the fuel volume flow rate feedback adjustment quantity calculation step of the fuel metering unit is used for determining the fuel volume flow rate feedback adjustment quantity of the fuel metering unit according to the deviation of the target fuel pressure and the current actual fuel pressure, and converting the fuel volume flow rate feedback adjustment quantity of the fuel metering unit into the fuel metering unit current after adding the fuel volume flow rate feedback adjustment quantity of the fuel metering unit and the fuel volume flow rate feedforward control quantity of the fuel metering unit;
converting the volume flow rate of the fuel metering unit into current, and converting the volume flow rate of the fuel metering unit into the current required by the fuel metering unit according to the fuel supply characteristic of the fuel metering unit;
converting the current of the fuel metering unit into a PWM duty ratio step, and converting the current required by the fuel metering unit into the PWM duty ratio of the fuel metering unit according to the electrical characteristics of the fuel metering unit;
calculating the PWM frequency of the fuel metering unit, wherein the calculation step is used for calculating the PWM frequency of the fuel metering unit;
and the fuel metering unit controls and executes the step, the calculated PWM duty ratio of the fuel metering unit and the PWM modulation frequency of the fuel metering unit are sent to the fuel metering unit PWM drive, and the actual setting is carried out through the hardware power drive of the fuel pressure controller, so that the fuel metering unit is driven to work, the fuel pressure in the fuel injection system is adjusted, and the accurate control of the fuel pressure is realized.
2. The fuel pressure control method based on active disturbance observation according to claim 1, characterized by further comprising a fuel metering unit actual working current measurement calculation step and a fuel metering unit current feedback adjustment step; the specific content is as follows:
judging whether the fuel pressure measuring controller has a current detection function, and if the hardware drive circuit and the software drive program of the controller have the function of measuring the working current of the fuel metering unit, sequentially executing the actual working current measuring and calculating step of the fuel metering unit and the current feedback adjusting step of the fuel metering unit; and the fuel metering unit current feedback adjusting step is used for determining a PWM duty ratio correction coefficient of the fuel metering unit through the adjustment of a PID controller according to the deviation between the required current and the actual working current of the fuel metering unit.
3. The active disturbance observation-based fuel pressure control method according to claim 1 or 2, wherein in the fuel pressure active disturbance observation step, a mathematical model of the fuel pressure active disturbance observer is the following mathematical equation:
wherein,
TOis the execution period of the fuel pressure controller and has the unit of s, TOThe value range of (A) is 0.005-0.1 s;
bOis a physical property coefficient of a fuel injection system, bOThe value range of (1) is 30-2000;
u (0) is the PWM duty ratio of the fuel metering unit of the fuel injection system at the last moment, and the unit is;
y is the actual fuel pressure output by the fuel injection system, and the unit is MPa;
ωOthe unit of the observation frequency of the fuel pressure active disturbance observer is rad/s, and the value range of the observation frequency is 0.1-100 rad/s;
ωCis the control frequency of the observer for active disturbance of fuel pressure, with unit rad/s, equal to the above-mentioned observation frequency omegaO2-5 times of the square;
z1(1) the unit is the fuel pressure estimated value output by the fuel pressure active disturbance observer at the current moment and is MPa;
z1(0) for active disturbance of fuel pressureThe unit of the fuel pressure estimated value output by the dynamic observer at the last moment is MPa;
z2(1) the unit is the estimated value of the change rate of the fuel pressure output by the active disturbance observer of the fuel pressure at the current moment;
z2(0) the unit is the estimated value of the change rate of the fuel pressure output at a moment on the active disturbance observer of the fuel pressure, and the unit is MPa/s;
uADSOthe unit of the disturbance compensation quantity of the fuel volume flow rate of the fuel metering unit estimated by the active disturbance observer of the fuel pressure is mm3/s。
4. A fuel pressure controller based on active disturbance observation, wherein control of fuel pressure is achieved using model-based feed-forward control and state observation-based feedback control, the fuel pressure controller comprising:
