CN109555608A - A kind of engine control and its device - Google Patents
A kind of engine control and its device Download PDFInfo
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- CN109555608A CN109555608A CN201811377765.1A CN201811377765A CN109555608A CN 109555608 A CN109555608 A CN 109555608A CN 201811377765 A CN201811377765 A CN 201811377765A CN 109555608 A CN109555608 A CN 109555608A
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- engine
- observer
- speed
- actual speed
- control
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/0002—Controlling intake air
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D9/00—Controlling engines by throttling air or fuel-and-air induction conduits or exhaust conduits
- F02D9/02—Controlling engines by throttling air or fuel-and-air induction conduits or exhaust conduits concerning induction conduits
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D9/00—Controlling engines by throttling air or fuel-and-air induction conduits or exhaust conduits
- F02D9/02—Controlling engines by throttling air or fuel-and-air induction conduits or exhaust conduits concerning induction conduits
- F02D2009/0201—Arrangements; Control features; Details thereof
- F02D2009/023—Engine speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/1002—Output torque
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/101—Engine speed
Abstract
The invention discloses a kind of engine control and its devices.This method, comprising: obtain the preset rotation speed and the first actual speed of engine；Preset rotation speed and the first actual speed are handled by controller, determine that the result of processing is the throttle opening of engine；According to throttle opening, the second actual speed of engine when the air throttle of engine is opened for throttle opening is determined；Second actual speed is compared with preset rotation speed, determines whether the absolute value of the comparison difference obtained is less than threshold value；If being not less than threshold value, it is determined that the second actual speed is the first actual speed, and execution handles preset rotation speed and the first actual speed by controller, determines that the result of processing is the throttle opening of engine.To which according to engine, in different actual speeds, the variation of loading moment, control moment and disturbance torque is determined as obtaining actual engine speed subject throttle aperture, and then improves the control precision to engine.
Description
Technical field
The present invention relates to technical field of engines, espespecially a kind of engine control and its device.
Background technique
To make engine by predetermined regular trouble free service and optimum performance can be obtained under various conditions, machine is usually used
The devices such as tool, hydraulic, air pressure, electrical control engine.
In the prior art, opened loop control is usually mostly used greatly to revolving speed control, directly carries out the control of throttle amount, wherein
Opened loop control refers to the system control mode of no feedback information.
However, during the present inventor states the prior art in realization, opened loop control controller and controlled pair
As only sequential action and without backward linkage and control one direction carry out, cause control engine speed precision it is lower.
Summary of the invention
In order to solve the above-mentioned technical problems, the present invention provides a kind of engine control and its devices, are able to solve
Control the lower problem of the precision of engine speed.
In order to reach the object of the invention, the present invention provides a kind of engine controls, comprising:
The preset rotation speed and the first actual speed of engine are obtained, first actual speed includes inputting described preset
The actual speed of the engine after revolving speed；
The preset rotation speed and first actual speed are handled by controller, determine that the result of processing is institute
The throttle opening of engine is stated, the controller includes a control processor, and the control processor is used for according to the hair
Motivation corresponding loading moment, control moment and disturbance torque summation in the preset rotation speed and first actual speed,
The opposite number of the sum number of acquisition carries out the integral of time；
According to the throttle opening, the hair when air throttle of the engine is opened for the throttle opening is determined
Second actual speed of motivation；
Second actual speed is compared with the preset rotation speed, determines that the absolute value of the comparison difference obtained is
It is no to be less than threshold value；
If being less than the threshold value, it is determined that for obtain the actual speed of the engine be two actual speed, by institute
The air throttle for stating engine is opened for the throttle opening；
If be not less than the threshold value, it is determined that second actual speed be first actual speed, execute general
The preset rotation speed and first actual speed are handled by controller, determine that the result of processing is the engine
Throttle opening.
Further, described according to the throttle opening, determine that the air throttle of the engine is opened for the solar term
Second actual speed of engine when door aperture, comprising:
The throttle opening is handled by rotational speed governor, determines that the result of processing is described second practical turn
Speed, the rotational speed governor are used for the control moment, the loading moment and the disturbance torque of the engine
It is added the sum number obtained to be divided by with rotary inertia, the divisor of acquisition is determined as the derivative of second actual speed.
