CN104948327B

CN104948327B - The system and method for managing the cycle of the control loop of engine

Info

Publication number: CN104948327B
Application number: CN201510136144.4A
Authority: CN
Inventors: K.C.王; C.E.惠特尼; A.本波拉; D.伯纳迪尼
Original assignee: GM Global Technology Operations LLC
Current assignee: GM Global Technology Operations LLC
Priority date: 2014-03-26
Filing date: 2015-03-26
Publication date: 2017-09-26
Anticipated expiration: 2035-03-26
Also published as: CN104948327A; DE102015103880A1

Abstract

The system and method for disclosing the cycle of the control loop of management engine.Model Predictive Control is included according to the system of the disclosure（MPC）Module, actuator module and remedial action module.MPC modules perform MPC tasks, including prediction determines the cost for possible desired value group for the operating parameter of possible desired value group and based on predicted operation parameter.MPC tasks also include selecting the possible desired value group from multiple possible desired value groups based on cost and desired value are set to the possibility desired value of selected group.Actuator module controls the actuator of engine based at least one in desired value.Remedial action module optionally takes remedial action based at least one in the iteration number that elapsed time amount and MPC tasks are performed when performing MPC tasks.

Description

The system and method for managing the cycle of the control loop of engine

The cross reference of related application

This application is related to the U.S. Patent Application No. 14/225,502 submitted on March 26th, 2014, on March 26th, 2014 and carried The U.S. Patent Application No. 14/225,569,2014 that the U.S. Patent Application No. 14/225,516 of friendship, on March 26th, 2014 submit The U.S. Patent Application No. 14/ that the U.S. Patent Application No. 14/225,626 submitted on March 26, on March 26th, 2014 submit 225,817th, the U.S. that on March 26th, 2014 submits U.S. Patent Application No. 14/225,896, on March 26th, 2014 submit is special U.S. Patent Application No. 14/225,507 that sharp application number 14/225,531, on March 26th, 2014 submit, on March 26th, 2014 U.S. Patent Application No. 14/225,587 that the U.S. Patent Application No. 14/225,808 of submission, on March 26th, 2014 submit, The U.S. Patent Application No. that U.S. Patent Application No. 14/226,006 that on March 26th, 2014 submits, on March 26th, 2014 submit 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.Whole disclosure contents of application are hereby incorporated herein by above.

Technical field

This disclosure relates to explosive motor, and systems be used to use Model Predictive Control for managing Come the system and method in the cycle of the control loop that controls engine.

Background technology

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

Explosive motor is in combustor inner cylinder air-and-fuel mixture to drive piston, and this produces driving torque.Into Engine air capacity is adjusted by air throttle.More particularly, air throttle adjustment throttle area, this is increased or decreased Into engine air capacity.When throttle area increase, into engine air capacity increase.Fuel Control System The speed that adjustment fuel is sprayed is so as to the moment of torsion needed for required air/fuel mixture is provided to cylinder and/or realized Output.Increase, which is provided to the air of cylinder and the amount of fuel, increases the torque output of engine.

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 torque output of spark ignition engine, and The fuel stream can be used to adjust 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 moment of torsion.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 of influence engine output torque Machine moment of torsion control.

The content of the invention

Model Predictive Control is included according to the system of the disclosure（MPC）Module, actuator module and remedial action module. MPC modules perform MPC tasks, including prediction is determined for the operating parameter of possible desired value group and based on predicted operation parameter Cost for possible desired value group.MPC tasks also include selecting the possibility from multiple possible desired value groups based on cost Desired value group and the possibility desired value that desired value is set to selected group.Actuator module is based at least one in desired value To control the actuator of engine.Remedial action module is based on elapsed time amount and MPC tasks when performing MPC tasks and held At least one in capable iteration number optionally takes remedial action.

The present invention includes following scheme：

1. a kind of system, including：

Model Predictive Control（MPC）Module, the MPC modules perform MPC tasks, including：

It is determined that the predicted operation parameter for possible desired value group；

The cost for the possible desired value group is determined based on the predicted operation parameter；

The possible desired value group is selected from multiple possible desired value groups based on the cost；And

Desired value is set to the possibility desired value of selected group；

Actuator module, the actuator module controls the actuating of engine based at least one in the desired value Device；And

Remedial action module, the remedial action module is based on elapsed time amount and institute when performing the MPC tasks State at least one in the iteration number that MPC tasks are performed and optionally take remedial action.

2. the system as described in scheme 1, wherein when the elapsed time is more than the period 1, the remedial action Module indicates that the MPC modules suspend the MPC tasks.

3. the system as described in scheme 2, wherein：

When other tasks are completed, the remedial action module indicates MPC tasks described in the MPC module recoverys；And

Other described tasks have the priority lower than the MPC tasks.

4. the system as described in scheme 2, wherein：

When the elapsed time is more than second round, the remedial action module indicate the MPC modules independently of The target of the current control loop is provided for for the possibility desired value of the iteration started during current control loop Value；And

The second round is more than the period 1.

5. the system as described in scheme 4, wherein when the elapsed time is more than the second round, the correction During action module indicates that the desired value for the current control loop is set to previous control loop by the MPC modules The desired value of setting.

6. the system as described in scheme 4, wherein：

When the iteration for completing to start during the current control loop, the MPC modules are provided for described current The desired value of control loop and following control loop；And

When the elapsed time is more than the second round, the remedial action module indicates that the MPC modules will Desired value for the current control loop is set to be provided for the following control loop during previous control loop Desired value.

7. the system as described in scheme 4, wherein when the elapsed time is more than the second round, the correction Action module indicates that the MPC modules suppress to restart the MPC tasks during following control loop.

8. the system as described in scheme 4, wherein：

When the elapsed time is more than the period 3, the remedial action module takes the remedial action；And

The period 3 is more than the second round.

9. the system as described in scheme 8, wherein the remedial action includes limiting the torque output of the engine and opened Move at least one in service indicator.

10. the system as described in scheme 8, wherein the MPC modules are based between the possible desired value and reference value Difference determines that, for the cost of each in the possible desired value group, the system further comprises backup module, works as institute The backup module will be set for the desired value of the current control loop when stating elapsed time more than the period 3 For reference value.

11. a kind of method, including：

MPC tasks are performed, including：

Desired value is set to the possibility desired value of selected group；

The actuator of engine is controlled based at least one in the desired value；And

Based in the iteration number that is performed of elapsed time amount and the MPC tasks when performing the MPC tasks extremely Few one is optionally taken remedial action.

12. the method as described in scheme 11, it further comprises when the elapsed time is more than the period 1, temporarily Stop the MPC tasks.

13. the method as described in scheme 12, it further comprises when other tasks are completed, and recovers the MPC tasks, Other wherein described tasks have the priority lower than the MPC tasks.

14. the method as described in scheme 12, it further comprises when the elapsed time is more than second round, solely The possibility desired value for the iteration started during current control loop is stood on to be provided for the current control loop Desired value, wherein the second round is more than the period 1.

15. the method as described in scheme 14, it further comprises when the elapsed time is more than the second round When, the desired value that the desired value for the current control loop is set to set during previous control loop.

16. the method as described in scheme 14, it further comprises：

When the iteration for completing to start during the current control loop, the current control loop is provided for With the desired value of following control loop；And

When the elapsed time is more than the second round, by the desired value setting for the current control loop The desired value of the following control loop is provided for during for previous control loop.

17. the method as described in scheme 14, it further comprises when the elapsed time is more than the second round When, suppress to restart the MPC tasks during following control loop.

18. the method as described in scheme 14, it further comprises taking when the elapsed time is more than the period 3 The remedial action, wherein the period 3 is more than the second round.

19. the method as described in scheme 18, wherein the remedial action include limiting the torque output of the engine and Start at least one in service indicator.

20. the method as described in scheme 18, it further comprises：

Determined based on the difference between the possible desired value and reference value for each in the possible desired value group Individual cost；And

When the elapsed time is more than the period 3, by the desired value for the current control loop It is set to reference value.

