CN113775424B - EGR control method and device and electronic equipment - Google Patents

EGR control method and device and electronic equipment Download PDF

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Publication number
CN113775424B
CN113775424B CN202111112196.XA CN202111112196A CN113775424B CN 113775424 B CN113775424 B CN 113775424B CN 202111112196 A CN202111112196 A CN 202111112196A CN 113775424 B CN113775424 B CN 113775424B
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mass flow
egr
intake manifold
control
egr valve
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CN113775424A (en
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刘兴义
江楠
张霞
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Weichai Power Co Ltd
Weifang Weichai Power Technology Co Ltd
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Weichai Power Co Ltd
Weifang Weichai Power Technology Co Ltd
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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
    • F02D41/0025—Controlling engines characterised by use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures
    • F02D41/0047—Controlling exhaust gas recirculation [EGR]
    • F02D41/005—Controlling exhaust gas recirculation [EGR] according to engine operating conditions
    • F02D41/0052—Feedback control of engine parameters, e.g. for control of air/fuel ratio or intake air amount
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D21/00—Controlling engines characterised by their being supplied with non-airborne oxygen or other non-fuel gas
    • F02D21/06—Controlling engines characterised by their being supplied with non-airborne oxygen or other non-fuel gas peculiar to engines having other non-fuel gas added to combustion air
    • F02D21/08—Controlling engines characterised by their being supplied with non-airborne oxygen or other non-fuel gas peculiar to engines having other non-fuel gas added to combustion air the other gas being the exhaust gas of engine
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D21/00—Controlling engines characterised by their being supplied with non-airborne oxygen or other non-fuel gas
    • F02D21/06—Controlling engines characterised by their being supplied with non-airborne oxygen or other non-fuel gas peculiar to engines having other non-fuel gas added to combustion air
    • F02D21/08—Controlling engines characterised by their being supplied with non-airborne oxygen or other non-fuel gas peculiar to engines having other non-fuel gas added to combustion air the other gas being the exhaust gas of engine
    • F02D2021/083—Controlling engines characterised by their being supplied with non-airborne oxygen or other non-fuel gas peculiar to engines having other non-fuel gas added to combustion air the other gas being the exhaust gas of engine controlling exhaust gas recirculation electronically
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Output Control And Ontrol Of Special Type Engine (AREA)
  • Exhaust-Gas Circulating Devices (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)

Abstract

The application discloses EGR control method, device and electronic equipment, and the method comprises the following steps: inputting the opening value of the current EGR valve and the current mass flow of air entering an intake manifold into an Extended State Observer (ESO) to obtain the current mass flow of air and the disturbance quantity; calculating an opening value of the EGR valve according to the current air mass flow and the disturbance quantity; and controlling the mass flow of the air entering the intake manifold according to the opening value of the EGR valve. Based on the method, closed-loop feedback of the mass flow of the air entering the intake manifold is achieved by utilizing the ESO and the feedback control, the control precision of the system is improved, meanwhile, the system disturbance quantity is directly estimated through the ESO, the system disturbance quantity can be considered when the opening degree of the EGR valve is calculated, the opening degree value of the EGR valve obtained through calculation is enabled to be closer to the target opening degree value of the EGR valve, and therefore the adjusting time of the control system is shortened.

Description

EGR control method and device and electronic equipment
Technical Field
The present disclosure relates to engine control technologies, and in particular, to an EGR control method, an EGR control device, and an electronic device.
Background
In order to meet the increasingly strict requirements of Exhaust emission of the engine, an Exhaust Gas Recirculation (EGR) system is usually provided in cooperation with the engine, and part of Exhaust Gas discharged from the engine is returned to an intake manifold and then Re-enters the cylinder together with fresh air mixture, so as to reduce oxygen content in intake air, thereby reducing combustion temperature and reducing emission pollution. However, in the process of exhaust gas recirculation, if too much exhaust gas is recycled, the oxygen content entering the cylinder cannot meet the specified value, and the power of the engine is further affected, so that the opening of the EGR valve is controlled according to the actual working condition of the engine, the mass flow of the recycled exhaust gas is further controlled, the normal use of the engine is ensured, and the exhaust emission can be reduced, which is very important.
In order to solve the problems, the traditional scheme realizes closed-loop control of the mass flow of the air entering the intake manifold through a PID controller, wherein PID control parameters can be adjusted according to cyclic utilization conditions, some schemes increase feed-forward control of a MAP model based on the engine speed and the fuel injection quantity on the basis of the cyclic utilization conditions, the feed-forward control mode needs to carry out MAP calibration on the engine speed and the fuel injection quantity, and the calibrated parameters do not necessarily accord with the parameters corresponding to the actual working condition points of the engine each time, so that the error between the output quantity and the target quantity of the feed-forward control mode is large, and the adjustment time is long and the air cannot enter the target state quickly when the mass flow of the air entering the intake manifold is controlled by a PID control link.
Disclosure of Invention
The application provides an EGR control method, an EGR control device and electronic equipment, current air mass flow output by a control system is used as control input quantity of the control system, and therefore closed loop of the whole control process is achieved, and improvement of control precision of the whole control system is facilitated.
In a first aspect, the present application provides an EGR control method, comprising:
inputting the opening value of the current EGR valve and the current air mass flow entering an air intake manifold into an ESO (electronic service operator) to obtain the current air mass flow and a disturbance quantity;
calculating an EGR valve opening value according to the current air mass flow and the disturbance quantity;
and controlling the mass flow of the air entering the intake manifold according to the opening value of the EGR valve.
By the method, the current air mass flow output by the control system is used as the control input quantity of the control system, so that the closed loop of the whole control process is realized, the control precision of the whole control system is favorably improved, and meanwhile, the system disturbance quantity is directly estimated by utilizing ESO (electronic stability and optimization), so that when the opening degree of the EGR valve is calculated, not only can the current air mass flow entering an air inlet manifold be considered, but also the size of the system disturbance quantity can be considered, further, the calculated opening degree of the EGR valve is closer to the target opening degree of the EGR valve, and the adjusting time of the control system is shortened.
In one possible design, before inputting the current EGR valve opening value and the current air mass flow entering the intake manifold into the ESO, the current air mass flow and the disturbance quantity are obtained, the method further comprises:
constructing an EGR system differential equation;
and constructing the ESO according to the differential equation of the EGR system.
Further, the constructing an EGR system differential equation includes:
constructing a gas compression equation of an intake manifold:
Figure 369242DEST_PATH_IMAGE001
wherein,P in in order to the intake manifold pressure,
Figure 953808DEST_PATH_IMAGE002
is the derivative of the intake manifold pressure,Ris a constant of the gas and is,T in to be the intake manifold temperature,V in as the volume of the intake manifold,W c for the mass flow of air into the intake manifold,W EGR in order to provide the EGR mass flow rate,W in mass flow of gas into the engine cylinder;
constructing a gas compression equation of the exhaust manifold:
Figure 793588DEST_PATH_IMAGE003
wherein,W f in order to inject the mass flow of fuel,W VGT is the gas mass flow entering the turbine;
constructing a power differential equation of a VGT compressor of the variable geometry turbocharger:
Figure 274248DEST_PATH_IMAGE004
wherein,
Figure 97847DEST_PATH_IMAGE005
，
Figure 954945DEST_PATH_IMAGE006
，η c in order to achieve the thermal efficiency of the VGT compressor,η m in order to achieve the mechanical efficiency of the VGT compressor,η t in order to achieve thermal efficiency of the turbine,T out to be the exhaust manifold temperature,P out to be the exhaust manifold pressure,P in in order to the intake manifold pressure,P 0 is at the atmospheric pressure and is,T 0 is at the temperature of the atmosphere,μis an index of heat capacity,τis the VGT time constant;
calculating to obtain the differential equation of the EGR system according to the gas compression equation of the intake manifold, the gas compression equation of the exhaust manifold and the power differential equation of the VGT compressor:
Figure 649231DEST_PATH_IMAGE007
wherein,
Figure 582683DEST_PATH_IMAGE008
，
Figure 628000DEST_PATH_IMAGE009
，K 0 is composed ofW c The constant coefficient of the term is given by,fis composed ofW c The non-considered part of the item,C EGR in order to provide the EGR throttling factor,Ris the gas constant;
by the method, the differential power of the EGR system is constructedThe system differential equation not only constructs information about the mass flow of air into the intake manifoldW c And also takes into accountW c The unaccounted portion of the term, and this portion is taken as the system disturbance amount.
Further, constructing an ESO based on the differential equation, comprising:
obtaining an expansion state equation of the EGR system according to the differential equation of the EGR system:
Figure 554367DEST_PATH_IMAGE010
wherein,
Figure 103160DEST_PATH_IMAGE011
，
Figure 191202DEST_PATH_IMAGE012
，
Figure 989394DEST_PATH_IMAGE013
，
Figure 188294DEST_PATH_IMAGE014
，
Figure 591593DEST_PATH_IMAGE015
，
Figure 381695DEST_PATH_IMAGE016
，
Figure 136024DEST_PATH_IMAGE017
，
Figure 873036DEST_PATH_IMAGE018
，
Figure 176847DEST_PATH_IMAGE019
is composed ofxThe derivative of (a) of (b),his composed offThe derivative of (a) of (b),U EGR is the EGR valve opening;
obtaining the ESO according to the expansion state equation:
Figure 606692DEST_PATH_IMAGE020
wherein the state quantity
Figure 113896DEST_PATH_IMAGE021
Estimate is
Figure 654599DEST_PATH_IMAGE022
，
Figure 298070DEST_PATH_IMAGE023
In order to be an output quantity,fi.e. the disturbance variable, ESO gain matrix
Figure 164395DEST_PATH_IMAGE024
The ESO gain matrix L is such that the characteristic root of the (A-LC) matrix is in the left half of the complex plane.
The ESO is constructed by the method described above for observing mass air flow into the intake manifold and system disturbance.
Further, calculating an EGR valve opening value according to the current air mass flow and the disturbance quantity, comprising:
inputting a difference value between a preset air mass flow entering an air inlet manifold and the current air mass flow into a proportional controller, and calculating to obtain a first control quantity;
calculating to obtain a second control quantity according to the current air mass flow;
and calculating to obtain the EGR valve opening value according to the first control quantity, the second control quantity and the disturbance quantity.
By the method, in the process of calculating the opening value of the EGR valve, the current air mass flow and the disturbance quantity of the EGR system are considered, so that the calculated opening value of the EGR valve is closer to the actually required target opening value of the EGR valve.
Further, the difference between the preset air mass flow entering the intake manifold and the current air mass flow is input to a proportional controller, and a first control quantity is obtained through calculation, wherein the specific calculation formula is as follows:
Figure 893317DEST_PATH_IMAGE025
wherein,
Figure 972131DEST_PATH_IMAGE026
in order to be the first control quantity,K p is a coefficient of proportionality that is,W cys is a preset mass airflow into the intake manifold.
Further, according to the current air mass flow, a second control quantity is calculated, and a specific calculation formula is as follows:
Figure 1267DEST_PATH_IMAGE027
wherein,
Figure 507335DEST_PATH_IMAGE028
is the second control amount.
Further, the EGR valve opening degree is calculated according to the first control quantity, the second control quantity and the disturbance quantity, and the specific calculation formula is as follows:
Figure 723552DEST_PATH_IMAGE029
wherein,U EGR is the EGR valve opening value.
In a second aspect, the present application provides an EGR control apparatus comprising:
the observation module is used for inputting the opening value of the current EGR valve and the current air mass flow entering an intake manifold into an ESO (electronic service operator) to obtain the current air mass flow and a disturbance quantity;
the calculation module is used for calculating an EGR valve opening value according to the current air mass flow and the disturbance quantity;
and the control module is used for controlling the mass flow of the air entering the air inlet manifold according to the opening value of the EGR valve.
In one possible design, the apparatus further includes:
the first construction module is used for constructing an EGR system differential equation;
and the second construction module is used for constructing the ESO according to the differential equation of the EGR system.
Further, the first building module is specifically configured to:
constructing a gas compression equation of an intake manifold:
Figure 887949DEST_PATH_IMAGE030
wherein,P in in order to the intake manifold pressure,
Figure 240432DEST_PATH_IMAGE002
is the derivative of the intake manifold pressure,Ris a constant of the gas, and is,T in to be the intake manifold temperature,V in is the volume of the intake manifold,W c for the mass flow of air into the intake manifold,W EGR in order to achieve the EGR mass flow rate,W in is the mass flow of gas into the engine cylinder;
constructing a gas compression equation of the exhaust manifold:
Figure 714139DEST_PATH_IMAGE031
wherein,W f in order to inject the mass flow of fuel,W VGT is the gas mass flow entering the turbine;
constructing a power differential equation of a VGT compressor of the variable geometry turbocharger:
Figure 152074DEST_PATH_IMAGE032
wherein,
Figure 572691DEST_PATH_IMAGE033
，
Figure 576419DEST_PATH_IMAGE034
，η c in order to achieve the thermal efficiency of the VGT compressor,η m in order to achieve the mechanical efficiency of the VGT compressor,η t in order to achieve the thermal efficiency of the turbine,T out to be the exhaust manifold temperature,P out in order to be the exhaust manifold pressure,P in in order to be the intake manifold pressure,P 0 is at the pressure of the atmosphere and is,T 0 is at the temperature of the atmosphere,μis an index of heat capacity,τis the VGT time constant;
calculating to obtain the differential equation of the EGR system according to the gas compression equation of the intake manifold, the gas compression equation of the exhaust manifold and the power differential equation of the VGT compressor:
Figure 424289DEST_PATH_IMAGE007
wherein,
Figure 349520DEST_PATH_IMAGE035
，
Figure 104986DEST_PATH_IMAGE009
，K 0 is composed ofW c The constant coefficient of the term is a constant coefficient,fis composed ofW c The non-considered part of the item,C EGR in order to be the EGR throttling factor,Ris the gas constant.
Further, according to the second building block, the method is specifically configured to:
obtaining an expansion state equation of the EGR system according to the differential equation of the EGR system:
Figure 432062DEST_PATH_IMAGE036
wherein,
Figure 716413DEST_PATH_IMAGE037
，
Figure 909366DEST_PATH_IMAGE038
，
Figure 671786DEST_PATH_IMAGE039
，
Figure 853368DEST_PATH_IMAGE040
，
Figure 839779DEST_PATH_IMAGE015
，
Figure 739602DEST_PATH_IMAGE041
，
Figure 305712DEST_PATH_IMAGE042
，
Figure 872960DEST_PATH_IMAGE043
，
Figure 499113DEST_PATH_IMAGE044
is composed ofxThe derivative of (a) of (b),his composed offThe derivative of (a) of (b),U EGR is the EGR valve opening;
obtaining the ESO according to the expansion state equation:
Figure 886232DEST_PATH_IMAGE045
wherein the state quantity
Figure 521613DEST_PATH_IMAGE021
Estimate is
Figure 677788DEST_PATH_IMAGE046
，
Figure 756733DEST_PATH_IMAGE023
In order to be an output quantity,fi.e. the disturbance variable, ESO gain matrix
Figure 365569DEST_PATH_IMAGE047
The ESO gain matrix L is such that the characteristic root of the (A-LC) matrix is in the left half of the complex plane.
Further, the calculation module is specifically configured to:
inputting a difference value between a preset air mass flow entering an air inlet manifold and the current air mass flow into a proportional controller, and calculating to obtain a first control quantity;
calculating to obtain a second control quantity according to the current air mass flow;
and calculating to obtain the opening value of the EGR valve according to the first control quantity, the second control quantity and the disturbance quantity.
In a third aspect, the present application provides an electronic device, comprising:
a memory for storing a computer program;
and a processor for implementing the steps of the EGR control method when executing the computer program stored in the memory.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the above EGR control method steps.
Based on the EGR control method, ESO and feedback control are utilized to realize closed-loop feedback of the mass flow of the air entering the intake manifold, the control precision of the system is improved, and meanwhile, the system disturbance amount is directly estimated through ESO, so that the system disturbance amount can be considered when the opening degree of the EGR valve is calculated, the calculated opening degree value of the EGR valve is closer to the target opening degree value of the EGR valve, and the adjusting time of the control system is shortened.
In addition, most parameters in the ERG control method are system inherent parameters and can be directly obtained, so that the calibration workload can be reduced.
For each of the second aspect to the fourth aspect and the possible technical effects achieved by each aspect, reference is made to the above description of the possible technical effects achieved by the first aspect or the various possible solutions in the first aspect, and details are not repeated here.
Drawings
FIG. 1 is a schematic illustration of a diesel engine with EGR as provided herein;
FIG. 2 is a schematic illustration of an EGR exhaust mass flow control provided by the present application;
FIG. 3 is a schematic diagram of a MAP model relating to engine speed and fuel injection quantity provided by the present application;
FIG. 4 is a flow chart of an EGR control method provided herein;
FIG. 5 is a flow chart of a method of constructing an ESO as provided herein;
FIG. 6 is a schematic illustration of an EGR control method provided herein;
fig. 7 is a schematic structural diagram of an EGR control apparatus according to the present application;
fig. 8 is a schematic structural diagram of an electronic device provided in the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more clear, the present application will be further described in detail with reference to the accompanying drawings. The particular methods of operation in the method embodiments may also be applied to apparatus embodiments or system embodiments. It should be noted that "a plurality" is understood as "at least two" in the description of the present application. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. A is connected with B and can represent: a and B are directly connected and A and B are connected through C. In the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or order.
Embodiments of the present application are described in detail below with reference to the accompanying drawings.
Referring to FIG. 1, a schematic diagram of a diesel engine with EGR is shown, in FIG. 1, a compressor will absorb air P 0 After compression, the compressed gas W is output c Followed by compressing the gas W c And exhaust gas W controlled by EGR valve EGR Together into the intake manifold, which in turn couples the incoming gases W c And W EGR After being treated, the gas W is output in Immediately thereafter, a gas W in Enters the engine cylinder to make diesel oil W entering the engine f Combustion occurs within the engine, producing heat energy to drive the engine in rotation.
Exhaust gases W produced during the conversion of energy in the engine cylinder out Enters an exhaust manifold, and then a part of gas is controlled by a VGT valve to obtain gas W VGT Gas W VGT And the exhaust gas enters a turbine to realize turbocharging and then is discharged, and the other part of the exhaust gas is continuously recycled after being controlled by an EGR valve.
In the process of recycling the exhaust gas discharged by the exhaust manifold, if the recycled exhaust gas is too much, the oxygen content entering the cylinder is insufficient, the combustion of diesel oil is insufficient, and the power of the engine is further influenced.
Based on the above, FIG. 2 shows a schematic diagram of EGR exhaust mass flow control, which includes two control loops, one being feedforward control and the other being feedback control. The feedforward control is based on the engine speed n and the fuel injection quantity W f The EGR valve opening U of the feedforward control is obtained by the MAP model Feed forward (ii) a Feedback control is based on mass air flow W into the intake manifold c Air mass flow rate W into the intake manifold corresponding to the system setting cys The difference between the values of the two signals,the difference value is processed by a PID controller to obtain the EGR valve opening U of feedback control Feedback (ii) a Then, U is put Feed forward And U Feedback Summing to obtain EGR valve opening U for controlling exhaust gas circulation utilization EGR (ii) a Based on valve aperture U EGR And the mass flow of the recycled waste gas is controlled, and the mass flow of the air entering the air inlet manifold is further controlled.
In the process, although the PID control parameters in the feedback control link can be adjusted according to the system state to adapt to different engine working conditions, the feedforward control link mainly determines the target engine speed and the target fuel injection quantity based on the MAP model of the engine speed and the fuel injection quantity, the feedforward control mode needs to carry out MAP calibration on the engine speed and the fuel injection quantity at the early stage, and the parameters calibrated at each time do not necessarily accord with the parameters corresponding to the actual working condition points of the engine, so that the EGR valve opening U of the feedforward control is output Feedback With actual required EGR valve opening U EGR The error is large, and further, when the mass flow of the air entering the intake manifold is controlled, the adjustment time is long, and the target state cannot be rapidly entered.
For example, as shown in fig. 3, which is a MAP model diagram of engine speed and fuel injection quantity, in fig. 3, z coordinate represents an engine operating parameter, x coordinate represents engine speed, y coordinate represents fuel injection quantity, and each black dot represents a specific operating point of the engine. When the working condition parameter of the engine is k1, the rotating speed of the engine is marked as n1 and the fuel injection quantity is W through repeated tests and debugging f1 (ii) a When the working condition parameter of the engine is k2, the rotating speed of the engine is marked as n2 and the fuel injection quantity is W through repeated tests and debugging f2 (ii) a And after calibrating the parameters corresponding to all the specific working condition points, further fitting all the working condition points to obtain an MAP model of the working condition parameters of the engine, which are related to the rotating speed and the fuel injection quantity of the engine. Therefore, the MAP model is obtained mainly based on a large number of tests and debugging and is fit by the special working condition points, and a large number of errors exist in the process, so that the parameters obtained based on the MAP model query are inaccurateAnd (7) determining.
In order to solve the problems, the application provides an EGR control method, on the basis of the traditional feedback control based on a PID controller, ESO and a feedback control law are utilized to realize closed-loop feedback of mass flow of air entering an intake manifold, the control precision of a system is improved, and meanwhile, the disturbance quantity of the system is directly estimated through ESO, so that when the opening degree of an EGR valve is calculated, the size of the disturbance quantity of the system can be considered, the calculated opening degree of the EGR valve is enabled to be closer to a target opening degree of the EGR valve, and the adjusting time of the control system is shortened. The method and the device in the embodiment of the application are based on the same technical concept, and because the principles of the problems solved by the method and the device are similar, the device and the embodiment of the method can be mutually referred, and repeated parts are not described again.
As shown in fig. 4, a flowchart of an EGR control method provided in the present application specifically includes the following steps:
s41, inputting the opening value of the current EGR valve and the current air mass flow entering an air intake manifold into an ESO (electronic service operator) to obtain the current air mass flow and a disturbance quantity;
in the embodiment of the application, the ESO is constructed based on the differential equation of the EGR system, and through the ESO, not only can the current control mass flow in the EGR system be observed, but also the disturbance quantity which cannot be directly obtained from the EGR system can be observed.
S42, calculating an EGR valve opening value according to the current air mass flow and the disturbance quantity;
in the embodiment of the application, in the process of calculating the opening value of the EGR valve, not only the current air mass flow entering the intake manifold is considered, but also the disturbance amount of the EGR system is considered, so that the calculated opening value of the EGR valve is closer to the actually required target opening value of the EGR valve.
And S43, controlling the mass flow of the air entering the intake manifold according to the opening value of the EGR valve.
In the embodiment of the present application, a specific method for controlling the mass flow of air entering the intake manifold according to the opening value of the EGR valve is as follows: according to the EGR valve opening value, the opening of the EGR valve is adjusted, so that the mass flow of the exhaust gas entering the intake manifold is controlled, further, according to the mass flow of the exhaust gas, the mass flow of the air entering the intake manifold is controlled, and the mass flow of the air entering the intake manifold meets the actual working condition of the engine.
Based on the EGR control method provided by the embodiment of the application, the current air mass flow output by the control system is used as the control input quantity of the control system, so that the closed loop of the whole control process is realized, and therefore, the control precision of the whole control system is favorably improved.
In the above control method, the disturbance amount of the EGR system may be obtained by an ESO, as shown in fig. 5, in order to construct a method flow of the ESO, the method flow includes the following steps:
s51, constructing a gas compression equation of the intake manifold;
in the embodiment of the present application, the gas compression equation of the intake manifold is as follows:
Figure 539062DEST_PATH_IMAGE048
（1）
wherein,P in in order to be the intake manifold pressure,
Figure 80901DEST_PATH_IMAGE002
is the derivative of the intake manifold pressure,Ris a constant of the gas and is,T in to be the intake manifold temperature,V in is the volume of the intake manifold,W c for the mass flow of air into the intake manifold,W EGR in order to achieve the EGR mass flow rate,W in is the mass flow of gas into the engine cylinder.
S52, constructing a gas compression equation of the exhaust manifold;
in the embodiment of the present application, the gas compression equation of the exhaust manifold is as follows:
Figure 48857DEST_PATH_IMAGE049
（2）
wherein,W f in order to inject the mass flow of fuel,W VGT is the mass flow of gas entering the turbine.
S53, constructing a power differential equation of a VGT compressor of the variable geometry turbocharger;
in the embodiment of the application, the power differential equation of the VGT compressor of the variable geometry turbocharger is as follows:
Figure 144989DEST_PATH_IMAGE050
（3）
in equation (3):
Figure 122173DEST_PATH_IMAGE051
（4）
Figure 252940DEST_PATH_IMAGE006
（5）
in the formulas (3), (4), (5),η c in order to achieve the thermal efficiency of the VGT compressor,η m for the mechanical efficiency of a VGT compressor,η t in order to achieve thermal efficiency of the turbine,T out to be the exhaust manifold temperature,P out in order to be the exhaust manifold pressure,P in in order to the intake manifold pressure,P 0 is at the atmospheric pressure and is,T 0 is at the temperature of the atmosphere and is,μis an index of heat capacity, and,τis the VGT time constant.
S54, calculating to obtain an EGR system differential equation according to a gas compression equation of the air inlet manifold, a gas compression equation of the exhaust manifold and a power differential equation of the VGT compressor;
in the embodiment of the application, according to the formula (1) to the formula (6), the differential equation of the EGR system is calculated as follows:
Figure 391797DEST_PATH_IMAGE052
（6）
in equation (6):
Figure 506383DEST_PATH_IMAGE053
（7）
Figure 756099DEST_PATH_IMAGE054
（8）
in the formulas (6), (7), (8),K 0 is composed ofW c The constant coefficient of the term is given by,fis composed ofW c The non-considered part of the term,C EGR in order to be the EGR throttling factor,Ris the gas constant.
S55, obtaining an expansion state equation of the EGR system according to the differential equation of the EGR system;
in the embodiment of the present application, according to equation (6), the expansion state equation of the EGR system can be inferred as follows:
Figure 521799DEST_PATH_IMAGE055
（9）
in the formula (9) according to the formula,
Figure 831557DEST_PATH_IMAGE056
，
Figure 902282DEST_PATH_IMAGE057
，
Figure 486847DEST_PATH_IMAGE058
，
Figure 326627DEST_PATH_IMAGE059
，
Figure 807287DEST_PATH_IMAGE060
，
Figure 630886DEST_PATH_IMAGE041
，
Figure 487984DEST_PATH_IMAGE061
，
Figure 182270DEST_PATH_IMAGE062
，
Figure 364990DEST_PATH_IMAGE019
is composed ofxThe derivative of (a) is determined,his composed offThe derivative of (a) is determined,U EGR is the EGR valve opening.
S56, obtaining ESO according to the expansion state equation;
in the examples of the present application, the mathematical model of the ESO is as follows:
Figure 410306DEST_PATH_IMAGE063
（10）
in the equation (10), the state quantity
Figure 87406DEST_PATH_IMAGE021
Estimate is
Figure 636199DEST_PATH_IMAGE064
，
Figure 724241DEST_PATH_IMAGE023
In order to provide an output quantity,fi.e. the disturbance quantity, ESO gain matrix
Figure 522433DEST_PATH_IMAGE065
Characterization of the ESO gain matrix L such that the (A-LC) matrixRooted in the left half of the complex plane.
Based on the method, an EGR system differential equation is constructed firstly, and then the ESO is constructed based on the constructed EGR system differential equation.
Further, inputting the current EGR valve opening value and the current air mass flow entering the intake manifold into the ESO to obtain the current air mass flow and the disturbance quantity, and calculating the EGR valve opening value according to the current air mass flow and the disturbance quantity, wherein the specific calculation method comprises the following steps:
inputting the difference value between the preset air mass flow entering the intake manifold and the current air mass flow into a proportional controller, and calculating to obtain a first control quantity, wherein the specific calculation formula is as follows:
Figure 455754DEST_PATH_IMAGE066
（11）
in the formula (11), the first and second groups,
Figure 124633DEST_PATH_IMAGE067
is a first control quantity to be used for controlling the engine,K p is a coefficient of proportionality that is,W cys a predetermined mass air flow into the intake manifold;
and calculating to obtain a second control quantity according to the current air mass flow, wherein the specific calculation formula is as follows:
Figure 914734DEST_PATH_IMAGE068
（12）
in the formula (12), the first and second groups,
Figure 403484DEST_PATH_IMAGE028
is a second control quantity;
according to the first control quantity, the second control quantity and the disturbance quantity, calculating to obtain an EGR valve opening value, wherein a specific calculation formula is as follows:
Figure 406075DEST_PATH_IMAGE069
（13）
in the case of the formula (13),U EGR is the EGR valve opening value.
Through the method, the opening value of the EGR valve is obtained through calculation, the opening value of the EGR valve not only considers the current air mass flow entering the air intake manifold, but also considers the disturbance quantity of the EGR system, and the opening value of the EGR valve obtained through calculation is enabled to be closer to the actually required target opening value of the EGR valve.
Finally, the mass flow of air entering the intake manifold is controlled based on the calculated EGR valve opening value.
Based on the EGR control method, the closed-loop feedback of the mass flow of the air entering the intake manifold is achieved by utilizing the ESO and the feedback control, the system control precision is improved, meanwhile, the system disturbance quantity is directly estimated through the ESO, the system disturbance quantity can be considered when the opening degree of the EGR valve is calculated, the calculated opening degree value of the EGR valve is enabled to be closer to the target opening degree value of the EGR valve, and the adjusting time of the control system is shortened.
In addition, most parameters in the ERG control method are system inherent parameters and can be directly obtained, so that the calibration workload can be reduced.
Further, in order to explain an EGR control method provided by the present application in more detail, the following describes the method provided by the present application in detail through a specific application scenario.
FIG. 6 is a schematic diagram of an EGR control method, in FIG. 6, the current EGR valve opening value is setU EGR And current mass air flow into the intake manifoldW c Inputting ESO to obtain the current air mass flowW c Sum of disturbance amountf。
Further, a predetermined mass air flow into the intake manifoldW cys And the current air mass flowW c The difference value between the first control quantity and the second control quantity is input into a first calculation model, and a first control quantity is obtained through calculation, wherein the first calculation model is as follows:
Figure 460619DEST_PATH_IMAGE070
wherein,K p is a scale factor.
Further, inputting the current air mass flow into a second calculation model, and calculating to obtain a second control quantity, wherein the second calculation model is as follows:
Figure 624884DEST_PATH_IMAGE071
wherein,
Figure 658654DEST_PATH_IMAGE072
，W in for the mass flow of gas into the engine cylinders,W f in order to inject the mass flow of fuel,K 0 is composed ofW c Constant coefficient of term inK 1 In the formula (c) for the calculation of (c),η c in order to achieve the thermal efficiency of the VGT compressor,η m for the mechanical efficiency of a VGT compressor,η t in order to achieve thermal efficiency of the turbine,T out to be the exhaust manifold temperature,P out to be the exhaust manifold pressure,P in in order to the intake manifold pressure,P 0 is at the pressure of the atmosphere and is,T 0 is at the temperature of the atmosphere,μis an index of heat capacity,τis the VGT time constant.
Further, the first control quantity, the second control quantity and the disturbance quantity are input into a third calculation model, and an EGR valve opening value is calculated, wherein the third calculation model is as follows:
Figure 199357DEST_PATH_IMAGE073
wherein,
Figure 577249DEST_PATH_IMAGE074
，
Figure 709153DEST_PATH_IMAGE075
is a first control quantity to be set as a first control quantity,
Figure 172495DEST_PATH_IMAGE076
is the second control quantity to be controlled,ffor disturbance amount, inK 1 In the formula (c) for the calculation of (c),C EGR in order to be the EGR throttling factor,Ris the gas constant.
And finally, adjusting the opening degree of an EGR valve of the EGR system according to the calculated opening degree value of the EGR valve, thereby realizing the control of the mass flow of the exhaust gas recycled and further realizing the control of the mass flow of the air entering an air inlet manifold.
In the above process, the disturbance amount of the opening degree of the EGR valve is calculatedfIs obtained through the expansion state controller ESO, and the specific method for constructing the expansion state controller ESO can refer to the method flow shown in fig. 5.
Based on the EGR control method, the output quantity of the EGR system is adjustedW c As the input quantity of control, the closed-loop feedback of the mass flow of the air entering the intake manifold is realized, the control precision of the system is improved, and meanwhile, the system disturbance quantity is directly estimated through the ESO, so that the system disturbance quantity can be considered when the opening degree of the EGR valve is calculated, the calculated opening degree of the EGR valve is closer to the target opening degree of the EGR valve, and the adjusting time of the control system is shortened.
In addition, most parameters in the ERG control method are system intrinsic parameters and can be directly acquired, so that the calibration workload can be reduced.
Based on the same inventive concept, an embodiment of the present application further provides an EGR control device, as shown in fig. 7, which is a schematic structural diagram of the EGR control device in the present application, and the EGR control device includes:
the observation module 71 is used for inputting the current EGR valve opening value and the current air mass flow entering the intake manifold into the ESO to obtain the current air mass flow and the disturbance quantity;
a calculating module 72, configured to calculate an opening value of an EGR valve according to the current air mass flow and the disturbance amount;
a control module 73 controls mass air flow into the intake manifold based on the EGR valve opening value.
In one possible design, the apparatus further includes:
the first construction module is used for constructing an EGR system differential equation;
and the second construction module is used for constructing the ESO according to the differential equation of the EGR system.
Further, the first building block is specifically configured to:
constructing a gas compression equation of an intake manifold:
Figure 516889DEST_PATH_IMAGE077
wherein,P in in order to be the intake manifold pressure,
Figure 546025DEST_PATH_IMAGE002
is the derivative of the intake manifold pressure,Ris a constant of the gas and is,T in to be the intake manifold temperature,V in as the volume of the intake manifold,W c for the mass flow of air into the intake manifold,W EGR in order to achieve the EGR mass flow rate,W in mass flow of gas into the engine cylinder;
constructing a gas compression equation of the exhaust manifold:
Figure 52092DEST_PATH_IMAGE078
wherein,W f in order to inject the mass flow of fuel,W VGT is the gas mass flow entering the turbine;
constructing a power differential equation of a VGT compressor of the variable geometry turbocharger:
Figure 268310DEST_PATH_IMAGE079
wherein,
Figure 681974DEST_PATH_IMAGE080
，
Figure 34458DEST_PATH_IMAGE006
，η c in order to achieve the thermal efficiency of the VGT compressor,η m for the mechanical efficiency of a VGT compressor,η t in order to achieve the thermal efficiency of the turbine,T out to be the exhaust manifold temperature,P out to be the exhaust manifold pressure,P in in order to the intake manifold pressure,P 0 is at the atmospheric pressure and is,T 0 is at the temperature of the atmosphere,μis an index of heat capacity,τis the VGT time constant;
calculating to obtain the differential equation of the EGR system according to the gas compression equation of the intake manifold, the gas compression equation of the exhaust manifold and the power differential equation of the VGT compressor:
Figure 711427DEST_PATH_IMAGE007
wherein,
Figure 431252DEST_PATH_IMAGE081
，
Figure 117449DEST_PATH_IMAGE082
，K 0 is composed ofW c The constant coefficient of the term is given by,fis composed ofW c The non-considered part of the item,C EGR in order to be the EGR throttling factor,Ris the gas constant.
Further, according to the second building block, the method is specifically configured to:
obtaining an expansion state equation of the EGR system according to the differential equation of the EGR system:
Figure 855597DEST_PATH_IMAGE036
wherein,
Figure 969047DEST_PATH_IMAGE011
，
Figure 894278DEST_PATH_IMAGE012
，
Figure 649744DEST_PATH_IMAGE013
，
Figure 976820DEST_PATH_IMAGE014
，
Figure 261171DEST_PATH_IMAGE015
，
Figure 939277DEST_PATH_IMAGE083
，
Figure 967276DEST_PATH_IMAGE017
，
Figure 148858DEST_PATH_IMAGE084
，
Figure 384537DEST_PATH_IMAGE044
is composed ofxThe derivative of (a) of (b),his composed offThe derivative of (a) is determined,U EGR is the EGR valve opening;
obtaining the ESO according to the expansion state equation:
Figure 284360DEST_PATH_IMAGE085
wherein the state quantity
Figure 381629DEST_PATH_IMAGE086
Estimate is as
Figure 417718DEST_PATH_IMAGE064
，
Figure 43871DEST_PATH_IMAGE023
In order to be an output quantity,fi.e. the disturbance quantity, ESO gain matrix
Figure 696569DEST_PATH_IMAGE087
The ESO gain matrix L is such that the characteristic root of the (A-LC) matrix is in the left half of the complex plane.
Further, the calculating module 72 is specifically configured to:
inputting a difference value between a preset air mass flow entering an air inlet manifold and the current air mass flow into a proportional controller, and calculating to obtain a first control quantity;
calculating to obtain a second control quantity according to the current air mass flow;
and calculating to obtain the opening value of the EGR valve according to the first control quantity, the second control quantity and the disturbance quantity.
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, where the electronic device can implement the functions of the foregoing EGR control method and apparatus, and with reference to fig. 8, the electronic device includes:
at least one processor 81 and a memory 82 connected to the at least one processor 81, in this embodiment, a specific connection medium between the processor 81 and the memory 82 is not limited, and fig. 8 illustrates a connection between the processor 81 and the memory 82 through a bus 80. The bus 80 is shown in fig. 8 by a thick line, and the connection between other components is merely illustrative and not limiting. The bus 80 may be divided into an address bus, a data bus, a control bus, etc., and is shown in fig. 8 with only one thick line for ease of illustration, but does not represent only one bus or type of bus. Alternatively, the processor 81 may also be referred to as a controller, without limitation to name a few.
In the present embodiment, the memory 82 stores instructions executable by the at least one processor 81, and the at least one processor 81 may execute the EGR control method discussed above by executing the instructions stored in the memory 82. The processor 81 may implement the functions of the various modules in the apparatus shown in fig. 7.
The processor 81 is a control center of the apparatus, and may connect various parts of the entire control device by using various interfaces and lines, and perform various functions of the apparatus and process data by operating or executing instructions stored in the memory 82 and calling data stored in the memory 82, thereby performing overall monitoring of the apparatus.
In one possible design, processor 81 may include one or more processing units and processor 81 may integrate an application processor that handles primarily the operating system, user interfaces, applications, etc., and a modem processor that handles primarily wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 81. In some embodiments, the processor 81 and the memory 82 may be implemented on the same chip, or in some embodiments, they may be implemented separately on separate chips.
The processor 81 may be a general-purpose processor, such as a Central Processing Unit (CPU), digital signal processor, application specific integrated circuit, field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like, that may implement or perform the methods, steps, and logic blocks disclosed in embodiments of the present application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the EGR control method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor.
The memory 82, which is a non-volatile computer-readable storage medium, may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The Memory 82 may include at least one type of storage medium, and may include, for example, a flash Memory, a hard disk, a multimedia card, a card-type Memory, a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Programmable Read Only Memory (PROM), a Read Only Memory (ROM), a charged Erasable Programmable Read Only Memory (EEPROM), a magnetic Memory, a magnetic disk, an optical disk, and the like. The memory 82 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory 82 in the embodiments of the present application may also be circuitry or any other device capable of performing a storage function for storing program instructions and/or data.
The processor 81 is programmed to solidify the codes corresponding to the EGR control method described in the foregoing embodiments into the chip, so that the chip can execute the steps of the EGR control method in the embodiment shown in fig. 4 when running. How to program processor 81 is well known to those skilled in the art and will not be described in detail herein.
Based on the same inventive concept, the present application also provides a storage medium storing computer instructions, which when executed on a computer, cause the computer to execute the EGR control method discussed above.
In some possible embodiments, the various aspects of the EGR control method provided herein may also be implemented in the form of a program product comprising program code means for causing a control apparatus to carry out the steps of the EGR control method according to various exemplary embodiments of the present application described above in the present description, when the program product is run on a device.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims (9)

1. An EGR control method, characterized in that the method comprises:
inputting a current EGR valve opening value and a current air mass flow entering an intake manifold into an Extended State Observer (ESO) to obtain the current air mass flow and a disturbance quantity;
inputting a difference value between a preset air mass flow entering an air inlet manifold and the current air mass flow into a proportional controller, and calculating to obtain a first control quantity;
calculating to obtain a second control quantity according to the current air mass flow, wherein the specific calculation formula is
Figure 868694DEST_PATH_IMAGE001
(ii) a Wherein,
Figure 785835DEST_PATH_IMAGE002
in order to be the second control quantity,
Figure 831151DEST_PATH_IMAGE003
，W in for the mass flow of gas into the engine cylinders,W f in order to inject the mass flow of fuel,W c for the mass flow of air into the intake manifold,K 0 is composed ofW c The constant coefficient of the term is a constant coefficient,η c in order to achieve the thermal efficiency of the VGT compressor,η t in order to achieve the thermal efficiency of the turbine,η m in order to achieve the mechanical efficiency of the VGT compressor,T out to be the exhaust manifold temperature,P out to be the exhaust manifold pressure,P in in order to the intake manifold pressure,P 0 is at the pressure of the atmosphere and is,T 0 is at the temperature of the atmosphere,μis an index of heat capacity, and,τis the VGT time constant;
and calculating to obtain the opening value of the EGR valve according to the first control quantity, the second control quantity and the disturbance quantity, and controlling the mass flow of the air entering the intake manifold according to the opening value of the EGR valve.
2. The method of claim 1, further comprising, prior to inputting a current EGR valve opening value and a current mass air flow into an intake manifold to an extended state observer, ESO, to obtain the current mass air flow and disturbance variable:
constructing an EGR system differential equation;
and constructing an Extended State Observer (ESO) according to the differential equation of the EGR system.
3. The method of claim 2, wherein said constructing an EGR system differential equation comprises:
constructing a gas compression equation of an intake manifold:
Figure 491940DEST_PATH_IMAGE004
wherein,P in in order to the intake manifold pressure,
Figure 571891DEST_PATH_IMAGE005
is the derivative of the intake manifold pressure,Ris a constant of the gas, and is,T in to be the intake manifold temperature,V in as the volume of the intake manifold, W EGR is EGR mass flow;
constructing a gas compression equation of the exhaust manifold:
Figure 909201DEST_PATH_IMAGE006
wherein, W VGT is the gas mass flow entering the turbine;
constructing a power differential equation of a VGT compressor of the variable geometry turbocharger:
Figure 176234DEST_PATH_IMAGE007
wherein,
Figure 640713DEST_PATH_IMAGE008
，
Figure 575171DEST_PATH_IMAGE009
；
calculating to obtain the differential equation of the EGR system according to the gas compression equation of the intake manifold, the gas compression equation of the exhaust manifold and the power differential equation of the VGT compressor:
Figure 834114DEST_PATH_IMAGE010
wherein,
Figure 588444DEST_PATH_IMAGE011
， fis composed ofW c The non-considered part of the term,C EGR in order to provide the EGR throttling factor,U EGR the EGR valve opening.
4. The method of claim 3, wherein constructing an extended state observer, ESO, from the differential equation comprises:
obtaining an expansion state equation of the EGR system according to the differential equation of the EGR system:
Figure 591035DEST_PATH_IMAGE012
wherein,
Figure 379999DEST_PATH_IMAGE013
，
Figure 75423DEST_PATH_IMAGE014
，
Figure 317048DEST_PATH_IMAGE015
，
Figure 857751DEST_PATH_IMAGE016
，
Figure 517533DEST_PATH_IMAGE017
，
Figure 118279DEST_PATH_IMAGE018
，
Figure 847201DEST_PATH_IMAGE019
，
Figure 191594DEST_PATH_IMAGE020
，
Figure 955151DEST_PATH_IMAGE021
is composed ofxThe derivative of (a) of (b),his composed offA derivative of (a);
obtaining the ESO of the extended state observer according to the extended state equation:
Figure 726798DEST_PATH_IMAGE022
wherein the state quantity
Figure 943016DEST_PATH_IMAGE023
Estimate is as
Figure 91100DEST_PATH_IMAGE024
，
Figure 709163DEST_PATH_IMAGE025
In order to be an output quantity,fi.e. the disturbance variable, the observer gain matrix
Figure 917291DEST_PATH_IMAGE026
Said observer gain matrix L being such that the (A-LC) momentThe characteristic root of the array is in the left half of the complex plane.
5. The method of claim 1, wherein the difference between the preset mass airflow into the intake manifold and the current mass airflow is input to a proportional controller, and the first control amount is calculated by the following formula:
Figure 870072DEST_PATH_IMAGE027
wherein,
Figure 290689DEST_PATH_IMAGE028
in order to be the first control quantity,K p is a coefficient of proportionality that is,W cys is a preset mass airflow into the intake manifold.
6. The method according to claim 5, wherein the EGR valve opening degree value is calculated based on the first control amount, the second control amount, and the disturbance amount by the following formula:
Figure 28838DEST_PATH_IMAGE029
wherein,U EGR is the EGR valve opening value.
7. An EGR control apparatus, characterized in that the apparatus comprises:
the observation module is used for inputting the opening value of the current EGR valve and the current air mass flow entering the intake manifold into an Extended State Observer (ESO) to obtain the current air mass flow and the disturbance quantity;
the calculation module is used for inputting a difference value between the preset air mass flow entering the air inlet manifold and the current air mass flow into the proportional controller and calculating to obtain a first control quantity; according to the current spaceThe gas mass flow is calculated to obtain a second control quantity, and the specific calculation formula is
Figure 407867DEST_PATH_IMAGE030
(ii) a Wherein,
Figure 598677DEST_PATH_IMAGE002
as the second control amount, a control amount of the second control amount,
Figure 822985DEST_PATH_IMAGE031
，W in for the mass flow of gas into the engine cylinders,W f in order to inject the mass flow of fuel,W c for the mass flow of air into the intake manifold,K 0 is composed ofW c The constant coefficient of the term is given by,η c in order to achieve the thermal efficiency of the VGT compressor,η t in order to achieve thermal efficiency of the turbine,η m in order to achieve the mechanical efficiency of the VGT compressor,T out to be the exhaust manifold temperature,P out to be the exhaust manifold pressure,P in in order to the intake manifold pressure,P 0 is at the atmospheric pressure and is,T 0 is at the temperature of the atmosphere and is,μis an index of heat capacity,τis the VGT time constant; calculating to obtain the opening value of the EGR valve according to the first control quantity, the second control quantity and the disturbance quantity;
and the control module is used for controlling the mass flow of the air entering the air inlet manifold according to the opening value of the EGR valve.
8. An electronic device, comprising:
a memory for storing a computer program;
a processor for implementing the method steps of any one of claims 1-6 when executing the computer program stored on the memory.
9. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when being executed by a processor, carries out the method steps of any one of claims 1-6.
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