CN105484886B - The control method and the system of engine speed management system based on parallel double PID - Google Patents
The control method and the system of engine speed management system based on parallel double PID Download PDFInfo
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- CN105484886B CN105484886B CN201510999946.8A CN201510999946A CN105484886B CN 105484886 B CN105484886 B CN 105484886B CN 201510999946 A CN201510999946 A CN 201510999946A CN 105484886 B CN105484886 B CN 105484886B
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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
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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
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/101—Engine speed
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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)
Abstract
A kind of control method of the engine speed management system based on parallel double PID, first height idling speed is asked, the rotating speed request of external equipment carries out bound speed setting, obtain bound speed setpoint, again using the difference of the bound speed setpoint of acquisition and actual engine speed value as control parameter input value, obtain bound PI parameter groups, then using the difference of the bound speed setpoint of acquisition and engine mean speed as the input value of bound PID controller, PID control is carried out to export the value of PID control to the input value of bound PID controller by the bound PI parameter groups of acquisition again, export demand torque of the value of PID control as total output interference engine, demand torque is controlled to engine speed.The design is not only simple to operate, and engine speed can be carried out unified and effectively managed.
Description
Technical field
The present invention relates to a kind of control method of the engine speed management system in high pressure common rail electric-controlled diesel engine, especially
It is related to a kind of control method and the system of the engine speed management system based on parallel double PID, is primarily adapted for use in starting
Machine rotating speed is carried out unified and effectively managed.
Background technology
Engine speed is to characterize a very important characteristic variable of engine operation condition, under many operating modes all
Engine speed is controlled, most typical operating mode is exactly idle speed control.Before diesel engine on a large scale automatically controlledization, machinery
Diesel engine is typically all regulated and controled using speed regulator to rotating speed, and after the code enforcement of state three, Electrocontrolled high-pressure common rail is into diesel oil
The mainstream technology of machine, rotating speed are controlled also by electronic controller（EECU）It is managed.
Control of engine speed in general sense refers to the control of height idling, with the popularization of electric-control motor, passes through
CAN remote control engine speed is possibly realized.There is the source of request to engine speed now, can be classified as follows
Three classes：The request of engine speed working range, including height idling；External equipment rotating speed request from CAN accesses,
Including gearbox, ABS, entire car controller, propulsion box and retarder；Speed variable is asked, and includes the propulsion box of non-bus form
Rotating speed is asked, and can pass through the switch-mode regulation rotating speed at steering wheel.Numerous rotating speed request sources can bring following problem：It is more when occurring
During individual rotating speed request source, how rotating speed of target sets, how control parameter selects；How fast and effectively to be cut from a kind of request source
Change to another request source.
Pid algorithm can be used for controlling the rotating speed of diesel engine.Traditional PID can only be directed to the less feelings of working conditions change scope
Condition, and the range of operation operating mode of diesel engine（Including rotating speed and moment of torsion）Than broad, it is therefore desirable to propose new method to meet
The complicated running situation of diesel engine speed, in addition, traditional independent pid algorithm engine speed can not be carried out it is unified and effectively
Ground management.
Chinese patent application publication No. is CN103742278A, and data of publication of application is the disclosure of the invention on April 23rd, 2014
A kind of engine revolution speed control system during gear switching, is made up of TMS and EMS, and EMS includes base torque module, PID is controlled
Molding block and microprocessor, TMS carry out gear switching, to engine management system sends rotating speed control data signal, vehicle is born
The moment of resistance, response time and engine target rotating speed are carried, when rotating speed control data signal is effective, base torque module will start
The machine moment of resistance, vehicle load resistance square and rotary inertia torque are added as basic torque output, and pid control module is with engine
Rotating speed deviation and engine actual torque obtain correcting torque output, microprocessor is according to engine speed deviation as input
Rotary inertia torque is calculated, also basic torque output is added with amendment torque output, it is defeated to obtain engine actual torque
Go out and exported with actual engine speed.Although the invention has moment of torsion exports on demand, rotating speed response is accurate, PID control is fine etc.
Advantage, but it still has following defect：The rotating speed of engine is controlled when the invention can only be directed to gear switching, and right
Asked in a variety of rotating speeds, such design can not be carried out unified to engine speed and effectively managed.
The content of the invention
The purpose of the present invention is to overcome to carry out engine speed unified present in prior art and effectively manage
The defects of reason and problem, there is provided a kind of that the hair based on parallel double PID that is unified and effectively managing can be carried out to engine speed
The control method and the system of motivation rotating speed management system.
To realize object above, technical solution of the invention is：A kind of engine speed pipe based on parallel double PID
The control method of reason system, the control method comprise the following steps：
A, bound speed setpoint obtains：
A, high idle speed set point obtains：Current gear speed is higher as input value, acquisition gear than decision threshold than with speed
Idling set point, now, gear high idle speed set point are high idle speed set point；
B, low idling set point obtains：First obtain the minimum speed of cell voltage demand, throttle component demand most respectively
It is the slow-speed of revolution, the minimum speed of air supply rate demand, the minimum speed of current gear demand, the low idling set point of warming-up operating mode, more
Idling setting value corresponding to end switch, each value obtains low idling set point further according to more than；
C, external request speed setpoint bound exports：External equipment request rotating speed is controlled and visited without moment of torsion control
When asking, outside request original value exports as external request speed setpoint bound；The control of external equipment request rotating speed is simultaneously
And when having moment of torsion control access, outside request original value exports as external request speed setpoint lower limit, high idle speed setting
Point exports as the external request speed setpoint upper limit；During external equipment request rotating speed limitation, outside request original value conduct
The external request speed setpoint upper limit exports, and low idling set point exports as external request speed setpoint lower limit；
D, according to external request speed setting in low idling set point, step c in high idle speed set point, step b in step a
Point bound output, obtains bound speed setpoint；
B, bound PI parameter groups obtain：The upper limit speed setpoint and actual engine speed that will first be obtained in step A
The difference of value, the difference of lower limit speed setpoint and actual engine speed value, then will controls respectively as control parameter input value
The excursion of parameter input value processed is divided into small-signal, big positive signal, three sections big of negative signal, draws selection parameter value, so
Correction and Control parameter input value afterwards, revised control parameter input value is obtained, further according to revised control parameter input value
With the selection parameter value, bound PI parameter groups are obtained；
C, the demand torque of total output interference engine obtains：First by the upper limit speed setpoint obtained in step A with
Difference, the difference of lower limit speed setpoint and engine mean speed of engine mean speed are controlled respectively as bound PID
The input value of device processed, then the bound PI parameter groups by being obtained in step B are carried out to the input value of bound PID controller
PID control exports demand torque of the value of PID control as total output interference engine, demand to export the value of PID control
Moment of torsion is controlled to engine speed.
Gear high idle speed set point is obtained in the step a to refer to：First by current gear speed than entering with speed than decision threshold
Row obtains the setting of gear high idle speed relatively to judge that gear is in high-grade area or low-grade area further according to gear area residing for gear
Point.
In the step a, when the engine is started, when taking gear high idle speed set point with starting in high idle speed set point most
Small value is used as high idle speed set point；In the case of shelves are robbed, when taking gear high idle speed set point and robbing grade in high idle speed set point most
Big value is used as high idle speed set point；When multistate switch is in different conditions, gear high idle speed set point and multistate switch shape are taken
Minimum value is as high idle speed set point in state set point.
Respectively the low idling set point of value acquisition refers to more than in the step b：By the minimum speed of cell voltage demand,
The minimum speed of throttle component demand, the minimum speed of air supply rate demand, the minimum speed of current gear demand, warming-up operating mode
Idling setting value corresponding to low idling set point, multipole switch is compared, take the above be respectively worth in maximum set as low idling
Fixed point.
The acquisition of bound speed setpoint refers in the step d：By in high idle speed set point in step a and step c
The output of the external request speed setpoint upper limit is compared, and chooses maximum as upper limit speed setpoint, low idling in step b is set
Fixed point chooses minimum value as lower limit speed setpoint compared with external request speed setpoint lower limit output in step c.
The excursion of control parameter input value is divided into small-signal, big positive signal, big negative signal in the step B
Three sections, selection parameter value is drawn, then Correction and Control parameter input value, obtain revised control parameter input value, further according to
Revised control parameter input value and the selection parameter value, obtain bound PI parameter groups and refer to：
The excursion of the control parameter input value is first divided into small-signal, big positive signal, three sections big of negative signal,
Three segment limits have three kinds of different parameters corresponding respectively, then by the control parameter input value and positive window value, negative window
Mouth value is compared parameter corresponding to selection unlike signal, acquisition selection parameter value, further according to engine speed and moment of torsion, uses
The mode tabled look-up obtains correction factor, and correction factor is multiplied by control parameter input value, obtains revised control parameter input value,
Then revised control parameter input value is multiplied with the selection parameter value, obtains bound PI parameter groups.
The control parameter input value selects to join corresponding to unlike signal compared with positive window value, negative window value
Number, obtain selection parameter value and refer to：
When the control parameter input value is more than positive window value, selection parameter value is that big positive signal corresponds to parameter；
When the control parameter input value is less than negative window value, selection parameter value is that big negative signal corresponds to parameter；When the control
When parameter input value processed is between positive window value and negative window value, selection parameter value is that small-signal corresponds to parameter.
PID control is carried out with defeated to the input value of bound PID controller by bound PI parameter groups in the step C
The value for going out PID control refers to：First pass through bound PI parameter groups and PI controls are carried out to the input value of bound PID controller, it is defeated
Go out the value of bound PI controls, then the value that bound PI is controlled is added, the value after then will add up carries out differential control, output
The value of PID control.
The value of the bound PI controls refers to that the value of bound P controls is added the value drawn with the bound I values controlled,
Value, the value of upper limit PI controls of the upper limit I controls are required to be limited in limited torque threshold limit value and upper limited torque irreducible minimum
In the range of value, value, the value of lower limit PI controls of the lower limit I controls are required to be limited in lower limited torque threshold limit value and lower limit torsion
In the range of square minimum limit value, the value of the PID control needs to be limited in final torque output threshold limit value and final torque output
In the range of minimum limit value.
A kind of engine speed management system based on parallel double PID, the engine speed management system include rotating speed
Set point acquisition module, pid control parameter acquisition module, double PID controllers, double PID controllers include PI controllers, differential control
Device processed, the PI controllers include upper limit PI controllers, the lower limit PI controllers of concurrent operation；
The acquisition of upper limit speed setpoint, lower limit speed setpoint is in the step A：Speed setpoint acquisition module pair
The request of height idling speed, the rotating speed request of external equipment carry out bound speed setting, obtain upper limit speed setpoint, lower limit
Speed setpoint；
The acquisition of upper limit PI parameter groups, lower limit PI parameter groups is in the step B：It is more than pid control parameter acquisition module
It is input value to limit speed setpoint, lower limit speed setpoint, according to bound setting speed and engine mean speed, in acquisition
Limit PI parameter groups, lower limit PI parameter groups；
Interfere the acquisition of the demand torque of engine to be in the step C：Upper limit speed setpoint and upper limit PI parameter groups
The value of upper limit PI controls is exported by upper limit PI controllers, lower limit speed setpoint is controlled with lower limit PI parameter groups by lower limit PI
The value of device bottoming PI controls, the value and the value of lower limit PI controls of upper limit PI controls export PID control by derivative controller
Demand torque of the value as total output interference engine.
Compared with prior art, beneficial effects of the present invention are：
1st, due in the present invention a kind of control method and the system of the engine speed management system based on parallel double PID
When being controlled, bound speed setting is carried out to request sources such as the request of height idling speed, the requests of external equipment rotating speed first
The acquisition of point, the acquisition of bound PI parameter groups is secondly carried out according to bound speed setpoint and actual engine speed, most
Bound PID control is carried out according to bound speed setpoint and bound PI parameter groups afterwards, total output interference is obtained and starts
The demand torque of machine, engine speed is controlled with this demand torque, such control method is not only simple to operate, and takes into account more
Kind rotating speed request source, is limited in engine speed between the set point of upper and lower two PID controllers, avoids height idling
The frequent switching of rotating speed of target and relevant parameter during different operating modes, and a variety of rotating speeds please be sought unification onto an algorithm, it is simultaneous
A variety of rotating speed access stencils have been cared for, engine speed can have been carried out unified and effectively managed.Therefore, the present invention not only operation letter
It is single, and engine speed can be carried out unified and effectively managed.
2nd, due in the present invention a kind of control method and the system of the engine speed management system based on parallel double PID
Engine speed management system includes speed setpoint acquisition module, pid control parameter acquisition module, double PID controllers, double
PID controller includes upper limit PI controllers, lower limit PI controllers, derivative controller, and such design can not only turn to engine
Speed is carried out unified and effectively managed, and simple in construction.Therefore, the present invention can not only be unified and be had to engine speed
The management of effect ground, and it is simple in construction.
Brief description of the drawings
Fig. 1 is the structural representation of engine speed management system in the present invention.
Fig. 2 is the schematic flow sheet that high idle speed set point obtains in the present invention.
Fig. 3 is the schematic flow sheet that low idling set point obtains in the present invention.
Fig. 4 is outside rotating speed control data in the present invention（Without moment of torsion control）The flow of speed setpoint bound output is shown
It is intended to.
Fig. 5 is outside rotating speed control data in the present invention（There is torque limit）The flow of speed setpoint bound output is shown
It is intended to.
Fig. 6 is the schematic flow sheet of outside rotating speed limitation request speed setpoint bound output in the present invention.
Fig. 7 is the schematic flow sheet of the Windowing processing of control parameter input value in the present invention.