Further, the controller, further includes: the first observer and the second observer；
First observer is for obtaining the control moment, the loading moment, the disturbance torque and described the
The corresponding relationship of one actual speed；
Second observer is for obtaining the control moment, the loading moment, the disturbance torque, described first
The corresponding relationship of actual speed and the preset rotation speed.
Further, first observer includes the first sub- observer and the second sub- observer；
The first sub- observer is used to the valuation of the first parameter and the first parameter subtracting each other acquisition difference, by the first observation
The derivative of the valuation for square being determined as disturbance torque with the opposite number of the product of the difference of device gain；
For 2 times of first observer gain to be multiplied with the difference, acquisition multiplies the second sub- observer
Long-pending opposite number is added with the valuation of the second parameter and the disturbance torque, and the sum number of acquisition is determined as the valuation of the first parameter
Derivative.
Further, second observer includes the sub- observer of third and the 4th sub- observer；
The sub- observer of third is used for the valuation of the second control moment error and the second control moment error phase
Subtract, the difference of acquisition is multiplied with second observer gain, and the result of multiplication is added with third control moment error, acquisition
The opposite number of sum number is the derivative of the valuation of the second control moment error；
The 4th sub- observer is used to miss the valuation of the second control moment error and second control moment
Difference is subtracted each other, and the difference of acquisition and second observer gain square are multiplied, and it is dry that the opposite number of multiplied result is determined as third
Disturb the derivative of the valuation of torque；
The third control moment error includes: the product of the second control gain k1 Yu the second control moment error；
The second control moment error includes: that the first control moment error is controlled multiplied by gains with first, acquisition
Product is added with second parameter and the disturbance torque, the difference that the sum number and revolving speed product of acquisition are subtracted each other；
The revolving speed product includes the result that rotary inertia is multiplied with the preset rotation speed；
The first control moment error includes the result that the first parameter and the revolving speed product are subtracted each other.
Further, first parameter includes the rotary inertia and real engine velocity of rotation, second ginseng
Number includes the sum number that control moment is added with loading moment.
The present invention also provides a kind of engine control systems, comprising:
Module is obtained, for obtaining the preset rotation speed and the first actual speed of engine, the first actual speed packet
Include the actual speed of the engine after inputting the preset rotation speed；
Processing module is determined for handling the preset rotation speed and first actual speed by controller
The result of processing is the throttle opening of the engine, and the controller includes a control processor, the control processor
For according to the engine in preset rotation speed and the first actual speed corresponding loading moment, control moment and disturbance torque
Summation, the opposite number of the sum number of acquisition carry out the integral of time；
Determining module, for determining that the air throttle of the engine is opened for the solar term according to the throttle opening
Second actual speed of engine when door aperture；Second actual speed is compared with the preset rotation speed, really
Whether the absolute value of the comparison difference obtained surely is less than threshold value；If being less than threshold value, it is determined that obtain the reality of the engine
Revolving speed is two actual speed, and the air throttle of the engine is opened for the throttle opening；If being not less than threshold value,
It determines that second actual speed is first actual speed, executes and turn the preset rotation speed and first reality
Speed is handled by controller, determines that the result of processing is the throttle opening of the engine.
Further, the determining module is also used to handle the throttle opening by rotational speed governor, really
Surely the result handled be second actual speed, the rotational speed governor be used for by the control moment of the engine,
The loading moment and the disturbance torque are added the sum number obtained and are divided by with rotary inertia, and the divisor of acquisition is determined as described
The derivative of second actual speed.
Further, the controller, further includes: the first observer and the second observer；
First observer is for obtaining the control moment, the loading moment, the disturbance torque and described the
The corresponding relationship of one actual speed；
Second observer is for obtaining the control moment, the loading moment, the disturbance torque, described first
The corresponding relationship of actual speed and the preset rotation speed.
