CN105443254B - The internal-combustion engine rotational speed control system of expandable type - Google Patents
The internal-combustion engine rotational speed control system of expandable type Download PDFInfo
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- CN105443254B CN105443254B CN201510658184.5A CN201510658184A CN105443254B CN 105443254 B CN105443254 B CN 105443254B CN 201510658184 A CN201510658184 A CN 201510658184A CN 105443254 B CN105443254 B CN 105443254B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
- F02D31/002—Electric control of rotation speed controlling air supply
- F02D31/003—Electric control of rotation speed controlling air supply for idle speed control
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- Combustion & Propulsion (AREA)
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- General Engineering & Computer Science (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The present invention provides a kind of internal-combustion engine rotational speed control system of expandable type, including：Priority Coordination module, control parameter computing module, controlled quentity controlled variable limit value computing module, high rotational speed control module, slow-speed of revolution control module, minimum speed control module and logic selecting module；Priority Coordination module is used for receiving the rotating speed control data of difference in functionality module, and rotating speed control data of the rotating speed control data of the functional module of highest priority in rotating speed control data queue as activation is selected according to predetermined priority；Control parameter computing module is used for determining the control parameter of high rotational speed control module, slow-speed of revolution control module and minimum speed control module needs according to the rotating speed control data of activation；Logic selecting module is used for selecting to export the calculated value of one of module in high rotational speed control module, slow-speed of revolution control module and minimum speed control module.The invention provides processing strategy during rational rotating speed control data.
Description
Technical field
The present invention relates to technical field of internal combustion engines, especially a kind of internal-combustion engine rotational speed control system.
Background technology
It is three-in-one that Chinese patent CN101749133A provides a kind of electronic controlled diesel idling fine setting, PTO and cruise
Intelligent control method.The purpose of the patent is：By one group of mutual independent switches set of four self-resetting switch substitution, as far as possible
While reducing software and hardware spending, meet three kinds of Idling Process for Diesel Engine fine setting, PTO and cruise control functions.The patent uses
Technological means and reach effect and be：Finely tuned with idling, one group of four self-resetting switch that PTO and cruise are shared substitutes mutually
Mutually independent switches set, three kinds of functions all use identical " target vehicle speed or rotational speed governor " and " closed loop controller " module,
According to different functions, different parameters is passed to above-mentioned two module；Judge to activate according to speed, rotating speed and switching signal
Any function in idling fine setting, PTO and cruise.The patent deficiency and reason be：Do not account for idling fine setting,
PTO and cruise two of which or two or more function activate simultaneously when, " target vehicle speed or rotational speed governor " and " closed loop control
The processing strategy of device processed "；The technical field of the patent is electronic controlled diesel field, has minimum turn during electric control diesel normal operation
Speed and maximum speed limitation require that idling fine setting, PTO and cruise function can only be operated in the range of rotating speed limitation, should
Patent does not illustrate how " target vehicle speed or rotational speed governor " and " closed loop controller " reaches above-mentioned requirements.
Chinese patent CN101275492A provides a kind of control method for engine speed based on torque.The mesh of the patent
Be：Improve the overall flexibility of engine control system, simplify the software requirement for performing this control and automatic calibration is provided
Process.By the overall operation and development cost that so, reduce engine system.The technological means and reach effect that the patent uses
Fruit is：Engine speed according to needed for determining required orifice size and ignition timing, is determined according to required engine speed
Slow response torque and quick response torque, the charge flow rate according to needed for determining slow response torque, according to required air inlet
Flow and air- distributor pressure determine required orifice size, according to needed for determining quick response torque and required charge flow rate
Ignition timing, control engine to operate in required engine speed with this.The patent deficiency and reason be：The patent
Engine speed needed for being determined with required orifice size and ignition timing, but still determined according to required engine speed
The engine finally orifice size needed for operation and ignition timing, is conflicting in control logic.
Chinese patent CN1603598A provides a kind of idle speed control device.The purpose of the patent is：Hair can be made
Motivation rotating speed is smooth moved from the idling mode of feedback control to the non-idle of opened loop control.The skill that the patent uses
Art means and reach effect and be：The bypass of air throttle is set, IAC is set on bypass；In the idling state,
When controlling IAC to cause engine speed to maintain rotating speed of target, then being moved from idling mode to non-idle, directly
When reaching defined reference opening amount to throttle opening, in valve opening when IAC to be maintained to feedback control, non-
Under idling mode, when throttle opening reaches defined reference opening amount, by IAC control in target valve opening, from
And even the inhaled air volume calculated in feedback control and the inhaled air volume that is calculated in opened loop control it is poor larger
When, smoothly moving from feedback control to opened loop control can also be carried out.The patent deficiency and reason be：The patent needs
Bypass is set on air throttle and its controls the IAC of bypass, by controlling IAC engine to exist
Rotating speed of target is operated under idling mode, can so increase system complexity and cost；The patent is not accounted for from non-idling shape
State is transitioned into control strategy during idling mode.
Mainly its own shortcomings also be present in the prior art：
1. as Vehicular system becomes increasingly complex, propose that the functional module of rotating speed control data is more and more to engine,
Do not have to provide the processing strategy when there are multiple functional modules to propose rotating speed control data to engine simultaneously in existing technology.
2. engine has maximum speed limitation and minimum speed limitation to require do not have in the prior art in the process of running
The processing strategy for making engine operate in the range of rotating speed limitation is provided.
3. engine is set to operate in the control strategy of minimum safe rotating speed without providing in the prior art.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided a kind of internal-combustion engine rotational speed of expandable type
Control system, it is possible to provide processing strategy when multiple functional modules propose rotating speed control data to engine simultaneously in Vehicular system
And engine is set to operate in the control strategy of minimum safe rotating speed in the case of system fault.
In the present invention, engine is also referred to as internal combustion engine.The technical solution adopted by the present invention is：
A kind of internal-combustion engine rotational speed control system of expandable type, it is characterised in that including：Priority Coordination module, control
Parameter calculating module, controlled quentity controlled variable limit value computing module, high rotational speed control module, slow-speed of revolution control module, minimum speed control mould
Block and logic selecting module；
The priority Coordination module is used for receiving the rotating speed control data of difference in functionality module, according to predetermined excellent
Rotating speed control of the rotating speed control data of the functional module of highest priority as activation in first level selection rotating speed control data queue
System request；Functional module is rotating speed control data module；
The control parameter computing module be used for according to the rotating speed control data of activation determine high rotational speed control module, low turn
The control parameter that fast control module and minimum speed control module needs；
The controlled quentity controlled variable limit value computing module is used for determining high rotational speed control module, the slow-speed of revolution according to engine operating conditions
The limit value of variable is controlled in control module, minimum speed control module and logic selecting module；
The high rotational speed control module is used for the highest that limit engine rotating speed is no more than in the rotating speed control data of activation
Internal combustion engine operation rotating speed；
The slow-speed of revolution control module is used for limit engine rotating speed not less than minimum in the rotating speed control data of activation
Internal combustion engine operation rotating speed is low when highest internal-combustion engine rotational speed in the rotating speed control data of activation and equal minimum internal-combustion engine rotational speed
Rotational speed control module controls internal combustion engine to determine rotating speed value request of the rotating speed mode operation in the rotating speed control data of activation；
The minimum speed control module is used for determine rotating speed mode operation existing in slow-speed of revolution control module control internal combustion engine
Under rotating speed value request operating mode in the rotating speed control data of activation, protection internal combustion engine operation turns in the minimum safe that internal combustion engine requires
On speed；
The logic selecting module is used for high according to engine operating conditions and the selection output of the rotating speed control data of activation
The calculated value of one of module in rotational speed control module, slow-speed of revolution control module and minimum speed control module.
Further, described functional module comprises at least following rotating speed control data module：Height idle speed control rotating speed
Ask submodule.
Further, described functional module also includes following rotating speed control data module：Outside rotating speed control data
Submodule, cruise control rotating speed request submodule, outside power takeoff rotating speed request submodule.
Further, the priority Coordination module stated, it can according to demand increase and delete in rotating speed control data queue
Functional module, wherein, height idle speed control rotating speed request submodule exist always；
Priority Coordination module gives each functional module in rotating speed control data queue to distribute a priority in advance, its
In, the priority of height idle speed control rotating speed request submodule is minimum, during rotating speed control data only without other submodules,
Height idle speed control rotating speed request submodule can be activated.
Further, described control parameter computing module, it sends most according to the rotating speed control data module of activation
The minimum internal combustion engine operation rotating speed that low internal combustion engine operation rotating speed is sent with height idle speed control rotating speed request submodule takes maximum,
Obtain the target slow-speed of revolution point of slow-speed of revolution control module；The highest internal combustion engine sent according to the rotating speed control data module of activation is transported
The highest internal combustion engine operation rotating speed that row rotating speed is sent with height idle speed control rotating speed request submodule takes minimum value and and target
Slow-speed of revolution point takes maximum, obtains the high rotating speed point of target of high rotational speed control module；Height idle speed control rotating speed is asked into submodule
Target minimum speed of the minimum internal combustion engine operation rotating speed or a specific tachometer value that block is sent as minimum speed control module
Point.
Further, described high rotational speed control module, it is mainly by a proportional controller and an integral controller
Composition；The input of proportional controller and integral controller in high rotational speed control module is the high rotating speed point of target and Current internal combustion engines
The deviation of rotating speed；Proportional controller in high rotational speed control module connects an adder with the output of integral controller；When interior
When combustion engine rotating speed has more than target high rotating speed point trend, high rotational speed control module turns according to the high rotating speed point of target and Current internal combustion engines
The deviation of speed carries out closed loop regulation, makes internal-combustion engine rotational speed stable in the high rotating speed point of target；
Described slow-speed of revolution control module, it is mainly by a proportional controller, an integral controller and a differential
Controller forms；The input of proportional controller in slow-speed of revolution control module, integral controller and derivative controller is that target is low
The deviation of rotating speed point and Current internal combustion engines rotating speed；Proportional controller in slow-speed of revolution control module, integral controller and differential control
The output of device processed connects an adder；When internal-combustion engine rotational speed has less than target slow-speed of revolution point trend, slow-speed of revolution control module
Closed loop regulation is carried out according to the deviation of target slow-speed of revolution point and Current internal combustion engines rotating speed, makes internal-combustion engine rotational speed stable in low turn of target
Fast point；
Described minimum speed control module, it is mainly by a proportional controller, an integral controller composition；It is minimum
The input of proportional controller and integral controller in rotational speed control module is target minimum speed point and Current internal combustion engines rotating speed
Deviation；When the rotating speed control data module activation of non-height idle speed control rotating speed request submodule in rotating speed control data queue
When, when internal-combustion engine rotational speed has less than target minimum speed point trend, according to target minimum speed point and Current internal combustion engines rotating speed
Deviation carry out closed loop regulation, make internal-combustion engine rotational speed stable in target minimum speed point.
Further, described control parameter computing module, it is according to Current internal combustion engines operating mode, driveline states, vehicle
Transport condition determines high rotational speed control module, slow-speed of revolution control module, the control of each controller in minimum speed control module
Parameter processed, including proportion adjustment parameter, integral adjustment parameter and differential adjustment parameter.
Further, described controlled quentity controlled variable limit value computing module, for calculating high rotational speed control module, slow-speed of revolution control mould
Limit value in block and minimum speed control module, including proportion adjustment exports limit value, integral adjustment exports limit value, differential regulation is defeated
Go out limit value, and the respective total output limit value of high rotational speed control module, slow-speed of revolution control module and minimum speed control module.
Further, described control parameter computing module, its according to Current internal combustion engines rotating speed and gas pedal aperture come
Determine the frozen state of the integral controller in high and low rotational speed control module；When gas pedal aperture is more than aperture threshold value and interior
Combustion engine rotating speed adds the first rotary speed threshold value more than the target slow-speed of revolution, and the integral controller in slow-speed of revolution control module freezes, and height turns
Integral controller in fast control module thaws；When internal-combustion engine rotational speed is less than or equal to target slow-speed of revolution point, slow-speed of revolution control module
In integral controller thaw, the integral controller in high rotational speed control module freezes.
Further, described control parameter computing module, when internal combustion engine completes to start control, according to Current internal combustion engines
Rotating speed and coolant water temperature are tabled look-up to obtain an initialization controlling value or previous moment are started into the controlling value of control as low turn
The output initialization value of the integral controller of fast control module；, ought when target slow-speed of revolution point rotating speed point high with target is identical
The output control value of preceding internal combustion engine（Moment of torsion or oil mass）Output initialization as the integral controller of slow-speed of revolution control module
Value；When the integral controller of slow-speed of revolution control module freezes, the integration control that value is assigned to high rotational speed control module is output it
The output initialization value of integral controller of the device device processed as high rotational speed control module；
When internal-combustion engine rotational speed is less than or equal to target slow-speed of revolution point, now the integral controller of slow-speed of revolution control module thaws
When, the integral controller calculated value is multiplied by integration control of the initialization coefficient as the slow-speed of revolution control module when last time is freezed
The output initialization value of device.
Further, described logic selecting module, its according to the relation of present engine rotating speed and speed setpoint come
Determine in the high rotational speed control module of revolution speed control system final output, slow-speed of revolution control module and minimum speed control module three
The calculated value of which module；Its select logic be：
The slow-speed of revolution is taken when the high rotating speed point HiN of target is equal to the target slow-speed of revolution point LoN, high rotational speed control module output HiPID
Control module calculated value LoPIDLtd, slow-speed of revolution control model output LoPID also take slow-speed of revolution control module calculated value
LoPIDLtd；
When the high rotating speed point HiN of target freezes not equal to target slow-speed of revolution point LoN and slow-speed of revolution control module integral controller
When, high rotational speed control module output HiPID takes different values according to the difference of internal-combustion engine rotational speed, when internal-combustion engine rotational speed is more than mesh
When absolute altitude rotating speed point subtracts skew rotary speed threshold value, high rotational speed control module output HiPID takes high rotational speed control module calculated value
HiPIDLtd；Otherwise operator demand's value DrvDem is taken；Slow-speed of revolution control module output LoPID takes 0；
When the high rotating speed point HiN of target does not freeze not equal to target slow-speed of revolution point LoN and slow-speed of revolution control module integral controller
During knot, high rotational speed control module output HiPID takes operator demand value DrvDem, slow-speed of revolution control module output LoPID to take low
Rotational speed control module calculated value LoPIDLtd；
When target minimum speed point is more than target slow-speed of revolution point, minimum speed control module output MinPID takes minimum turn
The calculated value MinPIDLtd of fast control module；When target minimum speed point is less than or equal to target slow-speed of revolution point, minimum speed control
Molding block output MinPID takes slow-speed of revolution control module calculated value LoPIDLtd；
Final revolution speed control system output SpdGovOut calculating process is as follows：High rotational speed control module output HiPID with
Minimum value is taken between operator demand's value DrvDem, then controls mould with minimum speed with slow-speed of revolution control module output LoPID
Maximum between block output MinPID takes maximum as final output.
The advantage of the invention is that：
It is possible, firstly, to according to the requirement of Vehicular system, neatly delete and increase to engine proposition rotating speed control data
Functional module.
Secondly, can be according to pre- when there is two or more functional modules to propose rotating speed control data to engine
The rotating speed control data functional module of the priority activation highest priority first determined.
Finally, in system fault, engine can be controlled to operate in minimum safe rotating speed.
Brief description of the drawings
Fig. 1 is the structure composition schematic diagram of the present invention.
The priority that Fig. 2 is the present invention selects request queue schematic diagram.
The rotating speed of target that Fig. 3 is the present invention calculates schematic diagram.
Fig. 4 is the revolution speed control system core schematic diagram of the present invention.
The control module that Fig. 5 is the present invention integrates frozen state calculating schematic diagram.
Fig. 6 is the integral controller initialization procedure schematic diagram of the present invention.
Fig. 7 is the logic selecting module schematic diagram of the present invention.
Fig. 8 is the slow-speed of revolution control model schematic diagram of the present invention.
Fig. 9 is the high rotating speed control mode schematic diagram of the present invention.
Figure 10 determines rotating speed control mode schematic diagram for the present invention's.
Figure 11 is the minimum speed control model schematic diagram of the present invention.
Embodiment
With reference to specific drawings and examples, the invention will be further described.
Fig. 1 is the internal-combustion engine rotational speed control system block diagram of expandable type of the present invention.In Fig. 1, according to Vehicular system
The needs of operation, the request of height idle speed control rotating speed submodule 100, outside rotating speed control data submodule 110 can be activated, patrolled
One or more rotating speed controls in boat control rotating speed request submodule 120 and outside power takeoff rotating speed request submodule 130
Request module, above-described rotating speed control data module is intended only as one embodiment of the present of invention, but is not limited to the present invention
Embodiment.In actual applications, it can neatly increase according to the demand of Vehicular system and delete rotating speed control data mould
Block, this is also one of the advantages of the present invention.After rotating speed control data module is activated, then carried to internal combustion engine revolution speed control system
Go out rotating speed control data.In priority Coordination module, according to predetermined priority, activated from request queue
In functional module, the rotating speed control data of functional module of highest priority is selected as current rotating speed control data, such as Fig. 2
It is shown.In control parameter computing module, the rotating speed control data proposed according to the functional module activated in request queue calculates
The high rotating speed point of target, target slow-speed of revolution point and target minimum speed point, as shown in Figure 3.Simultaneously in control parameter computing module,
The current rotating speed control data module determined according to priority Coordination module, to calculate high rotational speed control module, slow-speed of revolution control
The control parameter that module and minimum speed control module need, including proportion adjustment parameter, integral adjustment parameter and differential are adjusted
Save parameter.In controlled quentity controlled variable limit value computing module, according to the current rotating speed control data module of priority Coordination module determination, come
Calculate the limit value of high rotational speed control module, slow-speed of revolution control module and minimum speed control module, including proportion adjustment limit value, product
Divide regulation limit value and differential regulation limit value, and high rotational speed control module, slow-speed of revolution control module and minimum speed control mould
The respective total output limit value of block.When internal-combustion engine rotational speed has more than the high rotating speed point trend of target, high rotational speed control module makes internal combustion
Machine stabilization of speed is near the high rotating speed point of target.When internal-combustion engine rotational speed has less than target slow-speed of revolution point trend, slow-speed of revolution control
Module makes internal-combustion engine rotational speed stable near target slow-speed of revolution point.When internal-combustion engine rotational speed has less than target minimum speed point trend
When, minimum speed control module makes internal-combustion engine rotational speed stable near target minimum speed point.Logic selecting module, its basis are worked as
The relation of preceding internal-combustion engine rotational speed and speed setpoint determines the high rotational speed control module of rotational speed governor final output, slow-speed of revolution control
The calculated value of which module in molding block and minimum speed control module three.
Fig. 2 is priority selection request queue schematic diagram.In embodiments of the present invention, priority from high to low be outside
Rotating speed control data submodule 110, outside power takeoff rotating speed request submodule 130, cruise control rotating speed request submodule
120.Height idle speed control rotating speed request submodule 100 exists always, and priority is minimum.In an embodiment of the invention,
Outside rotating speed control data submodule 110 and cruise control rotating speed request submodule 120 is also at state of activation.So preferentially
Determine that outside rotating speed control data submodule 110 is current rotating speed control data mould according to the height of priority in level Coordination module
Block.
Fig. 3 is that rotating speed of target calculates schematic diagram.It was found from from described in Fig. 2, the rotating speed control data mould that is active
Block has outside rotating speed control data submodule 110, cruise control rotating speed request submodule 120 and the request of height idle speed control rotating speed
Submodule 100,
Target slow-speed of revolution point is to take maximum to be worth to according to the slow-speed of revolution of the rotating speed control data module of activation request, because
And target slow-speed of revolution point LoN asks 110_LoN, cruise control to turn according to the slow-speed of revolution of outside rotating speed control data submodule 110
The slow-speed of revolution request 120_LoN and height idle speed control rotating speed request submodule 100 of speed request submodule 120 slow-speed of revolution request
100_LoN takes maximum to be worth to.The high rotating speed point of target please be asked for most according to the high rotating speed of the rotating speed control data module of activation
Small value and maximum is taken to be worth to target slow-speed of revolution point.Thus, the high rotating speed point HiN of target is according to outside rotating speed control data submodule
The high rotating speed request 110_HiN of block 110, the high rotating speed request 120_HiN of cruise control rotating speed request submodule 120 and height are idle
The high rotating speed request 100_HiN of speed control rotating speed request submodule 100 takes minimum value, is then taken again with target slow-speed of revolution point LoN
Maximum is worth to.Target minimum speed point MinN can be determined by two methods, first, height idle speed control rotating speed is asked
The slow-speed of revolution request 100_LoN of submodule 100 as target minimum speed point, it is another be using a setting value SETN as target most
Slow-speed of revolution point.
Fig. 4 is revolution speed control system core schematic diagram.It is mainly by high rotational speed control module, slow-speed of revolution control mould
Block, minimum speed control module and logic selecting module composition.The input of slow-speed of revolution control module is target slow-speed of revolution point LoN,
Internal-combustion engine rotational speed N and controller control parameter（Including ratio, integration, differential control parameter, integral controller frozen state etc.）.
When internal-combustion engine rotational speed is less than target slow-speed of revolution point, slow-speed of revolution control module, which can increase moment of torsion or oil mass upwards, makes rotating speed rise simultaneously
Stabilization is in target slow-speed of revolution point；When internal-combustion engine rotational speed is higher than target slow-speed of revolution point, slow-speed of revolution control module can reduce torsion downwards
Square or oil mass make rotating speed decline and stably in target slow-speed of revolution point.When slow-speed of revolution control module integral controller freezes, integration
Controller exports a fixed value, and now main passing ratio and derivative controller are adjusted.According to the difference of operating mode, control
Amount limit value computing module can transmit the total output of output and slow-speed of revolution control module of the different limits values to integral controller
Limited.SUB is subtracter in Fig. 4, and ADD is adder.The input of high rotational speed control module is the high rotating speed point HiN of target,
Internal-combustion engine rotational speed N and controller control parameter（Including ratio, integration control parameter, integral controller frozen state）.Work as internal combustion
When machine rotating speed is less than target high rotating speed point, high rotational speed control module, which can increase moment of torsion or oil mass upwards, to be risen rotating speed and stably exists
The high rotating speed point of target；When internal-combustion engine rotational speed rotating speed point high higher than target, high rotational speed control module can reduce moment of torsion or oil downwards
Amount makes rotating speed decline and stably in the high rotating speed point of target.When the integral controller of high rotational speed control module freezes, integration control
Device exports a specific value, and now main passing ratio controller is adjusted.According to the difference of operating mode, controlled quentity controlled variable limit value calculates
Module can transmit the total output of output and high rotational speed control module of the different limits values to integral controller and limit.Most
The input of small rotational speed control module is target minimum speed point MinN, internal-combustion engine rotational speed N and controller control parameter（Including than
Example, integration control parameter）.When internal-combustion engine rotational speed is less than target minimum speed point, minimum speed control module can increase upwards
Moment of torsion or oil mass make rotating speed rise and stably in target minimum speed point；When internal-combustion engine rotational speed is higher than target minimum speed point,
Minimum speed control module, which can reduce moment of torsion or oil mass downwards, makes rotating speed decline and stably in target minimum speed point.Minimum speed
Control module integral controller, when that can increase integration saturation function, prevents that its integral controller is excessive without defrosting logic is freezed
Saturation influences control effect.According to the difference of operating mode, controlled quentity controlled variable limit value computing module can transmit different limits values and integration is controlled
The output of device processed and the total output of minimum speed control module are limited.
Fig. 5 is that control module integration frozen state calculates schematic diagram.It is mainly with slow-speed of revolution control module integral controller
Exemplified by frozen state calculates, high rotational speed control module integral controller frozen state is in contrast.Its calculating logic is as follows, first
Judge whether the high rotating speed point of current goal is equal to target slow-speed of revolution point by 20, thawed if equal, sentenced if not waiting into 21
It is disconnected.If meet 21 condition：Gas pedal aperture is more than aperture threshold value and internal-combustion engine rotational speed and is more than target slow-speed of revolution point plus the
One rotary speed threshold value（This threshold value is typically 20~40 revs/min), then integral controller freezes, and 23 are entered if being unsatisfactory for and is judged.
If meet 23 condition：Internal-combustion engine rotational speed is less than or equal to target slow-speed of revolution point, then integral controller thaws.
Fig. 6 is integral controller initialization procedure schematic diagram.For slow-speed of revolution control module integral controller, work as product
Frozen state 230 is divided to become 0 from 1（Thaw）Make, integral controller be initialized as the last time when freezing integral controller calculated value multiply
To initialize the value 210 that coefficient obtains；, can according to the difference of demarcation selecting switch 260 when start completion mark is changed into 1 from 0
Initialization is completed so that startup controlling value 240 or the value tabled look-up according to water temperature and rotating speed 250 are assigned to integral controller.For
For high rotational speed control module integral controller, when integration frozen state 290 is changed into 0 from 1（Now in high rotational speed control module
Integral controller thaw, and the integral controller of slow-speed of revolution control module freezes）, slow-speed of revolution control module integral controller
Calculated value LoI is assigned to high rotational speed control module integral controller and completes initialization.220 and 280 be respectively slow-speed of revolution control in figure
Calculated value when molding block integral controller, high rotational speed control module integral controller normal work.
Fig. 7 is logic selecting module schematic diagram.Its according to current target high rotating speed point HiN, target slow-speed of revolution point LoN,
Internal-combustion engine rotational speed N, slow-speed of revolution control module integral controller frozen state StILo determine the defeated of high and low rotational speed control module
Go out and the output of final revolution speed control system.
370 are taken when the high rotating speed point HiN of target is equal to the target slow-speed of revolution point LoN, high rotational speed control module output HiPID, i.e.,
Slow-speed of revolution control module calculated value LoPIDLtd, slow-speed of revolution control model output LoPID also take 370；
When the high rotating speed point HiN of target is not equal to target slow-speed of revolution point LoN（I.e. target is high, and slow-speed of revolution set point is unequal）And
When slow-speed of revolution control module integral controller freezes（Internal-combustion engine rotational speed adds the first rotary speed threshold value more than the target slow-speed of revolution）, height turn
Fast control module output HiPID takes different values according to the difference of internal-combustion engine rotational speed, and when internal-combustion engine rotational speed is more than, target is high to be turned
When speed point subtracts skew rotary speed threshold value, HiPID takes 350, i.e., high rotational speed control module calculated value HiPIDLtd；Otherwise 360 are taken, i.e.,
The moment of torsion or oil mass (the operator demand value DrvDem in figure) of operator demand；Slow-speed of revolution control module output LoPID takes 0；
When the high rotating speed point HiN of target is not equal to target slow-speed of revolution point LoN（I.e. target is high, and slow-speed of revolution set point is unequal）And
When slow-speed of revolution control module integral controller does not freeze（Internal-combustion engine rotational speed is less than or equal to target slow-speed of revolution point）, high rotating speed control mould
Block output HiPID takes 360 i.e. operator demand's value DrvDem, slow-speed of revolution control module output LoPID to take the 370 i.e. slow-speed of revolution to control
Module calculated value LoPIDLtd；
When target minimum speed point is more than target slow-speed of revolution point, minimum speed control module output MinPID takes minimum turn
The calculated value 390MinPIDLtd of fast control module；When target minimum speed point is less than or equal to target slow-speed of revolution point, minimum turns
Fast control module output MinPID takes slow-speed of revolution control module calculated value LoPIDLtd；
Final revolution speed control system output SpdGovOut calculating process is as follows：High rotational speed control module output HiPID with
Minimum value is taken between operator demand's value DrvDem, then controls mould with minimum speed with slow-speed of revolution control module output LoPID
Maximum between block output MinPID takes maximum as final output.
Fig. 8 is slow-speed of revolution control model schematic diagram.Target slow-speed of revolution set point LoN is 700rpm, the high speed setting of target
Point HiN is 2000rpm.Accelerator open degree is 0 at the beginning, and slow-speed of revolution control module works, and is maintained at internal-combustion engine rotational speed N
Near 700rpm.Gradually risen with the rotating speed of stepping on of gas pedal, progressively disengage slow-speed of revolution control model and opened into driver
Ring control model.Due to internal-combustion engine rotational speed highest point from the high speed setpoint of target farther out, high rotational speed control module exports still
Operator demand is worth, so high rotational speed control module does not play maximum speed restriction effect.As diminishing for gas pedal aperture turns
Speed is gradually reduced, and slow-speed of revolution control module functions to, i.e., the output valve of slow-speed of revolution control module is worth more than operator demand.
Final rotating speed is maintained near target slow-speed of revolution set point.
Fig. 9 is high rotating speed control mode schematic diagram.Target slow-speed of revolution set point LoN is 700rpm, the high speed setting of target
Point HiN is 1200rpm.Accelerator open degree is 0 at the beginning, and slow-speed of revolution control module works, and is maintained at internal-combustion engine rotational speed N
Near 700rpm.Gradually risen with the rotating speed of stepping on of gas pedal, progressively disengage slow-speed of revolution control model and opened into driver
Ring control model.More and more nearer from the high rotating speed point of target with the further rise of rotating speed, high rotational speed control module starts to act as
With the output of that is, high rotational speed control module is worth less than operator demand.This moment, operator demand's value is relative to being shielded, mainly
The rotating speed of internal combustion engine is controlled by high rotational speed control module, stabilizes it and maintains near 1200rpm.As gas pedal is opened
Degree diminishes, and rotating speed is gradually reduced, and is again introduced into driver's open loop control mode.With the further drop of gas pedal aperture
Low, slow-speed of revolution control module functions to, and finally makes stabilization of speed near 700rpm.
Figure 10 is to determine rotating speed control mode schematic diagram.Target slow-speed of revolution set point LoN is 700rpm, the high speed setting of target
Point HiN is 2000rpm.Accelerator open degree is 0 at the beginning, and slow-speed of revolution control module works, and is maintained at internal-combustion engine rotational speed N
Near 700rpm.Gradually risen with the rotating speed of stepping on of gas pedal, progressively disengage slow-speed of revolution control model and opened into driver
Ring control model.Subsequent target slow-speed of revolution set point LoN is changed into 1500rpm, and the high speed setpoint HiN of target is changed into 1500rpm,
Both are equal, and rotating speed control mode is determined in entrance.Now operator demand's value is shielded, and revolution speed control system regulation output valve, is interior
Combustion engine stabilization of speed is near 1500rpm.
Figure 11 is minimum speed control model schematic diagram.Target slow-speed of revolution set point LoN is 700rpm, target minimum speed
Set point MinN is 700rpm, and the high speed setpoint HiN of target is 2000rpm.Leading portion control process is similar with Figure 10, is entering
After determining rotating speed control mode, the torque limit request of outside is now received, the final output of revolution speed control system is limited,
It is allowed to that internal-combustion engine rotational speed can not be made to stablize in rotating speed of target point 1500rpm, subsequent rotating speed is gradually reduced, if limits value is too small,
Internal-combustion engine rotational speed may be reduced under target minimum speed set point, influence the normal operation of internal combustion engine.It is now minimum to turn
Fast control module functions to, and it is exported will not be limited influenceing for request by external torque, it is ensured that turns internal combustion engine
Speed is stably maintained near target minimum speed set point.
The present invention can propose the function mould of rotating speed control data to engine according to the requirement of Vehicular system, dynamic configuration
Block；Two can be handled and more than two functional modules propose rotating speed control data to engine simultaneously；It can go out in system
Engine is set to operate in minimum safe rotating speed in the case of mistake.
Claims (11)
- A kind of 1. internal-combustion engine rotational speed control system of expandable type, it is characterised in that including：Priority Coordination module, control ginseng Number computing module, controlled quentity controlled variable limit value computing module, high rotational speed control module, slow-speed of revolution control module, minimum speed control module With logic selecting module；The priority Coordination module is used for receiving the rotating speed control data of difference in functionality module, according to predetermined priority Select the rotating speed control data of the functional module of highest priority in rotating speed control data queue please as the rotating speed control of activation Ask；Functional module is rotating speed control data module；The control parameter computing module is used for determining high rotational speed control module, slow-speed of revolution control according to the rotating speed control data of activation The control parameter that molding block and minimum speed control module need；The controlled quentity controlled variable limit value computing module is used for determining that high rotational speed control module, the slow-speed of revolution control according to engine operating conditions The limit value of variable is controlled in module, minimum speed control module and logic selecting module；The high rotational speed control module is used for the highest internal combustion that limit engine rotating speed is no more than in the rotating speed control data of activation Machine running speed；The slow-speed of revolution control module is used for limit engine rotating speed not less than the minimum internal combustion in the rotating speed control data of activation Machine running speed, when highest internal-combustion engine rotational speed in the rotating speed control data of activation and equal minimum internal-combustion engine rotational speed, the slow-speed of revolution Control module controls internal combustion engine to determine rotating speed value request of the rotating speed mode operation in the rotating speed control data of activation；The minimum speed control module is used for activating to determine rotating speed mode operation in slow-speed of revolution control module control internal combustion engine Rotating speed control data in rotating speed value request operating mode under, minimum safe rotating speed that protection internal combustion engine operation is required in internal combustion engine it On；The logic selecting module is used for exporting high rotating speed according to engine operating conditions and the selection of the rotating speed control data of activation The calculated value of one of module in control module, slow-speed of revolution control module and minimum speed control module.
- 2. the internal-combustion engine rotational speed control system of expandable type as claimed in claim 1, it is characterised in that：Described functional module comprises at least following rotating speed control data module：Height idle speed control rotating speed asks submodule.
- 3. the internal-combustion engine rotational speed control system of expandable type as claimed in claim 2, it is characterised in that：Described functional module also includes following rotating speed control data module：Outside rotating speed control data submodule, cruise control Rotating speed request submodule, outside power takeoff rotating speed request submodule.
- 4. the internal-combustion engine rotational speed control system of expandable type as claimed in claim 2, it is characterised in that：Described priority Coordination module, it can according to demand increase and delete the functional module in rotating speed control data queue, Wherein, height idle speed control rotating speed request submodule exists always；Priority Coordination module gives each functional module in rotating speed control data queue to distribute a priority in advance, wherein, The priority of height idle speed control rotating speed request submodule is minimum, during rotating speed control data only without other submodules, ability Activate height idle speed control rotating speed request submodule.
- 5. the internal-combustion engine rotational speed control system of the expandable type as described in claim 2,3 or 4, it is characterised in that：Described control parameter computing module, its minimum internal combustion engine operation sent according to the rotating speed control data module of activation turn The minimum internal combustion engine operation rotating speed that speed is sent with height idle speed control rotating speed request submodule takes maximum, obtains slow-speed of revolution control The target slow-speed of revolution point of module；It is idle according to the highest internal combustion engine operation rotating speed that the rotating speed control data module of activation is sent and height The highest internal combustion engine operation rotating speed that speed control rotating speed request submodule is sent takes minimum value and takes maximum with target slow-speed of revolution point Value, obtains the high rotating speed point of target of high rotational speed control module；Height idle speed control rotating speed request submodule is sent minimum interior The target minimum speed point of combustion engine running speed or a specific tachometer value as minimum speed control module.
- 6. the internal-combustion engine rotational speed control system of expandable type as claimed in claim 5, it is characterised in that：Described high rotational speed control module, it is mainly made up of a proportional controller and an integral controller；High rotating speed control The input of proportional controller and integral controller in molding block is the deviation of the high rotating speed point of target and Current internal combustion engines rotating speed；It is high Proportional controller in rotational speed control module connects an adder with the output of integral controller；When internal-combustion engine rotational speed has more than During the high rotating speed point trend of target, high rotational speed control module is closed according to the deviation of the high rotating speed point of target and Current internal combustion engines rotating speed Ring is adjusted, and makes internal-combustion engine rotational speed stable in the high rotating speed point of target；Described slow-speed of revolution control module, it is mainly by a proportional controller, an integral controller and a differential control Device forms；The input of proportional controller in slow-speed of revolution control module, integral controller and derivative controller is the target slow-speed of revolution The deviation of point and Current internal combustion engines rotating speed；Proportional controller in slow-speed of revolution control module, integral controller and derivative controller Output connect an adder；When internal-combustion engine rotational speed has less than target slow-speed of revolution point trend, slow-speed of revolution control module according to The deviation of target slow-speed of revolution point and Current internal combustion engines rotating speed carries out closed loop regulation, makes internal-combustion engine rotational speed stable in the target slow-speed of revolution Point；Described minimum speed control module, it is mainly by a proportional controller, an integral controller composition；Minimum speed The input of proportional controller and integral controller in control module is inclined for target minimum speed point and Current internal combustion engines rotating speed Difference；When the rotating speed control data module activation of non-height idle speed control rotating speed request submodule in rotating speed control data queue, When internal-combustion engine rotational speed has less than target minimum speed point trend, according to the inclined of target minimum speed point and Current internal combustion engines rotating speed Difference carries out closed loop regulation, makes internal-combustion engine rotational speed stable in target minimum speed point.
- 7. the internal-combustion engine rotational speed control system of expandable type as claimed in claim 6, it is characterised in that：Described control parameter computing module, it is according to Current internal combustion engines operating mode, driveline states, and vehicle transport condition determines High rotational speed control module, slow-speed of revolution control module, the control parameter of each controller in minimum speed control module, including ratio Adjustment parameter, integral adjustment parameter and differential adjustment parameter.
- 8. the internal-combustion engine rotational speed control system of expandable type as claimed in claim 6, it is characterised in that：Described controlled quentity controlled variable limit value computing module, for calculating high rotational speed control module, slow-speed of revolution control module and minimum speed Limit value in control module, including proportion adjustment output limit value, integral adjustment output limit value, differential regulation output limit value, and The respective total output limit value of high rotational speed control module, slow-speed of revolution control module and minimum speed control module.
- 9. the internal-combustion engine rotational speed control system of expandable type as claimed in claim 6, it is characterised in that：Described control parameter computing module, it determines high and low rotating speed according to Current internal combustion engines rotating speed and gas pedal aperture The frozen state of integral controller in control module；When gas pedal aperture is more than mesh more than aperture threshold value and internal-combustion engine rotational speed The mark slow-speed of revolution adds the first rotary speed threshold value, and the integral controller in slow-speed of revolution control module freezes, in high rotational speed control module Integral controller thaws；When internal-combustion engine rotational speed is less than or equal to target slow-speed of revolution point, the integral controller in slow-speed of revolution control module Thaw, the integral controller in high rotational speed control module freezes.
- 10. the internal-combustion engine rotational speed control system of expandable type as claimed in claim 9, it is characterised in that：Described control parameter computing module, when internal combustion engine completes to start control, according to Current internal combustion engines rotating speed and cooling water Temperature is tabled look-up to obtain an initialization controlling value or previous moment is started into the controlling value of control as slow-speed of revolution control module The output initialization value of integral controller；When target slow-speed of revolution point rotating speed point high with target is identical, by the defeated of Current internal combustion engines Go out output initialization value of the controlling value as the integral controller of slow-speed of revolution control module；When the integration control of slow-speed of revolution control module When device processed freezes, output it value and be assigned to product of the integral controller device of high rotational speed control module as high rotational speed control module The output initialization value of sub-controller；, will when internal-combustion engine rotational speed is less than or equal to target slow-speed of revolution point, and now the integral controller of slow-speed of revolution control module thaws The integral controller calculated value is multiplied by initialization coefficient as the integral controller of the slow-speed of revolution control module when last time freezes Export initialization value.
- 11. the internal-combustion engine rotational speed control system of expandable type as claimed in claim 9, it is characterised in that：Described logic selecting module, it determines rotating speed control system according to the relation of present engine rotating speed and speed setpoint The meter of which module in the high rotational speed control module of final output of uniting, slow-speed of revolution control module and minimum speed control module three Calculation value；Its select logic be：Slow-speed of revolution control is taken when the high rotating speed point HiN of target is equal to the target slow-speed of revolution point LoN, high rotational speed control module output HiPID Module calculated value LoPIDLtd, slow-speed of revolution control model output LoPID also take slow-speed of revolution control module calculated value LoPIDLtd；It is high when the high rotating speed point HiN of target is not equal to target slow-speed of revolution point LoN and slow-speed of revolution control module integral controller freezes Rotational speed control module output HiPID takes different values according to the difference of internal-combustion engine rotational speed, when internal-combustion engine rotational speed is more than target height When rotating speed point subtracts skew rotary speed threshold value, high rotational speed control module output HiPID takes high rotational speed control module calculated value HiPIDLtd；Otherwise operator demand's value DrvDem is taken；Slow-speed of revolution control module output LoPID takes 0；When the high rotating speed point HiN of target is not equal to target slow-speed of revolution point LoN and slow-speed of revolution control module integral controller does not freeze, High rotational speed control module output HiPID takes operator demand value DrvDem, slow-speed of revolution control module output LoPID to take slow-speed of revolution control Molding block calculated value LoPIDLtd；When target minimum speed point is more than target slow-speed of revolution point, minimum speed control module output MinPID takes minimum speed control The calculated value MinPIDLtd of molding block；When target minimum speed point is less than or equal to target slow-speed of revolution point, minimum speed control mould Block output MinPID takes slow-speed of revolution control module calculated value LoPIDLtd；Final revolution speed control system output SpdGovOut calculating process is as follows：In high rotational speed control module output HiPID with driving Minimum value is taken between member's requirements DrvDem, then LoPID is exported with slow-speed of revolution control module and minimum speed control module is defeated The maximum gone out between MinPID takes maximum as final output.
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| CN106762173B (en) * | 2016-12-15 | 2019-06-11 | 北京汽车研究总院有限公司 | A kind of control method for engine speed, device and automobile |
| CN108361114B (en) * | 2018-01-29 | 2020-05-22 | 中国第一汽车股份有限公司 | Engine multi-mode control system |
| CN113323759B (en) * | 2021-06-15 | 2023-03-24 | 东风汽车集团股份有限公司 | Method for controlling internal working condition of engine based on priority |
| CN114607516B (en) * | 2022-03-30 | 2023-08-22 | 重庆长安汽车股份有限公司 | Control method and device of engine idle speed controller and automobile |
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