Fig. 8 is the schematic flow sheet of control parameter input value amendment in the present invention.
Fig. 9 is the structural representation of double PID controllers in the present invention.
Figure 10 is the operation schematic diagram of first differential controller in the present invention.
Embodiment
Below in conjunction with brief description of the drawings, the present invention is further detailed explanation with embodiment.
Referring to Fig. 1 to Figure 10, a kind of control method of the engine speed management system based on parallel double PID, the control
Method processed comprises the following steps：
A, bound speed setpoint obtains：
A, high idle speed set point obtains：Current gear speed is higher as input value, acquisition gear than decision threshold than with speed
Idling set point, now, gear high idle speed set point are high idle speed set point；
B, low idling set point obtains：First obtain the minimum speed of cell voltage demand, throttle component demand most respectively
It is the slow-speed of revolution, the minimum speed of air supply rate demand, the minimum speed of current gear demand, the low idling set point of warming-up operating mode, more
Idling setting value corresponding to end switch, each value obtains low idling set point further according to more than；
C, external request speed setpoint bound exports：External equipment request rotating speed is controlled and visited without moment of torsion control
When asking, outside request original value exports as external request speed setpoint bound；The control of external equipment request rotating speed is simultaneously
And when having moment of torsion control access, outside request original value exports as external request speed setpoint lower limit, high idle speed setting
Point exports as the external request speed setpoint upper limit；During external equipment request rotating speed limitation, outside request original value conduct
The external request speed setpoint upper limit exports, and low idling set point exports as external request speed setpoint lower limit；
D, according to external request speed setting in low idling set point, step c in high idle speed set point, step b in step a
Point bound output, obtains bound speed setpoint；
B, bound PI parameter groups obtain：The upper limit speed setpoint and actual engine speed that will first be obtained in step A
The difference of value, the difference of lower limit speed setpoint and actual engine speed value, then will controls respectively as control parameter input value
The excursion of parameter input value processed is divided into small-signal, big positive signal, three sections big of negative signal, draws selection parameter value, so
Correction and Control parameter input value afterwards, revised control parameter input value is obtained, further according to revised control parameter input value
With the selection parameter value, bound PI parameter groups are obtained；
C, the demand torque of total output interference engine obtains：First by the upper limit speed setpoint obtained in step A with
Difference, the difference of lower limit speed setpoint and engine mean speed of engine mean speed are controlled respectively as bound PID
The input value of device processed, then the bound PI parameter groups by being obtained in step B are carried out to the input value of bound PID controller
PID control exports demand torque of the value of PID control as total output interference engine, demand to export the value of PID control
Moment of torsion is controlled to engine speed.
Gear high idle speed set point is obtained in the step a to refer to：First by current gear speed than entering with speed than decision threshold
Row obtains the setting of gear high idle speed relatively to judge that gear is in high-grade area or low-grade area further according to gear area residing for gear
Point.
In the step a, when the engine is started, when taking gear high idle speed set point with starting in high idle speed set point most
Small value is used as high idle speed set point；In the case of shelves are robbed, when taking gear high idle speed set point and robbing grade in high idle speed set point most
Big value is used as high idle speed set point；When multistate switch is in different conditions, gear high idle speed set point and multistate switch shape are taken
Minimum value is as high idle speed set point in state set point.
Respectively the low idling set point of value acquisition refers to more than in the step b：By the minimum speed of cell voltage demand,
The minimum speed of throttle component demand, the minimum speed of air supply rate demand, the minimum speed of current gear demand, warming-up operating mode
Idling setting value corresponding to low idling set point, multipole switch is compared, take the above be respectively worth in maximum set as low idling
Fixed point.
The acquisition of bound speed setpoint refers in the step d：By in high idle speed set point in step a and step c
The output of the external request speed setpoint upper limit is compared, and chooses maximum as upper limit speed setpoint, low idling in step b is set
Fixed point chooses minimum value as lower limit speed setpoint compared with external request speed setpoint lower limit output in step c.
The excursion of control parameter input value is divided into small-signal, big positive signal, big negative signal in the step B
Three sections, selection parameter value is drawn, then Correction and Control parameter input value, obtain revised control parameter input value, further according to
Revised control parameter input value and the selection parameter value, obtain bound PI parameter groups and refer to：
The excursion of the control parameter input value is first divided into small-signal, big positive signal, three sections big of negative signal,
Three segment limits have three kinds of different parameters corresponding respectively, then by the control parameter input value and positive window value, negative window
Mouth value is compared parameter corresponding to selection unlike signal, acquisition selection parameter value, further according to engine speed and moment of torsion, uses
The mode tabled look-up obtains correction factor, and correction factor is multiplied by control parameter input value, obtains revised control parameter input value,
Then revised control parameter input value is multiplied with the selection parameter value, obtains bound PI parameter groups.
The control parameter input value selects to join corresponding to unlike signal compared with positive window value, negative window value
Number, obtain selection parameter value and refer to：
When the control parameter input value is more than positive window value, selection parameter value is that big positive signal corresponds to parameter；
When the control parameter input value is less than negative window value, selection parameter value is that big negative signal corresponds to parameter；When the control
When parameter input value processed is between positive window value and negative window value, selection parameter value is that small-signal corresponds to parameter.
PID control is carried out with defeated to the input value of bound PID controller by bound PI parameter groups in the step C
The value for going out PID control refers to：First pass through bound PI parameter groups and PI controls are carried out to the input value of bound PID controller, it is defeated
Go out the value of bound PI controls, then the value that bound PI is controlled is added, the value after then will add up carries out differential control, output
The value of PID control.
The value of the bound PI controls refers to that the value of bound P controls is added the value drawn with the bound I values controlled,
Value, the value of upper limit PI controls of the upper limit I controls are required to be limited in limited torque threshold limit value and upper limited torque irreducible minimum
In the range of value, value, the value of lower limit PI controls of the lower limit I controls are required to be limited in lower limited torque threshold limit value and lower limit torsion
In the range of square minimum limit value, the value of the PID control needs to be limited in final torque output threshold limit value and final torque output
In the range of minimum limit value.
A kind of engine speed management system based on parallel double PID, the engine speed management system include rotating speed
Set point acquisition module, pid control parameter acquisition module, double PID controllers, double PID controllers include PI controllers, differential control
Device processed, the PI controllers include upper limit PI controllers, the lower limit PI controllers of concurrent operation；
The acquisition of upper limit speed setpoint, lower limit speed setpoint is in the step A：Speed setpoint acquisition module pair
The request of height idling speed, the rotating speed request of external equipment carry out bound speed setting, obtain upper limit speed setpoint, lower limit
Speed setpoint；
The acquisition of upper limit PI parameter groups, lower limit PI parameter groups is in the step B：It is more than pid control parameter acquisition module
It is input value to limit speed setpoint, lower limit speed setpoint, according to bound setting speed and engine mean speed, in acquisition
Limit PI parameter groups, lower limit PI parameter groups；
Interfere the acquisition of the demand torque of engine to be in the step C：Upper limit speed setpoint and upper limit PI parameter groups
The value of upper limit PI controls is exported by upper limit PI controllers, lower limit speed setpoint is controlled with lower limit PI parameter groups by lower limit PI
The value of device bottoming PI controls, the value and the value of lower limit PI controls of upper limit PI controls export PID control by derivative controller
Demand torque of the value as total output interference engine.
The principle of the present invention is described as follows：
1st, bound PI parameter groups：Bound PI parameter groups include bound P parameters, bound I parameters, the bound
P parameters include upper limit P parameters, lower limit P parameters, and the bound I parameters include upper limit I parameters, lower limit I parameters.
2nd, referring to Fig. 9, the difference between engine speed setpoint and engine mean speed, as P controls and I controls
Input, different from P control, I control be add up to eliminate steady-state error and always, therefore for I control also to examine
The problem of considering scope limitation, that is, must be limited after being added to a threshold value.Except I is controlled, the value of PI controls（PI controls
Value refers to that the value of P controls is added the value drawn with the I values controlled）With the value of PID control, it is also desirable to carry out the limitation of bound.
Value, the value of upper limit PI controls of the upper limit I controls are required to be limited in limited torque threshold limit value and the upper limit is turned round
In the range of square minimum limit value, value, the value of lower limit PI controls of the lower limit I controls are required to be limited in lower limited torque threshold limit value
In the range of lower limited torque irreducible minimum value, the value of the PID control need to be limited in final torque output threshold limit value with it is final
In the range of torque output minimum limit value.
When engine condition assigns initial value from when starting to bar transfer, it is necessary to be controlled to I, the initial value is current according to engine
Water temperature and gear ratios determine.
3rd, referring to Figure 10, during engine speed lowers into idling rapidly, in order to avoid rotating speed decline is too quickly
It is even flame-out（Such as in the case of vehicle load is increased suddenly）, therefore when engine speed is close to set point, it is necessary to plus
Enter first differential controller（DT1）Intervened, the action principle of first differential controller is that input signal is considered in time domain
Rate of change, that is, refer to the rate of change of engine speed（Decline or rise）, it is embodied in：
Enter " not activating " state after system initialization, DT1 does not work.
When engine speed is more than lower bound set point plus preparing to decline skew threshold values, system enters " preparing to decline " shape
State, prepare activation DT1 links；In " preparing decline " state, decline activation is added partially when engine speed is less than lower bound set point
When moving threshold values, system enters " declining activation " state, DT1 activation；When engine speed is less than or equal to lower bound set point, from this
State transition does not work to " not activating " state, DT1 links.Under " declining activation " state, when engine speed is more than low
Set point is limited plus activation skew threshold values is declined, system is from " declining activation " state transition to " activation prepares " state；When starting
When machine rotating speed is less than or equal to lower bound set point, from the state transition to " not activating " state.
When engine speed is less than lower bound set point plus upward drift threshold values is prepared, system enters " preparing to rise " shape
State, prepare activation DT1 links；In " preparing rising " state, rising activation is added partially when engine speed is more than lower bound set point
When moving threshold values, system enters " rising activation " state, DT1 activation；When engine speed is more than or equal to lower bound set point, from this
State transition does not work to " not activating " state, DT1 links." rising activation " under state, when the small lower bound of engine speed
Set point is plus activation skew threshold values is declined, and system is from " declining activation " state transition to " activation prepares " state；Work as engine
When rotating speed is more than or equal to lower bound set point, from the state transition to " not activating " state.
Embodiment：
Referring to Fig. 1 to Figure 10, a kind of control method of the engine management system based on parallel double PID, the controlling party
Method comprises the following steps：
A, bound speed setpoint obtains：
A, high idle speed set point obtains：First current gear speed is compared with speed than decision threshold as input value, then will be current
Gear ratios with speed than decision threshold compared with to judge that gear is in high-grade area or low-grade area, then according to residing for gear
Gear area obtains gear high idle speed set point, and now, gear high idle speed set point is high idle speed set point；When engine starts
When, take gear high idle speed set point with minimum value in high idle speed set point during starting as high idle speed set point；When robbing a grade situation
Under, when taking gear high idle speed set point and robbing grade in high idle speed set point maximum as high idle speed set point；Work as multistate switch
When being in different conditions, gear high idle speed set point is taken to be set with minimum value in multistate switch State set point as high idle speed
Point；
B, low idling set point obtains：First obtain the minimum speed of cell voltage demand, throttle component demand most respectively
It is the slow-speed of revolution, the minimum speed of air supply rate demand, the minimum speed of current gear demand, the low idling set point of warming-up operating mode, more
Idling setting value corresponding to end switch, then by the minimum speed of the cell voltage demand of acquisition, minimum turn of throttle component demand
Speed, the minimum speed of air supply rate demand, the minimum speed of current gear demand, the low idling set point of warming-up operating mode, multiterminal are opened
Idling setting value is compared corresponding to pass, take the above be respectively worth in maximum as low idling set point；
C, external request speed setpoint bound exports：External equipment request rotating speed is controlled and visited without moment of torsion control
When asking, outside request original value exports as external request speed setpoint bound；The control of external equipment request rotating speed is simultaneously
And when having moment of torsion control access, outside request original value exports as external request speed setpoint lower limit, high idle speed setting
Point exports as the external request speed setpoint upper limit；During external equipment request rotating speed limitation, outside request original value conduct
The external request speed setpoint upper limit exports, and low idling set point exports as external request speed setpoint lower limit；
D, high idle speed set point in step a is chosen most compared with external request speed setpoint upper limit output in step c
Big value is used as upper limit speed setpoint, and low idling set point in step b and external request speed setpoint lower limit in step c is defeated
Go out to compare, choose minimum value as lower limit speed setpoint；
B, bound PI parameter groups obtain：The upper limit speed setpoint and actual engine speed that will first be obtained in step A
The difference of value, the difference of lower limit speed setpoint and actual engine speed value are respectively as control parameter input value, then by institute
The excursion for stating control parameter input value is divided into small-signal, big positive signal, three sections big of negative signal, and three segment limits have respectively
Three kinds of different parameters are corresponding, then select the control parameter input value compared with positive window value, negative window value
Parameter corresponding to unlike signal is selected, obtains selection parameter value, when the control parameter input value is more than positive window value, selection
Parameter value is that big positive signal corresponds to parameter；When the control parameter input value is less than negative window value, selection parameter value is
Big negative signal corresponds to parameter；When the control parameter input value is between positive window value and negative window value, selection
Parameter value is that small-signal corresponds to parameter, and further according to engine speed and moment of torsion, correction factor is obtained using the mode tabled look-up, is corrected
Coefficient is multiplied by control parameter input value, obtains revised control parameter input value, then inputs revised control parameter
Value is multiplied with the selection parameter value, obtains bound PI parameter groups；
C, the demand torque of total output interference engine obtains：First by the upper limit speed setpoint obtained in step A with
Difference, the difference of lower limit speed setpoint and engine mean speed of engine mean speed are controlled respectively as bound PID
The input value of device processed, then the bound PI parameter groups by being obtained in step B carry out PI to the input value of bound PID controller
Control, the value of output bound PI controls, then the value that bound PI is controlled are added, and the value after then will add up carries out differential control
System, the value of PID control is exported, export demand torque of the value of PID control as total output interference engine, demand torque pair
Engine speed is controlled.
A kind of engine management system based on parallel double PID for being used to implement above-mentioned control method, the engine tube
Reason system includes speed setpoint acquisition module, pid control parameter acquisition module, double PID controllers, and double PID controllers include
PI controllers, derivative controller, the PI controllers include upper limit PI controllers, the lower limit PI controllers of concurrent operation；It is described
The acquisition of upper limit speed setpoint, lower limit speed setpoint is in step A：Speed setpoint acquisition module is to height idling speed
Request, the rotating speed request of external equipment carry out bound speed setting, obtain upper limit speed setpoint, lower limit speed setpoint；
The acquisition of upper limit PI parameter groups, lower limit PI parameter groups is in the step B：Pid control parameter acquisition module is set with upper limit rotating speed
Fixed point, lower limit speed setpoint are input value, according to bound setting speed and engine mean speed, obtain upper limit PI parameters
Group, lower limit PI parameter groups；Interfere the acquisition of the demand torque of engine to be in the step C：Upper limit speed setpoint and the upper limit
PI parameter groups export the value of upper limit PI controls by upper limit PI controllers, and lower limit speed setpoint is with lower limit PI parameter groups under
The value of PI controller bottomings PI controls is limited, the value of upper limit PI controls is exported with the lower limit PI values controlled by derivative controller
Demand torque of the value of PID control as total output interference engine.
Claims (8)
- A kind of 1. control method of the engine speed management system based on parallel double PID, it is characterised in that：The control method Comprise the following steps：A, bound speed setpoint obtains：A, high idle speed set point obtains：Current gear speed is compared with speed than decision threshold as input value, obtains gear high idle speed Set point, now, gear high idle speed set point are high idle speed set point；B, low idling set point obtains：First respectively obtain cell voltage demand minimum speed, minimum turn of throttle component demand Speed, the minimum speed of air supply rate demand, the minimum speed of current gear demand, the low idling set point of warming-up operating mode, multiterminal are opened Idling setting value corresponding to pass, each value obtains low idling set point further according to more than；C, external request speed setpoint bound exports：External equipment request rotating speed is controlled and accessed without moment of torsion control When, outside request original value exports as external request speed setpoint bound；External equipment request rotating speed control and When having moment of torsion control access, outside request original value exports as external request speed setpoint lower limit, high idle speed set point Exported as the external request speed setpoint upper limit；During external equipment request rotating speed limitation, outside request original value is used as outer Portion's request speed setpoint upper limit output, low idling set point export as external request speed setpoint lower limit；D, according in low idling set point, step c in high idle speed set point, step b in step a on external request speed setpoint Lower limit exports, and obtains bound speed setpoint；B, bound PI parameter groups obtain：First by the upper limit speed setpoint obtained in step A and actual engine speed value Difference, the difference of lower limit speed setpoint and actual engine speed value are respectively as control parameter input value, then by the control The excursion of parameter input value processed is divided into small-signal, big positive signal, three sections big of negative signal, and three segment limits have three kinds respectively Different parameters is corresponding, then selects the control parameter input value not compared with positive window value, negative window value With parameter corresponding to signal, selection parameter value is obtained, further according to engine speed and moment of torsion, amendment is obtained using the mode tabled look-up Coefficient, correction factor are multiplied by control parameter input value, obtain revised control parameter input value, then by revised control Parameter input value is multiplied with the selection parameter value, obtains bound PI parameter groups；The control parameter input value selects parameter corresponding to unlike signal compared with positive window value, negative window value, Selection parameter value is obtained to refer to：When the control parameter input value is more than positive window value, selection parameter value is big positive letter Number corresponding parameter；When the control parameter input value is less than negative window value, selection parameter value is joined for big negative signal is corresponding Number；When the control parameter input value is between positive window value and negative window value, selection parameter value is small-signal pair Answer parameter；C, the demand torque of total output interference engine obtains：First by the upper limit speed setpoint obtained in step A with starting The difference of machine mean speed, the difference of lower limit speed setpoint and engine mean speed are respectively as bound PID controller Input value, then the bound PI parameter groups by being obtained in step B carry out PID controls to the input value of bound PID controller System exports demand torque of the value of PID control as total output interference engine, demand torque to export the value of PID control Engine speed is controlled.
- 2. a kind of control method of engine speed management system based on parallel double PID according to claim 1, it is special Sign is：Gear high idle speed set point is obtained in the step a to refer to：First by current gear speed than being carried out with speed than decision threshold Compare to judge that gear is in high-grade area or low-grade area, the setting of gear high idle speed is obtained further according to gear area residing for gear Point.
- 3. a kind of control method of engine speed management system based on parallel double PID according to claim 1, it is special Sign is：In the step a, when the engine is started, when taking gear high idle speed set point with starting in high idle speed set point most Small value is used as high idle speed set point；In the case of shelves are robbed, when taking gear high idle speed set point and robbing grade in high idle speed set point most Big value is used as high idle speed set point；When multistate switch is in different conditions, gear high idle speed set point and multistate switch shape are taken Minimum value is as high idle speed set point in state set point.
- 4. a kind of control method of engine speed management system based on parallel double PID according to claim 1, it is special Sign is：Respectively the low idling set point of value acquisition refers to more than in the step b：By the minimum speed of cell voltage demand, The minimum speed of throttle component demand, the minimum speed of air supply rate demand, the minimum speed of current gear demand, warming-up operating mode Idling setting value corresponding to low idling set point, multipole switch is compared, take the above be respectively worth in maximum set as low idling Fixed point.
- 5. a kind of control method of engine speed management system based on parallel double PID according to claim 1, it is special Sign is：The acquisition of bound speed setpoint refers in the step d：By high idle speed set point in step a and step c China and foreign countries Portion's request speed setpoint upper limit output is compared, and chooses maximum as upper limit speed setpoint, low idling in step b is set Point chooses minimum value as lower limit speed setpoint compared with external request speed setpoint lower limit output in step c.
- 6. a kind of control method of engine speed management system based on parallel double PID according to claim 1, it is special Sign is：PID control is carried out with defeated to the input value of bound PID controller by bound PI parameter groups in the step C The value for going out PID control refers to：First pass through bound PI parameter groups and PI controls are carried out to the input value of bound PID controller, it is defeated Go out the value of bound PI controls, then the value that bound PI is controlled is added, the value after then will add up carries out differential control, output The value of PID control.
- 7. a kind of control method of engine speed management system based on parallel double PID according to claim 6, it is special Sign is：The value of the bound PI controls refers to that the value of bound P controls is added the value drawn with the bound I values controlled, Value, the value of upper limit PI controls of the upper limit I controls are required to be limited in limited torque threshold limit value and upper limited torque irreducible minimum In the range of value, value, the value of lower limit PI controls of the lower limit I controls are required to be limited in lower limited torque threshold limit value and lower limit torsion In the range of square minimum limit value, the value of the PID control needs to be limited in final torque output threshold limit value and final torque output In the range of minimum limit value.
- 8. a kind of engine speed management system based on parallel double PID for being used to implement control method described in claim 1, its It is characterised by：The engine speed management system includes speed setpoint acquisition module, pid control parameter acquisition module, double PID controls Device processed, double PID controllers include PI controllers, derivative controller, and the upper limit PI that the PI controllers include concurrent operation is controlled Device, lower limit PI controllers；The acquisition of upper limit speed setpoint, lower limit speed setpoint is in the step A：Speed setpoint acquisition module is to height Idling speed request, the rotating speed request of external equipment carry out bound speed setting, obtain upper limit speed setpoint, lower limit rotating speed Set point；The acquisition of upper limit PI parameter groups, lower limit PI parameter groups is in the step B：Pid control parameter acquisition module is turned with the upper limit Fast set point, lower limit speed setpoint are input value, according to bound setting speed and engine mean speed, obtain upper limit PI Parameter group, lower limit PI parameter groups；Interfere the acquisition of the demand torque of engine to be in the step C：Upper limit speed setpoint passes through with upper limit PI parameter groups The value of upper limit PI controllers output upper limit PI controls, lower limit speed setpoint are defeated by lower limit PI controllers with lower limit PI parameter groups Go out the value of lower limit PI controls, the value of upper limit PI controls exports the value of PID control with the value of lower limit PI controls by derivative controller Demand torque as total output interference engine.
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| CN110778401B (en) * | 2019-09-26 | 2022-01-21 | 潍柴动力股份有限公司 | Self-adaptive adjusting method for engine speed |
| CN111765012B (en) * | 2020-06-23 | 2021-09-17 | 东风汽车集团有限公司 | Engine idling target rotating speed control method |
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