CN108930597A

CN108930597A - Ship use intermediate speed dual fuel engine control method and system based on rapid control prototyping

Info

Publication number: CN108930597A
Application number: CN201810710444.2A
Authority: CN
Inventors: 杨建国; 郑先全; 钱正彦; 胡旭钢; 王勤鹏; 余永华
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2018-07-02
Filing date: 2018-07-02
Publication date: 2018-12-04
Anticipated expiration: 2038-07-02
Also published as: CN108930597B

Abstract

The ship use intermediate speed dual fuel engine control method based on rapid control prototyping that the invention discloses a kind of, comprising: signal acquisition module acquires engine state parameters, output to basic control unit and Auxiliary Control Element；Basic control module carries out engine gas security control, fuel mode switching control, fuel gas injection control and air-fuel ratio control according to engine state parameters；Secondary control module carries out the control of cylinder balance and knock control according to engine state parameters；It exports execution module and carries out micro-pilot injection control according to engine state parameters, while receiving and executing the control signal of basic control module and secondary control module sending.The ship use intermediate speed dual fuel engine control system based on rapid control prototyping that the invention also discloses a kind of.The present invention is based on rapid control prototypings, propose a kind of medium speed dual-fuel engine control, can complete timely collection and the control signal output of all types of sensor signals of engine.

Description

Ship use intermediate speed dual fuel engine control method and system based on rapid control prototyping

Technical field

The invention belongs to internal-combustion engine engineering fields, and in particular to a kind of ship use intermediate speed double fuel based on rapid control prototyping Engine control and system.

Background technique

Continuous improvement with International Maritime Organization to marine engine emission request, gas fuel are that engine is realized The effective measures of energy-saving and emission-reduction.Compared with marine diesel combusting heavy oil, NOx, SOx of natural gas engine and granular material discharged It is substantially reduced.Foreign countries have started in foreign-going ship using natural gas engine, and control system's development is very complete, and the country is just It is dedicated to ship use intermediate speed dual fuel engine engineering development.Compared to boat diesel engine, ship use intermediate speed is micro- to spray the double fuel that ignites Engine structure is more complicated, burning is more difficult to control: dual fuel engine increases a set of gas supply system and a set of Micro-pilot injection system is all made of electronic control, and for engine control system, more stringent requirements are proposed for this；In Pilot diesel flow rate When accounting for fuel energy 1%, in-cylinder combustion is lean burn, and excess air coefficient is controlled 1.9 or so, it is easy to occur pinking and The case where catching fire, thus require engine control system that can be accurately controlled boost pressure, fuel gas injection and micro-pilot injection； Since combustion gas uses inlet manifold multi-point injection, under same injection pulse width, each cylinder fuel gas injection amount is largely fired Pressure difference influences before and after gas jet valve, and uneven so as to cause the acting of each cylinder, this requires engine control system that can fire to each cylinder Gas jet pulsewidth is modified, and realizes each cylinder power-balance；Ship use intermediate speed dual fuel engine in-cylinder combustion process is complicated, different Micro-pilot injection parameter, fuel gas injection parameter, the control parameters such as excess air coefficient in-cylinder combustion is had an impact, this is wanted Ask engine control system flexible function convenient, can real time modifying control parameter, Optimal Control Strategy, this is for domestic autonomous Property right double fuel machine exploitation peculiar to vessel has important meaning.

Summary of the invention:

In order to overcome the defect of above-mentioned background technique, it is double that the present invention provides a kind of ship use intermediate speed based on rapid control prototyping Engine fuel control method solves the various problems that ship use intermediate speed double fuel machine control system development phase is likely encountered, adds Fast development process.

In order to solve the above-mentioned technical problem used technical solution of the invention are as follows:

Ship use intermediate speed dual fuel engine control method based on rapid control prototyping, comprising:

Step 1, signal acquisition module acquires engine state parameters, and output to basic control unit and auxiliary control are single Member；

Step 2, basic control module is cut according to engine state parameters progress engine gas security control, fuel mode Change control, fuel gas injection control and air-fuel ratio control；

Step 3, secondary control module carries out the control of cylinder balance and knock control according to engine state parameters；

Step 4, output execution module carries out micro-pilot injection control according to engine state parameters, while receiving and executing The control signal that basic control module and secondary control module issue.

Preferably, engine state parameters include ship use intermediate speed dual fuel engine tach signal, torque signal, carriage clock letter Number, oxygen sensor signal, fuel gas pipeline related pressure, temperature and switch valve position signal, fuel pipe related pressure, temperature and Switch valve position signal, the relevant pressure of air pipe line, temperature and switch valve position signal, relevant flow signal, cylinder pressure Force signal and Vibration Cylinder Body signal.

Preferably, the specific method of engine gas security control includes: in step 2

Step 211, obtain current diffusion valve position feedback, shut-off valve position feedback, inert gas valve position feed back signal, Supply gas pressure, both arms pipe pressure, gas concentration, and judge whether within the set threshold range, if so, 212 are entered step, If it is not, then entering step 213；

Step 212, prepare state into combustion gas mode, diffusion valve is closed, and shut-off valve is opened, and inert gas valve is closed；

Step 213, into air supply system malfunction, sound-light alarm is issued, when both arms pipe pressure and gas concentration transfinite, Gas supply system purge mode is opened, diffusion valve is opened, and shut-off valve is closed, and inert gas valve is opened, and returns to step 211.

Preferably, the specific method of fuel mode switching control includes: in step 2

Step 221, engine current rotating speed, current loads, setting speed, assumed load and fuel gas supply state are obtained； When engine speed fluctuations are within 5rpm, fuel gas supply alarm free, and when in 20%-80% load range, diesel fuel mode It can switch to combustion gas mode；When engine speed fluctuations are within 5rpm, combustion gas mode can switch to diesel fuel mode；Any feelings Condition combustion gas mode can be quickly switched into diesel fuel mode；Obtain current gas injection pulse width and electron speed regulator rack position, meter Calculation obtains engine fuel substitution rate；

Step 222, when automatic switchover:

When engine is run in changeable section under diesel fuel mode, and allows to switch, engine is automatically from diesel oil Pattern switching is to combustion gas mode；

When tourist bus or revolving speed control diverging occurs in switching to combustion gas mode process in engine, engine is automatically from combustion Gas pattern switching is to diesel fuel mode；

When manual switching: can be under any revolving speed and load, manual actuation engine handoff procedure；

Step 223, judge present engine operational mode, if being currently diesel fuel mode, enter step 4, diesel fuel mode To combustion gas pattern switching；If being currently gas mode, 5 are entered step, combustion gas mode to diesel fuel mode switches；Judgement is currently cut Type is changed, if current switching type is to be switched fast, enters step 6.