Further, first observer includes the first sub- observer and the second sub- observer；
The first sub- observer is used to the valuation of the first parameter and the first parameter subtracting each other acquisition difference, by the first observation
The derivative of the valuation for square being determined as disturbance torque with the opposite number of the product of the difference of device gain；
The second sub- observer is used to for 2 times of first observer gain being multiplied with the difference, acquisition multiplies
Long-pending opposite number is added with the valuation of the second parameter and the disturbance torque, and the sum number of acquisition is determined as the valuation of the first parameter
Derivative；
Second observer includes the sub- observer of third and the 4th sub- observer；
The sub- observer of third is used for the valuation of the second control moment error and the second control moment error phase
Subtract, the difference of acquisition is multiplied with second observer gain, and the result of multiplication is added with third control moment error, acquisition
The opposite number of sum number is the derivative of the valuation of the second control moment error；
The 4th sub- observer is used to miss the valuation of the second control moment error and second control moment
Difference is subtracted each other, and the difference of acquisition and second observer gain square are multiplied, and it is dry that the opposite number of multiplied result is determined as third
Disturb the derivative of the valuation of torque；
The third control moment error includes: the product of the second control gain k1 Yu the second control moment error；
The second control moment error includes: that the first control moment error is controlled multiplied by gains with first, acquisition
Product is added with second parameter and the disturbance torque, the difference that the sum number and revolving speed product of acquisition are subtracted each other；
The revolving speed product includes the result that rotary inertia is multiplied with the preset rotation speed；
The first control moment error includes the result that the first parameter and the revolving speed product are subtracted each other；
First parameter includes the rotary inertia and real engine velocity of rotation, and second parameter includes control
The sum number that torque is added with loading moment.
Compared with prior art, the present invention is by obtaining the preset rotation speed and the first actual speed of engine, and described the
One actual speed includes the actual speed of the engine after inputting the preset rotation speed；By the preset rotation speed and described first
Actual speed is handled by controller, determines that the result of processing is the throttle opening of the engine, the controller
Including a control processor, the control processor is used for according to the engine in preset rotation speed and the first actual speed pair
Loading moment, control moment and the disturbance torque summation answered, the opposite number of the sum number of acquisition carry out the integral of time；According to described
Throttle opening determines second practical turn of the engine when air throttle of the engine is opened for the throttle opening
Speed；Second actual speed is compared with the preset rotation speed, determines whether the absolute value of the comparison difference obtained is small
In threshold value；If being less than threshold value, it is determined that when the air throttle of the engine is opened for the throttle opening, the engine
Actual speed is two actual speed；If being not less than threshold value, it is determined that second actual speed is described first real
Border revolving speed, execution handle the preset rotation speed and first actual speed by controller, determine the result of processing
For the throttle opening of the engine.To according to engine in different actual speeds, loading moment, control moment and dry
The variation for disturbing torque is determined as acquisition actual engine speed subject throttle aperture and further passes through different actual speeds pair
The iterative processing of different loading moments, control moment and disturbance torque is answered, thus solar term when obtaining closest to preset rotation speed
Door aperture.The control precision to engine is improved in turn.
Other features and advantages of the present invention will be illustrated in the following description, also, partly becomes from specification
It obtains it is clear that understand through the implementation of the invention.The objectives and other advantages of the invention can be by specification, right
Specifically noted structure is achieved and obtained in claim and attached drawing.
Detailed description of the invention
Attached drawing is used to provide to further understand technical solution of the present invention, and constitutes part of specification, with this
The embodiment of application technical solution for explaining the present invention together, does not constitute the limitation to technical solution of the present invention.
Fig. 1 is the flow diagram of one embodiment of inventive engine control method；
Fig. 2 is the structural schematic diagram of one embodiment of inventive engine control device.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention
Embodiment be described in detail.It should be noted that in the absence of conflict, in the embodiment and embodiment in the application
Feature can mutual any combination.
Step shown in the flowchart of the accompanying drawings can be in a computer system such as a set of computer executable instructions
It executes.Also, although logical order is shown in flow charts, and it in some cases, can be to be different from herein suitable
Sequence executes shown or described step.
Fig. 1 is the flow diagram of one embodiment of inventive engine control method.As shown in Figure 1, the present embodiment is held
Row main body is revolution speed control device, wherein revolution speed control device can be independently arranged, and also can be set on the engine.This reality
The applicable scene for applying example is when carrying out revolving speed control to engine.The acquisition methods of raffinate magnitude provided in this embodiment, packet
It includes:
Step 101, the preset rotation speed and the first actual speed for obtaining engine.
Specifically, the revolving speed in the present embodiment can be in the engine speed using engine initial setting up；Described
One actual speed includes the actual speed of the engine after inputting the preset rotation speed, that is to say, that in the solar term of engine
Door is when being opened for initial throttle aperture, the actual engine speed that engine obtains under the scene of preset rotation speed.
