CN104832307A - Diesel engine rotating speed control method - Google Patents
Diesel engine rotating speed control method Download PDFInfo
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- CN104832307A CN104832307A CN201510166522.3A CN201510166522A CN104832307A CN 104832307 A CN104832307 A CN 104832307A CN 201510166522 A CN201510166522 A CN 201510166522A CN 104832307 A CN104832307 A CN 104832307A
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Abstract
The invention discloses a diesel engine rotating speed control method. The method comprises the following steps: acquiring the actual rotating speed of a diesel engine; calculating the rotating speed deviation and rotating speed deviation change rate of the diesel engine according to a set rotating speed; performing rotating speed loop PID calculation according to the speed deviation; judging the running status of the diesel engine according to the rotating speed deviation and the rotating speed deviation change rate; performing inner loop calculation according to the running status of the diesel engine; according to the running status of the diesel engine, performing valuation on a current loop integral value or a position loop integral value; changing a duty ratio of a PWM wave of a controller according to the inner loop calculation result; and controlling the rotating speed of the diesel engine by controlling fuel injection quantity of the diesel engine. According to the invention, the advantages of the rotating speed-position double closed-loop and the rotating speed-current double closed-loop are integrated, and the dynamic performance index and static performance index of the electronic speed adjusting device of the diesel engine are improved.
Description
Technical field
The invention belongs to a kind of diesel engine controlling method, particularly relate to and to adopt rotating speed, position and electric current Three-loop control, a kind of rotary speed of diesel engine controlling method,
Background technique
The development of diesel engine has the history of upper a century, is widely used because of advantages such as its higher thermal efficiency, broad power ranges, preferably adaptability.According to d'Alembert's principle, the primary condition of diesel engine stable operation is output torque and engine load balance, wherein diesel engine output torque is the function of fuel injection quantity, the function of speed control system is exactly set up the balance of diesel engine output torque and load torque by changing Fuel Injection Quantity for Diesel, and then the rotating speed of stable diesel engine.The speed characteristics of diesel engine are that the variation relation of output torque relative rotation speed is comparatively smooth, and adaptability is poor, and therefore the rotating speed of diesel engine is very large by the influence of fluctuations of external load.When load increase makes rotating speed decline, Diesel Engine Digital Electronic Speed System increases output by feedback control, namely increases fuel injection quantity, makes rotating speed increase and returns to setting speed, ensure diesel engine stable operation.The main operating index of reaction diesel engine performance, as speed adjusting performance, oil consumption, discharge, all depends on the advanced degree of speed adjusting technique to a great extent.
The control algorithm be technically most widely used in Digital Governor for Diesel Engine is at present the cascade PID of rotating speed-position two close cycles.Rotating speed-position ring controlling method collection diesel engine speed and final controlling element displacement are as feedback signal, this controlling method can reach good steady-state behaviour by conservative control parameter configuration, but in order to the transient state speed adjusting performance reaching satisfied diesel engine uses segmentation PID usually, and carry out revising the performance index that could meet primary power station reluctantly to output value according to lubricating oil temperature and suction pressure, the control algorithms such as even fuzzy or neuron network, make the design of controller complicated, and very high to the skill requirement of designer.Another kind of controlling method is rotating speed-current double closed-loop, rotating speed-current loop control method gathers diesel engine speed and controls as feedback signal with the electric current flowing through final controlling element, position lag is in electric current, on obvious rotating speed-electric current loop theoretical method, comparatively rotating speed-position ring is quicker, fact proved that the mapping of rotating speed-electric current loop is very good, even if use the controlling method of fixing pid control parameter also easily can reach the mapping index of primary power station, but meanwhile the steady-state behaviour of rotating speed-electric current loop is non-constant.Therefore, design a kind of transient state regulating power that can make full use of speed and current ring, the controlling method tool that simultaneously can improve again the steady-state characteristic difference of electric current loop is of great significance.
In disclosed document, majority is rotating speed-position two close cycles now, a kind of diesel speed control method is referred in patent 201310697664.3, the displacement transducer on final controlling element is removed in the method, electric current loop PID is calculated control diesel engine speed as inner ring, although the method can simplify diesel engine speed regulation execution device, the final controlling element of displacement transducer is not had to have the problem that cannot avoid under the stuck fault mode of final controlling element.
Summary of the invention
The object of this invention is to provide a kind of structure simple, be easy to realize, a kind of rotary speed of diesel engine controlling method.
