CN108073071B - Method and device for performing a position adjustment for adjusting a transmitter unit - Google Patents
Method and device for performing a position adjustment for adjusting a transmitter unit Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000006978 adaptation Effects 0.000 claims description 18
- 230000000694 effects Effects 0.000 claims description 6
- 230000006399 behavior Effects 0.000 claims 6
- 238000004590 computer program Methods 0.000 claims 1
- 230000003679 aging effect Effects 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 238000002485 combustion reaction Methods 0.000 description 3
- 238000011478 gradient descent method Methods 0.000 description 3
- 238000003892 spreading Methods 0.000 description 3
- 230000032683 aging Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000001052 transient effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
The invention relates to a method for adjusting the position of a transmitter unit (3) in a drive system, comprising the following steps: -a predefined nominal position of the transmitter unit (3) according to the adjustment s ) And an actual position, wherein the adjustment is performed according to an adjustment parameter, and wherein the adjustment provides an adjustment amount (u) to the adjustment transmitter unit (3); -providing at least one correction parameter、) In order to adapt the adjustment; -obtaining said at least one correction parameter from the error deviation (e)、) Wherein the error deviation (e) gives the dynamic quantity of the adjustment transmitter unit (3) modeled according to the adjustment transmitter model and the actual position of the adjustment transmitter unit # i ) Deviation between dynamic behavior of (a) is provided.
Description
Technical Field
The invention relates to a position adjustment for an adjustment transmitter, in particular for an adjustment transmitter in an internal combustion engine, for example a camshaft adjuster. The invention further relates to a method for adapting a position adjustment for adjusting a transmitter.
Background
Many adjusting transmitters in drive systems with internal combustion engines are adjusted to a setpoint position. An example of this is a camshaft adjuster that is mechanically coupled to a camshaft of the internal combustion engine and twists the camshaft relative to the crankshaft by a hydraulic or electrical adjustment system. The phase of the valve opening time relative to the crank angle can thereby be adjusted. The camshaft adjuster is adjusted by a predefined adjustment amount, which can, for example, give an adjustment torque in the form of a duty cycle.
Conventional position regulation is based on a PID regulator to which the position deviation is fed. From the integral component of the regulator, a hold duty cycle (haltestverh ä ltnis) can be calculated, which is connected to the system in order to compensate for approximately static disturbance influences, such as spring moments of return springs, friction moments, leakage, disturbance moments from external consumer products (Verbraucher) and the like. The position adjustment for adjusting the transmitter is now parameterized in order to adapt the adjustment parameters and the feedback enhancement of the PID controller components (ru ckf u hrverst ä rkungen) to the different operating points of the respective motor model, which can be predefined, for example, for a hydraulic camshaft adjuster, by the temperature of the hydraulic oil, the hydraulic pressure, the motor rotational speed and the like, in order to thereby ensure a uniform adjustment quality over the entire operating range. Due to mass distribution (series process uv) in production and aging effects during vehicle operation, the physical behavior of the actuating transmitters and the variation of the actuating paths can lead to significant deviations in the actuating quality, which can be influenced by overshoots (Ü berschwang) during a jump in the setpoint value or during a static regulator deviation between the setpoint value and the actual value, so that the overall drive system characteristics also change adversely in terms of power, losses and emissions. Taking these effects into account by means of additional parameters requires time-consuming applications, it is therefore desirable to improve the adjustment quality for adjusting the position adjustment of the adjustment transmitter and to increase the robustness of the adjustment transmitter with respect to effects consisting of batch spreading and aging.
Disclosure of Invention
According to the invention, a method for adjusting the position of a transmitter unit in a drive system according to claim 1 is provided, as well as a device and a drive system according to the parallel claims.
Further embodiments are given in the dependent claims.
According to a first aspect, a method for adjusting a position adjustment of a transmitter unit in a drive system is provided, having the following steps:
-performing an adjustment according to a predefined nominal position and an actual position of the adjustment transmitter unit, wherein the adjustment is performed according to an adjustment parameter and wherein the adjustment provides an adjustment amount to the adjustment transmitter unit;
-providing at least one correction parameter for adapting the adjustment;
-obtaining said at least one correction parameter based on an error deviation, wherein said error deviation gives a deviation between a dynamic quantity of the adjusting transmitter unit modeled according to an adjusting transmitter model and a dynamic behavior of an actual position of the adjusting transmitter unit.