Step 102 handles the preset rotation speed and first reality by controller, determines the result of processing
For the throttle opening of the engine.
The controller in the present embodiment includes a control processor, and the control processor according to for starting
Machine corresponding loading moment, control moment and disturbance torque summation, sum number of acquisition in preset rotation speed and the first actual speed
Opposite number carry out time integral.That is, engine is in the first actual speed, according to the load of engine under the scene
Torque, control moment and disturbance torque, to determine the throttle opening of engine.
Step 103, according to the throttle opening, determine that the air throttle of the engine is opened for the throttle opening
Second actual speed of Shi Suoshu engine.
For determining that the air throttle of the engine is opened for throttle opening when institute according to the throttle opening
The second actual speed for stating engine includes at least following two implementation:
The air throttle of engine is opened for described by the first implementation, the throttle opening obtained according to step 102
Throttle opening, and then determine the second actual speed of engine；
The throttle opening is passed through revolving speed control by second of implementation, the throttle opening obtained according to step 102
Device processed is handled, and determines that the result of processing is first actual speed, the rotational speed governor is used for the engine
The control moment, the loading moment and the disturbance torque are added the sum number obtained and rotary inertia is divided by, acquisition
Divisor be determined as the derivative of second actual speed.
Second actual speed is compared by step 104 with the preset rotation speed, determines the comparison difference obtained
Whether absolute value is less than threshold value.
Specifically, if executing step 105 when being less than threshold value；If be not less than threshold value, step 106 is executed.
Step 105, the actual speed for being determined as obtaining the engine are two actual speed, by the engine
Air throttle is opened for the throttle opening；
Step 106 determines that second actual speed is first actual speed, executes the preset rotation speed
It is handled with first actual speed by controller, determines that the result of processing is the throttle opening of the engine.
In the present embodiment, the preset rotation speed and the first actual speed of engine, the first actual speed packet are obtained
Include the actual speed of the engine after inputting the preset rotation speed；The preset rotation speed and first actual speed are passed through
Controller is handled, and determines that the result of processing is the throttle opening of the engine, the controller includes at a control
Manage device, the control processor be used for according to the engine in preset rotation speed and the first actual speed corresponding load force
Square, control moment and disturbance torque summation, the opposite number of the sum number of acquisition carry out the integral of time；It is opened according to the air throttle
Degree, determines the second actual speed of the engine when air throttle of the engine is opened for the throttle opening；By institute
It states the second actual speed to be compared with the preset rotation speed, determines whether the absolute value of the comparison difference obtained is less than threshold value；
If being less than threshold value, it is determined that for obtain the actual speed of the engine be two actual speed, by the section of the engine
Valve is opened for the throttle opening；If being not less than threshold value, it is determined that second actual speed is described first real
Border revolving speed, execution handle the preset rotation speed and first actual speed by controller, determine the result of processing
For the throttle opening of the engine.To according to engine in different actual speeds, loading moment, control moment and dry
The variation for disturbing torque is determined as acquisition actual engine speed subject throttle aperture and further passes through different actual speeds pair
The iterative processing of different loading moments, control moment and disturbance torque is answered, thus solar term when obtaining closest to preset rotation speed
Door aperture.The control precision to engine is improved in turn.
Further, on the basis of the above embodiments, described according to the throttle opening, determine the engine
Air throttle is opened for the second actual speed of the engine when throttle opening, comprising:
The throttle opening is handled by rotational speed governor, determines that the result of processing is the of the engine
Two actual speeds, the rotational speed governor are used for the control moment of the engine, the loading moment and described
Disturbance torque is added the sum number obtained and is divided by with rotary inertia, and the divisor of acquisition is determined as the derivative of second actual speed.
The rotational speed governor in the present embodiment is used for the control moment, loading moment and interference of the engine
Torque is added the sum number obtained and is divided by with rotary inertia, and the divisor of acquisition is determined as the derivative of the actual speed, can use
Following equation operation:
Wherein
ω: the first actual speed
nthd: throttle opening
Tl: loading moment
f(nthd, ω): control moment
d1: disturbance torque
Further, on the basis of the above embodiments, the controller, further includes: the first observer and the second observation
Device；
First observer is corresponding with actual speed for obtaining the control moment, loading moment, disturbance torque
Relationship；
Second observer is for obtaining the control moment, loading moment, disturbance torque, actual speed and described pre-
If the corresponding relationship of revolving speed.