A kind of rotary speed of diesel engine controlling method, comprises the following steps,
Step one: electronic speed regulator uses speed probe to gather the actual speed of diesel engine, calculates rotating speed deviation and the rotating speed deviation variation rate of diesel engine according to setting speed;
Step 2: carry out der Geschwindigkeitkreis PID calculating according to rotating speed deviation;
Step 3: the setting speed lower limit of variation, rotating speed upper deviation, rotating speed deviation variation rate lower limit and the rotating speed deviation variation rate upper limit, judge the running state of diesel engine according to rotating speed deviation and rotating speed deviation variation rate;
Be greater than the rotating speed lower limit of variation when rotating speed deviation and be less than rotating speed upper deviation, simultaneously rotating speed deviation variation rate is greater than rotating speed deviation variation rate lower limit and is less than on rotating speed deviation variation rate in limited time, and diesel engine is in steady state operating condition;
Be less than the rotating speed lower limit of variation when rotating speed deviation or be greater than rotating speed upper deviation, simultaneously rotating speed deviation variation rate is less than rotating speed deviation variation rate lower limit or is greater than on rotating speed deviation variation rate in limited time, and diesel engine is in dynamic adjustments operating mode;
Step 4: according to the running state of diesel engine, carries out inner ring calculating;
If the running state of diesel engine is steady state operating condition, then carry out position ring calculating,
Wherein, U
rt () is position ring result of calculation, e
rt () is positional deviation, Kp
r, Ki
r, Kd
sfor position ring pid control parameter, after obtaining position ring result of calculation, forward step 5 to;
If the running state of diesel engine is dynamic adjustments operating mode, then carry out electric current loop calculating,
Wherein, U
ct () is electric current loop result of calculation, e
ct () is current deviation, Kp
c, Ki
c, Kd
cfor the controling parameters of electric current loop PID, after obtaining electric current loop result of calculation, forward step 6 to;
Step 5: to electric current loop integration item I
c-Resultassignment, I
c-Result=β × U
rt (), in formula
for electric current loop integration entry value, β is the conversion coefficient between current value and actuator position value ensureing that final controlling element is stable;
Step 6: to position ring integration item I
r-Resultassignment, I
r-Result=U
c(t)/β, wherein
for position ring integration item;
Step 7: the dutycycle changing PWM ripple according to inner ring result of calculation, controls its rotating speed by the fuel injection quantity controlling diesel engine, according to the electric current loop integration entry value obtained and position ring integration entry value, repeats step one to step 7, until task terminates.Beneficial effect:
Rotating speed-position-electric current three closed loop diesel speed control method is that dynamic adjustments operating mode or steady state operating condition adopt different controlling methods according to diesel engine.Combine rotating speed-position ring speed regulator stable state control on advantage and the advantage of rotating speed-current loop control in dynamic adjustments, take into account the dynamic performance and steady-state behaviour of improving diesel engine.Adopt algorithm structure relatively simply just slightly to do to change on the basis of original controller just can realize, be convenient to application.
Accompanying drawing explanation
Fig. 1 is three closed loop Digital Governor for Diesel Engine schematic diagrams;
Fig. 2 is three closed loop Digital Governor for Diesel Engine workflow diagrams.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further details.
The present invention designs a kind of diesel speed control method, combines the advantage of rotating speed-position two close cycles and rotating speed-current double closed-loop, takes into account in order to solve the method improving Digital Governor for Diesel Engine dynamic performance and steady-state behaviour.
A kind of diesel speed control method, control flow comprises operating mode judgement, outer shroud calculates, inner ring calculates.Operating mode judges to comprise the calculating of rotating speed deviation, rotating speed deviation variation rate calculates and operating mode judges; Outer shroud PID calculating and der Geschwindigkeitkreis PID calculate; Inner ring calculating comprises position ring PID calculating and electric current loop PID calculates.
The method of the judgement of diesel engine operating conditions is calculate rotating speed deviation according to the diesel engine speed of actual measurement and diesel engine target adjusting rotary speed in diesel engine running and rotating speed deviation variation rate judges that diesel engine is in dynamic operation condition or steady state condition, the result of calculation of outer shroud, as the setting value of inner ring, determines it is adopt position ring PID to calculate or adopt electric current loop PID to calculate according to diesel engine current working.
Diesel speed control method based on three closed loops also comprises:
1, rotating speed deviation and rotating speed deviation variation rate is calculated according to the diesel engine speed of actual measurement and diesel engine target adjusting rotary speed, by comparing rotating speed deviation and rotating speed deviation threshold, comparing rotating speed deviation variation rate and turning the operating conditions calculating deviation variation rate threshold decision diesel engine.
Roll off the production line when rotating speed deviation is greater than rotating speed deviation and is less than rotating speed upper deviation, simultaneously rotating speed deviation variation rate is greater than rotating speed deviation variation rate lower limit and is less than on rotating speed deviation variation rate in limited time, then judge that diesel oil is in steady state operating condition.
When rotating speed deviation is greater than rotating speed upper deviation or rotating speed deviation is less than the rotating speed lower limit of variation, simultaneously rotating speed deviation variation rate is greater than the rotating speed deviation variation rate upper limit or rotating speed deviation variation rate is less than rotating speed deviation variation rate lower limit, then judge that diesel engine is in dynamic adjustments operating mode.
2, the operating mode run according to diesel engine determines the controlling calculation path of inner ring.When steady state operating condition, carry out position ring PID calculating, to reach good stable state speed adjusting performance; When dynamic adjustments operating mode, be switched to electric current loop PID by origin-location ring PID calculating and calculate, to improve transient state speed adjusting performance.Inner ring result of calculation controls final controlling element as output, prepares to enter next computation cycles.
3, in order to ensure the continuity of control force in rotating speed-position ring and these two kinds of controlling method handoff procedures of speed and current ring, if inner ring is calculated as position ring, integration assignment to electric current loop at the end of position ring calculates, integral value is the function of current controlled quentity controlled variable, with should inner ring be electric current loop time also need position ring integration item assignment.
Composition graphs 1 this method specifically comprises the following steps:
Diesel engine is at operating conditions, and the setting speed of the actual speed that electronic speed regulator is measured according to speed probe and diesel engine calculates current rotating speed deviation and rotating speed deviation variation rate.
Introduce diesel oil motor-driven stable state threshold value to be used for judging that current diesel engine is in dynamic conditioning operating mode or is in steady state operating condition, introduce diesel engine running state flag bit, control to be adopt Current Control or the basis for estimation of positioning control as inner ring.
Der Geschwindigkeitkreis calculating is carried out according to rotating speed deviation and rotating speed deviation variation rate and der Geschwindigkeitkreis pid control parameter.
A/D module gathers displacement and the final controlling element electric current of electronic governor actuator.
The setting value that der Geschwindigkeitkreis result of calculation calculates as inner ring, the path that inner ring calculates is determined according to diesel engine running state flag bit, then carry out position ring calculating when diesel engine is in steady running condition, then carry out electric current loop calculating when diesel engine is in dynamic adjustments operating mode.Changing the dutycycle of the PWM ripple of controller according to inner ring result of calculation, by the displacement of actuator driven control circui final controlling element, controlling diesel engine speed by controlling Fuel Injection Quantity for Diesel.
According to the workflow diagram of Fig. 2 tri-close loop electronic speed regulator, specific as follows:
Electronic speed regulator uses speed probe to gather the actual running speed of diesel engine, according to current diesel engine setting speed, calculates rotating speed deviation and the diesel engine speed deviation variation rate of current diesel engine.
Rotating speed deviation equals setting speed and deducts actual speed
Rotating speed deviation variation rate equals this rotating speed deviation and deducts rotating speed deviation last time
Carry out der Geschwindigkeitkreis PID calculating
u in formula
s(t) der Geschwindigkeitkreis result of calculation, e
st () is rotating speed deviation, the computational methods of rotating speed deviation are that setting speed deducts actual measurement rotating speed, Kp
s, Ki
s, Kd
sfor der Geschwindigkeitkreis pid control parameter.
Introduce the motor-driven stable state threshold value of diesel oil, diesel engine running state flag bit, carries out the judgement of diesel engine running state according to rotating speed deviation and rotating speed deviation variation rate, and the general difference according to diesel engine of dynamic stable state threshold value is determined, for D6114 diesel engine, usually getting stable state threshold value is 20r/min.
Roll off the production line when rotating speed deviation is greater than rotating speed deviation and is less than rotating speed upper deviation, simultaneously rotating speed deviation variation rate is greater than rotating speed deviation variation rate lower limit and is less than on rotating speed deviation variation rate in limited time, then judge that diesel oil is in steady state operating condition.
When rotating speed deviation is greater than rotating speed upper deviation or rotating speed deviation is less than the rotating speed lower limit of variation, simultaneously rotating speed deviation variation rate is greater than the rotating speed deviation variation rate upper limit or rotating speed deviation variation rate is less than rotating speed deviation variation rate lower limit, then judge that diesel engine runs on dynamic adjustments operating mode.
When diesel engine is in steady running condition, then carry out position ring calculating.
Position ring setting value is the deviation e of the result of calculation of der Geschwindigkeitkreis, position ring
rt () equals der Geschwindigkeitkreis result of calculation U
st () deducts front gear rack displacement.
u in formula
rt () is position ring result of calculation, e
rt () is positional deviation, Kp
r, Ki
r, Kd
sfor position ring pid control parameter.
Electric current loop integration item assignment, for Position Form PID, the major part controlling output quantity derives from integration item, and in order to the controlled quentity controlled variable making calculation method switch front and back is not undergone mutation, what integral value must be real-time follows current control state.I
c-Result=β × U
rt (), in formula
for electric current loop integration entry value, β is the conversion coefficient between current value and actuator position value ensureing that final controlling element is stable.
When diesel engine is in dynamic adjustments operating mode, then carry out electric current loop calculating.
Electric current loop setting value is the deviation e of the result of calculation of der Geschwindigkeitkreis, electric current loop
ct () equals der Geschwindigkeitkreis result of calculation U
st () deducts current final controlling element electric current.
u in formula
c(t) electric current loop result of calculation, e
ct () is current deviation, Kp
c, Ki
c, Kd
cfor the controling parameters of electric current loop PID.
To position ring integration item initialize, for next possible switching that circulates is ready.I
r-Result=U
ct ()/β, in examination
for position ring integration item, β is the conversion coefficient between final controlling element current value and actuator position value ensureing that final controlling element is stable.
Change the dutycycle of PWM ripple according to the result of calculation of position ring or electric current loop, control the rack displacement of final controlling element, control Fuel Injection Quantity for Diesel, stablize the rotating speed of diesel engine.This controlled circulation terminates preparation and enters next controlled circulation.
Claims (1)
1. a rotary speed of diesel engine controlling method, is characterized in that: comprise the following steps,
Step one: electronic speed regulator uses speed probe to gather the actual speed of diesel engine, calculates rotating speed deviation and the rotating speed deviation variation rate of diesel engine according to setting speed;
Step 2: carry out der Geschwindigkeitkreis PID calculating according to rotating speed deviation;
Step 3: the setting speed lower limit of variation, rotating speed upper deviation, rotating speed deviation variation rate lower limit and the rotating speed deviation variation rate upper limit, judge the running state of diesel engine according to rotating speed deviation and rotating speed deviation variation rate;
Be greater than the rotating speed lower limit of variation when rotating speed deviation and be less than rotating speed upper deviation, simultaneously rotating speed deviation variation rate is greater than rotating speed deviation variation rate lower limit and is less than on rotating speed deviation variation rate in limited time, and diesel engine is in steady state operating condition;
Be less than the rotating speed lower limit of variation when rotating speed deviation or be greater than rotating speed upper deviation, simultaneously rotating speed deviation variation rate is less than rotating speed deviation variation rate lower limit or is greater than on rotating speed deviation variation rate in limited time, and diesel engine is in dynamic adjustments operating mode;
Step 4: according to the running state of diesel engine, carries out inner ring calculating;
If the running state of diesel engine is steady state operating condition, then carry out position ring calculating,
Wherein, U
rt () is position ring result of calculation, e
rt () is positional deviation, Kp
r, Ki
r, Kd
sfor position ring pid control parameter, after obtaining position ring result of calculation, forward step 5 to;
If the running state of diesel engine is dynamic adjustments operating mode, then carry out electric current loop calculating,
Wherein, U
ct () is electric current loop result of calculation, e
ct () is current deviation, Kp
c, Ki
c, Kd
cfor the controling parameters of electric current loop PID, after obtaining electric current loop result of calculation, forward step 6 to;
Step 5: to electric current loop integration item I
c-Resultassignment, I
c-Result=β × U
rt (), in formula
for electric current loop integration entry value, β is the conversion coefficient between current value and actuator position value ensureing that final controlling element is stable;
Step 6: to position ring integration item I
r-Resultassignment, I
r-Result=U
c(t)/β, wherein
for position ring integration item;
Step 7: the dutycycle changing PWM ripple according to inner ring result of calculation, controls its rotating speed by the fuel injection quantity controlling diesel engine, according to the electric current loop integration entry value obtained and position ring integration entry value, repeats step one to step 7, until task terminates.