Step 224, when diesel fuel mode is to combustion gas pattern switching, fuel gas supply valve is opened, control fuel gas injection rail position is arrived Current rotating speed/load target value, control exhaust gas bypass valve position to current rotating speed/load target position control micro-pilot injection Timing and the amount of injection are target value under current rotating speed/load combustion gas mode, according to preset fuel gas injection pulsewidth climbing It is stepped up fuel gas injection, keeps diesel fuel mode speed regulation setting speed constant, reduces diesel injection amount obtained to step 1 Replacement of fuel rate is 80% or demarcates replacement of fuel rate during the test by user, enables combustion gas mode closed-loop drive, and swash Air-fuel ratio closed-loop control living, while diesel fuel mode speed regulation is cut off, and reduce diesel fuel mode setting according to preset rate of descent Revolving speed makes diesel injection be gradually lowered to 0；In handoff procedure, micro-pilot injection parameter is remained unchanged；

Step 225, when combustion gas mode switches to diesel fuel mode, continue to keep the speed regulation of combustion gas mode, but make electronics tune simultaneously Fast device setting speed is greater than current rotating speed or greater than the revolving speed demarcated during the test by user, increases diesel injection amount, makes The fuel that fuel gas injection pulsewidth is decreased to the obtained replacement of fuel rate 20% of step 221 or has user to demarcate during the test Substitution rate, enables diesel fuel mode speed regulation, cutting combustion gas mode speed regulation, and fuel gas injection pulsewidth is reduced according to preset rate of descent To 0, micro-pilot injection timing and the amount of injection are arranged according to diesel fuel mode, and close exhaust gas bypass valve opening；

Step 226, when being switched fast, diesel fuel mode speed regulation is enabled, under setting initial rack position as current rotating speed/load The 80% of diesel fuel mode rack position, and electron speed regulator setting speed is made to be greater than current rotating speed or during testing again by user The revolving speed of calibration, while 0 is set by each cylinder fuel gas injection pulsewidth, and close exhaust gas by-pass valve, until engine peed stable；

Step 227, in engine fuel mode handover procedure, setting speed/load is kept.

Preferably, the specific method of engine gas injection control includes: in step 2

Step 231, acquisition engine current rotating speed, current loads, setting speed, assumed load, current gas pressure, into Enter step 232；

Step 232, it obtains working as forward according to speed/load change rate restrictive curve, interpolation under preset load section Speed/load target value；The control of fuel gas injection pressure is carried out, the control of fuel gas injection moment is carried out, carries out fuel gas injection pulse-width controlled；

Step 233, the specific method of progress fuel gas injection pressure control includes:

Step 233-1, the current rotating speed obtained according to step 232/load target value, in conjunction with the speed-load-combustion prestored Gas blowout injection pressure table of comparisons MAP1 obtains the target value of tabling look-up of current gas injection pressure, tables look-up target value to combustion gas according to described in Injection pressure target value is biased manually, and it is current that current gas injection pressure automatic control target value manual setting is calculated Fuel gas injection pressure target value,

Step 233-2, selection automatically controls or manual setting, and the fuel gas injection pressure that 3-1 is obtained automatically controls target Value or manual setting target value are set as current gas injection pressure final goal value；

Step 233-3, the current rotating speed obtained according to step 232/load target value, in conjunction with the speed-load-combustion prestored Gas jet pressure limit table of comparisons MAP2 obtains current gas injection upper pressure limit value and lower limit value, judgment step 233-2 are obtained Current gas injection pressure final goal value whether within limits, if so, pool output current gas injection pressure most Whole target value enters step 233-4 if it is not, then exporting upper limit or lower limit；

Step 233-4, the output valve of certain gaseous-pressure and step 233-3 that step 231 is obtained is as PID controller Input, control amendment current gas spray pressure；

Step 234, the control of fuel gas injection moment is carried out, specific method includes:

The current rotating speed obtained according to step 232/load target value, in conjunction with the speed-load prestored-fuel gas injection moment Table of comparisons MAP3 obtains current each cylinder fuel gas injection moment setting value, biases manually to each cylinder fuel gas injection moment, obtains current Fuel gas injection moment final setting value, and combustion gas each cylinder fuel gas injection moment is controlled using the value as output；

Step 235, fuel gas injection pulse-width controlled is carried out, specific method includes:

Step 235-1, the current rotating speed obtained according to step 232/load target value, and current admission pressure, air inlet temperature Degree, air humidity, fuel gas temperature, combustion gas methane value correlation thermal parameter, be calculated current gas injection pulse width upper limit value and Lower limit value；

Step 235-2, the current rotating speed obtained according to step 232/load target value, in conjunction with the speed-load-combustion prestored Gas jet amount table of comparisons MAP4 obtains current each cylinder fuel gas injection amount a reference value, and sprays pressure difference according to current gas and be calculated Current gas injection pulse width a reference value；

Step 235-3, selection is based on revolving speed or is based on load control manner, the current rotating speed that step 231 is obtained/current The current rotating speed that load and step 232 obtain/input of the load target value as PID controller calculates fuel gas injection pulsewidth and repairs Positive value；In addition, current rotating speed/load target value that pid control parameter is obtained according to step 232 respectively, in conjunction with speed-load- Combustion gas pulse-width controlled pid parameter table of comparisons MAP5 is obtained；

Step 235-4, the correction value that fuel gas injection pulsewidth a reference value that step 235-2 is obtained, step 235-3 are obtained, Each cylinder fuel gas injection pulsewidth manual correction value, cylinder balance module are added each cylinder fuel gas injection pulsewidth correction value, and judge whether Within the scope of the fuel gas injection pulsewidth limitation that step 235-1 is obtained, if so, the value is defeated as fuel gas injection pulse-width controlled Out, if it is not, then exporting upper limit or lower limit, the control of each cylinder fuel gas injection pulsewidth is completed.

Preferably, the specific method that air-fuel ratio controls in step 2 includes:

Step 241, engine current rotating speed, current loads, setting speed, assumed load are obtained, according to preset Speed/load change rate restrictive curve under load section, interpolation obtain current rotating speed/load target value；Obtain current lambda sensor Present engine actual air-fuel ratio is calculated in signal；Obtain engine current gas the amount of injection and thermal parameter, thermal parameter Including charge-air pressure, temperature, current chemically correct fuel is calculated, obtains current exhaust gas and bypasses valve opening position；

Step 242, the engine current rotating speed/load target value obtained according to step 241, in conjunction with speed-load-air-fuel Current air fuel ratio target value is obtained than table of comparisons MAP6, biases the target value manually；

Step 243, start actual air-fuel ratio or chemically correct fuel as present engine air-fuel ratio using what step 241 obtained, Using the air-fuel ratio target value that step 242 obtains as setting value, input of the two as PID controller, pid control parameter according to Engine current rotating speed/load target value that step 241 obtains, in conjunction with speed-load-air-fuel ratio Control PID parameter lookup table MAP7 is obtained；

Step 244, the current discarded bypass valve opening position that is obtained based on step 241 and step 253PID control output Correction value, control current exhaust gas bypasses valve opening position, to control air-fuel ratio.