Other suitable application areas of the disclosure will become apparent from detailed description, claims and figure.Retouch in detail State and be merely intended to illustration purpose with instantiation and be not intended to limit the scope of the present disclosure.

Brief 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 of the exemplary engine system according to the disclosure；

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

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

Fig. 4 is to describe to be controlled throttler valve, inlet valve and exhaust valve fixed according to the use Model Predictive Control of the disclosure Phase, waste gate and exhaust gas recirculatioon（EGR）The flow chart of the illustrative methods of valve；

Fig. 5 is the example in the cycle for describing the control loop performed according to the management of the disclosure by Model Predictive Control module The flow chart of property method；And

Fig. 6 is the figure for the illustrative methods for further showing Fig. 5.

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

Embodiment

Engine control module（ECM）Control the torque output of engine.More particularly, ECM is based on the torsion asked Square amount controls the actuator of engine based on desired value.For example, ECM controlled based on target inlet air and exhaust cam phaser angle into Gas and exhaust cam shaft determine phase, based on target throttle opening come control throttler valve, based on target EGR apertures control exhaust again Circulation（EGR）Valve and based on Target exhaust door Duty ratio control turbocharger waste gate.

Multiple single-input single-outputs can be used alone in ECM（SISO）Controller（Such as PID（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 the stability of a system in the case of reducing.In addition, the calibration and design of indivedual SISO controllers be probably it is expensive and Time-consuming.

The ECM of the disclosure uses Model Predictive Control（MPC）Module produces desired value.MPC modules are turned round based on engine Square asks to recognize the possibility group of desired value.MPC modules are determined based on the desired value and the mathematical modeling of engine that may organize For each Prediction Parameters that may be organized.

MPC modules can also determine the related cost of use to each possibility group.Can for the cost determined may be organized To increase with the difference increase between the desired value and reference value that may be organized, and vice versa.MPC modules can be selected Possibility group with least cost.The replacement for the cost each organized as the possibility group and determination of identification desired value or addition, MPC Module can produce the face of the cost for the possibility group for representing desired value.MPC modules can then be known based on the slope in cost face Not Ju You least cost possibility group.

MPC modules can determine whether the Prediction Parameters of selected group meet constraint.If it is satisfied, then MPC modules can be with base In selected group, desired value is set.Otherwise, MPC modules can select the possibility group with next least cost and test to be somebody's turn to do Group is to meet constraint.Selection group and the process for testing the group to meet constraint are properly termed as iteration.During each control loop Multiple iteration can be performed.

The ECM of the disclosure can monitor the elapsed time and if iteration time is more than when MPC modules perform iteration Threshold value then takes one or more remedial actions.In some cases, the cycle needed for performing single iteration can be it is known, ECM can monitor the quantity of iteration execution and be multiplied by predetermined iteration cycle to obtain during iteration by iteration number in this situation Between.The iteration started during current loop is properly termed as current iteration, and pass through when MPC modules perform current iteration Time is properly termed as the current iteration time.If the current iteration time continues to the cycle for distributing to next loop, ECM can To indicate that the desired value for current loop is set to be provided for desired value and the suppression in last loop by MPC modules Restart iteration in next loop.

In this way, ECM allows MPC to complete current iteration during next loop.Allow MPC modules at next time Current iteration is completed during road can reduce the time quantum needed for the iteration for completing to start during subsequent control loop.This Outside, the cycle rate of MPC modules can subtract for the worst situation cycle rate for most long expection iteration time It is few.

If the current iteration time exceeds the cycle for distributing to next control loop, the solution party that MPC modules are sought Case be probably infeasible or MPC modules in there may be another mistake.Therefore, ECM can diagnose the event in MPC modules Barrier.ECM can also reset and reinitialize MPC modules, start service indicator（Such as malfunction indicator lamp）And/or limitation hair The torque output of motivation.

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 produce the driving torque for vehicle Engine 102.Engine 102 can be gasoline spark ignition IC engine.

Air is inhaled into inlet manifold 110 by throttler valve 112.Only for example, throttler valve 112 can be wrapped 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 is optionally disabled Cylinder, this can improve fuel economy under some engine operating conditions.

Engine 102 can use four-stroke cycle to operate.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 rotated twice.

During induction stroke, the air from inlet manifold 110 is inhaled into cylinder 118 by inlet valve 122. 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 Apply（It is not shown）In, fuel be can be directly sprayed into cylinder or be ejected into the mixing chamber related to cylinder.Fuel is caused 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 produces 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 coming from ECM 114 light the signal of air/fuel mixture to encourage 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 be fiery to control to produce by specifying before tdc or afterwards Flower.Because piston position is directly relevant with bent axle rotation, the operation of spark actuator module 126 can be same with crank shaft angle Step.Produce spark and be 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 is provided.

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 gas extraction 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 many exhaust casings 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 to be used for many exhaust casings（Including cylinder 118）Exhaust valve（Including exhaust valve 130）.In each other implementation, 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 be by preventing inlet valve 122 and/or exhaust valve 130 from opening 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, and the turbocharger includes the heat by flowing through gas extraction system 134 Exhaust is provided with the hot turbine 160-1 of power.Turbocharger also includes the cold air compressor 160-2 driven by turbine 160-1. The air that compressor 160-2 compressions are introduced into 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 delivered to inlet manifold 110.

Waste gate 162 can allow exhaust to get around turbine 160-1, thus reduce the boosting provided by turbocharger（Enter The amount of gas air compression）.Boost actuator module 164 can be by controlling the aperture of waste gate 162 to control turbocharger 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）.Cooled down using engine coolant compressed air charge aerial cooler be properly termed as it is middle cold But device.The aerial cooler that compressed air charge is cooled down using air is properly termed as charge air cooler.Compressed air is filled Amount can receive heat for example by compression and/or from the part of gas extraction system 134.Although separately showing for illustrative purposes, But turbine 160-1 and compressor 160-2 can be attached to one another, so that inlet air is placed in close to thermal exhaust.

Engine system 100, which can include optionally being vented rebooting, to be back to the exhaust of inlet manifold 110 and follows again Ring（EGR）Valve 170.EGR valve 170 can be located at the turbine 160-1 of turbocharger upstream.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 use crankshaft position sensor 180 to measure.The rotary speed of bent axle（Engine speed） It can be determined based on crank position.The temperature of engine coolant can use ECT（ECT）Sensor 182 measure.ECT sensor 182 can be located in engine 102 or at the other positions that coolant is circulated, and such as dissipate Hot device（It is not shown）Place.

Pressure in inlet manifold 110 can use manifold absolute pressure（MAP）Sensor 184 is measured.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 MAF（MAF）Sensor 186 is measured.At 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 TPSs（TPS）190 monitor section The position of air valve 112.The environment temperature for the air being drawn into engine 102 can use intake air temperature（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 the control decision for engine system 100.

ECM 114 can communicate with coordinating 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 with coordinating hair with mixing control module 196 The operation of motivation 102 and motor 198.

Motor 198 is also used as generator, and can for produce electric energy for vehicle electrical systems are used and/ Or for storage 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 referred to 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 be controlled 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 cylinder enable or deactivation of destination number.

ECM 114 produces the desired value for engine actuators to cause engine 102 to produce target engine output Moment of torsion.ECM 114 produces the desired value for engine actuators using Model Predictive Control (MPC), such as further below Discuss.ECM 114 also monitor produce desired value when elapsed time and elapsed time be more than predetermined period when take Remedial action and/or tracing trouble.When failure is arrived in diagnosis, ECM 114 can set diagnostic trouble code（DTC）And/or start Service indicator 199.Service indicator 199 uses visual message（For example, word）, audible messages（For example, buzzing）And/or touch Feel message（For example, vibration）To indicate to need service.