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Cited By (9)
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| CN105402041A (en) * | 2015-11-27 | 2016-03-16 | 潍柴动力股份有限公司 | Method and device for controlling running speed of diesel engine |
| CN105422681A (en) * | 2015-12-30 | 2016-03-23 | 中国船舶重工集团公司第七一一研究所 | Dynamic PID (proportional integral derivative) control based hydroviscous variable speed clutch control method |
| CN105484886A (en) * | 2015-12-25 | 2016-04-13 | 东风商用车有限公司 | Double-parallel-PID-based control method of engine rotation speed management system and system |
| CN105888866A (en) * | 2016-06-22 | 2016-08-24 | 江苏里斯特通用机械制造有限公司 | Electronic injection control system for snow sweeper |
| CN106150736A (en) * | 2016-08-15 | 2016-11-23 | 江西汇尔油泵油嘴有限公司 | A kind of closed loop control method of Fuel Injection Quantity for Diesel |
| CN109839821A (en) * | 2019-01-17 | 2019-06-04 | 哈尔滨工程大学 | A kind of marine diesel BP neural network burning-revolving speed double-closed-loop control method |
| CN110207992A (en) * | 2019-07-04 | 2019-09-06 | 山东潍坊鲁中拖拉机有限公司 | A kind of experimental facilities and implementation method of adjustable internal combustion engine rotating speed of target |
| CN110259592A (en) * | 2019-06-26 | 2019-09-20 | 重庆红江机械有限责任公司 | A kind of PID diesel engine self-adapting electronic speed regulating method |
| CN113128867A (en) * | 2021-04-20 | 2021-07-16 | 四川瑞康智慧能源有限公司 | Electricity selling deviation management system and method |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105402041A (en) * | 2015-11-27 | 2016-03-16 | 潍柴动力股份有限公司 | Method and device for controlling running speed of diesel engine |
| CN105402041B (en) * | 2015-11-27 | 2018-03-13 | 潍柴动力股份有限公司 | Diesel speed control method and device |
| CN105484886A (en) * | 2015-12-25 | 2016-04-13 | 东风商用车有限公司 | Double-parallel-PID-based control method of engine rotation speed management system and system |
| CN105484886B (en) * | 2015-12-25 | 2018-01-30 | 东风商用车有限公司 | The control method and the system of engine speed management system based on parallel double PID |
| CN105422681B (en) * | 2015-12-30 | 2018-02-16 | 中国船舶重工集团公司第七一一研究所 | Hydro-viscous speed governing clutch control method based on dynamic PID control |
| CN105422681A (en) * | 2015-12-30 | 2016-03-23 | 中国船舶重工集团公司第七一一研究所 | Dynamic PID (proportional integral derivative) control based hydroviscous variable speed clutch control method |
| CN105888866A (en) * | 2016-06-22 | 2016-08-24 | 江苏里斯特通用机械制造有限公司 | Electronic injection control system for snow sweeper |
| CN105888866B (en) * | 2016-06-22 | 2018-07-17 | 江苏里斯特通用机械制造有限公司 | A kind of snowplough electric spray control system |
| CN106150736A (en) * | 2016-08-15 | 2016-11-23 | 江西汇尔油泵油嘴有限公司 | A kind of closed loop control method of Fuel Injection Quantity for Diesel |
| CN109839821A (en) * | 2019-01-17 | 2019-06-04 | 哈尔滨工程大学 | A kind of marine diesel BP neural network burning-revolving speed double-closed-loop control method |
| CN110259592A (en) * | 2019-06-26 | 2019-09-20 | 重庆红江机械有限责任公司 | A kind of PID diesel engine self-adapting electronic speed regulating method |
| CN110207992A (en) * | 2019-07-04 | 2019-09-06 | 山东潍坊鲁中拖拉机有限公司 | A kind of experimental facilities and implementation method of adjustable internal combustion engine rotating speed of target |
| CN110207992B (en) * | 2019-07-04 | 2021-05-04 | 山东潍坊鲁中拖拉机有限公司 | Experimental equipment for adjusting target rotating speed of internal combustion engine and implementation method |
| CN113128867A (en) * | 2021-04-20 | 2021-07-16 | 四川瑞康智慧能源有限公司 | Electricity selling deviation management system and method |
| CN113128867B (en) * | 2021-04-20 | 2021-11-02 | 四川瑞康智慧能源有限公司 | Electricity selling deviation management system and method |
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Application publication date: 20150812 |