The above method is based on a simplified mathematical tuning transmitter model, with which the dynamic behaviour of the tuning transmitter unit is described. The adjustment transmitter can be a physical adjustment transmitter (actuator) or an entire adjustment path including the adjustment transmitter. The adjustment transmitter model maps the first derivative of the adjustment position (adjustment speed) when the adjustment quantity changes, wherein it is mapped that the change in the adjustment speed of the adjustment transmitter unit occurs with a temporal delay when the adjustment quantity changes. The speed and type of the change in the actuating speed during the change in the actuating variable is decisively dependent on the operating point of the actuating transmitter unit, wherein said operating point is determined by system parameters, for example, in the case of the camshaft actuating transmitter, by the temperature of the hydraulic oil, by the motor speed and the like, and by the effects of mass distribution and aging. Alternative embodiments can provide an adjustment transmitter model in which the adjustment quantity is also mapped onto a higher derivative of the adjustment transmitter position.
The adjustment can be designed for nominal system behavior, and correspondingly, deviations of the actual behavior of the physical adjustment transmitter unit from the mathematical adjustment transmitter model, which are recognized by means of the adaptation device, can be used to obtain one or more correction parameters by means of which the adjustment is correspondingly adapted.
The acquisition of correction parameters is based on a deviation between the behavior of the adjustment transmitter unit and the behavior of the adjustment transmitter model, the adjustment transmitter model being defined in terms of a first or higher derivative of the adjustment position, wherein said correction parameters correspond to model parameters of the adjustment transmitter model. In other words, the correction parameters correspond to parameters of the adjusted transmitter model, which make possible the following: the adapted transmitter model is adapted in terms of the dynamic behaviour of the adapted transmitter unit.
In this way, the dynamic behavior of the adjusting transmitter unit in the position adjustment can be taken into account or accounted for by the correction parameters. The correction parameters can now be used to adapt the adjusted component.
By providing an adapted transmitter model adapted to the dynamic behaviour of the adapted transmitter unit, it is possible to adapt the different components of the adjustment, such as PID-regulators, dynamic pre-controllers, disturbance variable observers and the like, to behaviour deviating from the nominal behaviour of the adapted transmitter unit. Input disturbances, such as spring torques or spring torques of return springs, friction torques, leakage, disturbance torques of external consumer products and the like, can thereby be compensated for, and static accuracy and transient behavior can be improved. By such automatic provision of correction parameters, the behavior of the position control can be adapted to the actual system behavior, and thus the control quality can be improved in the case of batch spread or aging effects. In addition to this, the above method is provided to make the following possible: even when the adjustment transmitter unit is replaced, a corresponding position-adjusted supplementary parameterization (nachbedating) can be avoided.
The adjusted transmitter model can furthermore be adapted by at least one correction parameter, and the correction parameter is obtained in such a way that the error deviation is minimized.
According to one embodiment, the adjustment can be adapted by adapting the adjustment parameter according to the at least one correction parameter or adapting the adjustment input according to the at least one correction parameter.
It can be provided that the dynamic behavior of the actual position is given by a first or higher order time derivative of the actual position of the adjustment transmitter unit, wherein the adjustment transmitter model maps the adjustment quantity to a quantity corresponding to the first or one or more higher order time derivatives of the actual position.
Furthermore, an interference quantity observer can be provided, which adapts the adjustment quantity according to an inverse adjustment transmitter model adapted by the at least one correction parameter, in order to compensate for interference effects acting on the adjustment transmitter system by maintaining the adjustment quantity.
In particular, the hold adjustment quantity can be determined as a difference between the filtered adjustment quantity and the model value of the adapted inverse adjustment transmitter model loaded by the actual position.
The adjustment can also be applied by means of a dynamic pre-controller, which provides a predicted setpoint position and a pre-control adjustment quantity component corresponding to the predicted setpoint position for applying the adjustment quantity, wherein the adjustment is performed as a function of the predicted setpoint position, wherein the dynamic pre-controller determines the pre-control adjustment quantity component as a function of the at least one correction parameter.
Drawings
Embodiments are described in detail below with reference to the accompanying drawings. The drawings show:
fig. 1 is a schematic illustration of a position adjustment for adjusting an adjustment transmitter unit in a drive system of a motor vehicle;
fig. 2a and 2b show possible implementations of the acquisition of correction parameters for the adjustment by means of a gradient descent method; and
fig. 3 shows an extended control system with an additional disturbance variable observer and a dynamic pre-controller.
Detailed Description
In fig. 1, a simplified adjusting system 1 is provided, which has an adjusting unit 2 for adjusting an adjustment transmitter unit 3. The actuating system 1 is designed for the position adjustment of the actuating transmitter unit 3, the actuating transmitter unit 3 being, for example, an actuating transmitter in a drive system of a motor vehicle for continuously adjusting a camshaft phase. The position adjustment is adaptively configured by: the actuating transmitter unit 3 has different operating points depending on the operating state of the drive system, and the operating points are also affected by batch spreading and aging effects. For this purpose, an adaptation block 4 is provided, which obtains one or more correction parameters、/>The correction parameters are fed to the adjustment unit 2 in order to adapt the adjustment correspondingly to the changing behaviour of the adjustment transmitter unit.
The adjusting unit 2 has a simple adjusting member 21, which can be configured as a PD adjuster, for example. The PD regulator can have a transfer function k p + k d S and is designed for this nominal system behavior of the tuning transmitter system 3. In order not to have to intervene in the adjustment in order to adapt the adjustment to the changing behaviour of the adjustment transmitter system 3The component 21 is provided on the input side (i.e. as an adjustment input) with a compensator 22 which correspondingly adjusts the adjustment deviation, which in the difference component 23 passes through a predefined setpoint position s And the actual position i The subtraction between them (differenzbildyng) is obtained. The transfer function of the compensator 22 can be set, for example, to have
Wherein a nom 、b nom Predefined path parameters corresponding to nominal system behavior for the adjusted transmitter unit.
The regulating unit 2 provides a regulating variable u, which usually gives a regulating torque in the form of a duty cycle. The duty cycle can be defined by a value between 0 and 1 or between-1 and 1. The duty cycle is predefined for the actuating transmitter system 3, which reacts to the system behavior and is moved to a defined position by acceleration or deceleration。
The adaptation block 4 has a first filter 41 and an adapted sender model block 42. The first filter 41 is used to form the actual position of the adjustment transmitter unit 3 i And can for example have the following transfer function:
or discretely->。
The adjust transmitter model block 42 includes an adjust transmitter model that corresponds to a simplified mathematical model by which the dynamic system behavior should be accounted for. The adjustment transmitter model maps the current adjustment variable, i.e. the data of the duty cycle in this embodiment, to the position change variable, i.e. for example the first derivative of the adjustment position. The tuning transmitter function can be chosen such that it mimics the actual behaviour of the tuning transmitter unit 3. For example, the tuning transmitter model can have the following transfer functions:
wherein τ d Corresponding to a constant for taking into account dead time (Totzeit).
The dynamic behavior of the adjustment transmitter system 3, i.e. the error deviation e between the first derivative of the adjustment position at the outlet of the first filter 41 and the output of the mathematical adjustment transmitter model, is acquired in the second difference component 43. The error deviation e is fed to a correction parameter block 44 which determines the correction parameter from the error deviation e、/>As corrected path parameters.
Corresponding to the correction parameters、/>The adaptation transmitter model is adapted, and the correction parameters are determined in the correction parameter block in such a way that the error deviation e is minimized.
In the correction parameter block 44, the operations shown in fig. 2a and 2b are carried out, which enable the correction parameters to be acquired by means of a gradient descent method. For this purpose, the error deviation e is multiplied by an adaptation factor k a And the output of the second filter 51 and the result is integrated in an integration block 52, respectively. The output of the integrating block corresponds to the first correction parameterThe first correction parameter is fed back in the second filter 51. The input of the second filter 51 is furthermore a second correction parameter +.>And derivative->. The second filter 51 can, for example, have the following transfer function:
。
the output of the model is filtered and multiplied by the error from the model and the "measured" velocity (gradient descent method).
Similarly, the second correction parameterCan be correspondingly obtained in the computational schematic of fig. 2 b. Fig. 2b shows a third filter 61, said first correction parameter +.>And said amount->Is fed to the third filter. Furthermore, the error deviation e is multiplied by the output of the third filter 61 and the corresponding adaptation factor k b And the result is supplied to the second integrator 62. The output of the second integrator 62 corresponds to said second correction parameter +.>And fed back to the third filter 61. Possible transfer functions of the third filter can be:
。
the calculation rules of fig. 2a and 2b represent by way of example only the possibility of tracking the correction parameters simultaneously and in real time corresponding to the error deviations. Other possibilities for deriving the correction parameter from the error deviation can also be used here.
Besides the current method of tracking model parameters by model adaptation (model bgleich), a recursive parameter estimator (least error square method) or a kalman filter can be used. In the recursive parameter estimator, not only the input quantity (e.g. duty cycle) but also a measured value (e.g. camshaft position) is used to estimate the model parameters. "recursively" means that the old estimates for the model parameters are changed using correction terms that consist of the difference between the new measurement value and the prediction based on the old measurement value. Kalman filters are typically used to estimate state quantities that cannot be measured. But parameters can also be defined as additional state quantities. New model parameters are calculated from the old parameters and correction terms. The correction term again depends on the measured value and on a predicted value based on the old measured value.