Referring now to Fig. 2, the functional-block diagram of exemplary engine control system is presented.ECM 114 exemplary implementation 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 determine to drive based on driver's input 255 from driver input module 104 The person's of sailing torque request 254.Position and the position of brake pedal that driver's input 255 can be based on such as accelerator pedal.Drive Person's input 255 is also based on cruise control, and the cruise control 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 many of target torque It is individual to map and driver's torque request 254 be determined based on a selected mapping.

Axle torque arbitration module 204 carries out secondary between driver's torque request 254 and other axle torques request 256 Cut out.Axle torque（Moment of torsion at wheel）Can be by each introduces a collection（Including engine and/or motor）Produce.For example, axletree is turned round Square request 256 can be included in the moment of torsion asked when detecting positive wheelslip by pull-in control system and reduce.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.Axletree is turned round Square request 256 can also include the torque buildup request for offsetting negative wheelslip, wherein because axle torque causes car 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 is produced.

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 moment of torsion from axle torque arbitration module 204 please Ask 257 and instant torque request 258 can for before controlling engine actuators optionally by ECM 114 other moulds Block is adjusted.

In general, torque request 258 can be the amount of current desired axle torque immediately, and predicted torque request 257 can be the amount for the axle torque that may be needed suddenly.ECM 114 controls engine system 100 and is equal to torsion immediately to produce The axle torque of square request 258.However, the various combination of desired value can produce 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 moment of torsion Request 258 is in some cases（Such as when driver's torque request 254 make it that wheel slides in ice face）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 recovered to produce predicted torque request 257.

In general, immediately torque request 258 with（It is generally higher）Difference between predicted torque request 257 can claim For moment of torsion deposit.Moment of torsion deposit can represent the amount of additional torque that engine system 100 can start to produce 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.It hurry up Fast engine actuators are defined 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 its corresponding desired value change.For example, slow actuator can To be moved to the mechanical part of another position from a position come the change in response to desired value including needing the time.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.Generally, now the area of a room will be longer than for fast actuator for slow actuator.This Outside, after change is started, axle torque may take longer for the change come 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 ethanol.As a comparison, throttle actuator module 116 can be slow Fast actuator.

For example, as described above, when spark timing is in the anaplasia of last time ignition event and ignition event next time During change, spark actuator module 126 can change the spark timing for 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 in response to the change from its prior location and there is mechanical delay in throttler valve 112.In addition, based on solar term The air mass flow of door aperture changes undergoes air transportation lag in inlet manifold 110.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, throttle opening can be by being set to allow to start by moment of torsion deposit Machine 102 produces the value of predicted torque request 257 to produce.Meanwhile, spark timing can be set based on instant torque request 258 Put, the instant torque request is less than predicted torque request 257.Although throttle opening produces enough engines 102 and produces prediction The air mass flow of torque request 257, but spark timing is based on instant torque request 258 and postponed（This reduces moment of torsion）. 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 moment of torsion set.By subsequent ignition event, spark actuator module 126 can be by spark Timing, which is returned to, allows the generation of engine 102 can be by whole engine output torques of the air mass flow realization existed 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 turn 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 moment of torsion Request 258 is output to hybrid optimization module 208.

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

The predicted torque request and instant torque request that propulsive torque arbitration modules 206 are received are from axle torque domain（Car Moment of torsion at wheel）Be converted to propulsive torque domain（Moment of torsion at bent axle）.This conversion can before hybrid optimization module 208, it Afterwards, as one part or substitute its generation.

Propulsive torque arbitration modules 206 ask 290 in propulsive torque（Including the predicted torque request after conversion and instant torsion Square is asked）Between arbitrated.The predicted torque request 261 of the generation arbitration of propulsive torque arbitration modules 206 is instant with arbitration Torque request 262.The torque request 261 and 262 of arbitration can by selected from the torque request received win request To produce.Alternatively or additionally, the torque request of arbitration can by based in the torque request received another or It is multiple to produce changing one in the request received.

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

Propulsive torque request 290 is additionally may 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 the moment of torsion of phase.In each implementation, when there is engine shutoff request, arbitration selection engine shutoff request It is used as the request of triumph.When there is 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.Promote and turn 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 moment of torsion Lay in and/or compensate one or more loads.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 spark with establishment for the delay of cold start-up emission reduction process.In another example, the air/fuel ratio of engine and/ Or MAF can directly change, such as purified by diagnosing the test of intrusion equivalence ratio and/or new engine.Starting Before these processes, moment of torsion deposit can be created or increase to make up during these processes due to desaturation air/combustion rapidly The reduction of engine output torque caused by material mixture.

Reserve/load module 220 can also be created or increase moment of torsion deposit in the case of expected future load, such as be moved Power steering pump is operated or air adjustment（A/C）The engagement of compressor clutch., can be with when driver asks air adjustment first Create the deposit of the engagement for A/C compressor clutches.Reserve/load module 220 can increase the prediction moment of torsion after adjustment Request 263 the instant torque request 264 after adjustment constant to produce moment of torsion deposit simultaneously.Then, when A/C compressor clutches When device is engaged, reserve/load module 220 can be increased after 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 adjustment 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 use different control programs for the relative compression ignition engine of 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.Moment of torsion please Module before modulus block 224（Such as propulsive torque arbitration modules 206）It can be across what engine model was shared, and moment of torsion Request module 224 and subsequent module can be that engine model is proprietary.

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

The desired value of the air stream for controlling engine actuators is determined based on air torque request 265.It is more specific next Say, based on air torque request 265, air control module 228 determines that Target exhaust door is opened area 266, target throttle and beaten Open area 267, target EGR and open 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 is opened area 266, target throttle and 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 can be opened area 266 and be converted to target duty than 274 with applied to waste gate 162 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 and compares 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 than 278 with applied to throttler valve 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 individual implementation, target throttle opening area 267 can 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 compares 278.

EGR actuator module 172 controls EGR valve 170 to realize that target EGR opens area 268.For example, the 3rd modulus of conversion Target EGR opening areas 268 can be converted to target duty than 282 with applied to EGR valve 170 by block 280, and EGR valve actuation Device module 172 can apply signals to EGR valve 170 than 282 based on target duty.In each implementation, the 3rd modular converter Target EGR opening areas 268 can be converted to target EGR position by 280（It is not shown）, and target EGR position is converted to Target duty compares 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 dutycycle and target exhaust dutycycle.Phaser actuator module 158 can be respectively by target Air inlet dutycycle and target exhaust dutycycle 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 Move.

Torque request module 224 is also based on predicted torque request 263 and instant torque request 264 produces spark moment of torsion Request 283, cylinder closing torque request 284 and fuel torque request 285.Spark control module 232 can be based on spark moment of torsion Request 283 come determine so that spark timing from optimum spark timing retard how much（This reduces engine output torque）.Only illustrate For, target spark timing 286 can be solved with reverse torque relation.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 that inlet valve is mutually worth surely, and E is that exhaust valve is mutually worth surely, and AF is air/fuel ratio, and OT is oil Temperature, and # is the quantity of the cylinder started.This relation may be embodied as equation and/or look-up table.Air/fuel ratio（AF）Can To be actual air/fuel ratio, as reported as fuel control module 240.

When spark timing is arranged to optimum spark timing, the moment of torsion of gained can be as close possible to maximum best torque （MBT）.MBT refers to using the fuel with the octane rating bigger than predetermined octane rating and using stoichiometry adding During fuel, due to the maximum engine output torque that spark timing shifts to an earlier date and is produced for given air mass flow.This peak torque The spark timing of generation is referred to as MBT spark timing.Optimum spark timing may be due to such as fuel mass（Such as when using relatively low During fuel octane）And environmental factor（Such as ambient humidity, light and temperature and temperature）And it is slightly different with MBT spark timing.Therefore, optimal fire The engine output torque of flower timing can be less than MBT.Only for example, corresponding to the optimal fire of different engine operating conditions The table of flower timing can be determined during the calibration phase of Car design, and it is true from the table to be based on present engine operating condition Determine optimum value.

