CN115217650B - Control method and device for air-fuel ratio of engine and controller - Google Patents

Control method and device for air-fuel ratio of engine and controller Download PDF

Info

Publication number
CN115217650B
CN115217650B CN202210901584.4A CN202210901584A CN115217650B CN 115217650 B CN115217650 B CN 115217650B CN 202210901584 A CN202210901584 A CN 202210901584A CN 115217650 B CN115217650 B CN 115217650B
Authority
CN
China
Prior art keywords
relation
engine
natural gas
disturbance
amount
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202210901584.4A
Other languages
Chinese (zh)
Other versions
CN115217650A (en
Inventor
周飞章
曲怡霖
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Weichai Power Co Ltd
Weifang Weichai Power Technology Co Ltd
Original Assignee
Weichai Power Co Ltd
Weifang Weichai Power Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Weichai Power Co Ltd, Weifang Weichai Power Technology Co Ltd filed Critical Weichai Power Co Ltd
Priority to CN202210901584.4A priority Critical patent/CN115217650B/en
Publication of CN115217650A publication Critical patent/CN115217650A/en
Application granted granted Critical
Publication of CN115217650B publication Critical patent/CN115217650B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • F02D41/0027—Controlling engines characterised by use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures the fuel being gaseous
    • 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
    • Y02T10/30—Use of alternative fuels, e.g. biofuels

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)

Abstract

The application provides a control method, a device and a controller of an air-fuel ratio of an engine, wherein the method comprises the following steps: obtaining the disturbance quantity output by a state observer; determining the current natural gas inflow according to the last control quantity, the disturbance quantity and the target control quantity of the engine; and determining a current control quantity of the engine according to the current natural gas inlet quantity, wherein the current control quantity of the engine is used for controlling the opening degree of a gas valve of the engine so as to adjust the air-fuel ratio of the engine. The state observer is used for directly estimating the disturbance quantity, so that the response of the system is improved, the accuracy of the current natural gas inflow is further improved, the control efficiency of the air-fuel ratio of the engine is improved, the calibration workload is small, and the problem that the air-fuel ratio control efficiency of the engine is low in the existing scheme is solved.

Description

Control method and device for air-fuel ratio of engine and controller
Technical Field
The application relates to the field of control of engines, in particular to a method and a device for controlling the air-fuel ratio of an engine and a controller.
Background
The air-fuel ratio of an engine is the ratio of the mass of air and fuel in a mixture, and is generally expressed in grams of air consumed per gram of fuel burned.
In the existing scheme, the air-fuel ratio control efficiency of the engine is low, so that the accuracy of the air-fuel ratio is low, and the subsequent control is influenced.
Disclosure of Invention
The application mainly aims to provide a method, a device and a controller for controlling the air-fuel ratio of an engine, so as to solve the problem of low air-fuel ratio control efficiency of the engine in the prior art.
According to an aspect of an embodiment of the present invention, there is provided a control method of an engine air-fuel ratio, the method including: acquiring disturbance quantity output by a state observer, wherein the disturbance quantity is output by the state observer after the last control quantity of an engine is input into the state observer; determining the current natural gas inflow according to the last control amount, the disturbance amount and the target control amount of the engine, wherein the current natural gas inflow is the flow of natural gas entering the engine in unit time; and determining the current control quantity of the engine according to the current natural gas inflow, wherein the current control quantity of the engine is used for controlling the opening degree of a gas valve of the engine so as to adjust the air-fuel ratio of the engine.
Optionally, acquiring the disturbance amount of the state observer output includes: constructing a first relation among the last control quantity, the single-cylinder air inlet flow and the current natural gas inlet quantity according to the last control quantity and the single-cylinder air inlet flow, wherein the single-cylinder air inlet flow is the air flow entering a single cylinder of the engine in unit time; constructing a second relation of the disturbance quantity, the last control quantity, the single-cylinder air inlet flow and the current natural gas inlet quantity according to the first relation; constructing a third relation between the differentiation of the last control quantity and the target control quantity according to the last control quantity and the target control quantity; constructing a fourth relation of the disturbance quantity, the last control quantity, the single-cylinder air inlet flow, the current natural gas inlet quantity and the target control quantity according to the first relation, the second relation and the third relation; and determining the disturbance quantity according to the third relation and the fourth relation.
Optionally, constructing a first relational expression of the last control amount, the single-cylinder intake air flow rate and the current natural gas intake amount according to the last control amount and the single-cylinder intake air flow rate includes: building the first relationWherein N is the rotation speed, N is the cylinder number,/>For the current natural gas inflow, m air is single-cylinder inflow, phi is the last control quantity,/>Both E 1 and E 2 are constants for differentiation of the last control quantity.
Optionally, constructing a second relation of the disturbance variable, the last control variable, the single cylinder intake air flow and the current natural gas intake air quantity according to the first relation includes: constructing the second relationWherein lambda is the reciprocal of the last control amount,/>Is the derivative of the reciprocal of the last controlled variable, ω is the disturbance variable,/>As a value of the feed-forward flow,For transient flow value,/>For feedback flow values, E 1 and E 2 are both constant.
Optionally, constructing a third relation between the differential of the last control amount and the target control amount according to the last control amount and the target control amount includes: constructing the third relationWherein K p is a proportionality coefficient, phi ref is the target control amount,/>For the estimated value of the reciprocal of the last controlled variable,/>Is the differentiation of the last control quantity.
Optionally, constructing a fourth relation of the disturbance variable, the last control variable, the single cylinder intake air flow, the current natural gas intake air amount and the target control variable according to the first relation, the second relation and the third relation includes: constructing the fourth relationWherein/> C＝[1 0]，/>
Wherein, x 1＝lambda,x2 =ω,For the current natural gas inflow, omega is the disturbance quantity, lambda is the reciprocal of the last control quantity,/>Is the derivative of the disturbance variable.
Optionally, determining the disturbance variable according to the third relation and the fourth relation includes: according to the fourth relationConstruction of a fifth relation/>Wherein the state quantity x has an estimated value of/> For the estimated value of the reciprocal of the last controlled variable,/>The estimated value of the output quantity y is the estimated value of the differential of the disturbance quantity/>Gain matrix is/>Beta 1 and beta 2 are set values; and determining the disturbance quantity according to the third relation and the fifth relation.
Optionally, determining the current natural gas intake amount according to the previous control amount of the engine, the disturbance amount and the target control amount includes: and determining the current natural gas inflow according to the last control amount of the engine, the disturbance amount, the third relation and the fifth relation.
Optionally, after determining the current sub-natural gas intake amount according to the fifth relation, the method further includes: according to the sixth relationDetermining a feedback flow value, wherein/(Is the feed forward flow value,/>For transient flow value,/>And the feedback flow value is an electric signal output by a feedback controller of the engine and is used for determining the current secondary control quantity of the engine through the transient flow value and the feedback flow value.
According to another aspect of the embodiment of the present invention, there is also provided a control apparatus of an engine air-fuel ratio, the apparatus including a processing unit, a first determination unit, and a second determination unit; the processing unit is used for acquiring the disturbance quantity output by the state observer, wherein the disturbance quantity is output by the state observer after the last control quantity of the engine is input into the state observer; the first determining unit is used for determining the current natural gas inflow according to the last control amount of the engine, the disturbance amount and the target control amount, wherein the current natural gas inflow is the flow of natural gas entering the engine in unit time; the second determining unit is used for determining a current control amount of the engine according to the current natural gas intake amount, wherein the current control amount of the engine is used for controlling the opening degree of a gas valve of the engine so as to adjust the air-fuel ratio of the engine.
According to another aspect of the embodiments of the present invention, there is also provided a controller including one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a control method for executing any one of the engine air-fuel ratios.
In the embodiment of the invention, the current natural gas air inflow is determined according to the last control amount of the engine, the disturbance amount and the target control amount by acquiring the disturbance amount output by the state observer, and finally the current control amount of the engine is determined according to the current natural gas air inflow, the disturbance amount is directly estimated by the state observer, the response of the system is improved, and the accuracy of the current natural gas air inflow is further improved, so that the control efficiency of the air-fuel ratio of the engine is improved, the calibration workload is smaller, and the problem of lower air-fuel ratio control efficiency of the engine in the existing scheme is solved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
FIG. 1 shows a flowchart of a control method of an engine air-fuel ratio according to an embodiment of the application;
fig. 2 shows a schematic diagram of a control apparatus of an engine air-fuel ratio according to an embodiment of the application;
Fig. 3 shows a control process diagram of a control scheme of the engine air-fuel ratio according to an embodiment of the application.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Furthermore, in the description and in the claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As described in the background art, in the conventional scheme, the air-fuel ratio control efficiency of the engine is low, so that the accuracy of the air-fuel ratio is low, and further the subsequent control is affected.
According to an embodiment of the present application, there is provided a control method of an engine air-fuel ratio.
Fig. 1 is a flowchart of a control method of an engine air-fuel ratio according to an embodiment of the application. As shown in fig. 1, the method comprises the steps of:
Step S101, obtaining disturbance quantity output by a state observer, wherein the disturbance quantity is output by the state observer after the last control quantity of an engine is input into the state observer;
Step S102, determining the current natural gas inflow according to the last control amount of the engine, the disturbance amount and the target control amount, wherein the current natural gas inflow is the flow of natural gas entering the engine in unit time;
And step S103, determining the current sub-control quantity of the engine according to the current sub-natural gas inlet quantity, wherein the current sub-control quantity of the engine is used for controlling the opening degree of a gas valve of the engine so as to adjust the air-fuel ratio of the engine.
In the above steps, the current natural gas air inflow is determined according to the previous control amount, the disturbing amount and the target control amount of the engine by acquiring the disturbing amount output by the state observer, and finally the current control amount of the engine is determined according to the current natural gas air inflow.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
In one embodiment of the application, obtaining the disturbance variable of the state observer output includes: constructing a first relation among the last control amount, the single-cylinder air inlet flow and the current natural gas inlet amount according to the last control amount and the single-cylinder air inlet flow, wherein the single-cylinder air inlet flow is the air flow entering a single cylinder of the engine in unit time; constructing a second relation of the disturbance quantity, the last control quantity, the single-cylinder air inlet flow and the current natural gas inlet quantity according to the first relation; constructing a third relation between the differentiation of the last control quantity and the target control quantity according to the last control quantity and the target control quantity; constructing a fourth relation of the disturbance variable, the last control variable, the single cylinder intake air flow, the current natural gas intake air quantity and a target control variable according to the first relation, the second relation and the third relation; the disturbance variable is determined based on the third relational expression and the fourth relational expression. By bringing the disturbance amount and the target control amount into the calculation of the current natural gas intake amount, the accuracy of the calculation of the current natural gas intake amount can be improved, so that the air-fuel ratio of the engine can reach a desired value.
In one embodiment of the present application, constructing a first relational expression of the last control amount, the single cylinder intake air flow amount, and the current natural gas intake amount according to the last control amount and the single cylinder intake air flow amount includes: constructing the first relationWherein N is the rotation speed, N is the cylinder number,/>For the current natural gas inflow, m air is single-cylinder inflow, phi is the last control amount,/>For the differentiation of the last control amount, E 1 and E 2 are both constant. Thereby, the relationship of the last control amount, the single-cylinder intake air flow amount, and the current natural gas intake amount can be expressed.
In one embodiment of the present application, constructing a second relation of the disturbance variable, the last control variable, the single cylinder intake air flow rate, and the current natural gas intake amount according to the first relation includes: constructing the second relationWherein lambda is the reciprocal of the last control amount,/>The derivative of the reciprocal of the previous control amount, ω being the disturbance variable,/>Is the feed forward flow value,/>For transient flow value,/>For feedback flow values, E 1 and E 2 are both constant. Therefore, the relation among the disturbance quantity, the last control quantity, the single-cylinder air inflow and the current natural gas inflow can be embodied, the disturbance quantity is brought into the calculation of the current natural gas inflow, and the accuracy of the calculation of the current natural gas inflow can be improved.
In one embodiment of the present application, constructing a third relation between the differentiation of the last control amount and the target control amount based on the last control amount and the target control amount includes: constructing the third relationWherein K p is a proportionality coefficient, phi ref is the target control amount,/>Is an estimated value of the reciprocal of the last control amount,/>The differentiation of the last control amount is performed. By bringing the target control amount into the calculation of the natural gas intake amount, the accuracy of the current natural gas intake amount calculation can be improved.
In one embodiment of the present application, constructing a fourth relational expression of the disturbance variable, the last control variable, the single cylinder intake air flow rate, the current natural gas intake amount, and the target control variable based on the first relational expression, the second relational expression, and the third relational expression includes: constructing the fourth relationWherein/> C＝[1 0]，/>
Where x 1＝lambda,x2 = ω,For the current natural gas inflow, ω is the disturbance variable, lambda is the inverse of the last control variable,/>The differential of the disturbance quantity. The relation among the disturbance quantity, the last control quantity, the single-cylinder air inlet flow, the current natural gas inlet quantity and the target control quantity is shown by a fourth relation.
In one embodiment of the present application, determining the disturbance variable according to the third relational expression and the fourth relational expression includes: according to the fourth relationConstruction of a fifth relation/>Wherein the state quantity x has an estimated value of/> Is an estimated value of the reciprocal of the last control amount,/>The estimated value of the differential of the disturbance variable is the estimated value of the output y/>Gain matrix is/>Beta 1 and beta 2 are set values; the disturbance variable is determined based on the third relational expression and the fifth relational expression. The value of the disturbance quantity can be determined through the fifth relational expression and the third relational expression, so that the accuracy of the follow-up determination of the current natural gas inflow is improved. The configuration L is such that the A and C matrix feature roots are in the left half of the complex plane, the state observer is stable.
In one embodiment of the present application, determining the current natural gas intake amount according to the previous control amount of the engine, the disturbance amount, and the target control amount includes: and determining the current natural gas intake amount according to the previous control amount of the engine, the disturbance amount, the third relation and the fifth relation. Thereby improving the accuracy of the current natural gas inflow.
In one embodiment of the present application, after determining the current sub-natural gas intake amount according to the fifth relation, the method further includes: according to the sixth relationDetermining a feedback flow value, wherein/(Is the feed forward flow value,/>For transient flow value,/>The feedback flow value is an electric signal output by a feedback controller of the engine, and is used for determining the current sub-control amount of the engine by combining the transient flow value and the feedback flow value. The feedback controller outputs a feedback flow value and the state observer outputs disturbance quantity to realize closed-loop feedback of the system.
The embodiment of the application also provides a control device of the air-fuel ratio of the engine, and the control device of the air-fuel ratio of the engine can be used for executing the control method for the air-fuel ratio of the engine. The following describes an engine air-fuel ratio control apparatus provided by an embodiment of the present application.
Fig. 2 is a schematic diagram of a control apparatus of an engine air-fuel ratio according to an embodiment of the application. As shown in fig. 2, the apparatus includes a processing unit 10, a first determining unit 20, and a second determining unit 30;
the processing unit 10 is configured to obtain a disturbance amount output by the state observer, where the disturbance amount is output by the state observer after a last control amount of the engine is input to the state observer; the first determining unit 20 is configured to determine a current natural gas intake amount according to a last control amount of the engine, the disturbance amount, and a target control amount, where the current natural gas intake amount is a flow rate of natural gas entering the engine in a unit time; the second determining unit 30 is configured to determine a current sub-control amount of the engine according to the current sub-natural gas intake amount, where the current sub-control amount of the engine is used to control an opening degree of a valve of the engine to adjust an air-fuel ratio of the engine.
According to the device, the current natural gas air inflow is determined according to the last control amount of the engine, the disturbance amount and the target control amount, and finally the current control amount of the engine is determined according to the current natural gas air inflow, the disturbance amount is directly estimated through the state observer, the response of the system is improved, the accuracy of the current natural gas air inflow is further improved, the control efficiency of the air-fuel ratio of the engine is improved, the calibration workload is small, and the problem that the air-fuel ratio control efficiency of the engine is low in the existing scheme is solved.
In one embodiment of the present application, the processing unit includes a first building module, a second building module, a third building module, a fourth building module, and a first determining module, where the first building module is configured to build a first relational expression of the last control amount, the single cylinder intake air flow, and the current natural gas intake amount according to the last control amount and the single cylinder intake air flow, where the single cylinder intake air flow is an air flow rate entering in a single cylinder of the engine per unit time; the second construction module is used for constructing a second relation among the disturbance quantity, the last control quantity, the single-cylinder air inlet flow and the current natural gas inlet quantity according to the first relation; the third construction module is used for constructing a third relation between the differentiation of the last control quantity and the target control quantity according to the last control quantity and the target control quantity; the fourth construction module is used for constructing a fourth relation of the disturbance quantity, the last control quantity, the single-cylinder air inlet flow, the current natural gas inlet quantity and the target control quantity according to the first relation, the second relation and the third relation; the first determining module is configured to determine the disturbance variable according to the third relational expression and the fourth relational expression. By bringing the disturbance amount and the target control amount into the calculation of the current natural gas intake amount, the accuracy of the calculation of the current natural gas intake amount can be improved, so that the air-fuel ratio of the engine can reach a desired value. By bringing the disturbance amount and the target control amount into the calculation of the current natural gas intake amount, the accuracy of the calculation of the current natural gas intake amount can be improved, so that the air-fuel ratio of the engine can reach a desired value.
In one embodiment of the present application, the first building block includes a first building sub-block for building the first relationWherein N is the rotation speed, N is the cylinder number,/>For the current natural gas inflow, m air is single-cylinder inflow, phi is the last control amount,/>For the differentiation of the last control amount, E 1 and E 2 are both constant. Thereby, the relationship of the last control amount, the single-cylinder intake air flow amount, and the current natural gas intake amount can be expressed.
In one embodiment of the present application, the second building block includes a second building sub-block for building the second relational expressionWherein lambda is the reciprocal of the last control amount,/>The derivative of the reciprocal of the previous control amount, ω being the disturbance variable,/>Is the feed forward flow value,/>For transient flow value,/>For feedback flow values, E 1 and E 2 are both constant. Therefore, the relation among the disturbance quantity, the last control quantity, the single-cylinder air inflow and the current natural gas inflow can be embodied, the disturbance quantity is brought into the calculation of the current natural gas inflow, and the accuracy of the calculation of the current natural gas inflow can be improved.
In one embodiment of the present application, the third building block includes a third building sub-block for building the third relationWherein K p is a proportionality coefficient, phi ref is the target control amount,/>Is an estimated value of the reciprocal of the last control amount,/>The differentiation of the last control amount is performed. By bringing the target control amount into the calculation of the natural gas intake amount, the accuracy of the current natural gas intake amount calculation can be improved.
In one embodiment of the present application, the fourth building block includes a fourth building sub-block for building the fourth relationshipWherein/>C＝[10]，/>
Where x 1＝lambda,x2 = ω,For the current natural gas inflow, ω is the disturbance variable, lambda is the inverse of the last control variable,/>The differential of the disturbance quantity. The relation among the disturbance quantity, the last control quantity, the single-cylinder air inlet flow, the current natural gas inlet quantity and the target control quantity is shown by a fourth relation.
In one embodiment of the present application, the first determining module includes a fifth constructing sub-module for generating the fourth relationConstruction of a fifth relationshipWherein the state quantity x has an estimated value of/> Is an estimated value of the reciprocal of the last control amount,/>The estimated value of the differential of the disturbance variable is the estimated value of the output y/>Gain matrix isBeta 1 and beta 2 are set values; the determination submodule is used for determining the disturbance quantity according to the third relational expression and the fifth relational expression. The configuration L is such that the A and C matrix feature roots are in the left half of the complex plane, the state observer is stable. The value of the disturbance quantity can be determined through the fifth relational expression and the third relational expression, so that the accuracy of the follow-up determination of the current natural gas inflow is improved.
In one embodiment of the present application, the first determining unit includes a second determining module configured to determine the current amount of natural gas intake according to a last control amount of the engine, the disturbance amount, the third relational expression, and the fifth relational expression. Thereby improving the accuracy of the current natural gas inflow.
In one embodiment of the present application, the apparatus further comprises a third determining unit for determining the current natural gas intake amount according to the sixth relation after determining the current natural gas intake amount according to the fifth relationDetermining a feedback flow value, wherein/(Is the feed forward flow value,/>For transient flow value,/>The feedback flow value is an electric signal output by a feedback controller of the engine, and is used for determining the current sub-control amount of the engine by combining the transient flow value and the feedback flow value. The feedback controller outputs a feedback flow value and the state observer outputs disturbance quantity to realize closed-loop feedback of the system.
The control device of the air-fuel ratio of the engine comprises a processor and a memory, wherein the processing unit, the first determining unit and the second determining unit are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The inner core can be provided with one or more than one, and the problem of low air-fuel ratio control efficiency of the engine in the existing scheme is solved by adjusting the parameters of the inner core.
The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.
The embodiment of the invention provides a processor which is used for running a program, wherein the control method of the air-fuel ratio of the engine is executed when the program runs.
The embodiment of the invention provides equipment, which comprises a processor, a memory and a program stored in the memory and capable of running on the processor, wherein the processor realizes at least the following steps when executing the program: obtaining disturbance quantity output by a state observer, wherein the disturbance quantity is output by the state observer after the last control quantity of an engine is input into the state observer; determining the current natural gas inflow according to the last control amount, the disturbance amount and the target control amount of the engine, wherein the current natural gas inflow is the flow of natural gas entering the engine in unit time; and determining a current control amount of the engine according to the current natural gas intake amount, wherein the current control amount of the engine is used for controlling the opening degree of a valve of the engine so as to adjust the air-fuel ratio of the engine. The device herein may be a server, PC, PAD, cell phone, etc.
The embodiment of the application also provides a controller, which comprises one or more processors, a memory and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs comprise a control method for executing any one of the engine air-fuel ratios. The method comprises the steps of obtaining the disturbance quantity output by a state observer, determining the current natural gas air inflow according to the previous control quantity of the engine, the disturbance quantity and the target control quantity, determining the current control quantity of the engine according to the current natural gas air inflow, directly estimating the disturbance quantity by the state observer, improving the response of the system, further improving the accuracy of the current natural gas air inflow, improving the control efficiency of the air-fuel ratio of the engine, and solving the problem of lower air-fuel ratio control efficiency of the engine in the existing scheme, wherein the calibration workload is smaller.
In order that the technical solution of the present application may be more clearly understood by those skilled in the art, the technical solution and technical effects of the present application will be described below with reference to specific embodiments.
Examples
The embodiment of the application also provides a control scheme of the air-fuel ratio of the engine, which is applied to a control system of the air-fuel ratio of the engine, the system comprises a controller, a feedback controller, the engine and a state observer, wherein the controller is respectively and electrically connected with the feedback controller, the engine and the state observer, and the engine is respectively and electrically connected with the feedback controller and the state observer, as shown in fig. 3, and the scheme comprises the following steps:
step 1: the state observer receives the last control quantity output by the engine;
step 2: the state observer indicates the relation among the disturbance quantity, the last control quantity, the single-cylinder air inlet flow and the current natural gas inlet quantity through a second relation, wherein the second relation Lambda is the reciprocal of the last control amount,/>The derivative of the reciprocal of the previous control amount, ω being the disturbance variable,/>As a value of the feed-forward flow,For transient flow value,/>For feedback flow values, E 1 and E 2 are both constant, e.g., E 1 is 60 and E 2 is 16.7;
step 3: the state observer indicates the relationship between the differentiation of the last control quantity and the target control quantity by a third relational expression, wherein the third relational expression K p is a proportionality coefficient, phi ref is the target control amount,/>Is an estimated value of the reciprocal of the last control amount,/>Differentiating the last control amount;
step 4: the state observer indicates the relation among the disturbance quantity, the last control quantity, the single-cylinder air inlet flow, the current natural gas inlet quantity and the target control quantity through a fourth relation, wherein the fourth relation Wherein,C＝[10]，/>
Where x 1＝lambda,x2 = ω,For the current natural gas inflow, ω is the disturbance variable, lambda is the inverse of the last control variable,/>Differentiation of the disturbance variable;
step 5: the controller controls the state observer to determine a fifth relation through a fourth relation, and determine the disturbance quantity according to the fifth relation and the third relation, wherein the fifth relation The state quantity x has an estimated value of/> Is an estimated value of the reciprocal of the last control amount,/>The estimated value of the differential of the disturbance variable is the estimated value of the output y/>Gain matrix is/>Beta 1 and beta 2 are set values;
Step 6: the feedback controller determines the feedback flow value to be output by the feedback controller through a sixth relation, wherein the sixth relation Determining a feedback flow value, wherein/(Is the feed forward flow value,/>For transient flow value,/>The feedback flow value;
Step 7: the controller determines the current control amount of the engine by the feedback flow value, the transient flow value and the feedback flow value, so that the engine controls the opening degree of a gas valve of the engine to adjust the air-fuel ratio of the engine.
The method comprises the steps of obtaining the disturbance quantity output by a state observer, determining the current natural gas air inflow according to the previous control quantity of the engine, the disturbance quantity and the target control quantity, determining the current control quantity of the engine according to the current natural gas air inflow, directly estimating the disturbance quantity by the state observer, improving the response of the system, further improving the accuracy of the current natural gas air inflow, improving the control efficiency of the air-fuel ratio of the engine, and solving the problem of lower air-fuel ratio control efficiency of the engine in the existing scheme, wherein the calibration workload is smaller.
In the foregoing embodiments of the present invention, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units may be a logic function division, and there may be another division manner when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned method of the various embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:
1) According to the control method of the air-fuel ratio of the engine, the current natural gas air inflow is determined according to the last control amount of the engine, the disturbance amount and the target control amount by acquiring the disturbance amount output by the state observer, the current control amount of the engine is determined according to the current natural gas air inflow, the disturbance amount is directly estimated by the state observer, the response of the system is improved, the accuracy of the current natural gas air inflow is further improved, the control efficiency of the air-fuel ratio of the engine is improved, the calibration workload is smaller, and the problem that the air-fuel ratio control efficiency of the engine is lower in the existing scheme is solved.
2) According to the control device of the air-fuel ratio of the engine, the current natural gas air inflow is determined according to the last control amount of the engine, the disturbance amount and the target control amount by acquiring the disturbance amount output by the state observer, the current control amount of the engine is determined according to the current natural gas air inflow, the disturbance amount is directly estimated by the state observer, the response of the system is improved, the accuracy of the current natural gas air inflow is further improved, the control efficiency of the air-fuel ratio of the engine is improved, the calibration workload is smaller, and the problem that the air-fuel ratio control efficiency of the engine is lower in the existing scheme is solved.
3) The controller of the application determines the current natural gas air inflow according to the last control amount of the engine, the disturbance amount and the target control amount by acquiring the disturbance amount output by the state observer, and finally determines the current control amount of the engine according to the current natural gas air inflow, and directly estimates the disturbance amount by the state observer, thereby improving the response of the system, further improving the accuracy of the current natural gas air inflow, further improving the control efficiency of the air-fuel ratio of the engine, having smaller calibration workload and solving the problem of lower air-fuel ratio control efficiency of the engine in the existing scheme.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (7)

1. A control method of an engine air-fuel ratio, characterized by comprising:
Acquiring disturbance quantity output by a state observer, wherein the disturbance quantity is output by the state observer after the last control quantity of an engine is input into the state observer;
determining the current natural gas inflow according to the last control amount, the disturbance amount and the target control amount of the engine, wherein the current natural gas inflow is the flow of natural gas entering the engine in unit time;
Determining a current sub-control amount of the engine according to the current sub-natural gas intake amount, wherein the current sub-control amount of the engine is used for controlling the opening degree of a gas valve of the engine so as to adjust the air-fuel ratio of the engine;
Acquiring the disturbance quantity output by the state observer, comprising:
Constructing a first relation among the last control quantity, the single-cylinder air inlet flow and the current natural gas inlet quantity according to the last control quantity and the single-cylinder air inlet flow, wherein the single-cylinder air inlet flow is the air flow entering a single cylinder of the engine in unit time;
constructing a second relation of the disturbance quantity, the last control quantity, the single-cylinder air inlet flow and the current natural gas inlet quantity according to the first relation;
Constructing a third relation between the differentiation of the last control quantity and the target control quantity according to the last control quantity and the target control quantity;
Constructing a fourth relation of the disturbance quantity, the last control quantity, the single-cylinder air inlet flow, the current natural gas inlet quantity and the target control quantity according to the first relation, the second relation and the third relation;
Determining the disturbance quantity according to the third relation and the fourth relation;
According to the first relation, the second relation and the third relation, a fourth relation of the disturbance quantity, the last control quantity, the single-cylinder air inlet flow, the current natural gas inlet quantity and the target control quantity is constructed, and the method comprises the following steps:
constructing the fourth relation ，
Wherein,，/>，/>，/>，/>Wherein/>，/>，，/>，/>For the current natural gas inflow,/>For the disturbance quantity,/>Is the reciprocal of the last control quantity,/>Differentiating the disturbance variable;
determining the disturbance variable according to the third relation and the fourth relation, including:
According to the fourth relation ，
Construction of a fifth relationshipWherein, state quantity/>The estimated value of (2) is/>，/>For the estimated value of the reciprocal of the last controlled variable,/>As an estimate of the derivative of the disturbance variable, the output/>The estimated value of (2) is/>Gain matrix is/>，/>And/>Are set values;
Determining the disturbance quantity according to the third relation and the fifth relation;
According to the last control quantity of the engine, the disturbance quantity and the target control quantity, determining the current natural gas inflow comprises the following steps:
Determining the current natural gas inflow according to the last control amount, the disturbance amount, the third relation and the fifth relation of the engine;
Determining the current secondary control quantity of the engine through a transient flow value and a feedback flow value, wherein the feedback flow value is an electric signal output by a feedback controller of the engine;
n is the rotating speed, N is the number of cylinders, For single cylinder intake air flow, E 1 and E 2 are both constant.
2. The method of claim 1, wherein constructing a first relationship of the last control amount, the single cylinder intake air flow amount, and the current amount of natural gas intake based on the last control amount and the single cylinder intake air flow amount comprises:
Building the first relation Wherein/>For the last control amount,/>Is the differentiation of the last control quantity.
3. The method of claim 1, wherein constructing a second relationship of the disturbance variable, the last control variable, the single cylinder intake air flow, and the current sub-natural gas intake air amount based on the first relationship comprises:
Constructing the second relation ，
Wherein,Is the derivative of the reciprocal of the last controlled variable,/>Is the feed forward flow value,/>For transient flow value,/>Is the feedback flow value.
4. The method according to claim 1, wherein constructing a third relation of differentiation of the last control amount and a target control amount from the last control amount and the target control amount, comprises:
constructing the third relation Wherein/>Is a proportionality coefficient,/>In order to achieve the target control quantity,Is the differentiation of the last control quantity.
5. The method of claim 1, wherein after determining the current amount of natural gas intake according to the fifth relationship, the method further comprises:
according to the sixth relation Determining a feedback flow value, wherein/(As a value of the feed-forward flow,For transient flow value,/>For the feedback flow value.
6. An engine air-fuel ratio control apparatus, comprising:
The processing unit is used for acquiring the disturbance quantity output by the state observer, wherein the disturbance quantity is output by the state observer after the last control quantity of the engine is input into the state observer;
The first determining unit is used for determining the current natural gas inflow according to the last control amount, the disturbance amount and the target control amount of the engine, wherein the current natural gas inflow is the flow of natural gas entering the engine in unit time;
A second determining unit configured to determine a current sub-control amount of the engine according to the current sub-natural gas intake amount, wherein the current sub-control amount of the engine is used to control an opening degree of a gas valve of the engine to adjust an air-fuel ratio of the engine;
The processing unit comprises a first construction module, a second construction module, a third construction module, a fourth construction module and a first determination module, wherein the first construction module is used for constructing a first relation among the last control quantity, the single-cylinder air inlet flow and the current natural gas inlet quantity according to the last control quantity and the single-cylinder air inlet flow, and the single-cylinder air inlet flow is the air flow entering a single cylinder of the engine in unit time; the second construction module is used for constructing a second relation among the disturbance quantity, the last control quantity, the single-cylinder air inlet flow and the current natural gas inlet quantity according to the first relation; the third construction module is used for constructing a third relation between the differentiation of the last control quantity and the target control quantity according to the last control quantity and the target control quantity; the fourth construction module is used for constructing a fourth relation of the disturbance quantity, the last control quantity, the single-cylinder air inlet flow, the current natural gas inlet quantity and the target control quantity according to the first relation, the second relation and the third relation; the first determining module is used for determining the disturbance quantity according to the third relation and the fourth relation;
The fourth building module comprises a fourth building sub-module for building the fourth relational expression
,
Wherein,，/>，/>，/>，/>Wherein/>，/>，，/>，/>For the current natural gas inflow,/>For the disturbance quantity,/>Is the reciprocal of the last control quantity,/>Differentiating the disturbance variable;
the first determination module comprises a fifth construction submodule and a determination submodule, wherein the fifth construction submodule is used for carrying out the method according to the fourth relational expression ,
Construction of a fifth relationshipWherein, state quantity/>The estimated value of (2) is/>，/>For the estimated value of the reciprocal of the last controlled variable,/>As an estimate of the derivative of the disturbance variable, the output/>The estimated value of (2) is/>Gain matrix is/>，/>And/>Are set values;
the determining submodule is used for determining the disturbance quantity according to the third relation and the fifth relation;
The first determining unit comprises a second determining module, and the second determining module is used for determining the current natural gas inflow according to the last control quantity of the engine, the disturbance quantity, the third relational expression and the fifth relational expression;
Determining the current secondary control quantity of the engine through a transient flow value and a feedback flow value, wherein the feedback flow value is an electric signal output by a feedback controller of the engine;
n is the rotating speed, N is the number of cylinders, For single cylinder intake air flow, E 1 and E 2 are both constant.
7. A controller, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a control method for executing the engine air-fuel ratio of any one of claims 1 to 5.
CN202210901584.4A 2022-07-28 2022-07-28 Control method and device for air-fuel ratio of engine and controller Active CN115217650B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210901584.4A CN115217650B (en) 2022-07-28 2022-07-28 Control method and device for air-fuel ratio of engine and controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210901584.4A CN115217650B (en) 2022-07-28 2022-07-28 Control method and device for air-fuel ratio of engine and controller

Publications (2)

Publication Number Publication Date
CN115217650A CN115217650A (en) 2022-10-21
CN115217650B true CN115217650B (en) 2024-05-17

Family

ID=83613693

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210901584.4A Active CN115217650B (en) 2022-07-28 2022-07-28 Control method and device for air-fuel ratio of engine and controller

Country Status (1)

Country Link
CN (1) CN115217650B (en)

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07224713A (en) * 1994-02-04 1995-08-22 Honda Motor Co Ltd Air-fuel ratio estimating device per cylinder for internal combustion engine
FR2867232A1 (en) * 2004-03-05 2005-09-09 Inst Francais Du Petrole METHOD OF ESTIMATING FUEL WEALTH IN A CYLINDER OF A COMBUSTION ENGINE
CN1998000A (en) * 2004-07-21 2007-07-11 通用汽车公司 Estimation of oxygen concentration in the intake manifold of an unthrottled lean burn engine
CN103742276A (en) * 2013-12-05 2014-04-23 宁波奥晟机械有限公司 Method and device for air-fuel ratio tracking control over hay mower gasoline engine
WO2014083985A1 (en) * 2012-11-30 2014-06-05 ヤンマー株式会社 Gas engine
CN105781721A (en) * 2016-03-02 2016-07-20 浙江大学 Indirect energy-efficient emission reduction control method of variable area turbocharged diesel engine
CN106121843A (en) * 2016-08-20 2016-11-16 潍柴西港新能源动力有限公司 A kind of natural gas engine ambient compensation closed loop control method and control system
CN109301828A (en) * 2018-11-02 2019-02-01 嘉兴市恒创电力设备有限公司 A kind of Active Disturbance Rejection Control system of the power limitation control of shunt active power filter
CN113389646A (en) * 2021-07-20 2021-09-14 潍柴动力股份有限公司 Engine supercharging pressure control method and device
CN113775424A (en) * 2021-09-23 2021-12-10 潍柴动力股份有限公司 EGR control method and device and electronic equipment
CN113867131A (en) * 2021-09-30 2021-12-31 潍柴动力股份有限公司 EGR control method and device and electronic equipment
CN117145642A (en) * 2023-09-05 2023-12-01 天津大学 Adaptive bandwidth-based supercharged LP-EGR engine air-fuel ratio prediction anti-interference control method

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07224713A (en) * 1994-02-04 1995-08-22 Honda Motor Co Ltd Air-fuel ratio estimating device per cylinder for internal combustion engine
FR2867232A1 (en) * 2004-03-05 2005-09-09 Inst Francais Du Petrole METHOD OF ESTIMATING FUEL WEALTH IN A CYLINDER OF A COMBUSTION ENGINE
CN1998000A (en) * 2004-07-21 2007-07-11 通用汽车公司 Estimation of oxygen concentration in the intake manifold of an unthrottled lean burn engine
WO2014083985A1 (en) * 2012-11-30 2014-06-05 ヤンマー株式会社 Gas engine
CN103742276A (en) * 2013-12-05 2014-04-23 宁波奥晟机械有限公司 Method and device for air-fuel ratio tracking control over hay mower gasoline engine
CN105781721A (en) * 2016-03-02 2016-07-20 浙江大学 Indirect energy-efficient emission reduction control method of variable area turbocharged diesel engine
CN106121843A (en) * 2016-08-20 2016-11-16 潍柴西港新能源动力有限公司 A kind of natural gas engine ambient compensation closed loop control method and control system
CN109301828A (en) * 2018-11-02 2019-02-01 嘉兴市恒创电力设备有限公司 A kind of Active Disturbance Rejection Control system of the power limitation control of shunt active power filter
CN113389646A (en) * 2021-07-20 2021-09-14 潍柴动力股份有限公司 Engine supercharging pressure control method and device
CN113775424A (en) * 2021-09-23 2021-12-10 潍柴动力股份有限公司 EGR control method and device and electronic equipment
CN113867131A (en) * 2021-09-30 2021-12-31 潍柴动力股份有限公司 EGR control method and device and electronic equipment
CN117145642A (en) * 2023-09-05 2023-12-01 天津大学 Adaptive bandwidth-based supercharged LP-EGR engine air-fuel ratio prediction anti-interference control method

Non-Patent Citations (4)

* Cited by examiner, † Cited by third party
Title
低温燃烧汽油机瞬态空燃比主动抗扰控制;谢辉等;天津大学学报(自然科学与工程技术版);20160229(第02期);第198-205页 *
基于状态观测器的天然气发动机控制策略研究;邹博文等;汽车技术;20081124(第11期);第5-8页 *
基于状态观测器的电喷汽油机进气流量精确估计;姚栋伟等;内燃机工程;20090615;第30卷(第03期);第34-38页 *
天然气发动机空燃比智能控制策略的研究;申博等;计算机仿真;20030228(第02期);第71-73页 *

Also Published As

Publication number Publication date
CN115217650A (en) 2022-10-21

Similar Documents

Publication Publication Date Title
US10316760B2 (en) Turboshaft engine control
Fawke et al. Digital computer methods for prediction of gas turbine dynamic response
JP6991983B2 (en) How and systems to train machine learning systems
CN107989708B (en) Self-learning engine torque control system and method based on disturbance observation
CN110426490A (en) A kind of the temperature and humidity drift compensation method and device of pernicious gas on-line computing model
CN111120117B (en) Throttle control method and apparatus
CN110345099A (en) The method, apparatus and system of server fan speed regulation
Wang et al. Multiple model predictive functional control for marine diesel engine
CN115217650B (en) Control method and device for air-fuel ratio of engine and controller
CN111664016B (en) Engine control method and system and electronic equipment
CN113404600A (en) Supercharging control method and device for engine turbocharger
JP2009228605A (en) Method for controlling engine speed and device for controlling engine speed
CN109268159A (en) Lean-Burn Gasoline Engine fuel air ratio system control method
CN109783163A (en) A kind of data interactive method and platform based on multidimensional data variable
CN113294256A (en) Control method and device for exhaust gas recirculation control valve, vehicle and medium
Ryniecki et al. Optimization of control systems for near-ambient grain drying: Part 1, the optimization procedure
JP2019204178A (en) Control parameter calculation method, control parameter calculation program, and control parameter calculation device
US7543566B2 (en) Method and control unit for operating an internal combustion engine having an injection system
CN114458439B (en) Supercharger control method and device, computer readable storage medium and supercharger
Krakow et al. PI control of fan speed to maintain constant discharge pressure
CN114233489A (en) Method for determining driving duty ratio of supercharging waste gas bypass valve and related equipment
CN111365136B (en) Method and device for controlling air inflow of engine
JPH11294230A (en) Fuel injection control device for engine
CN110594068A (en) Method, device and equipment for detecting fuel injection quantity and storage medium
CN109268163A (en) Method and apparatus for running the internal combustion engine with intake manifold injection

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant