CN112177789B - 一种生物柴油发动机自适应喷油控制系统及控制方法 - Google Patents

一种生物柴油发动机自适应喷油控制系统及控制方法 Download PDF

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CN112177789B
CN112177789B CN202011036263.XA CN202011036263A CN112177789B CN 112177789 B CN112177789 B CN 112177789B CN 202011036263 A CN202011036263 A CN 202011036263A CN 112177789 B CN112177789 B CN 112177789B
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CN112177789A (zh
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楼狄明
赵瀛华
张允华
房亮
唐远贽
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Tongji University
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Abstract

本发明涉及一种生物柴油发动机自适应喷油控制系统及控制方法，控制系统包括排气管、气体传感器、控制模块和喷油器，排气管与喷油器相连，气体传感器安装在排气管内，气体传感器和喷油器分别与控制模块相连。控制方法直接通过发动机使用生物柴油时的怠速稳态NOx排放信号与纯柴油怠速稳态NOx排放值进行对比，闭环控制发动机主喷提前角，以减小排气中的NOx排放。与现有技术相比，本发明具有无需进行生物柴油比例检测、效率高、效果好等优点。

Description

一种生物柴油发动机自适应喷油控制系统及控制方法
技术领域
本发明涉及生物柴油喷油控制技术领域，尤其是涉及一种生物柴油发动机自适应喷油控制系统及控制方法。
背景技术
比起传统柴油机，生物柴油发动机具有高NOx排放的特点。因此，如何降低NOx排放是生物柴油发动机的研究重点。现有专利CN201610826273.0通过改进生物柴油的制备流程，得到改性的生物柴油，从而达到降低NOx排放的目的；现有专利CN201810091332.3通过改进生物柴油的配比及制备方法，以大幅降低发动机尾气中的有害成分。可以看出，上述专利都是通过直接改进燃料的方法来减少生物柴油发动机的NOx排放。然而，目前通过直接采用生物柴油发动机机内净化技术解决生物柴油发动机高NOx排放问题的技术较少。现有专利CN201010191235.5通过对不同混合比例生物柴油混合燃料的相对介电常数值进行测量，确定生物柴油比例，然后再研究提高如何提高生物柴油发动机的使用性能。
由此可知，现有技术中针对降低生物柴油发动机NOx排放量较大的问题，均是通过对生物柴油本身来进行研究的，还并未有一种针对发动机的控制系统和控制方法来降低生物柴油发动机的NOx排放量。
发明内容
本发明的目的就是为了克服上述现有技术存在的缺陷而提供一种无需进行生物柴油比例检测、效率高、效果好的生物柴油发动机自适应喷油控制系统及控制方法。
本发明的目的可以通过以下技术方案来实现：
一种生物柴油发动机自适应喷油控制系统，所述的控制系统包括排气管、气体传感器、控制模块和喷油器；所述的排气管与喷油器相连；所述的气体传感器安装在排气管内；所述的气体传感器和喷油器分别与控制模块相连；所述的控制模块内嵌有自适应喷油控制程序。
优选地，所述的喷油器的数量为若干个；所述的若干个喷油器分别与控制模块相连。
优选地，所述的气体传感器为NOx传感器。
优选地，所述的控制模块具体为车载ECU。
一种用于上述喷油控制系统的生物柴油发动机自适应喷油控制方法，包括：
步骤1：获取NOx排放标准值；
步骤2：实时获取NOx稳态排放值；
步骤3：判断步骤2获取的NOx稳态排放值是否大于NOx排放标准值，若是，则执行步骤6，否则，执行步骤7；
步骤4：根据NOx稳态排放值与NOx排放标准值的差值对主喷定时进行自适应控制，直至NOx稳态排放值与NOx排放标准值的差值为零，然后执行步骤5；
步骤5：判断主喷定时推迟角度是否大于零，若是，则执行步骤6，否则，执行步骤7；
步骤6：调整ECU中的喷油map，然后返回步骤3；
步骤7；完成自适应喷油控制。
优选地，所述的步骤1具体为：
启动加入纯柴油后的发动机，控制发动机稳定在怠速工况下，控制模块采集NOx传感器的输出信号，获取NOx稳态排放值，将其作为NOx排放标准值。
优选地，所述的步骤2具体为：
启动加入任意比例生物柴油的发动机，控制发动机稳定在怠速工况，控制模块采集NOx传感器的输出信号，实时获取NOx稳态排放值。
优选地，所述的步骤4中的自适应控制具体为闭环反馈控制。
更加优选地，所述的闭环反馈控制的传递函数具体为：
Figure GDA0003501740300000021
其中，H(s)为反馈控制函数，Kp为比例常数，Ki为积分常数，Kd为微分常数。
优选地，所述的步骤6具体为：
若主喷定时推迟角度大于零，则将ECU中的喷油map进行调整，将喷油map中的主喷定时全部按该主喷定时推迟角进行推迟。
与现有技术相比，本发明具有以下优点：
本申请提供了一种适用于生物柴油发动机的自适应喷油控制系统及控制方法，无需通过在机外或机内进行生物柴油比例检测，直接通过发动机使用生物柴油时的怠速稳态NOx排放信号与纯柴油怠速稳态NOx排放值进行对比，闭环控制发动机主喷提前角，以减小排气中的NOx排放，以添加B20生物柴油的发动机为例，常用转速中等负荷和外特性下分别能实现在保证发动机功率的情况下，将发动机NOx排放量降低15％和10％左右，效率更高，保证了生物柴油发动机的工作稳定性及减排要求。
附图说明
图1为本发明中生物柴油发动机自适应喷油控制系统的结构示意图；
图2为本发明中生物柴油发动机自适应喷油控制方法的流程示意图；
图3为本发明实施例中PID控制器的原理示意图；
图4为本发明实施例中PID控制器的控制框图。
图中标号所示：
1、排气管，2、气体传感器，3、控制模块，4、喷油器。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明的一部分实施例，而不是全部实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都应属于本发明保护的范围。
一种生物柴油发动机自适应喷油控制系统，其结构如图1所示，包括排气管1、气体传感器2、控制模块3和喷油器4，排气管1与喷油器4相连，气体传感器2安装在排气管1内，气体传感器2和喷油器4分别与控制模块3相连，控制模块3内嵌有自适应喷油控制程序。
喷油器4的数量为若干个，若干个喷油器4分别与控制模块3相连，气体传感器2具体为NOx传感器，控制模块3具体为车载ECU。
一种用于上述喷油控制系统的生物柴油发动机自适应喷油控制方法，其流程示意图如图2所示，包括：
步骤1：获取NOx排放标准值，具体为：
启动加入纯柴油后的发动机，控制发动机稳定在怠速工况下，控制模块采集NOx传感器的输出信号，获取NOx稳态排放值，将其作为NOx排放标准值；
步骤2：实时获取NOx稳态排放值，具体为：
启动加入任意比例生物柴油的发动机，控制发动机稳定在怠速工况，控制模块采集NOx传感器的输出信号，实时获取NOx稳态排放值。
步骤3：判断步骤2获取的NOx稳态排放值是否大于NOx排放标准值，若是，则执行步骤6，否则，执行步骤7；
步骤4：根据NOx稳态排放值与NOx排放标准值的差值对主喷定时进行自适应控制，直至NOx稳态排放值与NOx排放标准值的差值为零，然后执行步骤5；
如图3所示，本实施例中的闭环反馈控制采用PID控制，PID控制器就是根据系统的误差，利用比例、积分、微分计算出控制量进行控制的。PID控制原理如图4所示，r(t)为输入量，y(t)为输出量，e(t)为偏差量，u(t)为PID控制器的输出量，被控对象为主喷定时。对于本例，r(t)表示NOx排放标准值，y(t)表示NOx稳态排放值，e(t)为偏差值。
PID控制器的传递函数为：
Figure GDA0003501740300000041
闭环反馈控制的传递函数为：
Figure GDA0003501740300000042
其中，H(s)为反馈控制函数，Kp为比例常数，Ki为积分常数，Kd为微分常数。
在该闭环控制系统实际应用时，比例常数、积分常数、微分常数需要根据实际需求进行标定，本实施例给出一种简易的标定方法：
1、确定Kp
确定比例常数Kp时，首先去掉PID的积分常数和微分常数，及令Ki＝Kd＝0，PID为纯比例调节。
输入设定为系统允许的最大值的60％～70％，由0逐渐加大比例增益P，直至系统出现振荡。
再反过来，从此时的比例常数Kp逐渐减小，直至系统振荡消失，记录此时的比例增益P，设定PID的Kp为当前值的60％～70％，至此Kp调试完成。
2、确定Ki。
比例常数Kp确定后，设定一个较大的积分常数Ki的初值，然后逐渐减小Ki，直至系统出现振荡，之后在反过来，逐渐加大Ki，直至系统振荡消失。记录此时的Ki，设定PID的积分常数Ki为当前值的150％～180％，至此Ki调试完成。
3、确定微分常数Kd。
微分常数Kd一般不用设定，为0即可。若要设定，与确定Kp和Ki的方法相同，取不振荡时的30％。
步骤5：判断主喷定时推迟角度是否大于零，若是，则执行步骤6，否则，执行步骤7；
步骤6：调整ECU中的喷油map，然后返回步骤3，具体为：
若主喷定时推迟角度大于零，则将ECU中的喷油map进行调整，将喷油map中的主喷定时全部按该主喷定时推迟角进行推迟；
步骤7；完成自适应喷油控制。
下面提供一种具体算例：
以某型号生物柴油发动机为例，为实现生物柴油发动机自适应喷油控制系统及控制方法，首先将纯柴油加入至发动机，并稳定运行至怠速工况，获取该发动机的NOx排放标准值。以该生物柴油发动机加入某种比例的生物柴油为例(事先无需知晓该生物柴油的具体比例)，当发动机稳定运行至怠速工况后，实时获取NOx稳态排放值，通过上述闭环控制系统对发动机主喷定时进行自适应调整。其中PID控制器的参数根据上述简易标定方式进行标定，如本例中Kp、Ki和Kd的标定最终结果为4、2和0.5，系统经过1s达到稳定，主喷定时相比原机推迟了4°CA。
将ECU中喷油map中的主喷定时均推迟4°CA后，即完成自适应喷油控制。当发动机采用B20生物柴油在各个工况运行时，其NOx排放均能得到不同程度的改善。
以上所述，仅为本发明的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明揭露的技术范围内，可轻易想到各种等效的修改或替换，这些修改或替换都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应以权利要求的保护范围为准。

Claims (4)

1.一种生物柴油发动机自适应喷油控制方法，其特征在于，包括：
步骤1：获取NOx排放标准值；
步骤2：实时获取NOx稳态排放值；
步骤3：判断步骤2获取的NOx稳态排放值是否大于NOx排放标准值，若是，则执行步骤4，否则，执行步骤5；
步骤4：根据NOx稳态排放值与NOx排放标准值的差值对主喷定时进行自适应控制，直至NOx稳态排放值与NOx排放标准值的差值为零，然后执行步骤5；
步骤5：判断主喷定时推迟角度是否大于零，若是，则执行步骤6，否则，执行步骤7；
步骤6：调整ECU中的喷油map，然后返回步骤3；
步骤7；完成自适应喷油控制；
所述的步骤1具体为：
启动加入纯柴油后的发动机，控制发动机稳定在怠速工况下，控制模块采集NOx传感器的输出信号，获取NOx稳态排放值，将其作为NOx排放标准值；
所述的步骤4中的自适应控制具体为闭环反馈控制。
2.根据权利要求1所述的一种生物柴油发动机自适应喷油控制方法，其特征在于，所述的步骤2具体为：
启动加入任意比例生物柴油的发动机，控制发动机稳定在怠速工况，控制模块采集NOx传感器的输出信号，实时获取NOx稳态排放值。
3.根据权利要求1所述的一种生物柴油发动机自适应喷油控制方法，其特征在于，所述的闭环反馈控制的传递函数具体为：
Figure FDA0003526830780000011
其中，H(s)为反馈控制函数，Kp为比例常数，Ki为积分常数，Kd为微分常数。
4.根据权利要求1所述的一种生物柴油发动机自适应喷油控制方法，其特征在于，所述的步骤6具体为：
若主喷定时推迟角度大于零，则将ECU中的喷油map进行调整，将喷油map中的主喷定时全部按该主喷定时推迟角进行推迟。
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