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 the cylinder of startup.Cylinder actuator module 120 is based on number of targets The selective startup of amount 287 and the valve for disabling cylinder.

The cylinder that cylinder control module 236 also can indicate that fuel control module 240 to stop to disabling provides fuel simultaneously And can stop providing spark to the cylinder of 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 particularly, fuel control module 240 can produce 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 be operated under air bootmode, and wherein fuel is controlled 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 produced 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 and 3, such as above institute Discuss, air torque request 265 can be braking torque.Moment of torsion modular converter 304 is by air torque request 265 from braking torque Be converted to base torque.Because the torque request for being converted to base torque and producing will be referred to as basic air torque request 308.

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

MPC modules 312 use MPC（Model Predictive Control）Produce desired value 266 to 270.MPC modules 312 can be single Individual module or including multiple modules.For example, MPC modules 312 can include sequence determining module 316.Sequence determining module 316 It is determined that the possibility sequence for the desired value 266 to 270 that can be used together during N number of following control loop.Determined by sequence The each possible sequence that module 316 is identified includes a sequence of the N number of value of each being used in desired value 266 to 270. In other words, each possible sequence includes the sequence of N number of value for Target exhaust door opening area 266, for target throttle Open area 267 N number of value sequence, for target EGR open area 268 N number of value sequence, for target inlet air cam The sequence of the sequence of N number of value at phaser angle 269 and N number of value for target exhaust cam phaser angle 270.In N number of value Each be for the corresponding loop in N number of following control loop.N is greater than or equal to one integer.

Prediction module 323 is based respectively on engine 102（Mathematics）Model 324, external source import 328 and feed back input 330 To determine predicated response of the engine 102 to the possibility sequence of desired value 266 to 270.More particularly, based on desired value 266 To 270 possibility sequence, external source import 328 and feed back input 330, prediction module 323 is produced for N number of control using model 324 The engine 102 in loop processed prediction torque sequence, the prediction APC sequences for N number of control loop, for N number of control loop Premeasuring external dilution sequence, the remaining dilution sequence of premeasuring for N number of control loop, for the pre- of N number of control loop Survey combustion value sequence and the prediction burning quality value sequence for N number of control loop.Although description generation prediction moment of torsion, Predict APC, prediction external dilution, predict remaining dilution, prediction combustion and the example for predicting fuel mass, but predict Parameter can include other one or more prediction engine operation parameters.

Model 324 can include function or the mapping of the feature calibration for example based on engine 102.Dilution may refer to by Catch the capacity from prior combustion event in cylinder for combustion incident.External dilution may refer to by EGR Valve 170 provides the exhaust for combustion incident.Residue dilution may refer in the exhaust casing of the exhaust stroke of combustion period Remaining exhaust and/or the exhaust being pushed back in cylinder.Residue dilution is also referred to as internal dilute.

Combustion may refer to the predetermined crank position relative to the spray fuel for the scheduled volume that burns in cylinder The crank position of the spray fuel of interior burning scheduled volume.For example, combustion can come according to the CA50 relative to predetermined C A50 Expression.CA50 may refer in cylinder the crank shaft angle in the case of the 50% of combustion jet fuel mass（CA）.Predetermined C A50 Can correspond to by spray fuel produce the CA50 of the maximum amount of work(and in each implementation can be in TDC（Top dead centre）It About 8.5 afterwards are to about 10 degree.Although combustion will be discussed with regard to CA50 values, it can use and indicate the another of combustion Individual suitable parameter.In addition, although burning quality will be discussed as the mean effective pressure of instruction（IMEP）The variation coefficient of value （COV）, but another the suitable parameter for indicating burning quality can be used.

External source import 328 can include not directly by throttler valve 112, EGR valve 170, turbocharger, admission cam phase The parameter that position device 148 and exhaust cam phaser 150 influence.For example, external source import 328 can include engine speed, whirlpool Take turns turbocharger inlet air pressure, IAT and/or one or more other specifications.Feed back input 330 can include such as engine 102 torque output estimated, the pressure at expulsion in the turbine 160-1 downstreams of turbocharger, IAT, the APC of engine 102, The remaining dilution estimated, the external dilution and/or other one or more suitable parameters that estimate.Feed back input 330 can To use sensor（For example, IAT）To measure and/or be estimated based on one or more other specifications.

Cost module 332 determines to be used for desired value 266 based on the Prediction Parameters and reference value 356 determined for possible sequence To the value at cost of 270 each possible sequence.Exemplary cost discussed further below is determined.

Selecting module 344 is based respectively on one in the possibility sequence into original selection target value 266 to 270 of possible sequence It is individual.For example, selecting module 344 can select may have least cost while meeting actuator constraint 348 and output in sequence One sequence of constraint 352.

In each implementation, it can consider that actuator constrains the satisfaction of 348 and output constraint in cost determination.Change speech It, cost module 332 can be based further on actuator constraint 348 and output constraint 352 to determine value at cost.As it is following enter one Walk and discuss, based on how determining value at cost, selecting module 344 will select optimal optimized integration air torque request in possible sequence 308 sequences for minimizing fuel consumption simultaneously, being limited by actuator constraint 348 and output constraint 352.

Desired value 266 to 270 can be set to first in N number of value of selected possible sequence by selecting module 344 respectively Value.In other words, Target exhaust door can be opened area 266 and be provided for Target exhaust door opening area by selecting module 344 First value of N number of value in the sequence of 266 N number of value, target throttle is provided for by target throttle opening area 267 First value of N number of value in the sequence for the N number of value for opening area 267, target is provided for by target EGR opening areas 268 EGR opens the first value of N number of value in the sequence of N number of value of area 268, and target inlet air cam phaser angle 269 is set to For the first value of N number of value in the sequence of N number of value at target inlet air cam phaser angle 269, and by target exhaust cam Phaser angle 270 is provided for the first value of N number of value in the sequence of N number of value at target exhaust cam phaser angle 270.

During next control loop, MPC modules 312 recognize possible sequence, produce and join for the prediction of possible sequence Number, determine may be in sequence the cost of each, selection may be in sequence one and desired value 266 to 270 is set For first group of desired value 266 to 270 in selected possible sequence.This process continues on for each control loop.

Actuator constraints module 360（Referring to Fig. 2）It is provided for the actuator of each in desired value 266 to 270 about Beam 348.In other words, actuator constraints module 360 is provided for the actuator constraint of throttler valve 112, for EGR valve 170 Actuator constraint, for waste gate valve 162 actuator constraint, for exhaust cam phaser 148 actuator constraint and Actuator for exhaust cam phaser 150 is constrained.

Actuator constraint 348 for each in desired value 266 to 270 can include being used for associated target value most Big value and the minimum value for that desired value.In addition, actuator constraint 348 can be including the change for associated target value about The speed of beam.Actuator constraints module 360 can generally constrain actuator the 348 predetermined behaviour for being provided for associated actuator Make scope.More particularly, actuator constraint 348 generally can be provided for solar term by actuator constraints module 360 respectively Gate valve 112, EGR valve 170, waste gate 162, the scheduled operation model of exhaust cam phaser 148 and exhaust cam phaser 150 Enclose.

However, actuator constraints module 360 can optionally adjust one in actuator constraint 348 in some cases It is individual or multiple.For example, when diagnosis is out of order in given engine actuators, actuator constraints module 360 can adjust use Constrained in the actuator of that given actuator so that the opereating specification that must be used for that engine actuators narrows.Only lift another For individual example, for example, for fault diagnosis（Cam phaser fault diagnosis, air throttle diagnosis, EGR diagnosis etc.）, cause Dynamic device constraints module 360 can adjust actuator and constrain so that the desired value that must be used to give actuator follows making a reservation for the time Timetable changes scheduled volume.For following with the scheduled time table of time or the desired value of change scheduled volume, cause Minimum and maximum value can be set to identical value by dynamic device constraints module 360.It is arranged to the minimum and maximum value of identical value Corresponding desired value can be forced to be arranged to and minimum and maximum value identical value.Actuator constraints module 360 can be at any time Between change the identical value that is arranged to of minimum and maximum value to cause desired value to follow scheduled time table.

Output constraint module 364（Referring to Fig. 2）It is provided for prediction torque output, prediction CA50, IMEP of engine 102 Prediction COV, the output constraint 352 of the remaining dilution of prediction and prediction external dilution.Output for each predicted value is about Beam 352 can include the minimum value for the maximum of related Prediction Parameters and for that Prediction Parameters.For example, output is about Beam 352 can include minimal torque, peak torque, minimum CA50 and maximum CA50, IMEP minimum COV and IMEP maximum COV, least residue dilution and maximum residual dilution and minimum external dilution and maximum external dilution.

Output constraint 352 generally can be provided for the pre- of the Prediction Parameters of correlation by output constraint module 364 respectively Determine scope.However, output constraint module 364 can change one or more of output constraint 352 in some cases.Example Such as, output constraint module 364 can postpone maximum CA50, such as when pinking occurs in engine 102.Another example is lifted, Output constraint module 364 can increase IMEP maximum COV under low load conditions, and such as may need, IMEP's is higher In engine idling operations of the COV to realize given torque request.

Referrer module 368（Referring to Fig. 2）The reference value 356 for desired value 266 to 270 is produced respectively.Reference value 356 is wrapped Include the reference for each in desired value 266 to 270.In other words, reference value 356 include with reference to waste gate open area, Area is opened with reference to air throttle, area is opened with reference to EGR, with reference to exhaust cam phaser angle and exhaust cam phaser is referred to Angle.

Referrer module 368 can be determined for example based on air torque request 265 and/or basic air torque request 308 Reference value 356.Reference value 356 is respectively provide for setting the reference of desired value 266 to 270.Reference value 356 may be used to determine For may sequence value at cost, as further discussed below.Can be with view of one or more other reasonses use reference Value 356, is such as used for determining possible sequence by sequence determining module 316.

As replacement or the addition of the sequence and the cost for determining each sequence for producing possible desired value, MPC modules 312 can To recognize the sequence of the possibility desired value with least cost using convex optimisation technique.For example, MPC modules 312 can be used Quadratic programming（QP）Solver（Such as Dan Qige QP solvers）To determine desired value 266 to 270.In another example, MPC Module 312 can produce the face of the value at cost of the possibility sequence for desired value 266 to 270, and based on the slope in cost face To recognize the possibility target value sequence with least cost.MPC modules 312 can then test that possible target value sequence with Determine whether that possible target value sequence meets actuator constraint 348 and output constraint 352.If it is satisfied, then MPC modules 312 respectively can be set to desired value 266 to 270 the first value in N number of value in that selected possibility sequence, as more than Discussed.

If being unsatisfactory for actuator constraint 348 and/or output constraint 352, the selection of MPC modules 312 have it is next most Another possible target value sequence of low cost, and test that possible target value sequence to meet actuator 348 Hes of constraint Output constraint 352.Selection sequence and the process for testing the sequence to meet actuator constraint 348 and output constraint 352 can claim For iteration.Multiple iteration can be performed during each control loop.

MPC modules 312 perform iteration until identify meet actuator constraint 348 and output constraint 352 have it is minimum The sequence of cost.In this way, there is the selection of MPC modules 312 least cost to meet actuator constraint 348 and output constraint simultaneously 352 possibility target value sequence.If cannot recognize that sequence, MPC modules 312 can indicate unavailable solution.

Cost module 332 can determine the possibility sequence for desired value 266 to 270 based on the relation between the following The cost of row：Predict moment of torsion and basic air torque request 308；Predict APC and predetermined minimum APC；Possible desired value with it is corresponding Actuator constraint 348；Other Prediction Parameters and corresponding output constraint 352；And may desired value and corresponding reference value 356.Institute The relation of stating can for example be weighted to control the influence of each relation pair cost.

Only for example, cost module 332 can determine the possibility for desired value 266 to 270 based on following relation The cost of sequence：

The relation is limited by actuator constraint 348 and output constraint 352.Cost is the possibility for desired value 266 to 270 The cost of sequence.TPi is the prediction moment of torsion of the engine 102 for i-th of control loop in N number of control loop, and BATR is Basic air torque request 308, and wT is added predicting that the relation between moment of torsion and basic air torque request 308 is related Weights.It for the prediction APC, MinAPC of i-th of control loop in N number of control loop is predetermined minimum APC that APCPi, which is, and And wA is the weighted value related predicting the relation between APC and predetermined minimum APC.

PTTOi is the possibility target throttle opening for i-th of control loop in N number of control loop, and TORef is ginseng Throttle opening is examined, and wTV is adds related to relation that may be between target throttle opening and reference throttle opening Weights.The possibility Target exhaust door aperture for i-th of control loop that PTWGOi is used in N number of control loop, WGORef is reference Waste gate aperture, and wWG is the weighting related to relation that may be between Target exhaust door aperture and reference waste gate aperture Value.

PTEGROi is the possibility target EGR apertures of i-th of control loop for N number of control loop, and EGRRef is reference EGR apertures, and wEGR is the weighted value related to relation that may be between target EGR apertures and reference EGR apertures.PTICi It is the possibility target inlet air cam phaser angle of i-th of control loop for N number of control loop, ICPRef is convex with reference to air inlet Phaser angle is taken turns, and wIP is with possible target inlet air cam phaser angle and with reference to the pass between exhaust cam phaser angle It is related weighted value.PTECi is the possibility target exhaust cam phaser of i-th of control loop for N number of control loop Angle, ECPRef is to refer to exhaust cam phaser angle, and wEP is vented with possible target exhaust cam phaser angle and reference The weighted value of relation correlation between cam phaser angle.

ρ is the weighted value related to the satisfaction of output constraint 352.It is that cost module 332 can be based on output constraint 352 Whether the variable set being satisfied.For example, when Prediction Parameters are more than or less than corresponding minimum or maximum（For example, extremely Few scheduled volume）When, cost module 332 can increase.When meeting all output constraints 352, cost module 332 will can be set It is set to zero.ρ can be more than weighted value wT, weighted value wA and other weighted values（wTV、wWG、wEGR、wIP、wEP）, so that To be huge for the cost that possible sequence is determined if one or more of output constraint 352 is not met.This can be with Selection is helped prevent not meet the possibility sequence of one or more of output constraint 352 wherein.

Weighted value wT can be more than weighted value wA and weighted value wTV, wWG, wEGR, wIP and wEP.In this way, predict The relation pair cost between relation between engine torque and basic air torque request 308 has considerable influence, and therefore There is considerable influence to the selection of one in possible sequence, it is as discussed further below.Cost is with prediction engine torque Difference between basic air torque request 308 increases and increased, and vice versa.

Weighted value wA can be less than weighted value wT and more than weighted value wTV, wWG, wEGR, wIP and wEP.In this way, Relation pair cost between prediction APC and zero has considerable influence, but is less than prediction engine torque and basic air moment of torsion The influence of relation between request 308.Cost increases with the difference increase between prediction APC and predetermined minimum APC, and instead It is as the same.Only for example, it can be zero or another suitable value to make a reservation for minimum APC.

Determine that cost helps to ensure that APC will be minimized based on the difference between prediction APC and predetermined minimum APC.When Control refuelling to realize during target air mixture based on actual APC, reduce APC and reduce fuel consumption.Due to selection Module 344 can select a sequence in possible sequence with least cost, so selecting module 344 can select possible sequence Optimal optimized integration air torque request 308 minimizes an APC sequence simultaneously in row.Minimize APC's although discussing Example, but in each implementation, can predict and maximum efficiency parameter.Removed for example, efficiency parameters can be prediction moment of torsion To predict APC or prediction fuel consumption.

Weighted value wTV, wWG, wEGR, wIP and wEP can be less than every other weighted value.In this way, in steady state operation During, desired value 266 to 270 can be positioned proximate to reference value 356 respectively or in the reference value.However, in moment In operating process, MPC modules 312 can adjust desired value 266 to 270 please with optimized integration air moment of torsion away from reference value 356 308 are asked, while minimizing APC and meeting actuator constraint 348 and output constraint 352.

Referring now to Fig. 4, MPC is used（Model Predictive Control）Come control throttler valve 112, exhaust cam phaser 148, Exhaust cam phaser 150, waste gate 162（And therefore turbocharger）And the illustrative methods of EGR valve 170 are opened 402 Begin.404, torque request module 224 is based on the instant torque request 264 after the predicted torque request 263 after adjustment and adjustment To determine air torque request 265.

408, based on moment of torsion modular converter 304 changes air torque request 265 air torque request 308 or turn The moment of torsion of another suitable type is changed to so that MPC modules 312 are used.408, it is empty that sequence determining module 316 is based on basis Gas torque request 308 determines the possibility sequence of desired value 266 to 270.

410, prediction module 323 determines the Prediction Parameters of each possible sequence for desired value.The base of prediction module 323 The Prediction Parameters for possible sequence are determined in the model 324, external source import 328 and feed back input 330 of engine 102.More Specifically, the possibility sequence based on desired value 266 to 270, external source import 328 and feed back input 330, prediction module 323 make The prediction torque sequence of the engine 102 for N number of control loop, the prediction for N number of control loop are produced with model 324 APC sequences, the premeasuring external dilution sequence for N number of control loop, the residue dilution sequence of the premeasuring for N number of control loop Row, the prediction combustion value sequence for N number of control loop and the prediction burning quality value sequence for N number of control loop Row.

412, cost module 332 determines the cost for possible sequence respectively.Only for example, cost module 332 can To determine the cost of the possibility sequence for desired value 266 to 270 based on below equation：

,

The equation is limited by actuator constraint 348 and output constraint 352, as described above.

In 414, possibility sequence into original selection target value 266 to 270 of the selecting module 344 based on possible sequence One sequence.For example, selecting module 344 can select one in possible sequence with least cost.Therefore, selecting module 344 can select may in sequence optimal optimized integration air torque request 308 while minimizing an APC sequence.As In the 408 possibility sequences for determining desired value 230 to 244 and the replacement in 412 costs for determining each sequence or addition, MPC Module 312 can use convex optimisation technique as discussed above to recognize the possibility target value sequence with least cost.

Whether the selected sequence in 416, MPC modules 312 determine possible sequence meets actuator constraint 348.If can Selected sequence in energy sequence meets actuator constraint 348, then method continues 418.Otherwise, method continues 420, wherein MPC modules 312 select one in possible sequence with next least cost.Method is subsequently returned to 416.In this way, Use the sequence with least cost for meeting actuator constraint 348.

Target exhaust door is opened into area 266 in 418, first modular converters 272 and is converted to target duty than 274 with application In waste gate 162, the second modular converter 276 by target throttle opening area 267 be converted to target duty than 278 with applied to Throttler valve 112.Or target EGR opening areas 268 are converted into target duty in 418, the 3rd modular converters 280 and compare 282 With applied to EGR valve 170.Or in 418 the 4th modular converters respectively by target inlet air cam phaser angle 269 and target exhaust Cam phaser angle 270 is converted to target inlet air dutycycle and target exhaust dutycycle for the He of exhaust cam phaser 148 Exhaust cam phaser 150.

422, 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 Dutycycle 278 applies signals to throttler valve 112 to realize that target throttle opens area 267.

In addition 422, EGR actuator module 172 controls EGR valve 170 to realize that target EGR opens area 268, and rises Hydraulic actuator module 164 controls waste gate 162 to realize that Target exhaust door opens area 266.For example, EGR actuator module 172 EGR valve 170 can be applied signals to than 282 with target duty to realize that target EGR opens area 268, and actuating of boosting Device module 164 can apply signals to waste gate 162 to realize that Target exhaust door opens area 266 with target duty than 274. Although method is shown as terminating 424, Fig. 4 can show a control loop, and can be held under set rate Row control loop.

Referring back to Fig. 3, remedial action module 380 can monitor the elapsed time amount when MPC modules 312 perform iteration And take one or more remedial actions when elapsed time is more than threshold value.For example, when by ECM 114 perform it is current When the elapsed time of the iteration started during control loop is more than or equal to the period 1, remedial action module 380 can be indicated MPC modules 312 suspend iteration.When the elapsed time of the iteration started during current control loop is properly termed as current iteration Between, even if the iteration can be performed during subsequent control loop.The period 1 can be predefined to allow current Control loop completes the sufficient time of other tasks before terminating.If for example, by each control loops performed of ECM 114 Cycle is 25 milliseconds（ms）And other tasks need 2 ms to complete, then the period 1 can be set to 23 ms.

Other tasks are not performed by MPC modules 312 for tasks and can performed with being less than by MPC modules 312 The priority of control loop.For example, other tasks can include measurement ECT, measurement delivery temperature, determine Generator loading and/or determination air regulator load.For the task with compared with slow circulation speed, ECM 114 can So that higher priority is distributed into the task with very fast cycle rate.For example, the task of the cycle rate with 25 ms can be with It is allocated the priority higher than the task of the cycle rate with 50 ms.In addition, for time-based task, ECM 114 can distribute to higher priority based on synchronous task.The cycle rate of time-based task is known, and base In the cycle rate of synchronous task be unknown.

When other tasks are completed, remedial action module 380 can indicate that MPC modules 312 recover iteration.If by Before the control loop that ECM 114 is performed terminates, one in the possibility sequence of the selection target value 266 to 270 of MPC modules 312, Then desired value 266 to 270 is set to first in N number of value of selected sequence by the permission MPC of remedial action module 380 modules 312 Value.

When the current iteration time being more than or equal to second round, remedial action module 380 can indicate MPC modules 312 It is provided for working as independently of the possibility sequence of the desired value 266 to 270 of the iteration for during current control loop starting The desired value 266 to 270 of preceding control loop.Second round can be more than the period 1 and/or equal to the control performed by ECM 114 The cycle in loop processed.In an example, remedial action module 380 can indicate that MPC modules 312 set desired value 266 to 270 It is set to the analog value that actuator constraint 348 and output constraint are limited by reference value 356.In the second example, remedial action mould Block 380 can indicate the desired value that desired value 266 to 270 is set to select during previous control loop by MPC modules 312 The first value in N number of value of 266 to 270 possibility sequence.In the 3rd example, remedial action module 380 can indicate MPC moulds The possibility sequence for the desired value 266 to 270 that desired value 266 to 270 is set to select during previous control loop by block 312 N number of value in second value.

In addition, when the current iteration time being more than or equal to second round, remedial action module 380 can indicate MPC moulds Block 312 suppresses to start new iteration group during next control loop.Then, if the selection target value 266 of MPC modules 312 One into 270 possibility sequence, then MPC modules 312 can be by the desired value 266 to 270 for next control loop It is equal to the first value in N number of value of selected sequence.In other words, continue in the current iteration time and distribute to next control During the cycle in loop processed, MPC modules 312 can be provided for next based on the iteration started during current control loop The desired value 266 to 270 of control loop.

In this way, remedial action module 380 allow that MPC modules 312 complete to start during current control loop repeatedly Generation.MPC modules 312 can then restart the iteration during the control loop after next control loop.Allow MPC The iteration that module 312 completes to start during current control loop can reduce what completion started during subsequent control loop Time quantum needed for iteration.In addition, the cycle rate of MPC modules 312 can be relative to for most long expection iteration time Reduced for worst situation cycle rate.

The current iteration time be more than the period 3 when, the solution that MPC modules 312 are sought be probably it is infeasible or Another failure is there may be in person MPC modules 312.Therefore, remedial action module 380 can diagnose the event in MPC modules 312 Hinder and produce fault-signal 384.In addition, remedial action module 380 can be for example, by removing the internal memory in MPC modules 312 To reset and reinitialize MPC modules 312.In addition, remedial action module 380 can start service indicator 199 and/or set Put diagnostic trouble code（DTC）.Period 3 can be more than second round and can be equal to two controls performed by ECM 114 The sum in the cycle in loop.Therefore, when the current iteration time being more than the period 3, the current iteration time, which can continue to, to be distributed to The cycle of control loop after next control loop.

When producing fault-signal 384, desired value 266 to 270 can be set to reference value by backup module 388 respectively 356.More particularly, Target exhaust door can be opened area 266 and be set to open face with reference to waste gate by backup module 388 Product, by target throttle opening area 267 be set to reference to air throttle open area, by target EGR opening area 268 be set to Area is opened with reference to EGR, target inlet air cam phaser angle 269 is set to reference to exhaust cam phaser angle and by target Exhaust cam phaser angle 270 is set to refer to exhaust cam phaser angle.In addition, backup module 388 can be by adjusting mesh Scale value 266 to 270 or by disable some actuators come the change of limited target value 266 to 270 and/or limitation engine 102 torque output.For example, backup module 388 can be by opening waste gate 162, closing throttler valve 112, delay completely Exhaust cam phaser 148 and exhaust cam phaser 150, disabling are defeated to the fuel of one or more cylinders of engine 102 The spark in one or more cylinders of engine 102 is sent and/or disables to limit the torque output of engine 102.When not having When producing fault-signal 384, desired value 266 to 270 can be set to those set by MPC modules 312 by backup module 388 Value.

In each implementation, it may be predetermined that perform the cycle needed for single iteration.In these implementations, remedial action Module 380 can monitor the iteration number of the execution of MPC modules 312 and be multiplied by predetermined iteration cycle to be worked as by iteration number Preceding iteration time.Or, as the replacement that the current iteration time compares with period 1, second round and period 3, Remedial action module 380 can compare iteration number with the first value, second value and the 3rd value.First value, second value and the Three values can predefine and/or can by by period 1, second round and period 3 divided by predetermined iteration cycle come It is determined that.

Referring now to Fig. 5, for manage the control loop performed by MPC modules 312 cycle method 502. 504, remedial action module 380 is monitored to be completed to open during the current control loop performed by ECM 114 in MPC modules 312 Elapsed time amount during the iteration of beginning.As discussed above, elapsed time is properly termed as the current iteration time.

506, remedial action module 380 determines whether the current iteration time is more than or equal to the period 1.Such as above institute Discuss, it may be predetermined that the period 1 is to allow the sufficient time that other tasks are completed before current control loop terminates. If the current iteration time is more than or equal to the period 1, method continues 508.Otherwise, MPC modules 312 can be grasped normally Make.Therefore, method returns to 504 and MPC modules 312 and continues executing with iteration until finding solution.If MPC modules The current iteration time is less than the period 1 to the possible target value sequence of 312 selections simultaneously, then MPC modules 312 can be according to selected sequence Next position of the row order for each engine actuators.

508, remedial action module 380 indicates that MPC modules 312 suspend iteration.510, remedial action module 380 is determined Whether other tasks complete.As discussed above, other tasks are not performed by MPC modules 312 for tasks and can had Less than the priority of the control loop performed by MPC modules 312.If other tasks are completed, method continues 512, wherein MPC modules 312 recover iteration.Otherwise, method returns to 508 and MPC modules 312 and continues to suspend iteration.

514, remedial action module 380 determines whether the current iteration time is more than or equal to second round.Such as above institute Discuss, second round can be more than the period 1 and/or equal to the cycle by the control loops performed of ECM 114.If current Iteration time is more than or equal to second round, then method continues 516.Otherwise, method return to 512 and MPC modules 312 after The continuous iteration that performs is until finding solution.

516, remedial action module 380 indicates MPC modules 312 independently of for starting during current control loop The possibility sequence of the desired value 266 to 270 of iteration is provided for the desired value 266 to 270 of current control loop.In a reality In example, remedial action module 380 can indicate that desired value 266 to 270 is set to be limited by reference value 356 by MPC modules 312 Actuator constraint 348 and the analog value of output constraint.In the second example, remedial action module 380 can indicate MPC modules The 312 possibility sequences of desired value 266 to 270 for being set to select during previous control loop by desired value 266 to 270 The first value in N number of value.In the 3rd example, remedial action module 380 can indicate MPC modules 312 by desired value 266 to 270 are set to the second value in N number of value of the possibility sequence of desired value 266 to 270 for being selected during previous control loop.

In addition 516, remedial action module 380 can indicate that MPC modules 312 suppress to open during next control loop Begin new iteration group.Then, if one in the possibility sequence of the selection target value 266 to 270 of MPC modules 312, MPC moulds Desired value 266 to 270 for next control loop can be equal to the in N number of value of selected sequence by block 312 One value.In other words, when continueing to the cycle for distributing to next control loop in the current iteration time, MPC modules 312 can be with base The desired value 266 to 270 of next control loop is provided in the iteration started during current control loop.

518, remedial action module 380 determines whether the current iteration time is more than the period 3.As discussed above, Three cycles can be more than second round and can be equal to by the sum in the cycle of two control loops performed of ECM 114.Therefore, When the current iteration time being more than the period 3, the current iteration time can continue to distribute to next control loop after The cycle of control loop.If the current iteration time is more than the period 3, method can continue 520.Otherwise, method is returned Iteration is continued executing with until finding solution to 516 and MPC modules 312.

520, remedial action module 380 can diagnose the failure in MPC modules 312 and produce fault-signal 384.Separately External 520, remedial action module 380 can reset and reinitialize for example, by removing the internal memory in MPC modules 312 MPC modules 312.In addition 520, remedial action module 380 can start service indicator 199 and/or set diagnostic trouble code （DTC）.

Referring now to Fig. 6, the exemplary scenario related to Fig. 5 method is shown.Shown scene include the first scene 602, Second scene 604, the 3rd scene 606 and the 4th scene 608.Scene 602 to 608 is the x-axis 610 relative to the time that represents to retouch Paint.

In all scenes of scene 602 to 608, the first control loop from 612 to 614 is performed in 612, ECM 114, ECM114 performs the second control loop from 614 to 616, and MPC modules 312 start first group 618 of MPC iteration.MPC moulds Elapsed time is properly termed as the current iteration time when block 312 completes first group 618.In the first scene 602, in MPC modules 312 when finding solution, and first group 618 is completed in 620, MPC modules 312.Therefore, from 620 to 622, ECM 114 is performed Other（Non- MPC）Task 624.

ECM 114 completes other tasks 624 before the very first time 626.Can be with from cycle of 612 to the very first time 626 Equal to the period 1 discussed above.Because MPC modules 312 complete first group 618 of MPC iteration before the very first time 626, So the first scene 602 shows the normal operating of MPC modules 312.Thus, the first scene 602 can correspond in Fig. 5 506 current iteration times were less than the situation of period 1.

Terminate in 614, first control loops and the second control loop starts.Because MPC modules 312 are controlled back first First group 618 is completed during road, so MPC modules 312 are in 614 start MPC iteration second groups 628.At first group 618 and In two group 628, each square represents single iteration.

In the second scene 604, MPC modules 312 do not complete first group 618 before the very first time 626.Thus, Second scene 604 can correspond in Fig. 5 in situation of the 506 current iteration times more than or equal to the period 1.Therefore, One time 626, MPC modules 312 suspend first group 618 to allow ECM 114 to complete other tasks 624.

Other tasks 624 are completed in 630, ECM 114.Therefore, first group 618 of the recovery of MPC modules 312 MPC iteration. MPC modules 312 complete first group 618 during the first control loop.Therefore, MPC iteration is started in 614, MPC modules 312 Second group 628.

In the 3rd scene 606, ECM 114 just completes other tasks 624 until 614, and MPC modules 312 are recovered at this moment First group 618.Therefore, MPC modules 312 do not complete first group 618 during the first control loop.Thus, the second scene It can correspond in Fig. 5 in situation of the 514 current iteration times more than or equal to second round.

Due to MPC modules 312 during the first control loop do not complete first group 618, so MPC modules 312 614 not Start second group 628.In addition, MPC modules 312 are come independently of the sequence of the possibility desired value selected when completing first group 618 It is provided for the desired value of the first control loop.For example, MPC modules 312 can set the desired value for the first control loop It is set to the desired value set in last control loop.First group 618 is completed in 632, MPC modules 312 and selection can The sequence of energy desired value.Next, the desired value for the second control loop can be set to possible target by MPC modules 312 The first value in the selected sequence of value.

In the 4th scene 608, MPC modules 312 do not complete first group 618 before the second time 634.From 614 to The cycle of two times 634 can be equal to the period 1.Therefore, in the second time 634, MPC modules 312 suspend first group 618 with ECM 114 is allowed to complete other tasks 624.

Other tasks are completed in 616, ECM 114, first group 618 of the MPC iteration of the recovery of MPC modules 312 at this moment.Cause This, MPC modules 312 do not complete first group 618 during the second control loop.Thus, the 4th scene 608 can correspond to It is more than or equal to the situation of period 3 in Fig. 5 in 518 current iteration times.Therefore, 616, remedial action module 380 can be with The failure in MPC modules 312 is diagnosed, is reset and reinitializes MPC modules 312 and/or starts service indicator 199.Or, Remedial action module 380 can just perform these actions until the control loops for completing the predetermined quantity more than two of ECM 114.

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 instantiation, but the true scope of the disclosure is not This is should be limited to, because other modifications will become apparent after study accompanying drawing, specification and appended claims.Such as this Text used, at least one in 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）Perform.

In including this application defined below, term module can be replaced by term circuit.Term module may refer to Herein below, it is one part or including herein below：ASIC（ASIC）；Numeral, simulation or hybrid guided mode Plan/numeral discrete circuit；Numeral, 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 by the internal memory of the code of computing device（It is shared, special With or cluster）；Other described functional suitable hardware componenies are provided；Or it is some or all of in above content Combination, such as on-chip system.

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 internal memory of some or all of codes of the storage from multiple modules.Art Language cluster memory covers the internal memory that some or all of codes of the storage from one or more modules are combined with extra memory.Term Internal memory can be the subset of term computer-readable medium.Term computer-readable medium is not covered by by the temporary of Medium Propagation When electric signal and electromagnetic signal, and be therefore considered tangible and permanent.Permanent tangible computer computer-readable recording medium Non-limiting examples include Nonvolatile memory, volatile ram, magnetic storage and optical memory.

Apparatus 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 permanent readable Jie of tangible computer Processor-executable instruction in matter.Computer program can also be included and/or dependent on the data stored.

Claims

1. a kind of system in the cycle for the control loop for managing engine, including：

Model Predictive Control module, the Model Predictive Control module performs Model Predictive Control task, including：

Desired value is set to the possibility desired value of selected group；

Actuator module, the actuator module controls the actuator of engine based at least one in the desired value； And

Remedial action module, the remedial action module is based on the elapsed time amount when performing the Model Predictive Control task At least one in the iteration number being performed with the Model Predictive Control task optionally takes remedial action.

2. the system in the cycle of the control loop of engine is managed as claimed in claim 1, wherein when the elapsed time During more than the period 1, the remedial action module indicates that the Model Predictive Control module is suspended the Model Predictive Control and appointed Business.

3. the system in the cycle of the control loop of engine is managed as claimed in claim 2, wherein：

When other tasks are completed, the remedial action module indicates model prediction described in the Model Predictive Control module recovery Control task；And

Other described tasks have the priority lower than the Model Predictive Control task.

4. the system in the cycle of the control loop of engine is managed as claimed in claim 2, wherein：

When the elapsed time is more than second round, the remedial action module indicates that the Model Predictive Control module is only The possibility desired value for the iteration started during current control loop is stood on to be provided for the current control loop Desired value；And

The second round is more than the period 1.

5. the system in the cycle of the control loop of engine is managed as claimed in claim 4, wherein when the elapsed time During more than the second round, the remedial action module indicates that the Model Predictive Control module will be used for the current control The desired value in loop is set to the desired value set during previous control loop.

6. the system in the cycle of the control loop of engine is managed as claimed in claim 4, wherein：

When the iteration for completing to start during the current control loop, the Model Predictive Control module is provided for described The desired value of current control loop and following control loop；And

When the elapsed time is more than the second round, the remedial action module indicates the Model Predictive Control mould Desired value for the current control loop is set to be provided for the following control during previous control loop by block The desired value in loop.

7. the system in the cycle of the control loop of engine is managed as claimed in claim 4, wherein when the elapsed time During more than the second round, the remedial action module indicates that the Model Predictive Control module suppresses to return in following control Restart the Model Predictive Control task during road.

8. the system in the cycle of the control loop of engine is managed as claimed in claim 4, wherein：

The period 3 is more than the second round.

9. the system in the cycle of the control loop of engine is managed as claimed in claim 8, wherein the remedial action includes Limit the torque output of the engine and start at least one in service indicator.

10. the system in the cycle of the control loop of engine is managed as claimed in claim 8, wherein the Model Predictive Control Module is determined for each in the possible desired value group based on the difference between the possible desired value and reference value Cost, the system further comprises backup module, the backup mould when the elapsed time is more than the period 3 Desired value for the current control loop is set to reference value by block.

11. a kind of method in the cycle for the control loop for managing engine, including：

Model Predictive Control task is performed, including：

Desired value is set to the possibility desired value of selected group；

Based on perform the Model Predictive Control task when elapsed time amount and the Model Predictive Control task be performed Iteration number at least one optionally take remedial action.

12. managing the method in the cycle of the control loop of engine as claimed in claim 11, it further comprises when described When elapsed time is more than the period 1, suspend the Model Predictive Control task.

13. managing the method in the cycle of the control loop of engine as claimed in claim 12, it further comprises working as other When task is completed, recover the Model Predictive Control task, appoint wherein other described tasks have than the Model Predictive Control The low priority of business.

14. managing the method in the cycle of the control loop of engine as claimed in claim 12, it further comprises when described When elapsed time is more than second round, the possibility desired value independently of the iteration for starting during current control loop is come The desired value of the current control loop is provided for, wherein the second round is more than the period 1.

15. managing the method in the cycle of the control loop of engine as claimed in claim 14, it further comprises when described When elapsed time is more than the second round, the desired value for the current control loop is set to previous control back The desired value set during road.

16. managing the method in the cycle of the control loop of engine as claimed in claim 14, it further comprises：

When the iteration for completing to start during the current control loop, the current control loop and not is provided for Carry out the desired value of control loop；And

When the elapsed time is more than the second round, before the desired value for the current control loop is set to The desired value of the following control loop is provided for during one control loop.

17. managing the method in the cycle of the control loop of engine as claimed in claim 14, it further comprises when described When elapsed time is more than the second round, suppress to restart the Model Predictive Control during following control loop Task.

18. managing the method in the cycle of the control loop of engine as claimed in claim 14, it further comprises when described Elapsed time takes the remedial action when being more than the period 3, wherein the period 3 is more than the second round.

19. the method in the cycle of the control loop of engine is managed as claimed in claim 18, wherein the remedial action bag Include the torque output for limiting the engine and start at least one in service indicator.

20. managing the method in the cycle of the control loop of engine as claimed in claim 18, it further comprises：

Determined based on the difference between the possible desired value and reference value for each in the possible desired value group Cost；And

When the elapsed time is more than the period 3, by the desired value setting for the current control loop For reference value.