CN113515041A - Detection method for actuator response delay and related equipment - Google Patents
Detection method for actuator response delay and related equipment Download PDFInfo
- Publication number
- CN113515041A CN113515041A CN202110522169.3A CN202110522169A CN113515041A CN 113515041 A CN113515041 A CN 113515041A CN 202110522169 A CN202110522169 A CN 202110522169A CN 113515041 A CN113515041 A CN 113515041A
- Authority
- CN
- China
- Prior art keywords
- control valve
- value
- response delay
- timing
- dynamic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000004044 response Effects 0.000 title claims abstract description 142
- 238000001514 detection method Methods 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 claims abstract description 76
- 230000008569 process Effects 0.000 claims abstract description 36
- 238000001914 filtration Methods 0.000 claims description 24
- 238000003745 diagnosis Methods 0.000 claims description 10
- 238000013507 mapping Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000004913 activation Effects 0.000 description 4
- 238000012790 confirmation Methods 0.000 description 4
- 230000003247 decreasing effect Effects 0.000 description 4
- 230000003111 delayed effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 239000003344 environmental pollutant Substances 0.000 description 2
- 231100000719 pollutant Toxicity 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011157 data evaluation Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
The application provides a method and related equipment for detecting actuator response delay, and when detecting that a control valve is in a dynamic adjustment state, the method starts to time T for the dynamic process of the control valvemotionWhen the control valve has response delay phenomenon, the control valve response delay timer starts to time TslowTiming time T when controlling valve dynamic processmotionGreater than the dynamic detection calibration time T of the control valvemaxCalculating the response delay time T of the control valveslowAnd control valve dynamic timing TmotionWhen the ratio R is larger than the calibrated threshold value R0And when the control counter is increased by 1, judging whether the counting result of the counter is greater than a preset value, if so, reporting the fault of executing the response delay of the valve, and realizing the reliable detection of the response delay of the control valve.
Description
Technical Field
The invention relates to the technical field of equipment detection, in particular to a method for detecting response delay of an actuator and related equipment.
Background
In an engine system, an Exhaust Gas Recirculation (EGR) system is one of the currently accepted measures for effectively reducing NOx, but when an EGR valve of the EGR valve is used, carbon deposit dirt is prevented from being easily formed in the EGR valve, the opening and closing characteristics of the EGR valve are affected, the response of the EGR valve is delayed seriously, and especially when the engine is in a low-speed and low-load working condition for a long time during urban road driving, the carbon deposit dirt is more easily formed in the EGR system. The EGR system closed loop opening response time is slowed, so that the pollutant emission of the whole vehicle is deteriorated, and particularly the influence on the emission of NOx and PM is more obvious.
Disclosure of Invention
In view of the above, embodiments of the present invention provide a method and related apparatus for detecting response delay of an actuator, so as to achieve reliable detection of response delay of a control valve.
In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:
a method of detecting actuator response lag, comprising:
when the control valve is in dynamic adjustment, the dynamic process of the control valve is started to be timed and is recorded as the timing time T of the dynamic process of the control valvemotion；
When the control valve has the response delay phenomenon, the control valve response delay timer starts to time, and is recorded as the control valve response delay timing time Tslow；
Timing time T when controlling valve dynamic processmotionGreater than the dynamic detection calibration time T of the control valvemaxEnabling the actuator to respond to the delay diagnosis logic, delaying by one step length, and resetting the dynamic timing T of the control valvemotionAnd control valve response delay timing Tslow；
Calculating a control valve response lag timing T when the actuator response lag diagnostic logic is enabledslowAnd control valve dynamic timing TmotionThe ratio r of (A) to (B);
when the ratio R is larger than the calibrated threshold value R0When the ratio R is smaller than the calibrated threshold value R, the counter is controlled to be increased by 10And when the counter is controlled to be reduced by 1, judging whether the counting result of the counter is greater than a preset value, and if so, reporting the fault of response delay of the execution valve.
Optionally, in the method for detecting the actuator response delay, before starting to count the dynamic process of the control valve, the method further includes:
acquiring a required value of a control valve;
filtering the required value of the control valve based on a PT filtering time constant T1 to obtain a PT filtering value;
calculating a difference value between the required value of the control valve and the PT filtered value;
judging whether the difference value between the control valve required value and the PT filtered value is larger than a preset standard difference value or not;
and when the standard deviation value is larger than the preset standard deviation value, indicating that the control valve is in dynamic adjustment.
Optionally, the method for detecting the actuator response delay further includes:
and searching and obtaining a preset standard difference value matched with the required value of the control valve based on a preset mapping table.
Optionally, the method for detecting the actuator response delay further includes:
and judging whether the absolute value of the difference between the actual value and the required value of the control valve is greater than the absolute value of the difference between the EGR required value and the PT filtered value, and if so, determining that the control valve has a response delay phenomenon.
A device for detecting actuator response lag, comprising:
a first timing unit for starting to time the dynamic process of the control valve when the control valve is in dynamic adjustment and recording as the timing time T of the dynamic process of the control valvemotion；
A second timing unit for starting the control valve response delay timer to count as the control valve response delay timing time T when the control valve has the response delay phenomenonslow；
A logic enable unit forTiming the time T in the dynamic process of the control valvemotionGreater than the dynamic detection calibration time T of the control valvemaxEnabling the actuator to respond to the delay diagnosis logic, delaying by one step length, and resetting the dynamic timing T of the control valvemotionAnd control valve response delay timing Tslow；
A diagnostic unit for calculating a control valve response lag timing T when the actuator response lag diagnostic logic is enabledslowAnd control valve dynamic timing TmotionThe ratio r of (A) to (B); when the ratio R is larger than the calibrated threshold value R0When the current time is less than the preset time, controlling the counter to add 1, judging whether the counting result of the counter is greater than the preset value, and if so, reporting the fault of execution valve response delay; when the ratio R is smaller than a calibrated threshold value R0When so, the control counter is decremented by 1.
Optionally, the device for detecting the response delay of the actuator further includes:
a first control valve state judgment unit for:
acquiring a required value of a control valve;
filtering the required value of the control valve based on a PT filtering time constant T1 to obtain a PT filtering value;
calculating a difference value between the required value of the control valve and the PT filtered value;
judging whether the difference value between the control valve required value and the PT filtered value is larger than a preset standard difference value or not;
and when the standard deviation value is larger than the preset standard deviation value, indicating that the control valve is in dynamic adjustment.
Optionally, in the detection device for response delay of the actuator, the first control valve state determination unit is further configured to determine whether the actuator is in a non-actuated state or a non-actuated state
And searching and obtaining a preset standard difference value matched with the required value of the control valve based on a preset mapping table.
Optionally, the device for detecting the response delay of the actuator further includes:
a second control valve state judgment unit for: and judging whether the absolute value of the difference between the actual value and the required value of the control valve is greater than the absolute value of the difference between the EGR required value and the PT filtered value, and if so, determining that the control valve has a response delay phenomenon.
An actuator response lag detection device, comprising:
comprising a memory and a processor;
the memory is used for storing programs;
the processor is configured to execute the program to implement the steps of the method for detecting the actuator response delay according to any one of the above embodiments.
A vehicle control unit is applied with the actuator response delay detection device, and the control valve comprises but is not limited to an EGR valve.
Based on the above technical solution, in the above solution provided in the embodiment of the present invention, when the control valve is detected to be in the dynamic adjustment state, the dynamic process of the control valve is started to be timed TmotionWhen the control valve has response delay phenomenon, the control valve response delay timer starts to time TslowTiming time T when controlling valve dynamic processmotionGreater than the dynamic detection calibration time T of the control valvemaxCalculating the response delay time T of the control valveslowAnd control valve dynamic timing TmotionWhen the ratio R is larger than the calibrated threshold value R0When the counter is controlled to be increased by 1 and is less than the threshold value R0And the time control counter is decreased by 1, whether the counting result of the counter is greater than a preset value or not is judged, and if the counting result of the counter is greater than the preset value, the fault of the response delay of the execution valve is reported, so that the reliable detection of the response delay of the control valve is realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a method for detecting actuator response delay according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating a dynamic process sensing principle of a control valve according to an embodiment of the present disclosure;
FIG. 3 is a graph of a change in a required value of an EGR valve and the PT filter value during dynamic adjustment;
FIG. 4 is a flow chart illustrating a detection process of a control valve in a dynamic adjustment state according to an embodiment of the present disclosure;
FIG. 5 is a schematic diagram illustrating a detection principle of a response delay phenomenon of a control valve according to an embodiment of the present application;
fig. 6 is a diagram illustrating a PT filtered value versus curve at different calibration values as disclosed in an embodiment of the present application;
fig. 7 is a schematic structural diagram of a detection apparatus for actuator response delay according to an embodiment of the present disclosure;
fig. 8 is a block diagram of a hardware structure of an actuator response delay detection device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to timely warn of a situation where the response time of a control valve (such as an EGR valve) becomes slow, the application discloses a method for detecting the response delay of an actuator, and referring to fig. 1, the method may include:
step S101: judging whether the control valve is in a dynamic adjustment state, if so, continuing to execute the step S102, otherwise, continuing to execute the step;
in this solution, how to judge whether the control valve is in the dynamic adjustment state may be a judgment means selected by a user on his/her own accord, and in this solution, the logic for judging whether the control valve is in the dynamic adjustment state is as follows:
in this solution, the dynamic process detection principle of the control valve is shown in fig. 2, see fig. 2, in the dynamic process detection, firstly, a required value is obtained, wherein the required value can be understood as the required value of the opening degree of the control valve, then a PT filtering value is obtained, the PT filtering value is obtained by carrying out PT filtering on the required value through a filter, then calculating the absolute value of the difference between the required value and the PT filtered value, judging whether the absolute value of the difference is greater than a preset standard difference value, if so, the control valve is judged to be in a dynamic detection state, and in order to further ensure the reliability of the judgment result, when the absolute value is larger than the preset standard deviation value, time delay confirmation can be carried out, if the time delay confirmation is carried out, if the absolute value of the difference is still larger than the preset standard difference, the control valve is in a dynamic detection state.
Taking the control valve as the EGR valve as an example, referring to fig. 3, it can be seen that the PT filtered value and the EGR valve required value have an obvious hysteresis phenomenon by comparing different EGR valve required values with the PT filtered value, but when the EGR valve required value is adjusted by a small margin, the difference between the EGR valve required value and the PT filtered value is obviously smaller than the difference between the GR valve required value and the PT filtered value when the required value is adjusted by a large margin, and therefore, the difference can be used to determine whether the valve is in a dynamically adjusted state.
Therefore, referring to fig. 4, in the present embodiment, step S101 may specifically include, and may further include:
step S401: acquiring a required value of a control valve;
step S402: filtering the required value of the control valve based on a PT filtering time constant T1 to obtain a PT filtering value;
in the step, a PT filter is adopted to filter the required value of the control valve, the filtering effect of the PT filter can be calibrated, and the judgment standard of the detection of the dynamic adjustment state of the control valve is determined by calibrating a proper time filtering constant T1.
Step S403: calculating a difference value between the required value of the control valve and the PT filtered value;
step S404: judging whether the difference value between the control valve required value and the PT filtered value is larger than a preset standard difference value or not;
wherein the preset standard difference value can be obtained by searching based on a preset mapping table, the preset mapping table stores the preset standard difference value matched with the required value of the control valve,
and when the standard deviation value is larger than the preset standard deviation value, indicating that the control valve is in dynamic adjustment.
Step S102: when the control valve is in dynamic adjustment, the dynamic process of the control valve is started to be timed and is recorded as the timing time T of the dynamic process of the control valvemotion；
In this step, when the control valve is in dynamic adjustment, a first timer is started to time T for the dynamic process of the valvemotion(ii) a When the control valve is not in dynamic adjustment, namely the difference value between the required value of the control valve and the PT filtered value is smaller than a preset standard difference value, the first timer stops timing, the timing result is kept, and the timing result is recorded as Tmotion；
Step S103: judging whether a response delay phenomenon exists in the control valve or not;
in the scheme, the judgment method for judging whether the control valve has the response delay phenomenon can be selected by self based on the user requirement, and in the scheme, the logic for judging whether the control valve has the response delay phenomenon is as follows:
in the scheme, a detection method shown in fig. 5 is adopted for judging the response delay phenomenon of the control valve, in the judging process, an actual value of the control valve is obtained, the actual value refers to an actual opening value of the control valve, an absolute value of a difference value between the actual value and a required value is calculated, whether the absolute value of the difference value between the actual value and the required value is larger than the absolute value of a difference value between the required value and a PT filter value is judged, and if the absolute value is larger than the absolute value, and after the delay time is confirmed, the response delay phenomenon of the control valve is considered to exist. Specifically, as shown in fig. 6, a shaded area is enclosed between the PT filtered value and the required value, and if the EGR true value curve appears in the shaded area, the response state of the control valve is considered to be good, and if the EGR true value curve appears outside the shaded area, the response is considered to be delayed after a time delay is confirmed.
Step S104: when the control valve is storedWhen the response delay phenomenon occurs, the control valve response delay timer starts to time, and is recorded as the control valve response delay timing time Tslow；
In this step, when it is determined that the control valve has a response delay, the second timer starts timing, and when the control valve does not have a response delay, that is, when the absolute value of the difference between the actual value and the required value is smaller than the absolute value of the difference between the required value and the PT filtered value, the second timer stops timing and keeps a timing result, and the timing result at this time is recorded as Tslow；
Step S105: timing time T when controlling valve dynamic processmotionGreater than the dynamic detection calibration time T of the control valvemaxEnabling the actuator to respond to the delay diagnosis logic, delaying by one step length, and resetting the dynamic timing T of the control valvemotionAnd control valve response delay timing Tslow；
In this step, time T is timed when the dynamic process of the control valve is startedmotionGreater than the dynamic detection calibration time T of the control valvemaxWhen the delay exists, the delay exists in the control valve response, so that the actuator response delay diagnosis logic is enabled, and after a preset step length is delayed, the first timer and the second timer are initialized, namely, the dynamic timing T of the control valve is resetmotionAnd control valve response delay timing TslowThen, the process proceeds to step S101, and upon notification, the process proceeds to step S106.
Step S106: calculating a control valve response lag timing T when the actuator response lag diagnostic logic is enabledslowAnd control valve dynamic timing TmotionThe ratio r of (A) to (B);
step S107: when the ratio R is larger than the calibrated threshold value R0When the counter is started, the counter is controlled to be increased by 1;
step S108: when the ratio R is smaller than the calibrated threshold value R0When the counter is not started, the counter is controlled to be decreased by 1;
step S109: judging whether the counting result of the counter is greater than a preset value, and if so, executing the step S110;
when the actuator response delay diagnostic logic is enabled, firstCalculating control valve response delay timing TslowWith dynamic timing of the valve TmotionThe ratio R is within the range of 0 to 1, represents the time ratio of the valve response delay timing in the valve dynamic process, and when the ratio is greater than the calibrated threshold value R0When the counter is started, the technical value Number of the control counter is increased by 1, otherwise, the Number is decreased by 1. Until the Number value is larger than the calibrated parameter NmaxAnd reporting the fault of the response delay of the execution valve, otherwise, not reporting the corresponding fault.
Step S110: a fault is reported that implements a valve response delay.
In the technical solutions disclosed in the above embodiments of the present application, a difference between a PT filtered value and a required value of a control valve opening is used as a detection method for determining whether a control valve is in a dynamic adjustment process, and then a response delay time T is calculatedslowThe ratio of the signal to the signal in the dynamic process of the valve is used as a standard for checking the response delay of the valve, and then the signal is confirmed by a counter, so that the fault false alarm can be prevented.
The applicant verifies that the method disclosed by the embodiment of the application is simple and effective, the fault state diagnosis of the response delay of the control valve can be identified through a proper calibration parameter (PT filtering time constant T1), and the false alarm of the fault can be prevented through counting confirmation of the counter. The method can be applied to the detection of the response delay of the EGR valve, and certainly can be applied to the detection of the response delay of other valves, for example, the method can be widely applied to the diagnosis and identification of the response delay of other actuator control valves with position feedback, that is, in the technical solutions disclosed in the above embodiments of the present application, the control valves include, but are not limited to, the EGR valve.
When the method is used for realizing the response delay detection of the EGR valve, the response delay phenomenon of the EGR control valve can be accurately diagnosed, the regulation requirement is met, and the pollutant emission deterioration of the whole vehicle caused by the slow closed-loop response time of the EGR system is prevented.
Further, in the solution disclosed in this embodiment of the present application, before executing step S101, it may further be determined that a response delay activation condition of the control valve is satisfied, and when the response delay activation condition of the control valve is satisfied, dynamic detection is started, where the response delay activation condition may be some conditions preset by a user, and may be set according to an operating condition of a device to which the control valve is applied, for example, taking EGR as an example, and when the EGR operating efficiency is lower than an ideal operating efficiency, it may be considered that the response delay activation condition is satisfied.
The following describes the detection device for actuator response delay provided by the embodiment of the present invention, and the detection device for actuator response delay described below and the detection method for actuator response delay described above may be referred to correspondingly.
Referring to fig. 7, the present application discloses an actuator response delay detection apparatus, which may include:
a first timing unit 100, configured to start timing the dynamic process of the control valve when the control valve is in dynamic adjustment, and record the timing time T as the dynamic process timing time T of the control valvemotion；
A second timing unit 200, configured to start timing by the control valve response delay timer when there is a response delay phenomenon of the control valve, which is recorded as a control valve response delay timing time Tslow；
A logic enabling unit 300 for timing a time T when controlling the valve dynamic processmotionGreater than the dynamic detection calibration time T of the control valvemaxEnabling the actuator to respond to the delay diagnosis logic, delaying by one step length, and resetting the dynamic timing T of the control valvemotionAnd control valve response delay timing Tslow；
A diagnostic unit 400 for calculating a control valve response lag timing T when the actuator response lag diagnostic logic is enabledslowAnd control valve dynamic timing TmotionThe ratio r of (A) to (B); when the ratio R is larger than the calibrated threshold value R0When the ratio R is smaller than the calibrated threshold value R, the counter is controlled to be increased by 10And when the counter is controlled to be reduced by 1, judging whether the counting result of the counter is greater than a preset value, and if so, reporting the fault of response delay of the execution valve.
Corresponding to the method, the apparatus may further include a first control valve state determination unit configured to:
acquiring a required value of a control valve;
filtering the required value of the control valve based on a PT filtering time constant T1 to obtain a PT filtering value;
calculating a difference value between the required value of the control valve and the PT filtered value;
judging whether the difference value between the control valve required value and the PT filtered value is larger than a preset standard difference value or not;
and when the standard deviation value is larger than the preset standard deviation value, indicating that the control valve is in dynamic adjustment.
Corresponding to the method, the device is characterized in that the first control valve state judgment unit is further configured to:
and searching and obtaining a preset standard difference value matched with the required value of the control valve based on a preset mapping table.
Corresponding to the method, the device further comprises:
a second control valve state judgment unit for: and judging whether the absolute value of the difference between the actual value and the required value of the control valve is greater than the absolute value of the difference between the EGR required value and the PT filtered value, and if so, determining that the control valve has a response delay phenomenon.
An actuator response lag detection device, comprising:
comprising a memory and a processor;
the memory is used for storing programs;
the processor is configured to execute the program to implement the steps of the method for detecting an actuator response delay according to any one of the embodiments.
Specifically, the actuator response hysteresis detection device provided by the embodiment of the application can be applied to data evaluation devices, such as a PC terminal, a cloud platform, a server cluster and the like. Alternatively, fig. 8 shows a block diagram of a hardware structure of the actuator response delay detection device, and referring to fig. 8, the hardware structure of the actuator response delay detection device may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;
in the embodiment of the application, the number of the processor 1, the communication interface 2, the memory 3 and the communication bus 4 is at least one, and the processor 1, the communication interface 2 and the memory 3 complete mutual communication through the communication bus 4;
the processor 1 may be a central processing unit CPU, or an application Specific Integrated circuit asic, or one or more Integrated circuits configured to implement embodiments of the present invention, etc.;
the memory 3 may include a high-speed RAM memory, and may further include a non-volatile memory (non-volatile memory) or the like, such as at least one disk memory;
wherein the memory stores a program and the processor can call the program stored in the memory, the program for:
when the control valve is in dynamic adjustment, the dynamic process of the control valve is started to be timed and is recorded as the timing time T of the dynamic process of the control valvemotion；
When the control valve has the response delay phenomenon, the control valve response delay timer starts to time, and is recorded as the control valve response delay timing time Tslow；
Timing time T when controlling valve dynamic processmotionGreater than the dynamic detection calibration time T of the control valvemaxEnabling the actuator to respond to the delay diagnosis logic, delaying by one step length, and resetting the dynamic timing T of the control valvemotionAnd control valve response delay timing Tslow；
Calculating a control valve response lag timing T when the actuator response lag diagnostic logic is enabledslowAnd control valve dynamic timing TmotionThe ratio r of (A) to (B);
when the ratio R is larger than the calibrated threshold value R0When the current time is less than the preset time, controlling the counter to add 1, judging whether the counting result of the counter is greater than the preset value, and if so, reporting the fault of execution valve response delay;
when the ratio R is smaller than a calibrated threshold value R0While, the control counter is decreased by 1。
Corresponding to the device, the application also discloses a vehicle control unit, which is applied with the device for detecting the actuator response delay in any one of the above embodiments, and the control valve includes but is not limited to an EGR valve.
It can be seen from the above embodiments that, in the present invention, the absolute value of the difference between the required value of the control valve and the PT filter value is determined to determine whether the control valve is in the process of dynamic adjustment, and further, whether the feedback of the actual value of the control valve is located in the area surrounded by the required value of the opening of the control valve and the PT filter value is determined to determine whether the response of the control valve at the current time is delayed. By calculating the control valve response delay timing TslowAnd control valve dynamic timing TmotionThe ratio r is compared with a calibrated threshold value, whether response delay of the actuator occurs within a period of time is identified and judged, and the fault state is reported after the accumulation (or subtraction) confirmation of the counter, so that the reliable detection of the response delay of the control valve is realized.
For convenience of description, the above system is described with the functions divided into various modules, which are described separately. Of course, the functionality of the various modules may be implemented in the same one or more software and/or hardware implementations as the present application.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A method for detecting actuator response lag, comprising:
when the control valve is in dynamic adjustment, the dynamic process of the control valve is started to be timed and is recorded as the timing time T of the dynamic process of the control valvemotion；
When the control valve has the response delay phenomenon, the control valve response delay timer starts to time, and is recorded as the control valve response delay timing time Tslow；
Timing time T when controlling valve dynamic processmotionGreater than the dynamic detection calibration time T of the control valvemaxEnabling the actuator to respond to the delay diagnosis logic, delaying by one step length, and resetting the dynamic timing T of the control valvemotionAnd control valve response delay timing Tslow；
Calculating a control valve response lag timing T when the actuator response lag diagnostic logic is enabledslowAnd control valve dynamic timing TmotionThe ratio r of (A) to (B);
when the ratio R is larger than the calibrated threshold value R0When the ratio R is smaller than the calibrated threshold value R, the counter is controlled to be increased by 10And when the counter is controlled to be reduced by 1, judging whether the counting result of the counter is greater than a preset value, and if so, reporting the fault of response delay of the execution valve.
2. The method of detecting actuator response lag of claim 1, wherein prior to beginning the control valve dynamics process, further comprising:
acquiring a required value of a control valve;
filtering the required value of the control valve based on a PT filtering time constant T1 to obtain a PT filtering value;
calculating a difference value between the required value of the control valve and the PT filtered value;
judging whether the difference value between the control valve required value and the PT filtered value is larger than a preset standard difference value or not;
and when the standard deviation value is larger than the preset standard deviation value, indicating that the control valve is in dynamic adjustment.
3. The method of detecting actuator response lag of claim 2, further comprising:
and searching and obtaining a preset standard difference value matched with the required value of the control valve based on a preset mapping table.
4. The method of detecting actuator response lag of claim 2, further comprising:
and judging whether the absolute value of the difference between the actual value and the required value of the control valve is greater than the absolute value of the difference between the EGR required value and the PT filtered value, and if so, determining that the control valve has a response delay phenomenon.
5. A device for detecting actuator response lag, comprising:
a first timing unit for starting to time the dynamic process of the control valve when the control valve is in dynamic adjustment and recording as the timing time T of the dynamic process of the control valvemotion；
A second timing unit for starting the control valve response delay timer to count as the control valve response delay timing time T when the control valve has the response delay phenomenonslow；
A logic enabling unit for timing time T when controlling the dynamic process of the valvemotionGreater than the dynamic detection calibration time T of the control valvemaxEnabling the actuator to respond to the delay diagnosis logic, delaying by one step length, and resetting the dynamic timing T of the control valvemotionAnd control valve responseDelayed timing Tslow；
A diagnostic unit for calculating a control valve response lag timing T when the actuator response lag diagnostic logic is enabledslowAnd control valve dynamic timing TmotionThe ratio r of (A) to (B); when the ratio R is larger than the calibrated threshold value R0When the ratio R is smaller than the calibrated threshold value R, the counter is controlled to be increased by 10And when the counter is controlled to be reduced by 1, judging whether the counting result of the counter is greater than a preset value, and if so, reporting the fault of response delay of the execution valve.
6. The apparatus for detecting actuator response lag of claim 5, further comprising:
a first control valve state judgment unit for:
acquiring a required value of a control valve;
filtering the required value of the control valve based on a PT filtering time constant T1 to obtain a PT filtering value;
calculating a difference value between the required value of the control valve and the PT filtered value;
judging whether the difference value between the control valve required value and the PT filtered value is larger than a preset standard difference value or not;
and when the standard deviation value is larger than the preset standard deviation value, indicating that the control valve is in dynamic adjustment.
7. The device for detecting the response delay of the actuator according to claim 7, wherein the first control valve state determining unit is further configured to determine the state of the control valve
And searching and obtaining a preset standard difference value matched with the required value of the control valve based on a preset mapping table.
8. The apparatus for detecting actuator response lag of claim 6, further comprising:
a second control valve state judgment unit for: and judging whether the absolute value of the difference between the actual value and the required value of the control valve is greater than the absolute value of the difference between the EGR required value and the PT filtered value, and if so, determining that the control valve has a response delay phenomenon.
9. An actuator response lag detection apparatus, comprising:
comprising a memory and a processor;
the memory is used for storing programs;
the processor, configured to execute the program, implements the steps of the method for detecting actuator response lag according to any one of claims 1-4.
10. A vehicle control unit, characterized in that a detection device for actuator response lag according to any of claims 5-8 is applied, said control valve including but not limited to an EGR valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110522169.3A CN113515041A (en) | 2021-05-13 | 2021-05-13 | Detection method for actuator response delay and related equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110522169.3A CN113515041A (en) | 2021-05-13 | 2021-05-13 | Detection method for actuator response delay and related equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113515041A true CN113515041A (en) | 2021-10-19 |
Family
ID=78064335
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110522169.3A Pending CN113515041A (en) | 2021-05-13 | 2021-05-13 | Detection method for actuator response delay and related equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113515041A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113958760A (en) * | 2021-12-21 | 2022-01-21 | 中国空气动力研究与发展中心超高速空气动力研究所 | Method and device for processing jamming of execution mechanism |
| CN114323424A (en) * | 2021-12-13 | 2022-04-12 | 潍柴动力股份有限公司 | Dynamic responsiveness detection method and device, electronic device and storage medium |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109782742A (en) * | 2019-01-31 | 2019-05-21 | 一汽解放汽车有限公司 | A kind of actuator slow-response diagnostic method |
| CN112485010A (en) * | 2020-11-30 | 2021-03-12 | 潍柴动力股份有限公司 | Method and system for detecting response state of engine electric control actuator |
-
2021
- 2021-05-13 CN CN202110522169.3A patent/CN113515041A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109782742A (en) * | 2019-01-31 | 2019-05-21 | 一汽解放汽车有限公司 | A kind of actuator slow-response diagnostic method |
| CN112485010A (en) * | 2020-11-30 | 2021-03-12 | 潍柴动力股份有限公司 | Method and system for detecting response state of engine electric control actuator |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114323424A (en) * | 2021-12-13 | 2022-04-12 | 潍柴动力股份有限公司 | Dynamic responsiveness detection method and device, electronic device and storage medium |
| CN114323424B (en) * | 2021-12-13 | 2023-09-19 | 潍柴动力股份有限公司 | Dynamic response detection method and device, electronic equipment and storage medium |
| CN113958760A (en) * | 2021-12-21 | 2022-01-21 | 中国空气动力研究与发展中心超高速空气动力研究所 | Method and device for processing jamming of execution mechanism |
| CN113958760B (en) * | 2021-12-21 | 2022-03-04 | 中国空气动力研究与发展中心超高速空气动力研究所 | Method and device for processing jamming of execution mechanism |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113515041A (en) | Detection method for actuator response delay and related equipment | |
| US11073064B2 (en) | Gasoline particulate filter diagnostics | |
| US10408114B2 (en) | Gasoline particulate filter diagnostics | |
| JP4490913B2 (en) | Method for inspecting at least three sensors for detecting measurement variables within the range of an internal combustion engine | |
| US11073063B2 (en) | Gasoline particulate filter diagnostics | |
| US8527137B2 (en) | Vehicle behavior data recording control system and recording apparatus | |
| CN110132381B (en) | Venturi differential pressure sensor credibility diagnosis method and device | |
| US7568376B2 (en) | Exhaust gas sensor | |
| CN109297134B (en) | Overload protection method and device for air conditioner, storage medium and air conditioner | |
| US8596114B2 (en) | System and method for monitoring exhaust gas recirculation | |
| EP3061937A1 (en) | Abnormality determination system for an exhaust device | |
| CN111058926A (en) | Urea concentration stability detection method and device and post-processor controller | |
| WO2011072250A2 (en) | Apparatus, system, and method for catalyst presence detection | |
| CN110275636B (en) | Touch anti-shake method, device and system, terminal equipment and vehicle | |
| CN109681335B (en) | Engine thermal protection control method and device | |
| JP2015511286A (en) | Method and apparatus for dynamic monitoring of gas sensors | |
| CN113217157B (en) | Regeneration control method and system of particle trap and vehicle | |
| CN106996341B (en) | A kind of diagnostic method of broad domain oxygen sensor response failure | |
| US20130204540A1 (en) | Method for conditioning signals for a collecting particle sensor | |
| CN113176036A (en) | Fault detection method and device for engine intake pressure sensor | |
| JP2812252B2 (en) | Oxygen concentration sensor abnormality determination device | |
| CN109405945A (en) | A kind of detection method and system of vehicle load state | |
| CN112891098A (en) | Body weight measuring method for health monitor | |
| CN115753146A (en) | Detecting vehicle NO x Method, device and equipment for exceeding discharge capacity and storage medium | |
| JP2017186940A (en) | Abnormality detection device, abnormality detection method and abnormality detection system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |