CN106499537A - A kind of pid parameter self-adjusting control of common rail for diesel engine pressure and device - Google Patents

A kind of pid parameter self-adjusting control of common rail for diesel engine pressure and device Download PDF

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Publication number
CN106499537A
CN106499537A CN201611268112.0A CN201611268112A CN106499537A CN 106499537 A CN106499537 A CN 106499537A CN 201611268112 A CN201611268112 A CN 201611268112A CN 106499537 A CN106499537 A CN 106499537A
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control
pid
sensor
pid parameter
module
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孟卫东
邓飞
郑昌
龙美彪
欧阳玲湘
黄民备
熊明富
陈顺利
丁才云
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Electronic (hengyang) Industrial Technology Ltd By Share Ltd
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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
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/30—Controlling fuel injection
    • F02D41/38—Controlling fuel injection of the high pressure type
    • F02D41/3809—Common rail control systems
    • F02D41/3827—Common rail control systems for diesel engines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/30—Controlling fuel injection
    • F02D41/38—Controlling fuel injection of the high pressure type
    • F02D41/3809—Common rail control systems
    • F02D41/3836—Controlling the fuel pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D2041/1409—Introducing closed-loop corrections characterised by the control or regulation method using at least a proportional, integral or derivative controller

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Oil, Petroleum & Natural Gas (AREA)
  • Feedback Control In General (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)

Abstract

The invention discloses a kind of common rail for diesel engine Stress control pid parameter automatic setting method and device.Generate an appropriate vibration to obtain the frequency characteristic and system model of controlled process based on relay feedback；By a little being moved on at multiple expectation phase margins with improvement Ziegler Nichols methods in controlled process, different setting programs are obtained；Selection is analyzed to parametric scheme by the ITAE performance indications of step response, determines optimum pressure control of common rail system pid parameter.Experiment and engineer applied show that pressure control of common rail system pid parameter Self-tuning System can reach satisfied control effect, reduces adjust difficulty and setting time, improves concordance of adjusting.

Description

A kind of pid parameter self-adjusting control of common rail for diesel engine pressure and device
Technical field
The present invention relates to pid parameter automatic setting method and device, the more particularly to pid parameter of common rail for diesel engine pressure are from whole Locking control method and device.
Background technology
The aggravation of environmental pollution and the exposed day by day of energy crisis, Abgasgesetz are increasingly harsh, promote electronic controlled diesel Development.High pressure co-rail system becomes future diesel machine Fuel System due to injection pressure and accurate, the flexible of fuel injection characteristic The developing direction of system.The stability and response of injection pressure fundamentally affect the performance of common rail diesel engine fuel system. In recent decades, PID (PID) controller is widely used in industrial system, with simple and reliable for structure, stable The features such as property is good, and the development due to modern Self Adaptive Control, robust control, Based Intelligent Control and system identification theory and technology, So that classical PID has higher level development in theory in new.The key that pid parameter is adjusted is to recognize controlled process to control The severe degree of device active force reaction processed, and active degree of the controller when attempting to reduce error.This is to the personnel's of adjusting Experience, careful degree and time etc. propose high requirement.
ITAE performance indications are the relatively effective object functions of current comprehensive description dynamic performance, the ginseng determined by which Array is closed can make system have the advantages that overshoot is little, fast response time, even if when the operational factor of controlled process is certain In the range of when changing, still have acceptable quality by its control system for optimizing, and have certain resistance to concussion Buddhist nun acts on.
Content of the invention
One of the technical problem to be solved is for the deficiencies in the prior art and provides a kind of diesel engine altogether Rail pressure power Control PID parameter self-tuning control method.The pressure control of common rail system pid parameter self-adjusting control basic thought It is：Certain diesel engine condition, relay test switch connection, are temporarily disabled PID, and controller is by a stair-stepping control action masterpiece For controlled process, characterisitic parameter is measured；Calculated using improvement Ziegler-Nichols methods or other setting algorithms in real time and worked as Front multiple pid parameter schemes for expecting phase margin；Relay test is switched off, and each pid parameter scheme is write phase successively Answer arteries and veins to compose, the operation of controlled device is controlled by PID controller, calculate the step response ITAE performance indications of closed loop system to working as Front operating mode is estimated and obtains optimum pressure control of common rail system pid parameter.Pressure control of common rail system pid parameter Self-tuning System can reach full The control effect of meaning, reduces adjust difficulty and setting time, improves concordance of adjusting.