the actual fuel pressure acquisition and calculation module (30) of the fuel pressure sensor is used for acquiring and calculating the current fuel pressure in the fuel injection system;
the fuel pressure active disturbance observation module (130) is used for constructing an active disturbance observer mathematical model of the fuel pressure in the fuel injection system according to the current fuel pressure of the fuel injection system acquired and calculated by the actual fuel pressure acquisition and calculation module (30) of the fuel pressure sensor, and equivalently replacing a physical model of the fuel injection system, so as to observe a fuel pressure estimation value, a fuel pressure change rate estimation value and a fuel volume flow rate disturbance compensation quantity of a fuel metering unit;
the target fuel pressure calculating module (10) is used for calculating the target fuel pressure required by the current working condition point;
the fuel volume flow rate feedforward control quantity calculation module (20) of the fuel metering unit is used for calculating the fuel volume flow rate feedforward control quantity of the fuel metering unit required by the current working condition point;
the fuel volume flow rate feedback adjustment quantity calculation module (40) of the fuel metering unit is used for determining the fuel volume flow rate feedback adjustment quantity of the fuel metering unit according to the deviation of the target fuel pressure and the current actual fuel pressure, adding the fuel volume flow rate feedback adjustment quantity of the fuel metering unit, the fuel volume flow rate feedforward control quantity of the fuel metering unit calculated by the fuel volume flow rate feedforward control quantity calculation module (20) and the fuel volume flow rate disturbance compensation quantity of the fuel metering unit calculated by the fuel pressure active disturbance observer module (130), and sending the added fuel volume flow rate feedback adjustment quantity to the fuel metering unit to be converted into the current module (50);
the fuel volume flow rate conversion module (50) is used for converting the fuel volume flow rate of the fuel metering unit into a required current of the fuel metering unit according to the fuel supply characteristic of the fuel metering unit, serving as an execution current when the fuel metering unit actually works, and sending the required current to the fuel metering unit to be converted into a PWM duty ratio module (60);
the fuel metering unit current conversion module is a PWM duty ratio module (60) and is used for converting the fuel metering unit required current into the fuel metering unit PWM duty ratio according to the electrical characteristics of the fuel metering unit;
the fuel metering unit PWM modulation frequency calculation module (90) is used for calculating the fuel metering unit PWM modulation frequency;
a fuel injection system (120) that is a controlled object of the fuel pressure controller;
a fuel metering unit (110) in the fuel injection system, which is used for accurately regulating fuel to enter the fuel injection system (120);
and the fuel metering unit PWM driving module (100) is used for driving the calculated fuel metering unit PWM duty ratio and the calculated fuel metering unit PWM modulation frequency to be actually set through the driving of the hardware power of the fuel pressure controller, and is used for driving the fuel metering unit (110) to work, so that the fuel pressure in the fuel injection system (120) is adjusted, and the accurate control of the fuel pressure is realized.
5. The fuel pressure controller based on active disturbance observation according to claim 4, characterized by further comprising a fuel metering unit actual operation current measurement calculation module (70) and a fuel metering unit current feedback regulator (80); wherein,
the fuel metering unit actual working current measuring and calculating module (70) is used for measuring and calculating the actual working current of the fuel metering unit by a fuel pressure controller hardware driving circuit and a software driving program;
the fuel metering unit current feedback regulator (80) is used for determining a PWM duty ratio correction coefficient of the fuel metering unit through regulation of a PID controller according to deviation between required current and actual working current of the fuel metering unit;
the fuel volume flow rate of the fuel metering unit is converted into the fuel metering unit required current obtained after conversion by the current module (50), and the fuel metering unit required current is subtracted from the working current of the fuel metering unit calculated by the actual working current measuring and calculating module (70) of the fuel metering unit and then is sent to the fuel metering unit current feedback regulator (80).
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