Preferably, first observer includes the first sub- observer and the second sub- observer；
The first sub- observer is used to the valuation of the first parameter and the first parameter subtracting each other acquisition difference, by the first observation
The derivative of the valuation for square being determined as disturbance torque with the opposite number of the product of the difference of device gain；
For 2 times of first observer gain to be multiplied with the difference, acquisition multiplies the second sub- observer
Long-pending opposite number is added with the valuation of the second parameter and the disturbance torque, and the sum number of acquisition is determined as the valuation of the first parameter
Derivative.
Specifically, the first sub- observer can use following formula:
Wherein, the first parameter x1=J ω；Second parameter x2=f (nthd,ω)+Tl；
First-parameter is x1, the valuation of the first parameter isFirst observer gain is h1, the valuation of disturbance torque leads
Number isRotary inertia is J, and control moment is f (nthd, ω), loading moment Tl。
Second sub- observer can use following formula:
Wherein, x1For the first parameter, x1=J ω；X2 is the second parameter, x2=f (nthd, ω) and+Tl；The valuation of first parameter
ForFirst observer gain is h1, and the derivative of the valuation of the first parameter isThe valuation of disturbance torque isRotary inertia
It is the first actual speed for J, ω, control moment is f (nthd, ω), loading moment Tl。
Preferably, second observer includes the sub- observer of third and the 4th sub- observer；
The sub- observer of third is used for the valuation of the second control moment error and the second control moment error phase
Subtract, the difference of acquisition is multiplied with second observer gain, and the result of multiplication is added with third control moment error, acquisition
The opposite number of sum number is the derivative of the valuation of the second control moment error；
The 4th sub- observer is used to miss the valuation of the second control moment error and second control moment
Difference is subtracted each other, and the difference of acquisition is determined as estimating for third disturbance torque with square opposite number being multiplied of second observer gain
The derivative of value；
The third control moment error includes: the product of the second control gain Yu the second control moment error；
The second control moment error includes: that the first control moment error is controlled multiplied by gains with first, acquisition
Product is added with second parameter and the disturbance torque, the difference that the sum number and revolving speed product of acquisition are subtracted each other；
The revolving speed product includes the result that rotary inertia is multiplied with the preset rotation speed；
The first control moment error includes the result that the first parameter and the revolving speed product are subtracted each other.
Further, on the basis of the above embodiments, first parameter includes the rotary inertia and actually start
Machine velocity of rotation, second parameter include the sum number that control moment is added with loading moment.
The sub- observer of third can use following formula:
The sub- observer of third:
4th sub- observer:Wherein,
Derivative of second control moment with respect to air throttle
Second control moment
Second control moment error
Second parameter x2=f (nthd,ω)+Tl；
Loading moment is Tl, control moment is f (nthd, ω), the first actual speed is ω, throttle opening nthd, just
Beginning disturbance torque is d1；For d1Estimated value,For third disturbance torque d3Estimated value, quantity of state error be e1=x1-J
ωd, preset rotation speed ωd, the first observer gain is h2, k1For the first control gain, k2For the second control gain.
Fig. 2 is the structural schematic diagram of one embodiment of inventive engine control device.As shown in Fig. 2, the present embodiment provides
Revolution speed control device, comprising: obtain module 21, processing module 22 and determining module 23, wherein
Module 21 is obtained, for obtaining the preset rotation speed and the first actual speed of engine, first actual speed
Actual speed including the engine after the input preset rotation speed；
Processing module 22, for handling the preset rotation speed and first actual speed by controller, really
Surely the result handled is the throttle opening of the engine, and the controller includes a control processor, the control processing
Device be used for according to the engine in preset rotation speed and the first actual speed corresponding loading moment, control moment and perturbed force
Square summation, the opposite number of the sum number of acquisition carry out the integral of time；
Determining module 23, for determining that the air throttle of the engine is opened for the section according to the throttle opening
Second actual speed of engine when valve opening；Second actual speed is compared with the preset rotation speed,
Determine whether the absolute value of the comparison difference obtained is less than threshold value；If being less than threshold value, it is determined that the air throttle of the engine is beaten
When opening as the throttle opening, the actual speed of the engine is two actual speed；If being not less than threshold value, it is determined that
Second actual speed is first actual speed, and the preset rotation speed and first actual speed are led in execution
It crosses controller to be handled, determines that the result of processing is the throttle opening of the engine.
In the present embodiment, the preset rotation speed and the first actual speed of engine, the first actual speed packet are obtained
Include the actual speed of the engine after inputting the preset rotation speed；The preset rotation speed and first actual speed are passed through
Controller is handled, and determines that the result of processing is the throttle opening of the engine, the controller includes at a control
Manage device, the control processor be used for according to the engine in preset rotation speed and the first actual speed corresponding load force
Square, control moment and disturbance torque summation, the opposite number of the sum number of acquisition carry out the integral of time；It is opened according to the air throttle
Degree, determines the second actual speed of the engine when air throttle of the engine is opened for the throttle opening；By institute
It states the second actual speed to be compared with the preset rotation speed, determines whether the absolute value of the comparison difference obtained is less than threshold value；
If being less than threshold value, it is determined that when the air throttle of the engine is opened for the throttle opening, the reality of the engine turns
Speed is two actual speed；If being not less than threshold value, it is determined that second actual speed is first actual speed,
Execution handles the preset rotation speed and first actual speed by controller, determines that the result of processing is the hair
The throttle opening of motivation.To according to engine in different actual speeds, loading moment, control moment and disturbance torque
Variation is determined as acquisition actual engine speed subject throttle aperture and is further corresponded to by different actual speeds different
The iterative processing of loading moment, control moment and disturbance torque, thus throttle opening when obtaining closest to preset rotation speed.Into
And improve the control precision to engine.
Further, on the basis of the above embodiments, the determining module 23 is also used to lead to the throttle opening
It crosses rotational speed governor to be handled, determines that the result of processing is second actual speed, the rotational speed governor is used for institute
The control moment, the loading moment and the disturbance torque for stating engine are added the sum number and rotary inertia phase obtained
It removes, the divisor of acquisition is determined as the derivative of second actual speed.
Further, on the basis of the above embodiments, the controller, further includes: the first observer and the second observation
Device；
First observer is for obtaining the control moment, the loading moment, the disturbance torque and described the
The corresponding relationship of one actual speed；
Second observer is for obtaining the control moment, the loading moment, the disturbance torque, described first
The corresponding relationship of actual speed and the preset rotation speed.
Preferably, first observer includes the first sub- observer and the second sub- observer；
The first sub- observer is used to the valuation of the first parameter and the first parameter subtracting each other acquisition difference, by the first observation
The derivative of the valuation for square being determined as disturbance torque with the opposite number of the difference product of device gain；
The second sub- observer be used for will first observer gain and the difference multiplied by 2, the product of acquisition
Opposite number is added with the valuation of the second parameter and the disturbance torque, and the sum number of acquisition is determined as leading for the valuation of the first parameter
Number；
Second observer includes the sub- observer of third and the 4th sub- observer；
The sub- observer of third is used for the valuation of the second control moment error and the second control moment error phase
Subtract, the difference of acquisition is multiplied with second observer gain, and the result of multiplication is added with third control moment error, acquisition
The opposite number of sum number is the derivative of the valuation of the second control moment error；
The 4th sub- observer is used to miss the valuation of the second control moment error and second control moment
Difference is subtracted each other, and the difference of acquisition is determined as estimating for third disturbance torque with square opposite number being multiplied of second observer gain
The derivative of value；
The third control moment error includes: the product of the second control gain k1 Yu the second control moment error；
The second control moment error includes: that the first control moment error is controlled multiplied by gains with first, acquisition
Product is added with second parameter and the disturbance torque, the difference that the sum number and revolving speed product of acquisition are subtracted each other；
The revolving speed product includes the result that rotary inertia is multiplied with the preset rotation speed；
The first control moment error includes the result that the first parameter and the revolving speed product are subtracted each other；
First parameter includes the rotary inertia and real engine velocity of rotation, and second parameter includes control
The sum number that torque is added with loading moment.
In the present embodiment, it realizes according to engine in different actual speeds, loading moment, control moment and interference
The variation of torque is determined as obtaining actual engine speed subject throttle aperture, further, corresponding by different actual speeds
The iterative processing of different loading moment, control moment and disturbance torque, thus air throttle when obtaining closest to preset rotation speed
Aperture.The control precision to engine is improved in turn.
Although disclosed herein embodiment it is as above, the content only for ease of understanding the present invention and use
Embodiment is not intended to limit the invention.Technical staff in any fields of the present invention is taken off not departing from the present invention
Under the premise of the spirit and scope of dew, any modification and variation, but the present invention can be carried out in the form and details of implementation
Scope of patent protection, still should be subject to the scope of the claims as defined in the appended claims.
Claims (10)
1. a kind of engine control characterized by comprising
The preset rotation speed and the first actual speed of engine are obtained, first actual speed includes inputting the preset rotation speed
The actual speed of the engine afterwards；
The preset rotation speed and first actual speed are handled by controller, determine that the result of processing is the hair
The throttle opening of motivation, the controller include a control processor, and the control processor is used for according to the engine
In the preset rotation speed and first actual speed, corresponding loading moment, control moment and disturbance torque summation, are obtained
Sum number opposite number carry out the time integral；
According to the throttle opening, the engine when air throttle of the engine is opened for the throttle opening is determined
The second actual speed；
Second actual speed is compared with the preset rotation speed, determines whether the absolute value of the comparison difference obtained is small
In threshold value；
If being less than the threshold value, it is determined that for obtain the actual speed of the engine be two actual speed, by the hair
The air throttle of motivation is opened for the throttle opening；
If being not less than the threshold value, it is determined that second actual speed is first actual speed, and execution will be described
Preset rotation speed and first actual speed are handled by controller, determine that the result of processing is the solar term of the engine
Door aperture.
2. the method according to claim 1, wherein described according to the throttle opening, determine described in start
The air throttle of machine is opened for the second actual speed of the engine when throttle opening, comprising:
The throttle opening is handled by rotational speed governor, determines that the result of processing is second actual speed,
The rotational speed governor is used to for the control moment, the loading moment and the disturbance torque of the engine being added
The sum number of acquisition is divided by with rotary inertia, and the divisor of acquisition is determined as the derivative of second actual speed.
3. method according to claim 1 or 2, which is characterized in that the controller, further includes: the first observer and
Two observers；
First observer is for obtaining the control moment, the loading moment, the disturbance torque and described first in fact
The corresponding relationship of border revolving speed；
Second observer is for obtaining the control moment, the loading moment, the disturbance torque, first reality
The corresponding relationship of revolving speed and the preset rotation speed.
4. according to the method described in claim 3, it is characterized in that, first observer includes the first sub- observer and second
Sub- observer；
The first sub- observer is used to the valuation of the first parameter and first parameter subtracting each other acquisition difference, by the first observation
The derivative of the valuation for square being determined as disturbance torque with the opposite number of the product of the difference of device gain；
The second sub- observer is used to for 2 times of first observer gain being multiplied with the difference, the product of acquisition
Opposite number is added with the valuation of the second parameter and the disturbance torque, and the sum number of acquisition is determined as the valuation of first parameter
Derivative.
5. according to the method described in claim 4, it is characterized in that, second observer includes the sub- observer of third and the 4th
Sub- observer；
The sub- observer of third is obtained for subtracting each other the valuation of the second control moment error and the second control moment error
The difference obtained is multiplied with second observer gain, and the result of multiplication is added with third control moment error, the sum number of acquisition
Opposite number be the second control moment error valuation derivative；
The 4th sub- observer is used for the valuation of the second control moment error and the second control moment error phase
Subtract, the difference of acquisition and second observer gain square are multiplied, and the opposite number of multiplied result is determined as third perturbed force
The derivative of the valuation of square；
The third control moment error includes: the product of the second control gain Yu the second control moment error；
The second control moment error includes: by the first control moment error and the first control multiplied by gains, the product of acquisition
It is added with second parameter and the disturbance torque, the difference that the sum number and revolving speed product of acquisition are subtracted each other；
The revolving speed product includes the result that rotary inertia is multiplied with the preset rotation speed；
The first control moment error includes the result that the first parameter and the revolving speed product are subtracted each other.
6. according to the method described in claim 5, it is characterized in that, first parameter includes the rotary inertia and practical hair
Motivation velocity of rotation, second parameter include the sum number that control moment is added with loading moment.
7. a kind of engine control system characterized by comprising
Module is obtained, for obtaining the preset rotation speed and the first actual speed of engine, first actual speed includes defeated
Enter the actual speed of the engine after the preset rotation speed；
Processing module determines processing for handling the preset rotation speed and first actual speed by controller
Result be the engine throttle opening, the controller includes a control processor, and the control processor is used for
According to the engine, in preset rotation speed and the first actual speed, corresponding loading moment, control moment and disturbance torque are asked
With the integral of the opposite number progress time of the sum number of acquisition；
Determining module, for determining that the air throttle of the engine is opened for the air throttle and opens according to the throttle opening
Second actual speed of engine when spending；Second actual speed is compared with the preset rotation speed, determination obtains
Whether the absolute value of the comparison difference obtained is less than threshold value；If being less than threshold value, it is determined that obtain the actual speed of the engine
For two actual speed, the air throttle of the engine is opened for the throttle opening；If being not less than threshold value, it is determined that
Second actual speed is first actual speed, and the preset rotation speed and first actual speed are led in execution
It crosses controller to be handled, determines that the result of processing is the throttle opening of the engine.
8. device according to claim 7, which is characterized in that the determining module is also used to the throttle opening
It is handled by rotational speed governor, determines that the result of processing is second actual speed, the rotational speed governor is used for will
The control moment, the loading moment and the disturbance torque of the engine are added the sum number obtained and rotary inertia
It is divided by, the divisor of acquisition is determined as the derivative of second actual speed.
9. device according to claim 7 or 8, which is characterized in that the controller, further includes: the first observer and
Two observers；
First observer is for obtaining the control moment, the loading moment, the disturbance torque and described first in fact
The corresponding relationship of border revolving speed；
Second observer is for obtaining the control moment, the loading moment, the disturbance torque, first reality
The corresponding relationship of revolving speed and the preset rotation speed.
10. device according to claim 9, which is characterized in that first observer includes the first sub- observer and the
Two sub- observers；
The first sub- observer is used to the valuation of the first parameter and first parameter subtracting each other acquisition difference, by the first observation
The derivative of the valuation for square being determined as disturbance torque with the opposite number of the product of the difference of device gain；
The second sub- observer is used to for 2 times of first observer gain being multiplied with the difference, the product of acquisition
Opposite number is added with the valuation of the second parameter and the disturbance torque, and the sum number of acquisition is determined as the valuation of first parameter
Derivative；
Second observer includes the sub- observer of third and the 4th sub- observer；
The sub- observer of third is obtained for subtracting each other the valuation of the second control moment error and the second control moment error
The difference obtained is multiplied with second observer gain, and the result of multiplication is added with third control moment error, the sum number of acquisition
Opposite number be the second control moment error valuation derivative；
The 4th sub- observer is used for the valuation of the second control moment error and the second control moment error phase
Subtract, the difference of acquisition and second observer gain square are multiplied, and the opposite number of multiplied result is determined as third perturbed force
The derivative of the valuation of square；
The third control moment error includes: the product of the second control gain Yu the second control moment error；
The second control moment error includes: by the first control moment error and the first control multiplied by gains, the product of acquisition
It is added with second parameter and the disturbance torque, the difference that the sum number and revolving speed product of acquisition are subtracted each other；
The revolving speed product includes the result that rotary inertia is multiplied with the preset rotation speed；
The first control moment error includes the result that the first parameter and the revolving speed product are subtracted each other；
First parameter includes the rotary inertia and real engine velocity of rotation, and second parameter includes control moment
The sum number being added with loading moment.
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| CN101468644A (en) * | 2007-12-27 | 2009-07-01 | 现代自动车株式会社 | System and method for controlling driving force of hybrid electric vehicle |
| US20100057325A1 (en) * | 2008-08-28 | 2010-03-04 | Gm Global Technology Operations, Inc. | Torque reserve and emission control system for coordinated torque control |
| US20120143457A1 (en) * | 2007-02-01 | 2012-06-07 | Advics Co., Ltd. | Running control apparatus and running control method for vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120143457A1 (en) * | 2007-02-01 | 2012-06-07 | Advics Co., Ltd. | Running control apparatus and running control method for vehicle |
| CN101468644A (en) * | 2007-12-27 | 2009-07-01 | 现代自动车株式会社 | System and method for controlling driving force of hybrid electric vehicle |
| US20100057325A1 (en) * | 2008-08-28 | 2010-03-04 | Gm Global Technology Operations, Inc. | Torque reserve and emission control system for coordinated torque control |
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