The two of the technical problem to be solved are to provide the device for realizing said method.
Used as the common rail for diesel engine Stress control pid parameter self-adjusting control of first aspect present invention, its feature exists In it comprises the following steps：
Step 1, setting one include the control system of electromotor and car load sensor, executor and processor, wherein start Machine includes speed probe, accelerator open degree sensor, coolant temperature sensor, fuel temperature sensor, car with car load sensor Fast sensor, clutch status sensor, range state sensor；
The executor is high pressure co-rail system, it include fuel metering valve type or EUP formula high-pressure fuel-feed pumps, common rail pipe, Rail pressure sensor and electric-controlled fuel injector；
Relay test module, pid parameter module, rail pressure pid control module, ITAE assessment moulds is provided with the processor Block；
Step 2, the relay test module are based on relay feedback, using the signal that comes of rail pressure sensor conveying as Process variable, control action power are that constant keeps constant until process variable exceedes setting value, when process variable exceedes setting value When, negative step signal is added until process variable is fallen back to below setting value, a stair-stepping control action power is acted on Controlled process is output as steady-state gain signal and periodic signal to pid parameter module measuring characterisitic parameter；
Steady-state gain signal and periodic signal that step 3, the pid parameter module are exported according to relay test module, profit The currently multiple pid parameters of expecting phase margins are calculated in real time with improvement Ziegler-Nichols methods or other setting algorithms Scheme, output pid control parameter signal is to rail pressure pid control module；
Step 4, the rail pressure pid control module are according to electromotor and the various sensor signals of car load sensor acquisition and whole Car network signal, judges current diesel engine condition, determines expectation target rail pressure, the rail pressure value collected with the rail pressure sensor Difference constitute control deviation, according to the pid parameter module pid control parameter signal that comes of conveying, hold in conjunction with control deviation Row is adjusted and is controlled, output drive signal to executor, and output control deviation is to ITAE evaluation modules；
Control deviation and Time Calculation closed loop that step 5, the ITAE evaluation modules are exported according to rail pressure pid control module The step response ITAE performance indications of system are estimated to current working and obtain optimum pressure control of common rail system pid parameter.
In the step 2, the relay characteristics of the relay feedback is as follows：
The negative inverse of the described function of stagnant ring relay characteristics is：
In formula：A >=ε, a are oscillation amplitude when system is run under relay control；Relay characteristics width of the d for relay Value；Half of the ε for hysteresis band, during without stagnant ring,For bearing real axis, when hysteresis band is not zero,It is parallel to negative The straight line of real axis, ε values are different, then also different from the distance between multiple real axis.
In the step 2, the control action power is that constant keeps constant until process variable exceedes setting value, has served as When Cheng Bianliang exceedes setting value, the closed loop for adding negative step signal system when process variable is fallen back to below setting value is special Property equation occur vibration condition write as：
I.e.：
In formula, j is plural number void unit；ωCFrequency when passing through C points for the Nyquist curves of open cycle system G (s)；
If only considering a kind of simple situation, it is assumed that relay nonlinear element can without stagnant ring, then described function To be reduced to：
Now the frequency of oscillation of system is determined by following formula with gain：
In formula, KCFor steady-state gain；TCFor the cycle.