Fig. 3 shows a further embodiment, in which the regulation system 1 of fig. 1 is extended with the addition of a dynamic pre-controller 7 and an disturbance variable observer 8. The dynamic pre-controller 7 is designed to mathematically adjust the transmitter model from a predefined setpoint position s In the time curve of (a) to estimate the pre-control adjustment quantity component u fwd And the adjustment limit is explicitly taken into account here. The setpoint position is used as output information for the trajectory calculated back by the adjustment transmitter model, which is then implemented by the pre-control. The trajectory can also correspond to a curve of the nominal position. This track can contain the adjustment limit and possibly also the setpoint position +.> s Is a time filter of (a).
Thus, the predicted position is utilizedNot the nominal position->The feedback of (2) reduces the burden of the original adjustment of the adjustment unit. The pre-control adjustment amount component u fwd Is added to the adjustment quantity u at the outlet of the adjusting unit 2 R 。
The dynamic pre-controller 7 can for example have the following transfer function:
。
this is used to set the nominal positionThe conversion is made to an inverse model on the adjustment quantity u. Furthermore, the dynamic pre-controller also comprises the nominal position +.> s Using:
。
and is thus also adaptively based on the correction parameters、/>The dynamic pre-controller 7 is adapted.
Furthermore, an interference quantity observer 8 is provided, which has a model block 81 for calculating an inverse-adjusted transmitter model and a third filter 82. The adjustment amount u of the adjustment transmitter unit 3 or an amount related thereto is fed to the third filter 82. The adjustment amount u of the adjustment transmitter unit 3 has to be filtered with a filter 82 having the same time constant as the filter 81. Otherwise, the error (input disturbance) cannot be correctly obtained from the actual and calculated adjustment amounts. The inverse adjustment transmitter model can have the following transfer function:
。
the third filter 82 can have the following transfer function:
。
the disturbance variable observer 8 serves to compensate for positional deviations which can occur as a result of input disturbances in the adjustment transmitter unit. If the position changes due to disturbances, such as spring torque of a return spring, friction torque, leakage of hydraulic pressure, disturbance torque from an external consumer product, the disturbances can be compensated for by the disturbance variable observer 8. The disturbance variable observer 8 can adjust the variable u and the actual position from the current variable u i The interference is calculated. For this purpose, the actual position is +.> i Converted to observer adjustment value u b And is related to the filtered adjustment quantity +.>And (5) comparing. A difference is formed in the third difference member 83. The difference value is used as a holding adjustment quantity u H Is added again to the adjustment u. The inverse adaptation transmitter model also takes into account the correction parameter +.>、/>So that the inverse adaptation transmitter model is always adapted to the current dynamic behaviour of the adaptation transmitter unit 3.
Since not only the dynamic pre-controller 7, the regulating block 3, but also the disturbance variable observer 8 are based on the mathematical adjustment transmitter model, the corresponding model parameters have to be set according to the operating point or by means of the correction parameters during batch spreading and ageing effects、/>Is tracked.
The proposed control system allows for the dynamic behavior of the control transmitter unit in the control system, in particular by means of the dynamic pre-controller, thereby improving the control quality. In particular, input disturbances caused by spring torques, friction torques, hydraulic leaks, disturbance torques of external consumer products and the like of the restoring spring can be compensated for, and thus the static accuracy and the transient behavior can be improved.
The adaptation and disturbance variable observer can be in an active state all the time or only occasionally, and the last value of the hold adjustment or the adapted model parameters are preserved until the adaptation and the disturbance variable observer are activated again. Alternatively, the adaptation can be performed according to the magnitude of the error e between the model quantity and the measured speed.
Claims (9)
1. Method for adjusting the position of a transmitter unit (3) in a drive system, comprising the following steps:
-a predefined nominal position of the transmitter unit (3) according to the adjustment And an actual position, wherein the adjustment is performed according to an adjustment parameter, and wherein the adjustment provides an adjustment amount (u) to the adjustment transmitter unit (3);
wherein the adjustment deviation passes through a predefined setpoint positionIs +.> The subtraction between them is obtained;
-providing at least one correction parameterAnd according to said at least one correction parameter +.>Scaling the adjustment deviation;
-obtaining said at least one correction parameter based on the error deviation (e)Wherein the error deviation (e) gives the dynamic quantity of the adjustment transmitter unit (3) modeled according to the adjustment transmitter model and the actual position of the adjustment transmitter unit +.>Is a function of the deviation between the dynamic behaviors of (a),
wherein the deviation between the actual behavior of the adjustment transmitter unit (3) and the nominal system behavior can be determined by means of the at least one correction parameterAdapting is performed and the correction parameter +.>The acquisition is performed in such a way as to minimize said error deviation (e).
2. The method according to claim 1, wherein the adjustment is adapted in dependence of the at least one correction parameterAdapting the adjustment parameter or according to the at least one correction parameter +.>The adjustment input is adapted.
3. Method according to claim 1, wherein by means of said adjusting the actual position of the transmitter unit (3)The first order time derivative or higher of (a) gives the actual position +.>Wherein said adjustment transmitter model maps said adjustment amount (u) to a value corresponding to said actual position +.>Or corresponds to said actual position +.>In terms of the amount of the higher order time derivative of (c).
4. The method of claim 1, wherein an interference quantity observation is performed, the interference quantity observation being in accordance with the passing of the at least one correction parameterThe adapted inverse adaptation transmitter model adapts the adjustment quantity in order to compensate for interference effects acting on the adaptation transmitter unit (3) by maintaining the adjustment quantity.
5. The method of claim 4, wherein the hold adjustment amount is determined as a difference between a filtered adjustment amount and a model value of an adapted inverse adjustment transmitter model loaded by the actual position.
6. The method according to claim 1, wherein the adjustment is loaded by a dynamic pre-controller (7) providing a predicted nominal positionAnd +.corresponding to said predicted nominal position->Pre-controlled modulation of (c)Integral component (u) fwd ) For loading the adjustment quantity (u), wherein ∈r is set according to the predicted setpoint position ∈r>Performing the adjustment, wherein the dynamic pre-controller (7) is based on the at least one correction parameter +.>Determining the pre-control adjustment quantity component (u fwd )。
7. A position adjustment system for adjusting a transmitter unit (3) in a drive system, comprising:
-an adjusting unit configured for adjusting a predefined nominal position of the transmitter unit (3) as a function of the adjustmentAnd an actual position, wherein the adjustment is performed according to an adjustment parameter, and wherein the adjustment provides an adjustment amount (u) to the adjustment transmitter unit (3);
-a differential member (23) passing through a predetermined nominal positionIs +.>The subtraction between them obtains the adjustment deviation;
-a compensator (22) based on at least one correction parameterScaling the adjustment deviation;
-an adaptation block configured to provide the at least one correction parameterSo as to adapt the adjustment;
-obtaining said at least one correction parameter based on the error deviation (e)Wherein the error deviation (e) gives the dynamic quantity of the adjustment transmitter unit (3) modeled according to the adjustment transmitter model and the actual position of the adjustment transmitter unit +.>Is a function of the deviation between the dynamic behaviors of (a),
wherein the deviation between the actual behavior of the adjustment transmitter unit (3) and the nominal system behavior can be determined by means of the at least one correction parameterAdapting is performed and the correction parameter +.>The acquisition is performed in such a way as to minimize said error deviation (e).
8. Position adjustment system according to claim 7, wherein an disturbance variable observer (8) is provided, which is configured for, in dependence on the passing of the at least one correction parameterThe adapted inverse adaptation transmitter model adapts the adjustment quantity in order to compensate for interference effects acting on the adaptation transmitter unit (3) by maintaining the adjustment quantity.
9. A machine-readable storage medium, on which a computer program is stored, which is set up for carrying out all the steps of the method according to any one of claims 1 to 6.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102016222732.7A DE102016222732A1 (en) | 2016-11-18 | 2016-11-18 | Method and device for performing a position control for a positioner unit |
| DE102016222732.7 | 2016-11-18 |
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| CN108073071A CN108073071A (en) | 2018-05-25 |
| CN108073071B true CN108073071B (en) | 2023-08-08 |
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| CN201711144519.7A Active CN108073071B (en) | 2016-11-18 | 2017-11-17 | Method and device for performing a position adjustment for adjusting a transmitter unit |
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| DE (1) | DE102016222732A1 (en) |
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| EP3605249A1 (en) * | 2018-08-02 | 2020-02-05 | Siemens Aktiengesellschaft | Method for synchronizing, method for operating an industrial installation, system, and computer readable medium and computer program product |
| DE102019006935B4 (en) * | 2019-10-04 | 2021-07-22 | Man Truck & Bus Se | Technology for dead time compensation for transverse and longitudinal guidance of a motor vehicle |
| DE102020215820A1 (en) | 2020-12-14 | 2022-06-15 | Robert Bosch Gesellschaft mit beschränkter Haftung | Hydraulic pump for a hydrostatic drive, and hydrostatic drive |
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| CN108073071A (en) | 2018-05-25 |
| DE102016222732A1 (en) | 2018-05-24 |
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