Preferably, the specific method that micro-pilot injection controls in step 2 includes:

Step 251, the demand according to user to micro-pilot injection controller function, setting micro-pilot injection control input are defeated Outgoing interface is completed rapid control prototyping and is communicated with micro-pilot injection ECU；

Step 252, in user's micro-pilot injection control range, manual setting micro-pilot injection rail pressure makees setting value For output, it is sent to micro-pilot injection ECU, completes micro-pilot injection rail pressure control；

Step 253, engine current rotating speed, current loads, setting speed, assumed load are obtained, according to preset Speed/load change rate restrictive curve under different load section, interpolation obtain current rotating speed/load target value, it is complete to enter step 254 At micro-pilot injection timing control, the control of 255 completion micro-pilot injection amounts is entered step；

Step 254, the current rotating speed/load target value obtained according to step 253 comes to an end and closes the micro- spray of igniting of speed-load- It penetrates moment table of comparisons MAP8 and obtains current micro-pilot injection timing a reference value, each cylinder micro-pilot injection timing is biased manually, and The micro-pilot injection timing amendment from knock control module is received, current each cylinder micro-pilot injection timing setup value is obtained, it will The setting value is sent to micro-pilot injection ECU as output, completes micro-pilot injection timing control；

Step 255, the current rotating speed/load target value obtained according to step 253, looks into speed-load-micro-pilot injection amount Table of comparisons MAP9 obtains current micro-pilot injection amount a reference value, biases manually to each cylinder micro-pilot injection amount, and receives to reveal The micro-pilot injection amount amendment for shaking control module, finally obtains current each cylinder micro-pilot injection amount setting value, which is made For output, it is sent to micro-pilot injection ECU, completes the control of micro-pilot injection amount.

Preferably, the specific method of step 3 middle cylinder balance control includes:

Step 311, manual actuation cylinder balances control module, chooses whether to carry out cylinder balance control, if so, entering step 312；

Step 312, the type of selection activation cylinder balanced mode, if selection delivery temperature balanced mode, enters step 313, if selection detonation pressure balanced mode, enters step 315, if selection mean indicated pressure (MIP IMEP balanced mode, enters step Rapid 316；If selection burning midpoint CA50 balanced mode, enters step 317；

Step 313, current each cylinder delivery temperature is obtained, delivery temperature average value is calculated, according to each cylinder delivery temperature and is put down The deviation of equal delivery temperature passes through respectively using each cylinder actual exhaust air temperature and average exhaust as current value and setting value Each cylinder fuel gas injection pulsewidth offset is calculated in pid control algorithm；

Step 314, current each cylinder cylinder pressure signal, current rotating speed/load and thermal parameter are obtained, each cylinder is calculated Characteristic parameter, thermal parameter include intake air temperature, air humidity, and characteristic parameter includes detonation pressure, mean indicated pressure (MIP IMEP, burning Midpoint CA50；State monitoring module is sent by each characteristic parameter of each cylinder to show；

Step 315, each cylinder detonation pressure obtained according to step 314, calculates each cylinder detonation pressure average value, according to each cylinder detonation pressure peace The deviation of equal detonation pressure, respectively using the practical detonation pressure of each cylinder and average detonation pressure as current value and setting value, by pid control algorithm, Each cylinder fuel gas injection pulsewidth offset is calculated；

Step 316, each cylinder IMEP obtained according to step 314, calculates each cylinder IMEP average value, according to each cylinder IMEP peace The deviation of equal IMEP, respectively using the practical IMEP of each cylinder and average IMEP as current value and setting value, by pid control algorithm, Each cylinder fuel gas injection pulsewidth offset is calculated；

Step 317, each cylinder CA50 obtained according to step 314, calculates each cylinder CA50 average value, according to each cylinder CA50 peace The deviation of equal CA50, respectively using the practical CA50 of each cylinder and average CA50 as current value and setting value, by pid control algorithm, Each cylinder fuel gas injection pulsewidth offset is calculated.

Preferably, the specific method of knock control includes: in step 3

Step 321, manual actuation knock control module chooses whether to carry out knock control, if so, entering step 322；

Step 322, each cylinder vibration signal is acquired and handled in real time, calculates separately in vibration signal frequency domain pinking with respect to energy It measures, four root-mean-square value, variance and kurtosis characteristic parameters in time domain, and present engine knock index is calculated；

Step 323, the related thermal parameter such as engine current rotating speed/load, inlet exhaust gas temperature is obtained, according to step 322 Obtained knock index judges present engine knock level；

Step 324, if step 323 gained knock level is light knock, micro-pilot injection timing is postponed, increases micro- draw The amount of injection is fired, big exhaust gas by-pass valve is opened；If step 323 gained knock level is moderate pinking, knock control module is to control Device issues load down request signal；If step 323 gained knock level is serious pinking, knock control module activation engine It stops in emergency, and sends state monitoring module for each cylinder knock index and show.

A kind of ship use intermediate speed dual fuel engine control system based on rapid control prototyping carried out using the above method, It is characterized by comprising signal acquisition modules, are connected to basic control module, the auxiliary control mould of signal acquisition module output end Block and parameter show modified module, and basic control module connects output execution module with the signal output end of secondary control module.

The beneficial effects of the present invention are: the present invention is based on rapid control prototypings, propose a kind of medium speed dual-fuel engine Control method can complete timely collection and the control signal output of all types of sensor signals of engine, realize motivation Monitoring running state, start and stop logic, fuel mode switching, fuel supply, fuel gas injection control, micro-pilot injection control, air-fuel Than the control functions such as control, pinking and control of catching fire, cylinder balance control, finally meet engine health even running requirement.Respectively Hardware module uses pluggable arrangement, when actual disposition, according to engine sensor type and quantity, actuator types sum number Amount, selects the respective modules of enough channels and sample frequency, can be realized.It, can real time modifying control using modular programming design Parameter and control algolithm processed facilitate engine control to update optimization；Control method of the present invention is according to electron speed regulator and micro- Spray system is customized, flexibly and easily；Based on rapid control prototyping design, it can be achieved that dual fuel engine peculiar to vessel is based on revolving speed control System is based on load control system；Can each control parameter of real time modifying, to autonomous property right dual fuel engine control system's development and hair The optimization of motivation combustibility provides platform and supports；Achievable ship use intermediate speed is micro- to spray the various control functions of dual fuel engine of igniting, It is equally applicable to same type spark ignition natural gas engine and diesel engine transformation double fuel machine；Integrated pinking and monitoring of catching fire Control and cylinder balance control function, provide safeguard for engine operation, while providing platform branch for engine control strategy optimization It holds.

Detailed description of the invention

Fig. 1 is the system structure diagram of the embodiment of the present invention one；

Fig. 2 is the method flow diagram of gas safe control in the embodiment of the present invention two；

Fig. 3 is the method flow diagram of combustion gas pattern switching control in the embodiment of the present invention two；

Fig. 4 is the method flow diagram of fuel gas injection control in the embodiment of the present invention two；

Fig. 5 is the method flow diagram of air-fuel ratio control in the embodiment of the present invention two；

Fig. 6 is the method flow diagram of micro- control of igniting in the embodiment of the present invention two；

Fig. 7 is the method flow diagram of two middle cylinder of embodiment of the present invention balance control；

Fig. 8 is the method flow diagram of knock control in the embodiment of the present invention two.

In figure:

1 signal acquisition module, 2 parameters are shown and modified module, 3 basic control modules, 3-1 engine start-up and shut-down control list Member, 3-2 gas safe control unit, 3-3 diesel fuel mode speed adjustment unit, 3-4 pattern switching control unit, 3-5 engine gas Mode speed regulating control unit, 3-6 fuel gas injection control unit, 3-7 micro-pilot injection control unit, 3-8 air fuel ratio control unit, 4 secondary control modules, 4-1 cylinder balance control unit, 4-2 cylinder deactivation control unit, 4-3 knock control unit, 5 outputs execute list Member, 5-1 combustion gas, air, related switch valve group in fuel system, 5-2 electron speed regulator, 5-3 gas pressure regulation valve, 5-4 combustion Gas jet valve, 5-5 micro-pilot injection execution unit, 5-6 exhaust gas by-pass valve.

Specific embodiment

The present invention is described further with reference to the accompanying drawings and examples.

Embodiment one

Ship use intermediate speed dual fuel engine control system based on rapid control prototyping, comprising: signal acquisition module 1, even Basic control module 3, secondary control module 4 and the parameter for being connected to 1 output end of signal acquisition module show modified module 2, Basic control module 3 connects output execution module 5 with the signal output end of secondary control module 4.

Basic control module 3 includes engine start-up and shut-down control unit 3-1, gas safe control unit 3-2, diesel fuel mode tune Fast unit 3-3, pattern switching control unit 3-4, engine gas mode speed regulating control unit 3-5, fuel gas injection control unit 3-6, micro-pilot injection control unit 3-7 and air fuel ratio control unit 3-8, secondary control module 4 include that cylinder balances control unit 4-1, cylinder deactivation control unit 4-2 and knock control unit 4-3, output execution unit 5 include phase in combustion gas, air, fuel system It closes switch valve group 5-1, electron speed regulator 5-2, gas pressure regulation valve 5-3, fuel gas injection valve 5-4, micro-pilot injection and executes list First 5-5 and exhaust gas by-pass valve 5-6.The workflow of the present embodiment includes:

Step 1, rapid control prototyping signal acquisition module acquires medium speed dual-fuel engine rotational speed signal peculiar to vessel in real time, turns round Square signal, carriage clock signal, oxygen sensor signal, fuel gas pipeline related pressure, temperature and switch valve position signal, fuel pipe phase Close pressure, temperature and switch valve position signal, the relevant pressure of air pipe line, temperature and switch valve position signal, relevant stream Measure signal, cylinder pressure signal, Vibration Cylinder Body signal etc., to obtain current engine operating state；The signal of above-mentioned acquisition point It is not sent to step 2 engine monitoring display unit, step 3 engine basic control unit, step 4 engine auxiliary control list Member；

Step 2, it is single that each engine state parameters step 1 obtained are sent to the monitoring display of engine rapid control prototyping Member, real-time monitoring engine behavior, and sending sound/light alarm when occurring abnormal；

Step 3, each engine state parameters step 1 obtained are sent to engine rapid control prototyping and control mould substantially Block, completion engine start-up and shut-down control, engine gas security control, the speed regulation of engine diesel fuel mode, engine fuel mode are cut Change control, engine gas mode speed regulating control, engine gas injection control, the control of engine micro-pilot injection and engine Air-fuel ratio control；

Step 4, each engine state parameters step 1 obtained are sent to engine rapid control prototyping auxiliary control mould Block completes the control of engine cylinder balance, cylinder deactivation of engine control and combustion knock control；

Step 5, according to the output of engine start-up and shut-down control unit and gas safe control unit, control engine gas, The open and-shut mode of related switch valve group in air, fuel system；

Step 6, according to the output of diesel fuel mode speed adjustment unit and pattern switching control unit, rack position control letter is issued Number to electron speed regulator controller, main fuel rack position is controlled；

Step 7, according to step pattern switch control unit, engine gas mode speed regulating control unit and fuel gas injection control The output of unit processed, control engine gas spray pressure, injection timing and injection pulse width；Step cylinder balances control unit and stops The output of cylinder control unit is modified fuel gas injection pulsewidth；

Step 8, according to the output of micro-pilot injection control unit, micro-pilot injection pressure, timing, the amount of injection signal are issued To micro-pilot injection controller, above-mentioned micro-pilot injection parameter is controlled；The output of step knock control unit is to micro-pilot injection Timing and the amount of injection are modified；

Step 9, according to the output of step air fuel ratio control unit, exhaust gas bypass valve position, step knock control list are controlled The output of member is modified exhaust gas bypass valve position；

Step 10, according to demand for control and functional development needs, step 5, step 6, step 7, step 8, step 9 are related to Control output may be selected to automatically control according to each control module, can also be biased manually or manual setting, to verify simultaneously Different control functions are developed, control parameter is demarcated, meet duty of engine exploitation needs.

Step 11, which can be for the related function module that step 3 and step 4 are related to, manual actuation Certain particular module is based on hardware-in-loop simulation platform, carries out test development to the functional module.

Embodiment two

The ship use intermediate speed dual fuel engine control method based on rapid control prototyping of the present embodiment includes:

Step 1, signal acquisition module acquires engine state parameters, and engine state parameters include ship use intermediate speed double fuel Engine rotational speed signal, torque signal, carriage clock signal, oxygen sensor signal, fuel gas pipeline related pressure, temperature and switch valve position Confidence number, fuel pipe related pressure, temperature and switch valve position signal, the relevant pressure of air pipe line, temperature and switch valve Position signal, relevant flow signal, cylinder pressure signal and Vibration Cylinder Body signal.

It exports to the basic control unit and the Auxiliary Control Element；

Step 2, the basic control module carries out engine gas security control, combustion according to the engine state parameters Expect pattern switching control, fuel gas injection control and air-fuel ratio control；

Step 3, the secondary control module carries out the control of cylinder balance and knock control according to the engine state parameters；

Step 4, engine state parameters described in the output execution module carry out micro-pilot injection control, while receiving simultaneously Execute the control signal of the basic control module and secondary control module sending.

Wherein, as shown in Fig. 2, gas safe control method the following steps are included:

Step 211, current diffusion valve position feedback, shut-off valve position feedback, inert gas valve position feedback are obtained, is supplied Pressure, both arms pipe pressure, gas concentration judge whether in the normal range, then to enter step 212 in the normal range, do not exist 213 are then entered step in normal range (NR)；

Step 212, when gas supply system is normal, prepare state into combustion gas mode, diffusion valve is closed, and shut-off valve is beaten It opens, inert gas valve is closed；

Step 213, when diffusion valve position feedback failure, shut-off valve position feedback failure, the event of inert gas valve position feedback Barrier, supply gas pressure is insufficient or transfinites, and both arms pipe pressure transfinites, and when gas concentration transfinites, into air supply system malfunction, issues Sound-light alarm when especially both arms pipe pressure and gas concentration transfinite, opens gas supply system purge mode, and diffusion valve is beaten It opens, shut-off valve is closed, and inert gas valve is opened, and after above-mentioned each Parameter reconstruction is normal, enters step 212.

Wherein, as shown in figure 3, fuel mode method for handover control the following steps are included:

Step 221, engine current rotating speed, current loads, setting speed, assumed load and fuel gas supply state are obtained, Judge whether that pattern switching can be carried out: when engine speed/load is stablized, fuel gas supply is normal, and works in 20%-80% When in load range, diesel fuel mode is allowed to be switched to combustion gas mode；Stablize when engine speed/load, permits under any load Perhaps combustion gas pattern switching is to diesel fuel mode；In any case, combustion gas mode is allowed to be quickly switched into diesel fuel mode.Obtain current combustion Gas jet pulsewidth and electron speed regulator rack position, are calculated engine fuel substitution rate.

Step 222, when step 221 output allows to switch, automatic switchover or manual switching may be selected: when automatic switchover, When engine diesel fuel mode is run in changeable section and allows to switch, engine is switched to combustion gas from diesel fuel mode automatically Mode, when revolving speed unusual fluctuations under engine gas mode, engine is automatically from combustion gas pattern switching to diesel fuel mode；Manually , can be under different rotating speeds and load when switching, manual actuation engine handoff procedure, to debug the parameter of engine handoff procedure Setting.

Step 223, according to the output of step 222, judge current switching type: if be currently diesel fuel mode, into step Rapid 224, for diesel fuel mode to combustion gas pattern switching；If be currently gas mode, 225 are entered step, for combustion gas mode to bavin Oily pattern switching；When type is to be switched fast, 226 are entered step.

Step 224, when step 223 output be diesel fuel mode arrive combustion gas pattern switching when, open fuel gas supply valve, control fire Gas jet rail pressure controls exhaust gas bypass valve position to current rotating speed/load target position, control to current rotating speed/load target value Micro-pilot injection timing processed and the amount of injection are target value under current rotating speed/load combustion gas mode, according to preset gas injection It penetrates pulsewidth climbing and is stepped up fuel gas injection, keep diesel fuel mode speed regulation setting speed constant, diesel injection amount is forced to reduce It is 80% (value can be demarcated by user during the test) to the obtained replacement of fuel rate of step 1, enabled combustion gas mode is closed Ring speed regulation, and air-fuel ratio closed-loop control is activated, while cutting off diesel fuel mode speed regulation, and reduce bavin according to preset rate of descent Oily mode setting speed, makes diesel injection be gradually lowered to 0.In handoff procedure, micro-pilot injection parameter is remained unchanged；

Step 225, when step 223 output is that combustion gas mode switches to diesel fuel mode, continue to keep the speed regulation of combustion gas mode, But so that electron speed regulator setting speed is greater than current rotating speed (difference can be demarcated by user during the test) simultaneously, gradually increase Add diesel injection amount, forcing fuel gas injection pulsewidth to be decreased to the obtained replacement of fuel rate of step 1 is that 20% (value can tested Demarcated in the process by user), diesel fuel mode speed regulation is enabled, cutting combustion gas mode speed regulation, fuel gas injection pulsewidth is according to presetting Rate of descent be reduced to 0, micro-pilot injection timing and the amount of injection are arranged according to diesel fuel mode, and close exhaust gas bypass valve opening.

Step 226, when step 223 output for be switched fast when, enable diesel fuel mode speed regulation, set initial rack position as The 80% of diesel fuel mode rack position under current rotating speed/load, and electron speed regulator setting speed is made to be greater than current rotating speed (difference Value can be demarcated by user during the test), while 0 is set by each cylinder fuel gas injection pulsewidth, and close exhaust gas by-pass valve, directly To engine peed stable.

Wherein, as shown in figure 4, engine gas ejection control method the following steps are included:

Step 232, worked as according to speed/load change rate restrictive curve, interpolation under preset different load section Preceding speed/load target value enters step the control of 233 completion fuel gas injection pressure, entered step for 234 completion fuel gas injection moment Control, enters step 235 completion fuel gas injection pulse-width controlleds；

Step 233 fuel gas injection pressure controls

Step 233-1, the current rotating speed obtained according to step 232/load target value look into speed-load-fuel gas injection pressure Power table of comparisons MAP1 obtains the target value of tabling look-up of current gas injection pressure, can carry out hand to fuel gas injection pressure target value at this time Dynamic biasing is calculated current gas injection pressure and automatically controls target value；In addition, can manual setting current gas injection pressure Target value；

Step 233-2, selection automatically controls or manual setting, and the fuel gas injection pressure that 233-1 is obtained automatically controls mesh Scale value or manual setting target value are set as current gas injection pressure final goal value；

Step 233-3, the current rotating speed obtained according to step 232/load target value, speed-load-fuel gas injection of tabling look-up Pressure limit table of comparisons MAP2 obtains current gas injection upper pressure limit value and lower limit value, judgment step 233-2 are obtained current Fuel gas injection pressure final goal value exports current gas whether within limits, when in range and sprays the final mesh of pressure Scale value exports upper limit or lower limit, enters step 233-4 when being higher than upper limit value or being lower than lower limit value；

Step 233-4, the output valve of certain gaseous-pressure and step 233-3 that step 231 is obtained is as PID controller Input, control amendment current gas spray pressure.

Step 234, the fuel gas injection moment, which controls, includes:

The current rotating speed obtained according to step 232/load target value looks into speed-load-fuel gas injection moment table of comparisons MAP3 obtains current each cylinder fuel gas injection moment setting value, can bias manually to each cylinder fuel gas injection moment at this time, obtains current Fuel gas injection moment final setting value, and combustion gas each cylinder fuel gas injection moment is controlled using the value as output；

Step 235 fuel gas injection pulse-width controlled includes:

Step 235-1, the current rotating speed obtained according to step 232/load target value, and current admission pressure, air inlet temperature The correlation thermal parameter such as degree, air humidity, fuel gas temperature, combustion gas methane value, is calculated current gas injection pulse width upper limit value And lower limit value；

Step 235-2, the current rotating speed obtained according to step 232/load target value look into speed-load-fuel gas injection amount Table of comparisons MAP4 obtains current each cylinder fuel gas injection amount a reference value, and sprays pressure difference according to current gas and current gas is calculated Injection pulse width a reference value；

Step 235-3, selection is based on revolving speed (propulsion) or is based on load (power generation) control mode, works as what step 1 obtained The current rotating speed that preceding revolving speed/current loads and step 232 obtain/input of the load target value as PID controller calculates combustion gas Injection pulse width correction value；Turn in addition, current rotating speed/load target value that pid control parameter is obtained according to step 232 respectively is looked into Speed-load-combustion gas pulse-width controlled pid parameter table of comparisons MAP5 is obtained；

Step 235-4, the correction value that fuel gas injection pulsewidth a reference value that step 235-2 is obtained, step 235-3 are obtained, Each cylinder fuel gas injection pulsewidth manual correction value, cylinder balance module are added each cylinder fuel gas injection pulsewidth correction value, and judge whether Within the scope of the limitation of fuel gas injection pulsewidth that step 235-1 is obtained, within the scope of when, using the value as fuel gas injection pulsewidth Control output exports upper limit or lower limit, is finally completed each cylinder fuel gas injection pulsewidth when being higher than upper limit value or being lower than lower limit value Control.

Wherein, as shown in figure 5, engine air-fuel ratio control method the following steps are included:

Step 241, engine current rotating speed, current loads, setting speed, assumed load are obtained, according to preset Speed/load change rate restrictive curve under different load section, interpolation obtain current rotating speed/load target value；Current oxygen is obtained to pass Present engine actual air-fuel ratio is calculated in sensor signal；Obtain engine current gas the amount of injection and charge-air pressure, Current chemically correct fuel is calculated in the thermal parameters such as temperature；It obtains current exhaust gas and bypasses valve opening position.

Step 242, the engine current rotating speed/load target value obtained according to step 241, looks into speed-load-air-fuel ratio Table of comparisons MAP6 obtains current air fuel ratio target value, meanwhile, the target value can be biased manually；

Step 243, start actual air-fuel ratio or chemically correct fuel as present engine air-fuel ratio using what step 241 obtained, Using the air-fuel ratio target value that step 242 obtains as setting value, input of the two as PID controller, pid control parameter according to Engine current rotating speed/load target value that step 241 obtains looks into speed-load-air-fuel ratio Control PID parameter lookup table MAP7 is obtained；

Step 244, the current discarded bypass valve opening position that is obtained based on step 241 and step 243PID control output Correction value, control current exhaust gas bypasses valve opening position, to control air-fuel ratio near target value.

Wherein, as shown in fig. 6, micro-pilot injection control method the following steps are included:

Step 251, it is required according to third party's micro-pilot injection controller function, defines micro-pilot injection and control input and output Interface is completed rapid control prototyping and is communicated with micro-pilot injection ECU；

Step 252, in third party's micro-pilot injection control range, manual setting micro-pilot injection rail pressure, by the setting Value is sent to micro-pilot injection ECU as output, completes micro-pilot injection rail pressure control；

Step 254, the current rotating speed/load target value obtained according to step 253, when looking into speed-load-micro-pilot injection It carves table of comparisons MAP8 and obtains current micro-pilot injection timing a reference value, each cylinder micro-pilot injection timing can be biased manually at this time, And the micro-pilot injection timing amendment from knock control module is received, finally obtain current each cylinder micro-pilot injection timing setting Value is sent to micro-pilot injection ECU using the setting value as output, completes micro-pilot injection timing control；

Step 255, the current rotating speed/load target value obtained according to step 253, looks into speed-load-micro-pilot injection amount Table of comparisons MAP9 obtains current micro-pilot injection amount a reference value, can bias manually to each cylinder micro-pilot injection amount at this time, and receive Micro-pilot injection amount amendment from knock control module, finally obtains current each cylinder micro-pilot injection amount setting value, this is set Definite value is sent to micro-pilot injection ECU as output, completes micro-pilot injection amount and controls

Wherein, as shown in fig. 7, cylinder balance control method the following steps are included:

Step 311, manual actuation cylinder balances control module, to choose whether to execute the module；

Step 312, the type of selection activation cylinder balanced mode, delivery temperature balanced mode enter step 313, detonation pressure balance Mode enters step 315, IMEP (mean indicated pressure (MIP) balanced mode and enters step 316, CA50 (burning midpoint) balanced mode Enter step 317；

Step 313, current each cylinder delivery temperature is obtained, waiting temperature averages are calculated, according to each cylinder delivery temperature and is put down The deviation of equal delivery temperature passes through respectively using each cylinder actual exhaust air temperature and average exhaust as current value and setting value Each cylinder fuel gas injection pulsewidth offset is calculated in pid control algorithm；

Step 314, current each cylinder cylinder pressure signal, current rotating speed/load, the heat such as intake air temperature, air humidity are obtained Each cylinder characteristic parameter is calculated, such as detonation pressure, IMEP, CA50 in force parameter；Each each characteristic parameter of cylinder is sent to Condition Monitoring Unit Display.

Step 317, each cylinder CA50 obtained according to step 314, calculates each cylinder CA50 average value, according to each cylinder CA50 peace The deviation of equal CA50 using the practical CA50 of each cylinder and average CA50 as current value and setting value, passes through pid control algorithm, meter respectively Calculation obtains each cylinder fuel gas injection pulsewidth offset；

Step 318, it is calculated according to step 313, step 314, step 315, step 316, the various cylinder EQUILIBRIUM CALCULATION FOR PROCESSs of step 317 Method is reserved and corrects interface to other control parameters, such as micro-pilot injection moment, micro-pilot injection amount and exhaust gas bypass valve opening Deng.

Wherein, as shown in figure 8, knock control method the following steps are included:

Step 321, manual actuation knock control module, to choose whether to execute the module；

Step 324, when step 323 output is light knock, micro-pilot injection timing is postponed, increases micro-pilot injection amount, Open big exhaust gas by-pass valve；When step 323 output is moderate pinking, knock control module issues load down request to controller；Step When rapid 323 output is serious pinking, the parking of knock control module activation engine emergency.In addition, each cylinder knock index is sent to Condition Monitoring Unit shows

It should be understood that for those of ordinary skills, it can be modified or changed according to the above description, And all these modifications and variations should all belong to the protection domain of appended claims of the present invention.

Claims

1. the ship use intermediate speed dual fuel engine control method based on rapid control prototyping characterized by comprising

Step 1, signal acquisition module acquires engine state parameters, and output to the basic control unit and the auxiliary control Unit；

Step 2, the basic control module carries out engine gas security control, fuel mould according to the engine state parameters Formula switching control, fuel gas injection control and air-fuel ratio control；

Step 4, the output execution module carries out micro-pilot injection control according to the engine state parameters, while receiving simultaneously Execute the control signal of the basic control module and secondary control module sending.

2. the ship use intermediate speed dual fuel engine control method according to claim 1 based on rapid control prototyping, special Sign is:

The engine state parameters include ship use intermediate speed dual fuel engine tach signal, torque signal, carriage clock signal, oxygen biography Sensor signal, fuel gas pipeline related pressure, temperature and switch valve position signal, fuel pipe related pressure, temperature and switch valve The relevant pressure of position signal, air pipe line, temperature and switch valve position signal, relevant flow signal, cylinder pressure signal With Vibration Cylinder Body signal.

3. the ship use intermediate speed dual fuel engine control method according to claim 1 based on rapid control prototyping, special Sign is that the specific method of engine gas security control includes: in the step 2

Step 211, current diffusion valve position feedback, shut-off valve position feedback, inert gas valve position feed back signal, gas supply are obtained Pressure, both arms pipe pressure, gas concentration, and judge whether within the set threshold range, if so, 212 are entered step, if It is no, then enter step 213；

Step 213, into air supply system malfunction, sound-light alarm is issued, when both arms pipe pressure and gas concentration transfinite, is opened Gas supply system purge mode, diffusion valve are opened, and shut-off valve is closed, and inert gas valve is opened, and returns to step 211.

4. the ship use intermediate speed dual fuel engine control method according to claim 1 based on rapid control prototyping, special Sign is that the specific method of fuel mode switching control includes: in the step 2

Step 221, engine current rotating speed, current loads, setting speed, assumed load and fuel gas supply state are obtained；Work as hair The motivation fluctuation of speed is within 5rpm, fuel gas supply alarm free, and when in 20%-80% load range, diesel fuel mode can be cut Change to combustion gas mode；When engine speed fluctuations are within 5rpm, combustion gas mode can switch to diesel fuel mode；Any situation combustion Gas mode can be quickly switched into diesel fuel mode；Current gas injection pulse width and electron speed regulator rack position are obtained, is calculated To engine fuel substitution rate；

Step 222, when automatic switchover:

When engine is run in changeable section under diesel fuel mode, and allows to switch, engine is automatically from diesel fuel mode It is switched to combustion gas mode；

When tourist bus or revolving speed control diverging occurs in switching to combustion gas mode process in engine, engine is automatically from combustion gas mould Formula is switched to diesel fuel mode；

Step 223, judge present engine operational mode, if being currently diesel fuel mode, enter step 4, diesel fuel mode to combustion Gas pattern switching；If being currently gas mode, 5 are entered step, combustion gas mode to diesel fuel mode switches；The current switching class of judgement Type enters step 6 if current switching type is to be switched fast.

Step 224, when diesel fuel mode is to combustion gas pattern switching, fuel gas supply valve is opened, control fuel gas injection rail position is to currently Speed/load target value, control exhaust gas bypass valve position to current rotating speed/load target position control micro-pilot injection timing It is target value under current rotating speed/load combustion gas mode with the amount of injection, gradually according to preset fuel gas injection pulsewidth climbing Increase fuel gas injection, keeps diesel fuel mode speed regulation setting speed constant, reduce diesel injection amount to the obtained fuel of step 1 Substitution rate is 80% or demarcates the replacement of fuel rate during the test by user, enables combustion gas mode closed-loop drive, and swash Air-fuel ratio closed-loop control living, while diesel fuel mode speed regulation is cut off, and reduce diesel fuel mode setting according to preset rate of descent Revolving speed makes diesel injection be gradually lowered to 0；In handoff procedure, micro-pilot injection parameter is remained unchanged；

Step 225, when combustion gas mode switches to diesel fuel mode, continue to keep the speed regulation of combustion gas mode, but make electron speed regulator simultaneously Setting speed is greater than current rotating speed or greater than the revolving speed demarcated during the test by user, increases diesel injection amount, makes combustion gas The replacement of fuel that injection pulse width is decreased to the obtained replacement of fuel rate 20% of step 221 or has user to demarcate during the test Rate enables diesel fuel mode speed regulation, cutting combustion gas mode speed regulation, and fuel gas injection pulsewidth is reduced to 0 according to preset rate of descent, Micro-pilot injection timing and the amount of injection are arranged according to diesel fuel mode, and close exhaust gas bypass valve opening；

Step 226, when being switched fast, diesel fuel mode speed regulation, diesel oil under setting initial rack position as current rotating speed/load are enabled The 80% of mode rack position, and electron speed regulator setting speed is made to be greater than current rotating speed or be greater than during the test by user The revolving speed of calibration, while 0 is set by each cylinder fuel gas injection pulsewidth, and close exhaust gas by-pass valve, until engine peed stable；

Step 227, in engine fuel mode handover procedure, setting speed/load is kept.

5. the ship use intermediate speed dual fuel engine control method according to claim 1 based on rapid control prototyping, special Sign is that the specific method of engine gas injection control includes: in the step 2

Step 231, engine current rotating speed, current loads, setting speed, assumed load, current gas pressure, into step are obtained Rapid 232；

Step 232, according to speed/load change rate restrictive curve under preset load section, interpolation obtains current rotating speed/negative Lotus target value；The control of fuel gas injection pressure is carried out, the control of fuel gas injection moment is carried out, carries out fuel gas injection pulse-width controlled；

Step 233-1, the current rotating speed obtained according to step 232/load target value, in conjunction with the speed-load-gas injection prestored Injection pressure table of comparisons MAP1 obtains the target value of tabling look-up of current gas injection pressure, tables look-up target value to fuel gas injection according to described in Pressure target value is biased manually, and current gas injection pressure is calculated and automatically controls target value manual setting current gas Spray pressure target value；

Step 233-2, selection automatically controls or manual setting, the fuel gas injection pressure that 3-1 is obtained automatically control target value or Manual setting target value is set as current gas injection pressure final goal value；

Step 233-3, the current rotating speed obtained according to step 232/load target value, in conjunction with the speed-load-gas injection prestored Injection pressure limit value table of comparisons MAP2 obtains current gas injection upper pressure limit value and lower limit value, and what judgment step 233-2 was obtained works as Whether preceding fuel gas injection pressure final goal value is within limits, if so, pool output current gas sprays the final mesh of pressure Scale value enters step 233-4 if it is not, then exporting upper limit or lower limit；

Step 233-4, the output valve of certain gaseous-pressure and step 233-3 that step 231 is obtained is as the defeated of PID controller Enter, control amendment current gas sprays pressure；

The current rotating speed obtained according to step 232/load target value, in conjunction with the speed-load prestored-fuel gas injection moment control Table MAP3 obtains current each cylinder fuel gas injection moment setting value, biases manually to each cylinder fuel gas injection moment, obtains current gas The final setting value of time for spraying, and combustion gas each cylinder fuel gas injection moment is controlled using the value as output；

Step 235-1, the current rotating speed obtained according to step 232/load target value, and current admission pressure, intake air temperature, sky Air humidity degree, fuel gas temperature, combustion gas methane value correlation thermal parameter, are calculated current gas injection pulse width upper limit value and lower limit Value；

Step 235-2, the current rotating speed obtained according to step 232/load target value, in conjunction with the speed-load-gas injection prestored The amount of penetrating table of comparisons MAP4 obtains current each cylinder fuel gas injection amount a reference value, and sprays pressure difference according to current gas and be calculated currently Fuel gas injection pulsewidth a reference value；

Step 235-3, selection is based on revolving speed or is based on load control manner, current rotating speed/current loads that step 231 is obtained The current rotating speed obtained with step 232/input of the load target value as PID controller calculates fuel gas injection pulsewidth correction value； In addition, current rotating speed/load target value that pid control parameter is obtained according to step 232 respectively, in conjunction with speed-load-combustion gas arteries and veins Wide Control PID parameter lookup table MAP5 is obtained；

Step 235-4, the correction value that fuel gas injection pulsewidth a reference value that step 235-2 is obtained, step 235-3 are obtained, each cylinder Fuel gas injection pulsewidth manual correction value, cylinder balance module are added each cylinder fuel gas injection pulsewidth correction value, and judge whether in step Within the scope of the fuel gas injection pulsewidth limitation that rapid 235-1 is obtained, if so, exported the value as fuel gas injection pulse-width controlled, If it is not, then exporting upper limit or lower limit, the control of each cylinder fuel gas injection pulsewidth is completed.

6. the ship use intermediate speed dual fuel engine control method according to claim 1 based on rapid control prototyping, special Sign is that the specific method that air-fuel ratio controls in the step 2 includes:

Step 241, engine current rotating speed, current loads, setting speed, assumed load are obtained, according to preset load The lower speed/load change rate restrictive curve of section, interpolation obtain current rotating speed/load target value；Current oxygen sensor signal is obtained, Present engine actual air-fuel ratio is calculated；Obtain engine current gas the amount of injection and thermal parameter, the thermal parameter Including charge-air pressure, temperature, current chemically correct fuel is calculated, obtains current exhaust gas and bypasses valve opening position；

Step 242, the engine current rotating speed/load target value obtained according to step 241, in conjunction with speed-load-air-fuel ratio pair Current air fuel ratio target value is obtained according to table MAP6, biases the target value manually；

Step 243, start actual air-fuel ratio or chemically correct fuel as present engine air-fuel ratio using what step 241 obtained, with step Rapid 242 obtained air-fuel ratio target values are as setting value, and input of the two as PID controller, pid control parameter is according to step 241 obtained engine current rotating speed/load target values, in conjunction with speed-load-air-fuel ratio Control PID parameter lookup table MAP7 It obtains；

Step 244, the amendment based on step 241 obtained current discarded bypass valve opening position and step 253PID control output Value, control current exhaust gas bypasses valve opening position, to control air-fuel ratio.

7. the ship use intermediate speed dual fuel engine control method according to claim 1 based on rapid control prototyping, special Sign is that the specific method that micro-pilot injection controls in the step 2 includes:

Step 251, the demand according to user to micro-pilot injection controller function, setting micro-pilot injection control input and output connect Mouthful, it completes rapid control prototyping and is communicated with micro-pilot injection ECU；

Step 252, in user's micro-pilot injection control range, manual setting micro-pilot injection rail pressure, using setting value as defeated Out, it is sent to micro-pilot injection ECU, completes micro-pilot injection rail pressure control；

Step 253, engine current rotating speed, current loads, setting speed, assumed load are obtained, according to preset difference Speed/load change rate restrictive curve under load section, interpolation obtain current rotating speed/load target value, it is micro- to enter step 254 completions Pilot injection timing control enters step the control of 255 completion micro-pilot injection amounts；

Step 254, the current rotating speed/load target value obtained according to step 253 comes to an end when closing speed-load-micro-pilot injection It carves table of comparisons MAP8 and obtains current micro-pilot injection timing a reference value, each cylinder micro-pilot injection timing is biased manually, and receives Micro-pilot injection timing amendment from knock control module, obtains current each cylinder micro-pilot injection timing setup value, this is set Definite value is sent to micro-pilot injection ECU as output, completes micro-pilot injection timing control；

Step 255, the current rotating speed/load target value obtained according to step 253 looks into speed-load-micro-pilot injection amount control Table MAP9 obtains current micro-pilot injection amount a reference value, biases manually to each cylinder micro-pilot injection amount, and receives and come from pinking control The micro-pilot injection amount of molding block is corrected, and current each cylinder micro-pilot injection amount setting value is finally obtained, using the setting value as defeated Out, it is sent to micro-pilot injection ECU, completes the control of micro-pilot injection amount.

8. the ship use intermediate speed dual fuel engine control method according to claim 1 based on rapid control prototyping, special Sign is that the specific method of the step 3 middle cylinder balance control includes:

Step 312, the type of selection activation cylinder balanced mode, if selection delivery temperature balanced mode, enters step 313, if Detonation pressure balanced mode is selected, then enters step 315, if selection mean indicated pressure (MIP IMEP balanced mode, enters step 316； If selection burning midpoint CA50 balanced mode, enters step 317；

Step 313, current each cylinder delivery temperature is obtained, delivery temperature average value is calculated, according to each cylinder delivery temperature and average row The deviation of temperature degree is controlled respectively using each cylinder actual exhaust air temperature and average exhaust as current value and setting value by PID Each cylinder fuel gas injection pulsewidth offset is calculated in algorithm processed；

Step 314, current each cylinder cylinder pressure signal, current rotating speed/load and thermal parameter are obtained, each cylinder feature is calculated Parameter, the thermal parameter include intake air temperature, air humidity, the characteristic parameter include detonation pressure, mean indicated pressure (MIP IMEP, Burn midpoint CA50；State monitoring module is sent by each characteristic parameter of each cylinder to show；

Step 315, each cylinder detonation pressure obtained according to step 314, calculates each cylinder detonation pressure average value, according to each cylinder detonation pressure and is averaged quick-fried The deviation of pressure is calculated using the practical detonation pressure of each cylinder and average detonation pressure as current value and setting value by pid control algorithm respectively Obtain each cylinder fuel gas injection pulsewidth offset；

Step 316, each cylinder IMEP obtained according to step 314, calculates each cylinder IMEP average value, according to each cylinder IMEP and averagely The deviation of IMEP passes through pid control algorithm, meter respectively using the practical IMEP of each cylinder and average IMEP as current value and setting value Calculation obtains each cylinder fuel gas injection pulsewidth offset；

Step 317, each cylinder CA50 obtained according to step 314, calculates each cylinder CA50 average value, according to each cylinder CA50 and averagely The deviation of CA50 passes through pid control algorithm, meter respectively using the practical CA50 of each cylinder and average CA50 as current value and setting value Calculation obtains each cylinder fuel gas injection pulsewidth offset.

9. the ship use intermediate speed dual fuel engine control method according to claim 1 based on rapid control prototyping, special Sign is that the specific method of knock control includes: in the step 3

Step 322, each cylinder vibration signal is acquired and handled in real time, calculates separately pinking relative energy in vibration signal frequency domain, when Four root-mean-square value, variance and kurtosis characteristic parameters in domain, and present engine knock index is calculated；

Step 323, the related thermal parameter such as engine current rotating speed/load, inlet exhaust gas temperature is obtained, is obtained according to step 322 Knock index, judge present engine knock level；

Step 324, if step 323 gained knock level is light knock, micro-pilot injection timing is postponed, increases micro- spray of igniting The amount of penetrating opens big exhaust gas by-pass valve；If step 323 gained knock level is moderate pinking, knock control module is sent out to controller Load down request signal out；If step 323 gained knock level is serious pinking, knock control module activation engine emergency Parking, and send state monitoring module for each cylinder knock index and show.

10. a kind of ship use intermediate speed based on rapid control prototyping carried out using any one of such as claim 1-9 the method is double Fuel delivery machine control system, it is characterised in that: including signal acquisition module, be connected to the signal acquisition module output end Basic control module, secondary control module and parameter show modified module, and the basic control module and the auxiliary control mould The signal output end connection output execution module of block.