In the step 3, described using improving, Ziegler-Nichols methods are real-time to calculate currently multiple expectation phase places The pid parameter scheme of nargin is as follows：
Complex plane A pointsφaFor A point phase margins, raFor A point amplitudes, G (j ω0) for A points frequency Characteristic, ω0For the dot frequency；Assume that A is moved to A1PointφbFor A1Point phase margin, rbFor A1Point width Value, G1(jω0) it is A1Frequency characteristic at point.Assume that PID controller isφcAbundant for PID controller phase place Degree, rcFor amplitude, GC(jω0) for PID controller frequency characteristic：
Therefore,φc=φb-φa
PI is controlled：
The Ziegler-Nichols algorithms are obtained by following formula：KP=Kcrbcosφb,
In formulaφa=0, KCFor steady-state gain, TCFor cycle, ω0For cross-over frequency.
PID control：
According to above formula, TiAnd TdNot unique；
In order to obtain unique pid parameter, T is normally set upd=α Ti, above formula is changed into：
In formula, α is coefficient, generally 0.25.
Now pid parameter is adjusted and is changed into determining suitable φbAnd rb, defined according to phase margin, now rb=1, according to altogether Rail rail pressure control practical situation, sets difference φ respectivelybValue, you can obtain corresponding P, I, D parametric scheme.
In the step 4, in rail pressure PID control, the transmission function of PID controller is：
In formula, KPFor proportionality coefficient；TiFor integration time constant；TdFor derivative time constant；S is multiple parameter.In order to improve Dynamic response, reduces stable state rail pressure fluctuation, shortens the delay that PID control causes, old in consideration distributive value, leakage rate, system After changing the factors such as abrasion, using rail pressure pre-control technology.
In the step 5, ITAE is the performance indications for being multiplied by control deviation absolute value integration the time, i.e.,：
In engineering in practice, t ∈ [0, ts], wherein tsFor the transient process end time, refer to systematic error meet maximum super Tune amount σ %, reaches and is maintained at the moment in the range of allowable error ± Δ %.Therefore the performance indications of practical engineering should be [0, ts] quadrature in region.
Under certain operating mode, minima is chosen in the step response ITAE performance indications of each pid parameter scheme as this Operating mode optimum pressure control of common rail system pid parameter.
As the common rail for diesel engine Stress control pid parameter Self tuning control device of second aspect present invention, including starting Machine and car load sensor, executor and processor；
The electromotor includes speed probe, accelerator open degree sensor, coolant temperature sensor, fuel oil temperature with car load Sensor, vehicle speed sensor, clutch status sensor, range state sensor；
The executor is high pressure co-rail system, including rail pressure sensor, fuel metering valve type or EUP formula high-pressure oil feeds Pump, common rail pipe, electric-controlled fuel injector；
Relay test module, pid parameter module, rail pressure pid control module, ITAE assessment moulds is provided with the processor Block.
The input of the relay test module is connected with rail pressure sensor, receives the rail pressure letter of rail pressure sensor output Number；The outfan output steady-state gain signal of the relay test module and periodic signal；
The input of the pid parameter module is connected with the outfan of relay test module, receives relay test module defeated The steady-state gain signal for going out and cycle letter, the outfan output pid control parameter of the pid parameter module；
The input of the rail pressure pid control module is respectively with electromotor and car load sensor, pid parameter module and execution The outfan of device is connected, and receives various sensor signals and the car load network signal of electromotor and car load output, receives executor The rail pressure sensor signal of output, receives the pid control parameter signal of pid parameter module output.Rail pressure pid control module defeated Go out end output drive signal and control deviation signal respectively；
The input of the ITAE evaluation modules is connected with the outfan of rail pressure pid control module, receives rail pressure PID control The control deviation signal of module output；The outfan output optimum pressure control of common rail system pid parameter of ITAE evaluation modules.
The present invention provides a kind of common rail for diesel engine Stress control pid parameter automatic setting method.One is generated based on relay feedback The individual appropriate frequency characteristic and system model that vibrate to obtain controlled process；A little using in controlled process is improved Ziegler-Nichols methods are moved on at multiple expectation phase margins, obtain different setting programs；By the ITAE of step response Performance indications are analyzed selection to parametric scheme, determine optimum pressure control of common rail system pid parameter.Experiment and engineer applied table Bright, pressure control of common rail system pid parameter Self-tuning System can reach satisfied control effect, reduces adjust difficulty and setting time, carries Concordance of adjusting is risen.
Due to adopting above technical scheme, which has advantages below to the present invention：1st, optimum pressure control of common rail system PID can be obtained Parameter, reaches satisfied control effect, reduces adjust difficulty and setting time, lifts concordance of adjusting.2nd, ITAE performance indications It is the relatively effective object function of current comprehensive description dynamic performance, has can system by its parameter combination for determining Overshoot is little, the advantage of fast response time, even if when the operational factor of controlled process changes in certain scope, by Its control system for optimizing still has acceptable quality, and has certain damping action to concussion.3rd, PID controller is in work It is widely used in industry system, with simple and reliable for structure, the features such as good stability.
Description of the drawings
Fig. 1 is stagnant ring relay characteristics figure.
Fig. 2 is pid parameter Self tuning control block diagram.
Fig. 3 is present system structural representation.
Specific embodiment
The present invention is based on following principle：
Generate an appropriate vibration to obtain the frequency characteristic and system model of controlled process based on relay feedback；To receive A little being moved on at multiple expectation phase margins with improvement Ziegler-Nichols methods in control process, obtains the difference side of adjusting Case；Selection is analyzed to parametric scheme by the ITAE performance indications of step response, determines optimum pressure control of common rail system PID ginseng Number.
In order that technological means, creation characteristic, reached purpose and effect that the present invention is realized are easy to understand, tie below Conjunction is specifically illustrating and embodiment, and the present invention is described in detail.
As shown in figure 3, the common rail for diesel engine Stress control pid parameter Self tuning control device of the present invention include electromotor with Car load sensor 100, executor 140 and processor 200；It is high pressure co-rail system that executor 140 is executor, including fuel oil meter Amount valve type or EUP formula high-pressure fuel-feed pumps, common rail pipe, rail pressure sensor and electric-controlled fuel injector；Electromotor is wrapped with car load sensor 100 Include speed probe, accelerator open degree sensor, coolant temperature sensor, fuel temperature sensor, vehicle speed sensor, clutch shape State sensor, range state sensor.
There are relay test module 210, pid parameter module 220, rail pressure pid control module 230, ITAE to comment in processor 200 Estimate module 240.
The input of relay test module 210 is connected with the rail pressure sensor of executor 140, receives rail pressure sensor output Rail pressure signal.The outfan output steady-state gain signal of relay test module and periodic signal.
The input of pid parameter module 220 is connected with the outfan of relay test module 210, receives relay test module The steady-state gain signal and periodic signal of 210 outputs.The outfan output pid control parameter of pid parameter module.
The input of rail pressure pid control module 230 is respectively with electromotor and car load 100, pid parameter module 220 and execution The outfan of device 140 is connected, and receives various sensor signals and the car load network signal of electromotor and the output of car load 100, receives The rail pressure sensor signal of the output of executor 140, receives the pid control parameter signal of the output of pid parameter module 220.Rail pressure PID The outfan difference output drive signal of control module 230 and control deviation signal.
The input of ITAE evaluation modules 240 is connected with the outfan of rail pressure pid control module 230, receives the control of rail pressure PID The control deviation signal of the output of molding block 230.The outfan output optimum pressure control of common rail system PID ginseng of ITAE evaluation modules 240 Number.
Therefore based on the common rail for diesel engine Stress control pid parameter self-adjusting control of said apparatus it is：
In relay test module 210, the relay characteristics of relay feedback is as follows：
The negative inverse of the described function of stagnant ring relay characteristics is：
In formula：A >=ε, a are oscillation amplitude when system is run under relay control；Relay characteristics width of the d for relay Value；Half of the ε for hysteresis band, during without stagnant ring,For bearing real axis, when hysteresis band is not zero,It is parallel to negative The straight line of real axis, ε values are different, then also different from the distance between multiple real axis.Stagnant ring relay characteristics is as shown in Figure 1.
In relay test module 210, control action power is that constant keeps constant until process variable exceedes setting value, has served as When Cheng Bianliang exceedes setting value, negative step signal is added until process variable is fallen back to below setting value.Now system is closed The condition that ring property equation occurs vibration can be write as：
I.e.：
In formula, j is plural number void unit；ωCFrequency when passing through C points for the Nyquist curves of open cycle system G (s).
If only considering a kind of simple situation, it is assumed that relay nonlinear element can without stagnant ring, then described function To be reduced to：
Now the frequency of oscillation of system is determined by following formula with gain：
In formula, KCFor steady-state gain；TCFor the cycle.
In pid parameter module 220, as a example by improving Ziegler-Nichols methods, complex plane A points φaFor A point phase margins, raFor A point amplitudes, G (j ω0) for A points frequency characteristic, ω0For the dot frequency.Assume that A is moved Arrive A1PointφbFor A1Point phase margin, rbFor A1Point amplitude, G1(jω0) it is A1Frequency characteristic at point.False If PID controller isφcFor PID controller phase margin, rcFor amplitude, GC(jω0) it is PID controller Frequency characteristic：
Therefore,φc=φb-φa
PI is controlled：
Special case, Ziegler-Nichols algorithms are obtained by following formula：KP=Kcrbcosφb,
In formulaφa=0, KCFor steady-state gain, TCFor cycle, ω0For cross-over frequency.
PID control：
According to above formula, TiAnd TdNot unique.
In order to obtain unique pid parameter, T is normally set upd=α Ti, above formula is changed into：
In formula, α is coefficient, generally 0.25.
Now pid parameter is adjusted and is changed into determining suitable φbAnd rb, defined according to phase margin, now rb=1, according to altogether Rail rail pressure control practical situation, sets difference φ respectivelybValue, you can obtain corresponding P, I, D parametric scheme.
In rail pressure pid control module 230, the transmission function of PID controller is：
In formula, KPFor proportionality coefficient；TiFor integration time constant；TdFor derivative time constant；S is multiple parameter.In order to improve Dynamic response, reduces stable state rail pressure fluctuation, shortens the delay that PID control causes, old in consideration distributive value, leakage rate, system After changing the factors such as abrasion, using rail pressure pre-control technology.
In ITAE evaluation modules 240, ITAE is the performance indications for being multiplied by control deviation absolute value integration the time, i.e.,：
In engineering in practice, t ∈ [0, ts], wherein tsFor the transient process end time, refer to systematic error meet maximum super Tune amount σ %, reaches and is maintained at the moment in the range of allowable error ± Δ %.Therefore the performance indications of practical engineering should be [0, ts] quadrature in region.
Under certain operating mode, minima is chosen in the step response ITAE performance indications of each pid parameter scheme as this Operating mode optimum pressure control of common rail system pid parameter.
Due to adopting above technical scheme, which has advantages below to the present invention：1st, optimum pressure control of common rail system PID can be obtained Parameter, reaches satisfied control effect, reduces adjust difficulty and setting time, lifts concordance of adjusting.2nd, ITAE performance indications It is the relatively effective object function of current comprehensive description dynamic performance, has can system by its parameter combination for determining Overshoot is little, the advantage of fast response time, even if when the operational factor of controlled process changes in certain scope, by Its control system for optimizing still has acceptable quality, and has certain damping action to concussion.3rd, PID controller is in work It is widely used in industry system, with simple and reliable for structure, the features such as good stability.
Above-mentioned diagram and example are merely to illustrate ultimate principle, principal character and the advantages of the present invention of the present invention.One's own profession The technical staff of industry it should be appreciated that the present invention is not restricted to the described embodiments, described in above-described embodiment and description only It is the principle that the present invention is described, without departing from the spirit and scope of the present invention, the present invention also has various change and changes Enter, these changes and improvements are both fallen within scope of the claimed invention.The claimed scope of the invention is by appended right Claim and its equivalent thereof.

Claims (7)

1. common rail for diesel engine Stress control pid parameter self-adjusting control, it is characterised in that it comprises the following steps：
Step 1, a control system for including electromotor and car load sensor, executor and processor is set, wherein electromotor and Car load sensor includes that speed probe, accelerator open degree sensor, coolant temperature sensor, fuel temperature sensor, speed are passed Sensor, clutch status sensor, range state sensor；
The executor is high pressure co-rail system, and which includes fuel metering valve type or EUP formula high-pressure fuel-feed pumps, common rail pipe, rail pressure Sensor and electric-controlled fuel injector；
Relay test module, pid parameter module, rail pressure pid control module, ITAE evaluation modules is provided with the processor；
Step 2, the relay test module are based on relay feedback, convey the signal for coming as process using the rail pressure sensor Variable, control action power are that constant keeps constant until process variable exceedes setting value, when process variable exceedes setting value, then Add negative step signal until process variable is fallen back to below setting value, a stair-stepping control action power acts on controlled mistake Journey is output as steady-state gain signal and periodic signal to pid parameter module measuring characterisitic parameter；
Steady-state gain signal and periodic signal that step 3, the pid parameter module are exported according to relay test module, using changing Enter Ziegler-Nichols methods or other setting algorithms calculate currently multiple pid parameter schemes for expecting phase margin in real time, Output pid control parameter signal is to rail pressure pid control module；
Step 4, the rail pressure pid control module are according to electromotor and the various sensor signals of car load sensor acquisition and car load net Network signal, judges current diesel engine condition, determines expectation target rail pressure, the difference of the rail pressure value collected with the rail pressure sensor Value constitutes control deviation, according to the pid control parameter signal that the conveying of pid parameter module comes, executes tune in conjunction with control deviation Section control, output drive signal to executor, output control deviation is to ITAE evaluation modules；
Control deviation and Time Calculation closed loop system that step 5, the ITAE evaluation modules are exported according to rail pressure pid control module Step response ITAE performance indications current working is estimated and obtains optimum pressure control of common rail system pid parameter.
2. common rail for diesel engine Stress control pid parameter self-adjusting control as claimed in claim 1, it is characterised in that In the step 2, the relay characteristics of the relay feedback is as follows：
The negative inverse of the described function of stagnant ring relay characteristics is：
- 1 N ( a ) = - π 4 d a 2 - ϵ 2 - j π ϵ 4 d
In formula：A >=ε, a are oscillation amplitude when system is run under relay control；Relay characteristics amplitudes of the d for relay；ε is The half of hysteresis band, during without stagnant ring,For bearing real axis, when hysteresis band is not zero,It is parallel to negative real axis Straight line, ε values are different, then also different from the distance between multiple real axis.
3. common rail for diesel engine Stress control pid parameter self-adjusting control as claimed in claim 2, it is characterised in that In the step 2, the control action power is that constant keeps constant until process variable exceedes setting value, when process variable exceedes During setting value, the closed loop characteristic equation for adding negative step signal system when process variable is fallen back to below setting value occurs The condition of vibration is write as：
I.e.：
In formula, j is plural number void unit；ωCFrequency when passing through C points for the Nyquist curves of open cycle system G (s)；
If only considering a kind of simple situation, it is assumed that relay nonlinear element can be with letter without stagnant ring, then described function Turn to：
N ( a ) = 4 d π a
Now the frequency of oscillation of system is determined by following formula with gain：
K C = 4 d π a , T C = 2 π ω C
In formula, KCFor steady-state gain；TCFor the cycle.
4. common rail for diesel engine Stress control pid parameter self-adjusting control as claimed in claim 1, it is characterised in that In the step 3, described using improving, Ziegler-Nichols methods are real-time to calculate currently multiple PID for expecting phase margins Parametric scheme is as follows：
Complex plane A pointsφaFor A point phase margins, raFor A point amplitudes, G (j ω0) for A points frequency characteristic, ω0For the dot frequency；Assume that A is moved to A1PointφbFor A1Point phase margin, rbFor A1Point amplitude, G1(j ω0) it is A1Frequency characteristic at point.Assume that PID controller isφcFor PID controller phase margin, rcFor width Value, GC(jω0) for PID controller frequency characteristic：
r b e j ( π + φ b ) = r a r c e j ( π + φ a + φ b )
Therefore,φc=φb-φa
PI is controlled：
K p = r b c o s ( φ b - φ a ) r a T i = 1 ω 0 t a n ( φ a - φ b )
The Ziegler-Nichols algorithms are obtained by following formula：KP=Kcrbcosφb,
In formulaφa=0, KCFor steady-state gain, TCFor cycle, ω0For cross-over frequency.
PID control：
K P = r b c o s ( φ b - φ a ) r a ω 0 T d - 1 T i ω 0 = t a n ( φ b - φ a )
According to above formula, TiAnd TdNot unique；
In order to obtain unique pid parameter, T is normally set upd=α Ti, above formula is changed into：
T 1 = 1 2 αω 0 ( tan ( φ b - φ a ) + 4 α + tan 2 ( φ b - φ a ) )
In formula, α is coefficient, generally 0.25.
Now pid parameter is adjusted and is changed into determining suitable φbAnd rb, defined according to phase margin, now rb=1, according to common rail rail Voltage-controlled practical situation processed, sets difference φ respectivelybValue, you can obtain corresponding P, I, D parametric scheme.
5. common rail for diesel engine Stress control pid parameter self-adjusting control as claimed in claim 1, it is characterised in that In the step 4, in rail pressure PID control, the transmission function of PID controller is：
G C ( s ) = K p ( 1 + 1 T i s + T d s )
In formula, KPFor proportionality coefficient；TiFor integration time constant；TdFor derivative time constant；S is multiple parameter.
6. common rail for diesel engine Stress control pid parameter self-adjusting control as claimed in claim 1, it is characterised in that In the step 5, ITAE is the performance indications for being multiplied by control deviation absolute value integration the time, i.e.,：
J I T A E = ∫ 0 ∞ t | e ( t ) | d t
In engineering in practice, t ∈ [0, ts], wherein tsFor the transient process end time, refer to that systematic error is meeting maximum overshoot σ %, reach and are maintained at the moment in the range of allowable error ± Δ %.Therefore the performance indications of practical engineering should be [0,ts] quadrature in region；
Under certain operating mode, minima is chosen in the step response ITAE performance indications of each pid parameter scheme as the operating mode Optimum pressure control of common rail system pid parameter.
7. a kind of pressure control of common rail system pid parameter Self tuning control device, it is characterised in that sense with car load including electromotor Device, executor and processor；
The electromotor includes speed probe, accelerator open degree sensor, coolant temperature sensor, fuel oil temperature sensing with car load Device, vehicle speed sensor, clutch status sensor, range state sensor；
The executor is high pressure co-rail system, including rail pressure sensor, fuel metering valve type or EUP formula high-pressure fuel-feed pumps, altogether Rail pipe, electric-controlled fuel injector；
Relay test module, pid parameter module, rail pressure pid control module, ITAE evaluation modules is provided with the processor.
The input of the relay test module is connected with rail pressure sensor, receives the rail pressure signal of rail pressure sensor output；Institute State the outfan output steady-state gain signal and periodic signal of relay test module；
The input of the pid parameter module is connected with the outfan of relay test module, receives the output of relay test module Steady-state gain signal and cycle letter, the outfan output pid control parameter of the pid parameter module；
The input of the rail pressure pid control module is respectively with electromotor and car load sensor, pid parameter module and executor Outfan is connected, and receives various sensor signals and the car load network signal of electromotor and car load output, receives executor's output Rail pressure sensor signal, receive pid parameter module output pid control parameter signal.The outfan of rail pressure pid control module Difference output drive signal and control deviation signal；
The input of the ITAE evaluation modules is connected with the outfan of rail pressure pid control module, receives rail pressure pid control module The control deviation signal of output；The outfan output optimum pressure control of common rail system pid parameter of ITAE evaluation modules.
CN201611268112.0A 2016-12-31 2016-12-31 A kind of pid parameter self-adjusting control of common rail for diesel engine pressure and device Pending CN106499537A (en)

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CN111897204A (en) * 2020-06-29 2020-11-06 华东理工大学 PID parameter setting method of cascade control system based on single relay feedback
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