CN113867131A - EGR control method and device and electronic equipment - Google Patents
EGR control method and device and electronic equipment Download PDFInfo
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Abstract
The method comprises the steps of obtaining a current opening value of an EGR valve, a first derivative and a disturbance quantity of the current opening of the EGR valve through ESO observation of an extended observer, calculating a duty ratio of the EGR valve according to the current opening value of the EGR valve, the first derivative and the disturbance quantity of the current opening of the EGR valve, and then controlling the opening of the EGR valve according to the duty ratio. Based on the method, the system disturbance quantity is directly estimated through the ESO, so that the system disturbance quantity can be considered when the duty ratio of the EGR valve is calculated, the actual opening value ratio of the EGR valve is closer to the target opening value of the EGR valve, the adjusting time of a control system is shortened, and the responsiveness of the EGR system is improved.
Description
Technical Field
The present disclosure relates to the field of engine control technologies, and in particular, to a method and an apparatus for EGR control, 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 the EGR reduces the oxygen content in the intake air by returning part of the Exhaust Gas discharged from the engine to the intake pipe and then Re-entering the cylinder together with the fresh air mixture, thereby reducing the combustion temperature and reducing the emission pollution. However, in the process of exhaust gas recirculation, if too much exhaust gas is recycled, the oxygen content entering the cylinder may not meet the specified value, and the power of the engine is affected, so the duty ratio of the EGR is controlled according to the actual working condition of the engine, and the control of the opening degree of the EGR valve is realized, and the exhaust emission can be reduced while the normal use of the engine is ensured, which is very important.
In order to solve the above problems, the conventional scheme implements closed-loop control of the EGR system by a PID controller, in which control is performed in proportion (P), integral (I) and derivative (D) of the difference value. Specifically, the conventional method mainly calculates a difference between an EGR valve opening degree reference value and a current EGR valve opening degree value, and then inputs the difference into a PID controller to obtain an output duty ratio and control the EGR system.
However, the gains of P, I and D in PID control are difficult to adjust, and cannot be updated continuously according to feedback, and it takes a lot of time to try and get together, so that there is a problem that responsiveness of the EGR system is delayed if the PID control method is adopted.
Disclosure of Invention
The application provides a method, a device and electronic equipment for EGR control, which directly estimate the system disturbance amount through ESO, so that the system disturbance amount can be considered when the duty ratio of an EGR valve is calculated, and further the actual opening value ratio of the EGR valve is closer to the target opening value of the EGR valve, thereby reducing the adjusting time of a control system and improving the responsiveness of the EGR system.
In a first aspect, the present application provides a method of EGR control, the method comprising: and calculating the duty ratio of the EGR valve according to the current opening value of the EGR valve, the first derivative of the current opening of the EGR valve and the disturbance quantity which are obtained by observation of the ESO of the extended observer, and then controlling the opening of the EGR valve according to the duty ratio.
In the method, the system disturbance quantity is directly estimated through the ESO, so that the size of the system disturbance quantity can be considered when the duty ratio of the EGR valve is calculated, the actual opening value ratio of the EGR valve is closer to the target opening value of the EGR valve, the adjusting time of a control system is shortened, and the responsiveness of the EGR system is improved.
In one possible design, before observing the current opening degree value of the EGR valve, the first derivative of the current opening degree of the EGR valve, and the disturbance amount from the extended observer ESO, the method further includes: and establishing a second order differential equation of the EGR system, and constructing an Extended State Observer (ESO) based on the second order differential equation.
In one possible design, a second order differential equation of the EGR system is established, specifically by the following equation:
wherein the content of the first and second substances,
is the second derivative of the angle of rotation of the valve plate,
J＝(Jg+n2*Jm) U is the duty cycle of the H-bridge circuit,
as the first derivative of the angle of rotation of the valve plate, ksIs the stiffness coefficient of the reset spring, theta is the valve plate angle, n is the transmission gear tooth ratio, VbIs the battery voltage, kmR is resistance, k is the coefficient of the relationship between electromotive force and angular velocitybIs the coefficient of relationship of current to electromagnetic torque, T0Initial torque for return spring in static position, TfAs friction force, TαIs the airflow impact torque.
In one possible design, an extended state observer, ESO, is constructed, including:
and obtaining an expansion state equation of the EGR system according to a second-order differential equation:
wherein the content of the first and second substances,
x1＝θ，
x3＝f，
based on the extended state equation, an Extended State Observer (ESO) is obtained:
wherein the state quantity x is estimated as
An estimate of the output y is
Observer gain matrix
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.
In one possible design, calculating a duty cycle of the EGR valve includes: after the first control quantity is obtained through calculation according to the EGR valve opening degree reference value and the EGR valve current opening degree value, the second control quantity is obtained through calculation according to the first control quantity and a first derivative of the EGR valve current opening degree, and then the duty ratio of the EGR valve is obtained through calculation according to the second control quantity, the EGR valve current opening degree value and the disturbance quantity.
In one possible design, the second control quantity is calculated, specifically by the following formula:
wherein the content of the first and second substances,
is the second control quantity, Kp(θSetting up-θ)+Kd(θSetting up- θ) is said first control quantity, θSetting upIs the EGR valve opening degree reference value, theta is the current EGR valve opening degree value,
being a first derivative of a current opening degree of said EGR valve,
in one possible design, the duty cycle of the EGR valve is calculated by the following equation:
wherein u is a duty cycle of the EGR valve,
theta is the current opening value of the EGR valve, f is the disturbance quantity,
in a second aspect, the present application provides an EGR control apparatus, comprising:
the observation module is used for observing and obtaining the current opening degree value of the EGR valve, a first derivative of the current opening degree of the EGR valve and a disturbance quantity through an extended observer (ESO);
the calculation module is used for calculating the duty ratio of the EGR valve according to the current opening value of the EGR valve, the first derivative of the current opening of the EGR valve and the disturbance quantity;
and the control module controls the opening of the EGR valve according to the duty ratio.
In one possible design, before the observation module, the second-order differential equation of the EGR system is established; and constructing an Extended State Observer (ESO) based on the second-order differential equation. .
In one possible design, before the observation module, the second order differential equation of the EGR system is also established, specifically by the following formula:
wherein the content of the first and second substances,
is the second derivative of the angle of rotation of the valve plate,
J＝(Jg+n2*Jm) U is the duty cycle of the H-bridge circuit,
as the first derivative of the angle of rotation of the valve plate, ksIs the stiffness coefficient of the reset spring, theta is the valve plate angle, n is the transmission gear tooth ratio, VbIs the battery voltage, kmR is resistance, k is the coefficient of the relationship between electromotive force and angular velocitybIs the coefficient of relationship of current to electromagnetic torque, T0Initial torque for return spring in static position, TfAs friction force, TαIs the airflow impact torque.
In one possible design, before the observation module, the method is further configured to construct an extended state observer, ESO, based on the second order differential equation, and includes:
obtaining an expansion state equation of the EGR system according to the second-order differential equation:
wherein the content of the first and second substances,
x1＝θ，
x3＝f，
obtaining the ESO of the extended state observer according to the extended state equation:
wherein the state quantity x is estimated as
An estimate of the output y is
Observer gain matrix
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.
In one possible design, the calculation module is specifically configured to obtain a first control quantity according to an EGR valve opening reference value and the EGR valve current opening value; calculating a second control quantity according to the first control quantity and a first derivative of the current opening degree of the EGR valve; and calculating the duty ratio of the EGR valve according to the second control quantity, the current opening value of the EGR valve and the disturbance quantity.
In one possible design, the calculation module is specifically configured to calculate the second control quantity, and the calculation module is obtained by the following formula:
wherein the content of the first and second substances,
is the second control quantity, Kp(θSetting up-θ)+Kd(θSetting up- θ) is said first control quantity, θSetting upIs the EGR valve opening degree reference value, theta is the current EGR valve opening degree value,
being a first derivative of a current opening degree of said EGR valve,
in one possible design, the calculation module, specifically configured to calculate the duty cycle of the EGR valve, is obtained by the following formula:
wherein u is a duty cycle of the EGR valve,
theta is the current opening value of the EGR valve, f is the disturbance quantity,
in a third aspect, the present application provides an electronic device, comprising:
a memory for storing a computer program;
a processor for implementing the above-mentioned method steps for detecting an object with abnormal motion state 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 being executed by a processor, carries out the above-mentioned method steps of detecting an object with abnormal motion state.
For each of the second to fourth aspects and possible technical effects of each aspect, please refer to the above description of the first aspect or the possible technical effects of each of the possible solutions in the first aspect, and no repeated description is given here.
Drawings
FIG. 1 is a flow chart of a method of EGR control provided herein;
FIG. 2 is a flow chart of a method of constructing an ESO provided herein;
FIG. 3 is a schematic diagram of a possible application scenario of EGR control provided herein;
FIG. 4 is a schematic illustration of an EGR control apparatus provided herein;
fig. 5 is a schematic diagram of a structure 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 addition, in the description of the present application, the terms "first," "second," and the like are used for descriptive purposes only and are not intended to indicate or imply relative importance nor order to be construed.
To facilitate a better understanding of the contents of the present application by those skilled in the art, the following explanations of the relevant terms referred to in the present application are made:
1. EGR: EGR is an important component in engine systems to reduce the oxygen content and combustion temperature in the intake air by introducing exhaust gases into the intake air pipe, thereby reducing NOx emissions.
2. PID control: a common control method in the classical control theory comprises a proportional link, an integral link and a differential link, and closed-loop control of a system is realized. The PID adjusts output mainly according to deviation of an EGR opening set value and an EGR opening actual value.
The method provided by the embodiment of the application is further described in detail with reference to the attached drawings.
Referring to fig. 1, an embodiment of the present application provides a method for EGR control, which includes the following steps:
step 101: observing by an extended observer (ESO) to obtain a current opening degree value of the EGR valve, a first derivative of the current opening degree of the EGR valve and a disturbance quantity;
in the embodiment of the application, the ESO is constructed based on a second order differential equation of the EGR system, and through the ESO, not only can the current opening degree value of the EGR valve in the EGR system and the first derivative of the current opening degree of the EGR valve be observed, but also the disturbance quantity which cannot be directly obtained from the EGR system can be observed.
Step 102: calculating the duty ratio of the EGR valve according to the current opening value of the EGR valve, the first derivative of the current opening of the EGR valve and the disturbance quantity;
in the embodiment of the application, in the process of calculating the duty ratio of the EGR valve, not only the current opening value of the EGR valve and the first derivative of the current opening of the EGR valve are 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.
Step 103: and controlling the opening degree of the EGR valve according to the duty ratio.
In the embodiment of the present application, a specific method for controlling the opening degree of the EGR valve according to the duty ratio of the EGR valve is as follows: and adjusting the opening degree of the EGR valve according to the duty ratio of the EGR valve, so as to control the opening degree of the EGR valve and improve the responsiveness of the EGR control system.
According to the EGR control method provided by the embodiment of the application, the system disturbance amount is estimated by using the ESO, and the system disturbance amount is compensated to the input end, so that the system disturbance amount can be considered when the duty ratio of the EGR valve is calculated, the calculated EGR valve opening value is closer to the target opening value of the EGR valve, and the responsiveness of the EGR control system is improved.
In the above control method, the disturbance amount of the EGR system may be obtained by an ESO, as shown in fig. 2, and to construct the ESO, the method flow includes the following steps:
step 201: establishing a second order differential equation of the EGR system;
first, a dc motor was modeled:
in the formula 1, VmIs the input voltage of the DC motor, i is the current in the circuit, R is the resistance, EmElectromotive force generated for rotation of a DC motor, EmElectromotive force, k, generated for the rotation of a DC motormA coefficient of relationship between electromotive force and angular velocity, wmIs the angular velocity at which the dc motor rotates,
angular velocity of rotation of DC motors, i.e.
Is one of positionThe second derivative.
Modeling a torque relation of the direct current motor:
in the formula 2, TmElectromagnetic torque, T, output for a DC motorLIs the load torque of the DC motor, JmIs the moment of inertia of the rotor of the direct current motor,
angular acceleration of rotation of the DC motor, i.e.
The second derivative of position.
Further, in formula 2, TmProportional to the current: t ism＝i*kbIn the above formula, kbIs the relation coefficient of current and electromagnetic torque.
For an H-bridge circuit, if the duty ratio is u, the following formula is corresponded:
in the formula 3, VbIs the battery voltage.
Considering the internal rotating structure of the EGR valve, the gear tooth ratio of the transmission gear has the following formula:
in equation 4, n is the gear tooth ratio, TgTo convert the torque to the EGR valve plate rotating shaft.
Further, a return spring inside the EGR valve is also considered, modeling the spring force in a default fully open state:
Ts＝ks*θ+T0(equation 5))
In the formula 5, TsThe spring force of the return spring in the fully open state, ksIs the stiffness coefficient of the return spring, theta is the valve plate angle, T0Is the initial torque of the return spring in the static position.
Further, on the basis of considering the spring force, factors such as airflow impact and friction force are also considered, an EGR valve plate is taken as an object, and the following formula is established:
in equation 6, TfAs friction force, TαIs the airflow impact torque.
In the embodiment of the present application, in combination with the above formulas 1 to 6, the following formulas can be obtained:
the above formula is further simplified:
for equation 7, let (J)g+n2*Jm)＝J，
A second order differential equation for the EGR system can be obtained:
that is, equation 8 is a second order differential equation established by taking an H-bridge type EGR system as an example.
Step 202: and constructing an Extended State Observer (ESO) based on the second-order differential equation.
In the embodiment of the present application, based on equation 8, the expansion equation of state of the EGR system can be inferred:
in the formula 9, the first and second groups,
x1＝θ，
x3＝f，
according to formula 9, a mathematical model of the extended state observer ESO is obtained:
wherein the state quantity x is estimated as
An estimate of the output y is
Observer gain matrix
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.
Based on the method, the second order differential equation of the EGR system is constructed firstly, and then the ESO is constructed based on the constructed second order differential equation.
Further, a disturbance amount is obtained through ESO observation, and the duty ratio of the EGR valve is calculated according to the current opening value of the EGR valve, the first derivative of the current opening of the EGR valve and the disturbance amount, wherein the specific calculation method comprises the following steps:
inputting a difference value between an EGR valve opening degree reference value and an EGR valve current opening degree value into a proportional controller, and calculating to obtain a first control quantity, wherein a specific calculation formula is as follows:
Kp(θsetting up-θ)+Kd(θSetting up- θ) (equation 11)
In the formula 11, Kp(θSetting up-θ)+Kd(θSetting up- θ) is a first control quantity, θSetting upAnd theta is the EGR valve opening degree reference value, and theta is the current EGR valve opening degree value.
And combining a formula 11, calculating to obtain a second control quantity according to the first derivative of the current opening degree of the EGR valve, wherein the specific calculation formula is as follows:
in the formula 12, in the above-mentioned formula,
being a first derivative of a current opening degree of said EGR valve,
based on formula 12, the duty ratio of the EGR valve is calculated by considering the disturbance amount, and the specific calculation formula is as follows:
in equation 13, u is the duty cycle of the EGR valve.
Through the method, the duty ratio of the EGR valve is obtained through calculation, the duty ratio of the EGR valve further considers the disturbance amount of the EGR system, and the calculated duty ratio of the EGR valve is enabled to be closer to the actually required target duty ratio of the EGR valve.
Finally, the opening degree of the EGR valve is controlled based on the calculated duty ratio of the EGR valve.
Based on the method, the system disturbance quantity is directly estimated through the ESO, so that the system disturbance quantity can be considered when the duty ratio of the EGR valve is calculated, the actual opening value ratio of the EGR valve is closer to the target opening value of the EGR valve, the adjusting time of a control system is shortened, and the responsiveness of the system is improved.
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.
Further, in order to explain an EGR control method provided by the present application in more detail, the method provided by the present application is described in detail below through a specific application scenario.
As shown in fig. 3, the embodiment of the present application further provides a schematic diagram of a possible application scenario based on the EGR control method.
In fig. 3, the EGR valve opening degree reference value (position set value) θSetting upAnd the difference value between the current opening value (position actual value) theta of the EGR valve is input into the proportional controller to obtain a first control quantity Kp(θSetting up-θ)+Kd(θSetting up-θ)。
Obtaining EGR valve Current opening value x in ESO of FIG. 31First derivative x of the current opening of the EGR valve2And a disturbance amount f.
According to the first control quantity Kp(θSetting up-θ)+Kd(θSetting up-θ)、
First derivative x of current EGR valve opening2Calculating to obtain a second control quantity
Combined with a second control quantity
Stiffness coefficient k of return springsEGR valve current opening value x1The disturbance amount f,
By passing
And calculating a formula to obtain the duty ratio u of the EGR valve.
And finally, adjusting the opening degree of the EGR valve of the EGR system according to the calculated duty ratio of the EGR valve.
In the above process, the disturbance amount f for calculating the opening degree of the EGR valve is obtained by the expansion state controller ESO, and a specific method for constructing the expansion state controller ESO may refer to the method flow shown in fig. 2.
Based on the EGR control method, the system disturbance quantity is directly estimated through the ESO, so that the system disturbance quantity can be considered when the duty ratio of the EGR valve is calculated, the actual opening value ratio of the EGR valve is closer to the target opening value of the EGR valve, the adjusting time of a control system is shortened, and the responsiveness of the EGR system is improved.
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 invention concept, the application also provides an EGR control device, the system disturbance quantity is directly estimated through ESO, so that the system disturbance quantity can be considered when the duty ratio of the EGR valve is calculated, the actual opening value ratio of the EGR valve is closer to the target opening value of the EGR valve, the adjusting time of a control system is shortened, and the responsiveness of the EGR system is improved. Referring to fig. 4, the apparatus includes:
the observation module 401 obtains a current opening degree value of the EGR valve, a first derivative of the current opening degree of the EGR valve and a disturbance quantity through ESO observation of an extended observer;
the calculating module 402 is used for calculating the duty ratio of the EGR valve according to the current opening value of the EGR valve, the first derivative of the current opening of the EGR valve and the disturbance amount;
the control module 403 controls the opening of the EGR valve according to the duty ratio.
In one possible design, before the observation module 401, the second order differential equation of the EGR system is also established; and constructing an Extended State Observer (ESO) based on the second-order differential equation.
In one possible design, before the observation module 401, the second order differential equation of the EGR system is further established, specifically by the following formula:
wherein the content of the first and second substances,
is the second derivative of the angle of rotation of the valve plate,
J＝(Jg+n2*Jm) U is the duty cycle of the H-bridge circuit,
as the first derivative of the angle of rotation of the valve plate, ksIs the stiffness coefficient of the reset spring, theta is the valve plate angle, n is the transmission gear tooth ratio, VbIs the battery voltage, kmR is resistance, k is the coefficient of the relationship between electromotive force and angular velocitybIs the coefficient of relationship of current to electromagnetic torque, T0Initial torque for return spring in static position, TfAs friction force, TαIs the airflow impact torque.
In one possible design, before the observation module 401, the method is further configured to construct an extended state observer, ESO, based on the second order differential equation, and includes:
obtaining an expansion state equation of the EGR system according to the second-order differential equation:
wherein the content of the first and second substances,
x1＝θ，
x3＝f，
obtaining the ESO of the extended state observer according to the extended state equation:
wherein the state quantity x is estimated as
An estimate of the output y is
Observer gain matrix
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.
In a possible design, the calculating module 402 is specifically configured to obtain a first control quantity according to an EGR valve opening degree reference value and the EGR valve current opening degree value; calculating a second control quantity according to the first control quantity and a first derivative of the current opening degree of the EGR valve; and calculating the duty ratio of the EGR valve according to the second control quantity, the current opening value of the EGR valve and the disturbance quantity.
In a possible design, the calculating module 402 is specifically configured to calculate the second control quantity, and is obtained by the following formula:
wherein the content of the first and second substances,
is the second control quantity, Kp(θSetting up-θ)+Kd(θSetting up- θ) is said first control quantity, θSetting upIs the EGR valve opening degree reference value, theta is the current EGR valve opening degree value,
being a first derivative of a current opening degree of said EGR valve,
in one possible design, the calculating module 402, specifically configured to calculate the duty cycle of the EGR valve, is obtained by the following formula:
wherein u is a duty cycle of the EGR valve,
theta is the current opening value of the EGR valve, f is the disturbance quantity,
based on the device, the system disturbance quantity is directly estimated through the ESO, so that the system disturbance quantity can be considered when the duty ratio of the EGR valve is calculated, the actual opening value ratio of the EGR valve is closer to the target opening value of the EGR valve, the adjusting time of a control system is shortened, and the responsiveness of the EGR system is improved.
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, where the electronic device can implement the function of the foregoing EGR control apparatus, and with reference to fig. 5, the electronic device includes:
at least one processor 501 and a memory 502 connected to the at least one processor 501, in this embodiment, a specific connection medium between the processor 501 and the memory 502 is not limited in this application, and fig. 5 illustrates an example where the processor 501 and the memory 502 are connected through a bus 500. The bus 500 is shown in fig. 5 by a thick line, and the connection manner between other components is merely illustrative and not limited thereto. The bus 500 may be divided into an address bus, a data bus, a control bus, etc., and is shown with only one thick line in fig. 5 for ease of illustration, but does not represent only one bus or one type of bus. Alternatively, the processor 501 may also be referred to as a controller, without limitation to name a few.
In the present embodiment, the memory 502 stores instructions executable by the at least one processor 501, and the at least one processor 501 may execute the EGR control method discussed above by executing the instructions stored in the memory 502. The processor 501 may implement the functions of the various modules in the apparatus shown in fig. 5.
The processor 501 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 and process data of the apparatus by operating or executing instructions stored in the memory 502 and calling data stored in the memory 502, thereby performing overall monitoring of the apparatus.
In one possible design, processor 501 may include one or more processing units and processor 501 may integrate an application processor that handles primarily operating systems, user interfaces, application programs, and the like, 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 501. In some embodiments, processor 501 and memory 502 may be implemented on the same chip, or in some embodiments, they may be implemented separately on separate chips.
The processor 501 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 any combination thereof, 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 processor 501 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 of the embodiment shown in fig. 1 when running. How to program the processor 501 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, apparatus, 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 (10)
1. A method of EGR control, the method comprising:
observing by an extended observer (ESO) to obtain a current opening degree value of the EGR valve, a first derivative of the current opening degree of the EGR valve and a disturbance quantity;
calculating the duty ratio of the EGR valve according to the current opening value of the EGR valve, the first derivative of the current opening of the EGR valve and the disturbance quantity;
and controlling the opening degree of the EGR valve according to the duty ratio.
2. The method of claim 1, further comprising, prior to said observing by the extended observer, ESO, a current EGR valve opening degree value, a first derivative of the current EGR valve opening degree, and a disturbance quantity:
establishing a second order differential equation of the EGR system;
and constructing an Extended State Observer (ESO) based on the second-order differential equation.
3. The method of claim 2, wherein the second order differential equation for the EGR system is established by the following equation:
wherein the content of the first and second substances,
is the second derivative of the angle of rotation of the valve plate,
J＝(Jg+n2*Jm) U is the duty cycle of the H-bridge circuit,
as the first derivative of the angle of rotation of the valve plate, ksIs the stiffness coefficient of the reset spring, theta is the valve plate angle, n is the transmission gear tooth ratio, VbIs the battery voltage, kmR is resistance, k is the coefficient of the relationship between electromotive force and angular velocitybIs the coefficient of relationship of current to electromagnetic torque, T0Initial torque for return spring in static position, TfAs friction force, TαIs the airflow impact torque.
4. The method of claim 3, wherein constructing an Extended State Observer (ESO) based on the second order differential equation comprises:
obtaining an expansion state equation of the EGR system according to the second-order differential equation:
wherein the content of the first and second substances,
x1＝θ，
x3＝f，
obtaining the ESO of the extended state observer according to the extended state equation:
wherein the state quantity x is estimated as
An estimate of the output y is
Observer gain matrix
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.
5. The method of claim 4, wherein calculating the duty cycle of the EGR valve based on the current EGR valve opening value, a first derivative of the current EGR valve opening, and the disturbance amount comprises:
obtaining a first control quantity according to the EGR valve opening degree reference value and the current EGR valve opening degree value;
calculating a second control quantity according to the first control quantity and a first derivative of the current opening degree of the EGR valve;
and calculating the duty ratio of the EGR valve according to the second control quantity, the current opening value of the EGR valve and the disturbance quantity.
6. Method according to claim 5, characterized in that said second control quantity is calculated on the basis of said first control quantity and a first derivative of the current opening degree of said EGR valve, in particular by means of the formula:
wherein the content of the first and second substances,
is the second control quantity, Kp(θSetting up-θ)+Kd(θSetting up- θ) is said first control quantity, θSetting upIs the EGR valve opening degree reference value, theta is the current EGR valve opening degree value,
being a first derivative of a current opening degree of said EGR valve,
7. the method of claim 6, wherein the duty cycle of the EGR valve is calculated based on the second control amount, the current opening value of the EGR valve, and the disturbance amount by the following equation:
wherein u isThe duty cycle of the EGR valve is,
theta is the current opening value of the EGR valve, f is the disturbance quantity,
8. an apparatus for EGR control, the apparatus comprising:
the observation module is used for observing and obtaining the current opening degree value of the EGR valve, a first derivative of the current opening degree of the EGR valve and a disturbance quantity through an extended observer (ESO);
the calculation module is used for calculating the duty ratio of the EGR valve according to the current opening value of the EGR valve, the first derivative of the current opening of the EGR valve and the disturbance quantity;
and the control module controls the opening of the EGR valve according to the duty ratio.
9. An electronic device, comprising:
a memory for storing a computer program;
a processor for implementing the method steps of any one of claims 1-7 when executing the computer program stored on the memory.
10. 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 to 7.
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