CN115478952A - Gasoline engine electronic control system simulation device and control method thereof - Google Patents
Gasoline engine electronic control system simulation device and control method thereof Download PDFInfo
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- CN115478952A CN115478952A CN202211220374.5A CN202211220374A CN115478952A CN 115478952 A CN115478952 A CN 115478952A CN 202211220374 A CN202211220374 A CN 202211220374A CN 115478952 A CN115478952 A CN 115478952A
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- 238000000034 method Methods 0.000 title claims abstract description 32
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- 239000000446 fuel Substances 0.000 claims description 14
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D45/00—Electrical control not provided for in groups F02D41/00 - F02D43/00
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
- F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
- F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D43/00—Conjoint electrical control of two or more functions, e.g. ignition, fuel-air mixture, recirculation, supercharging or exhaust-gas treatment
Abstract
The invention provides a gasoline engine electronic control system simulation device and a control method thereof, and the gasoline engine electronic control system simulation device comprises a slide rheostat, a single chip microcomputer, a drive circuit, an actuating mechanism and a display screen, wherein the slide rheostat is used for simulating the position of an accelerator pedal, a direct current motor in the actuating mechanism is used for simulating the rotating speed of an engine, the single chip microcomputer adjusts the opening degree of a throttle valve, the rotating speed of the direct current motor, the oil injection frequency of an oil injector and the ignition frequency of an ignition coil through the drive circuit according to the position information of a slide contact of the slide rheostat, and the display screen is used for displaying the information of the opening degree of the throttle valve and the rotating speed of the direct current motor, can simulate the working process of the throttle valve, the oil injector, the ignition coil and a spark plug in a gasoline engine under the control of an ECU (electronic control unit) in the position change process of the accelerator pedal, and displays the change condition of the rotating speed of the engine; the electronic control system can be used as a teaching tool to intuitively show the working process of the electronic control system of the gasoline engine and the electrical connection relationship among the electronic control system of the gasoline engine.
Description
Technical Field
The invention belongs to the field of teaching simulation tools, and relates to a gasoline engine electronic control system simulation device and a control method thereof, which are used for simulating the working process of a gasoline engine electronic control system.
Background
Due to the needs of life and work, the traveling times of people are more and more, the demand for automobiles is more and more, and meanwhile, the energy and environmental problems are also brought by fuel consumed by automobiles and exhaust gas discharged by automobiles, so that the requirements of people on the economy, the emission performance and the comfort of automobiles are higher and higher. The gasoline engine, as a power mechanism of an automobile, has an important influence on the performance of the automobile.
In the driving process of an automobile, a driver expresses driving intention by stepping on an accelerator pedal, an accelerator pedal position sensor can convert pedal position information into an electric signal and transmit the electric signal to an ECU of an engine, the ECU of the engine can determine the expected opening of an electronic throttle valve according to the collected position information of the accelerator pedal and integrates the current rotating speed of the engine and control the electronic throttle valve to reach the expected opening, the expected opening of the throttle valve is usually larger as the accelerator pedal is stepped deeper, the larger the opening of the throttle valve is, the larger the air inflow of the engine is, in order to ensure a proper air-fuel ratio, the ECU can control an oil injector to increase oil injection quantity, the power of the engine can be increased along with the increase of the engine, when the load of the automobile is fixed, the rotating speed of the engine can be increased, and the oil injection frequency of the oil injector and the ignition frequency of an ignition coil can be increased.
In the control field, people improve the response speed, control precision, stability and the like of an actuating mechanism by researching an electronic control system of a gasoline engine, and further improve the working performance of the gasoline engine, wherein the electronic control system of the gasoline engine comprises electronic throttle opening control, fuel injection control, ignition control, air-fuel ratio control and the like. The gasoline engine not only has a complex mechanical structure, but also comprises a complex electronic control system with an ECU as a control unit, but the existing demonstration tools of the gasoline engine in the aspects of teaching and the like can only show the mechanical structure and the working process of each mechanical part of the engine, lack of the showing of the working process, the working principle and the electrical connection relation of the electronic control system of the gasoline engine, and lack of the showing of the working mode and the principle of each actuating mechanism in an electric control system.
Disclosure of Invention
The invention aims to provide a gasoline engine electronic control system simulation device and a control method thereof, which are used for simulating the working processes of electronic throttle opening control, fuel injection control and ignition control in a gasoline engine, simulating the change of the engine rotating speed, showing the working process, the working principle and the electrical connection relation of the gasoline engine electronic control system and showing the working process of a corresponding actuating mechanism.
The purpose of the invention is realized by the following technical scheme:
a gasoline engine electronic control system simulator and a control method thereof comprise an input unit, a control unit, a driving unit, an execution unit, a detection unit, a display unit and a power supply unit for supplying power to the units; the input unit is used for simulating the position of an accelerator pedal of an automobile, and the input unit changes the resistance value of the variable output end to one end by changing the scribing position so as to change the output voltage value; the control unit is used for processing output signals of the detection unit and the input unit and providing driving signals for the driving unit, and comprises a PWM module, an A/D module, a TIM module, an I/O interface and a PIT module used for generating cycle interrupt; the driving unit comprises an electronic throttle valve driving circuit, an oil sprayer driving circuit, an ignition coil driving circuit and a direct current motor driving circuit, and the execution unit is driven under the control of the control unit; the execution unit comprises an electronic throttle valve, an oil injector, an ignition coil, a spark plug and a direct current motor, and the direct current motor is used for simulating the rotating speed of the engine; the detection unit comprises a throttle position sensor for detecting the opening of a throttle and a photoelectric encoder for detecting the rotating speed of the direct current motor; the input unit and the throttle position sensor are respectively connected with an A/D module; the driving unit is connected with the PWM module; the execution unit is connected with the driving unit; the photoelectric encoder is mechanically connected with the direct current motor and electrically connected with the TIM module; the display unit is connected with the I/O interface.
As a more preferable technical solution of the present invention, the input unit is a slide rheostat or a potentiometer.
As a more preferable technical scheme of the invention, the throttle position sensor is a slide rheostat.
As a more preferable technical scheme of the invention, the display unit is an LCD (liquid crystal display) screen and is used for displaying the opening degree of the throttle valve and the rotating speed information of the direct current motor.
As a more preferable technical scheme of the invention, the power supply unit comprises 12V power supply and 5V power supply, wherein the 12V power supply is provided by a battery, and the 5V power supply is provided by a voltage regulating circuit.
As a more preferable technical scheme of the invention, the control unit is a singlechip minimum system consisting of a singlechip chip and a peripheral circuit, and the peripheral circuit comprises a reset circuit, a crystal oscillator circuit and a filter circuit.
As a more preferable technical scheme, the PIT module generates two-way periodic interruption, the opening control of the throttle valve and the rotation speed control of the direct current motor, as well as the adjustment of the oil injection frequency of the oil injector and the ignition frequency of the ignition coil are completed in a two-way periodic interruption service subprogram, and a discrete PID controller is used for the opening control of the throttle valve and the rotation speed control of the direct current motor.
As a more preferable technical scheme of the invention, the throttle opening control is realized in one of PIT periodic interrupt service subprograms generated by a PIT module, and the method comprises the following steps of:
step 1: calculating the expected opening degree of the electronic throttle valve according to the acquired voltage signal of the input unit;
step 2: calculating an actual opening degree of the throttle valve according to an output voltage of the throttle valve position sensor;
and step 3: and according to the deviation between the expected opening and the actual opening, using a discrete PID controller to adjust the duty ratio of a PWM signal output to a throttle valve driving circuit by a PWM module, and controlling the throttle valve to follow the expected opening.
As a more preferable technical scheme of the invention, the direct current motor rotating speed control is realized in another path of PIT periodic interruption service subprogram generated by the PIT module, and the method comprises the following steps:
step 1: calculating the expected rotating speed of the direct current motor according to the actual opening of the throttle valve and a mathematical model of the gasoline engine;
step 2: calculating the actual rotating speed of the direct current motor according to the pulse number output by the photoelectric encoder in an interrupt period;
and step 3: according to the deviation between the expected rotating speed and the actual rotating speed, a discrete PID controller is used for adjusting the duty ratio of a PWM signal output to a direct current motor driving circuit by a PWM module, and the direct current motor is controlled to follow the expected rotating speed;
and 4, step 4: and adjusting the oil injection frequency of the oil injector and the ignition frequency of the ignition coil according to the actual rotating speed of the direct current motor.
As a more preferable technical scheme of the invention, the gasoline engine mathematical model comprises the following two parts:
a first part: according to the actual opening degree of the throttle valve
Calculating the mass flow of air entering the cylinder by combining the throttle flow model, the intake valve flow model and the manifold pressure variation model
Firstly, the air mass flow at the throttle valve can be calculated according to the actual opening of the throttle valve and a throttle valve flow model
Wherein
Is the mass flow of air at the throttle valve,
is the actual opening degree of the throttle valve, P man Is the intake manifold pressure, P a Is the ambient atmospheric pressure, A at As fitting coefficient, T a Is the ambient temperature;
then, the mass flow m of the air entering the air cylinder is calculated according to the flow model of the air inlet valve ap ；
Wherein
Is the mass flow of air, V, into the cylinder d Is the engine displacement, n is the engine speed, i.e. the actual speed of the DC motor, which can be measured by the photoelectric encoder, R is the air gas constant, eta vman Is the coefficient of charge, which can be obtained by looking up a map, T man Intake manifold temperature may be considered constant;
finally, updating the pressure of the intake manifold according to the manifold pressure change model;
wherein T is 1 Is the interrupt period of the path period interrupt service subprogram;
a second part: according to the mass flow of air entering the cylinder
Calculating the output torque of the engine by combining a power output torque empirical formula, calculating the acceleration by combining the rotational inertia, and further calculating the rotating speed of the engine, namely the expected rotating speed n of the direct current motor e ；
Firstly, obtaining the output torque T of the engine according to an empirical formula of the power output torque e ；
T e ＝a 1 +a 2 *m ap +a 3 *AFR+a 4 *AFR 2 +a 5 +a 6 *θ 2
+a 7 *n+a 8 *n 2 +a 9 *nθ+a 10 *θm ap +a 11 *θ 2 m ap
Wherein T is e Is the output torque of the engine, AFR is the air-fuel ratio, n is the engine speed, i.e. the actual speed of the DC motor, theta is the spark advance angle, T b Is the load torque, a i (i =1,2, \8230;, 11) are fitting coefficients where the load torque, the air-to-air ratio, and the ignition advance angle may be approximated as constants. Delta t is the time for the motor to rotate for one circle, the singlechip can calculate the time interval of adjacent pulses by capturing the Z-phase output pulse of the photoelectric encoder to obtain the delta t, wherein the Z-phase output pulse of the photoelectric encoder is output for one circle every timeA pulse;
then calculating the expected rotating speed n of the direct current motor according to the acceleration e ；
Wherein is n e Desired speed of the dc motor.
It is a further object of the present invention to provide a control method based on the above simulation apparatus, specifically as follows:
the scribing position of the slide rheostat is changed, the control unit adjusts the expected opening degree of the throttle valve according to the sliding contact output voltage signal collected by the A/D module, and the actual opening degree of the throttle valve is calculated according to the voltage signal collected by the A/D module and output by the throttle valve position sensor;
according to the deviation between the expected opening and the actual opening, a discrete PID controller is used for adjusting the duty ratio of a PWM signal output to a throttle valve driving circuit by a single chip microcomputer PWM module, so that the throttle valve is controlled to follow the expected opening;
adjusting the expected rotating speed of the direct current motor according to the change of the opening of a throttle valve and an engine mathematical model, and calculating the actual rotating speed of the direct current motor according to the pulse number output by the photoelectric encoder and collected by the TIM module in one period;
according to the deviation between the expected rotating speed and the actual rotating speed, a discrete PID controller is used for adjusting the duty ratio of a PWM signal output to a direct current motor driving circuit by a PWM module, so that the direct current motor is controlled to follow the expected rotating speed;
adjusting the frequency of a PWM signal output to an oil injector driving circuit by a PWM module and the frequency of the PWM signal output to an ignition coil driving circuit according to the change of the rotating speed of the direct current motor;
the display unit continuously refreshes and displays the information of the opening of the throttle valve and the rotating speed of the direct current motor.
The beneficial effects are as follows:
the simulation device provided by the invention has the advantages that when the position of the sliding contact of the sliding rheostat is changed, the opening degree of the throttle valve is adjusted according to the position of the sliding contact under the control of the control unit, the rotating speed of the direct current motor is adjusted according to the opening degree of the throttle valve, and the ignition frequency and the oil injection frequency of the oil injector and the ignition coil are adjusted according to the rotating speed of the direct current motor, so that the working process of the throttle valve, the oil injector, the ignition coil and the spark plug in the gasoline engine under the control of an ECU (electronic control unit) and the change condition of the rotating speed of the engine are simulated when the position of an accelerator pedal of the automobile is changed.
The invention can show the working process, the working principle and the electrical connection relation of the electronic control system of the gasoline engine, and can show the working process of the corresponding actuating mechanism.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic diagram of a power supply unit according to the present invention;
FIG. 3 is a flow chart of a PID control strategy for throttle opening;
FIG. 4 is a flow chart of a PID control strategy for the DC motor speed;
FIG. 5 is a block diagram depicting throttle opening versus engine speed;
fig. 6 is a main program flowchart.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1 and 2, the present invention provides a simulation apparatus for an electronic control system of a gasoline engine, comprising an input unit, a control unit, a driving unit, an execution unit, a detection unit, a display unit and a power supply unit for supplying power to the units; the input unit is used for simulating the position of an accelerator pedal of an automobile, and the input unit changes the resistance value of the variable output end to one end by changing the scribing position so as to change the output voltage value; the control unit is used for processing output signals of the detection unit and the input unit and providing driving signals for the driving unit, and comprises a PWM module, an A/D module, a TIM module, an I/O interface and a PIT module for generating cycle interrupt; the driving unit comprises an electronic throttle valve driving circuit, an oil sprayer driving circuit, an ignition coil driving circuit and a direct current motor driving circuit, and the execution unit is driven under the control of the control unit; the execution unit comprises an electronic throttle valve, an oil sprayer, an ignition coil, a spark plug and a direct current motor, and the direct current motor is used for simulating the rotating speed of the engine; the detection unit comprises a throttle position sensor for detecting the opening of a throttle and a photoelectric encoder for detecting the rotating speed of the direct current motor; the input unit and the throttle position sensor are respectively connected with an A/D module; the driving unit is connected with the PWM module; the execution unit is connected with the driving unit; the photoelectric encoder is mechanically connected with the direct current motor and electrically connected with the TIM module; the display unit is connected with the I/O interface.
In some embodiments, the input unit is a sliding rheostat or a potentiometer.
In some embodiments, the throttle position sensor is a sliding rheostat.
In some embodiments, the display unit is an LCD screen for displaying the opening of the throttle and the rotation speed information of the dc motor.
In some embodiments, the power supply unit includes 12V and 5V power supplies, where the 12V power supply is provided by a battery and the 5V power supply is provided by a voltage regulator circuit.
In some embodiments, the control unit is a minimal system of a single chip microcomputer composed of a chip of the single chip microcomputer and peripheral circuits, and the peripheral circuits comprise a reset circuit, a crystal oscillator circuit and a filter circuit.
In some embodiments, the PIT module generates a two-cycle interrupt, and the opening control of the throttle valve and the rotational speed control of the dc motor, as well as the adjustment of the fuel injection frequency of the fuel injector and the ignition frequency of the ignition coil, are performed in a two-cycle interrupt service subroutine, and the throttle opening control and the dc motor rotational speed control use discrete PID controllers.
In some embodiments, the throttle opening degree control is implemented in one of the PIT periodic interruption service subroutines generated by the PIT module, and comprises the following steps:
step 1: calculating the expected opening degree of the electronic throttle valve according to the acquired voltage signal of the input unit;
step 2: calculating an actual opening degree of the throttle valve according to an output voltage of the throttle valve position sensor;
and 3, step 3: and according to the deviation between the expected opening and the actual opening, using a discrete PID controller to adjust the duty ratio of a PWM signal output to a throttle valve driving circuit by a PWM module, and controlling the throttle valve to follow the expected opening.
In some embodiments, the dc motor speed control is implemented in another way of PIT periodic interrupt service subroutine generated by the PIT module, and includes the following steps:
step 1: calculating the expected rotating speed of the direct current motor according to the actual opening of the throttle valve and a mathematical model of the gasoline engine;
step 2: calculating the actual rotating speed of the direct current motor according to the pulse number output by the photoelectric encoder in an interrupt period;
and step 3: according to the deviation between the expected rotating speed and the actual rotating speed, a discrete PID controller is used for adjusting the duty ratio of a PWM signal output to a direct current motor driving circuit by a PWM module, and the direct current motor is controlled to follow the expected rotating speed;
and 4, step 4: and adjusting the oil injection frequency of the oil injector and the ignition frequency of the ignition coil according to the actual rotating speed of the direct current motor.
In some embodiments, the gasoline engine mathematical model includes the following two parts:
a first part: according to actual opening degree of throttle valve
Calculating the mass flow of air entering the cylinder by combining the throttle flow model, the intake valve flow model and the manifold pressure variation model
Firstly, the air mass flow at the throttle valve can be calculated according to the actual opening of the throttle valve and a throttle valve flow model
Wherein
Is the mass flow of air at the throttle,
is the actual opening of the throttle valve, P man Is the intake manifold pressure, P a Is the ambient atmospheric pressure, A at As fitting coefficient, T a Is the ambient temperature;
then according to the intake airThe valve flow model calculates the mass flow of air entering the cylinder
Wherein
Is the mass flow of air into the cylinder, V d Is the engine displacement, n is the engine speed, i.e. the actual speed of the DC motor, which can be measured by the photoelectric encoder, R is the air gas constant, eta vman Is the coefficient of charge, which can be obtained by looking up a map, T man Intake manifold temperature may be considered constant;
finally, updating the pressure of the intake manifold according to the manifold pressure change model;
wherein T is 1 Is the interrupt period of the path period interrupt service subprogram;
a second part: according to the mass flow of air entering the cylinder
Calculating the output torque of the engine by combining a power output torque empirical formula, calculating the acceleration by combining the rotational inertia, and further calculating the rotating speed of the engine, namely the expected rotating speed n of the direct current motor e ；
Firstly, obtaining the output torque T of the engine according to an empirical formula of the power output torque e ；
T e ＝a 1 +a 2 *m ap +a 3 *AFR+a 4 *AFR 2 +a 5 +a 6 *θ 2
+a 7 *n+a 8 *n 2 +a 9 *nθ+a 10 *θm ap +a 11 *θ 2 m ap
Wherein T is e Is the output torque of the engine, AFR is the air-fuel ratio, n is the engine speed, i.e. the actual speed of the DC motor, theta is the spark advance, T b Is the load torque, a i (i =1,2, \8230;, 11) are fitting coefficients where the load torque, the air-to-air ratio, and the ignition advance angle may be approximated as constants. The delta t is the time for the motor to rotate for one circle, the singlechip can calculate the time interval of adjacent pulses by capturing the Z-phase output pulse of the photoelectric encoder to obtain the delta t, wherein the Z-phase output pulse of each rotation of the photoelectric encoder is one pulse;
then calculating the expected rotating speed n of the direct current motor according to the acceleration e ；
Wherein is n e Desired speed of the dc motor.
Example 1
The voltage regulating circuit can use an LM2940S chip, the input end of the voltage regulating circuit is electrically connected with a 12V power supply, and the output end of the voltage regulating circuit is a 5V power supply.
The main control unit is a singlechip minimum system consisting of a singlechip chip and a peripheral circuit, and the peripheral circuit comprises a crystal oscillator circuit, a reset circuit, a BDM interface circuit and a filter circuit.
The single chip microcomputer can be a Freescale MC9S12XS128MAA chip.
The input unit is a slide rheostat, one end of the input unit is electrically connected with a 5V power supply, the other end of the input unit is grounded, and the output end of the slide contact is electrically connected with the A/D module and used for simulating an accelerator pedal in an automobile.
The driving unit comprises an electronic throttle valve driving circuit, a direct current motor driving circuit, an oil sprayer driving circuit and an ignition coil driving circuit, is electrically connected with the PWM module and is used for driving the execution unit to work.
The execution unit comprises an electronic throttle valve, an oil sprayer, an ignition coil, a spark plug and a 12V permanent magnet type brush direct current motor, and is electrically connected with the driving unit, wherein the direct current motor is used for simulating the rotating speed of the engine.
The electronic throttle valve driving circuit can be a TLE7209-2R H bridge chip.
The oil injector driving circuit can select an STD130N6F 7N channel MOS tube.
The ignition coil driving circuit can select an STD130N6F 7N channel MOS tube.
The 12V permanent magnet brush direct current motor driving circuit can select an IRF520PbF N-channel MOS tube.
The throttle position sensor is a slide rheostat, is integrated in the electronic throttle to detect the opening degree of the throttle and output a voltage signal, and is electrically connected with the A/D module; the photoelectric encoder is mechanically connected with the direct current motor, electrically connected with the TIM module and used for detecting the rotating speed of the direct current motor.
The display unit is an LCD (liquid crystal display) screen, is electrically connected with the I/O port and is used for displaying the opening degree of an electronic throttle valve and the rotating speed information of the direct current motor.
The electronic throttle opening degree control strategy uses a discrete PID controller, and the direct current motor rotating speed control strategy also uses a discrete PID controller.
The programming program initializes each module of the single chip microcomputer, and two paths of periodic interrupt PIT0 and PIT1 are generated through a PIT module in the single chip microcomputer.
The PID adjustment of the electronic throttle opening is completed in the periodic interruption service subroutine PIT0, and as shown in FIG. 3, the method comprises the following steps:
step 1: the single chip microcomputer A/D module collects a sliding contact voltage signal of the sliding rheostat, the expected opening degree of the electronic throttle valve is calculated according to the converted voltage value in a pedal following method, namely the larger the sliding contact voltage is, the larger the expected opening degree of the throttle valve is.
And 2, step: the single chip microcomputer A/D module collects the output voltage of the throttle position sensor, and the single chip microcomputer calculates the actual opening degree of the throttle according to the voltage output by the throttle position sensor.
And step 3: and the singlechip adjusts the control quantity by using a discrete PID controller according to the deviation between the expected opening and the actual opening, namely, adjusts the duty ratio of a PWM signal output to a throttle valve driving circuit by a singlechip PWM module, thereby controlling the throttle valve to follow the expected opening.
The PID adjustment of the direct current motor rotation speed and the adjustment of the fuel injection frequency of the fuel injector and the ignition frequency of the ignition coil are completed in the interrupt service subroutine PIT1, and as shown in FIG. 4, the method comprises the following steps:
step 1: the single chip microcomputer calculates the rotating speed of the engine, namely the expected rotating speed of the direct current motor according to the actual opening degree of the throttle valve and a mathematical model of the gasoline engine.
Step 2: and the singlechip calculates the actual rotating speed of the direct current motor according to the pulse number output by the photoelectric encoder and collected by the TIM module in an interrupt period.
And step 3: the single chip microcomputer adjusts the control quantity by using a discrete PID controller according to the deviation between the expected rotating speed and the actual rotating speed, namely the duty ratio of a PWM signal output to a direct current motor driving circuit by a single chip microcomputer PWM module, thereby controlling the direct current motor to follow the expected rotating speed.
And 4, step 4: the single chip microcomputer adjusts the oil injection frequency of the oil injector and the ignition frequency of the ignition coil according to the actual rotating speed of the direct current motor, namely the frequency of a PWM signal output to the oil injector driving circuit by the single chip microcomputer PWM module and the frequency of the PWM signal output to the ignition coil driving circuit.
The mathematical model of the engine in step 1 uses an average value model, as shown in fig. 5, which mainly includes the following contents:
(1) According to the actual opening degree of the throttle valve
Calculating the mass flow of air entering the cylinder by combining the throttle flow model, the intake valve flow model and the manifold pressure variation model
Firstly, the air mass flow at the throttle valve can be calculated according to the actual opening of the throttle valve and a throttle valve flow model
Wherein
Is the mass flow of air at the throttle valve,
is the actual opening degree of the throttle valve, P man Is the intake manifold pressure, P a Is the ambient atmospheric pressure, A at As fitting coefficient, T a Is the ambient temperature.
Then, the mass flow of the air entering the air cylinder is calculated according to the flow model of the air inlet valve
Wherein
Is the mass flow of air into the cylinder, V d Is the engine displacement, n is the engine speed, i.e. the actual speed of the DC motor, which can be measured by the photoelectric encoder, R is the air gas constant, eta vman Is the coefficient of charge, which can be obtained by looking up a map, T man Is the intake manifold temperature.
And finally, updating the pressure of the intake manifold according to the manifold pressure change model.
Wherein T is 1 Is the interrupt period of the way period interrupt service routine.
(2) According to the mass flow of air entering the cylinder
Calculating the output torque of the engine by combining a power output torque empirical formula, calculating the acceleration by combining the rotational inertia, and further calculating the rotating speed of the engine, namely the expected rotating speed n of the direct current motor e
Firstly, obtaining the output torque T of the engine according to an empirical formula of power output torque e 。
T e ＝a 1 +a 2 *m ap +a 3 *AFR+a 4 *AFR 2 +a 5 +a 6 *θ 2
+a 7 *n+a 8 *n 2 +a 9 *nθ+a 10 *θm ap +a 11 θ 2 m ap
Wherein T is e Is the output torque of the engine, AFR is the air-fuel ratio, n is the engine speed, i.e. the actual speed of the DC motor, theta is the spark advance angle, T b Is the load torque, a i (i =1,2, \8230;, 11) is a fitting coefficient. Where the load torque, the air-to-fuel ratio, and the spark advance angle may be approximated as constants. And the delta t is the time taken by the motor to rotate for one circle, the singlechip can calculate the time interval of adjacent pulses by capturing the Z-phase output pulse of the photoelectric encoder to obtain the delta t, wherein one pulse is output by the Z-phase output of each rotation of the photoelectric encoder.
Then calculating the expected rotating speed n of the direct current motor according to the acceleration e 。
In the main program, the single chip microcomputer converts the opening degree of the throttle valve and the rotating speed of the direct current motor into characters, transmits data through the I/O port, and controls the LCD to continuously refresh and display the information of the opening degree of the electronic throttle valve and the rotating speed of the direct current motor, and a flow chart of the main program is shown in FIG. 6.
The working process, the working principle and the electrical connection relation of the electronic control system of the gasoline engine can be displayed, and the working modes and the working principles of the actuating mechanism in the electronic control system, such as the working modes of an electronic throttle valve, an oil injector, an ignition coil and a spark plug, can also be displayed.
The invention also provides a control method based on the gasoline engine electronic control system simulation device, and particularly provides a control method that when the slide rheostat is rotated, the single chip microcomputer adjusts the expected opening degree of the throttle valve according to the sliding contact output voltage acquired by the A/D module, and uses a discrete PID controller to adjust the control quantity according to the deviation between the expected opening degree and the actual opening degree, namely, the duty ratio of a PWM signal output to a throttle valve driving circuit by a PWM module of the single chip microcomputer is adjusted, so that the throttle valve is controlled to follow the expected opening degree; the single chip microcomputer adjusts the expected rotating speed of the direct current motor according to the change of the opening degree of the throttle valve and by combining with an engine mathematical model, calculates the actual rotating speed of the direct current motor according to the pulse number output by the photoelectric encoder collected by the TIM module in one period, and adjusts the control quantity by using a discrete PID controller according to the deviation between the expected rotating speed and the actual rotating speed, namely the duty ratio of a PWM signal output to a direct current motor driving circuit by the single chip microcomputer PWM module, so that the direct current motor is controlled to follow the expected rotating speed; the single chip microcomputer adjusts the oil injection frequency of the oil injector and the ignition frequency of the ignition coil according to the change of the rotating speed of the direct current motor, namely the frequency of a PWM signal output to an oil injector driving circuit by a PWM module of the single chip microcomputer and the frequency of the PWM signal output to the ignition coil driving circuit; the LCD continuously refreshes the information of the throttle opening and the rotating speed of the DC motor.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A gasoline engine electronic control system simulation device is characterized in that: the device comprises an input unit, a control unit, a driving unit, an execution unit, a detection unit, a display unit and a power supply unit for supplying power to the units; the input unit is used for simulating the position of an accelerator pedal of an automobile, and the input unit changes the resistance value of the variable output end to one end by changing the scribing position so as to change the output voltage value; the control unit is used for processing signals output by the detection unit and the input unit and providing driving signals for the driving unit, and comprises a PWM module, an A/D module, a TIM module, an I/O interface and a PIT module for generating cycle interrupt; the driving unit comprises an electronic throttle valve driving circuit, an oil sprayer driving circuit, an ignition coil driving circuit and a direct current motor driving circuit, and the execution unit is driven under the control of the control unit; the execution unit comprises an electronic throttle valve, an oil injector, an ignition coil, a spark plug and a direct current motor, and the direct current motor is used for simulating the rotating speed of the engine; the detection unit comprises a throttle position sensor for detecting the opening of a throttle and a photoelectric encoder for detecting the rotating speed of the direct current motor; the input unit and the throttle position sensor are respectively connected with an A/D module; the driving unit is connected with the PWM module; the execution unit is connected with the driving unit; the photoelectric encoder is mechanically connected with the direct current motor and electrically connected with the TIM module; the display unit is connected with the I/O interface.
2. The gasoline engine electronic control system simulation apparatus as set forth in claim 1, wherein: the input unit is a slide rheostat or a potentiometer.
3. The gasoline engine electronic control system simulation apparatus as set forth in claim 1, wherein: the throttle position sensor is a slide rheostat.
4. The gasoline engine electronic control system simulation apparatus as set forth in claim 1, wherein: the power supply unit comprises 12V power supplies and 5V power supplies, wherein the 12V power supplies are provided by batteries, and the 5V power supplies are provided by voltage regulating circuits.
5. The gasoline engine electronic control system simulation apparatus as set forth in claim 1, wherein: the control unit comprises a singlechip minimum system consisting of a singlechip chip and a peripheral circuit, the singlechip chip comprises a PWM module, an A/D module, a TIM module, an I/O interface and a PIT module, and the peripheral circuit comprises a reset circuit, a crystal oscillator circuit and a filter circuit.
6. The gasoline engine electronic control system simulation apparatus as set forth in claim 1, wherein: and the PIT module generates two-path periodic interruption, and finishes the opening control of the throttle valve and the rotating speed control of the direct current motor in a two-path periodic interruption service subprogram.
7. The gasoline engine electronic control system simulation apparatus as set forth in claim 6, wherein: and the throttle opening control and the direct current motor rotating speed control both use discrete PID controllers.
8. The gasoline engine electronic control system simulation apparatus as set forth in claim 6, wherein:
the throttle opening control is realized in one path of PIT periodic interrupt service subprogram generated by a PIT module, and comprises the following steps:
step 1: calculating the expected opening degree of the electronic throttle valve according to the acquired voltage signal of the input unit;
and 2, step: calculating an actual opening degree of the throttle valve according to an output voltage of the throttle valve position sensor;
and step 3: according to the deviation between the expected opening and the actual opening, a discrete PID controller is used for adjusting the duty ratio of a PWM signal output to a throttle valve driving circuit by a PWM module, and controlling the throttle valve to follow the expected opening;
the direct current motor rotating speed control is realized in another path of PIT periodic interruption service subprogram generated by the PIT module, and the method comprises the following steps:
step 1: calculating the expected rotating speed of the direct current motor according to the actual opening of the throttle valve and a mathematical model of the gasoline engine;
step 2: calculating the actual rotating speed of the direct current motor according to the pulse number output by the photoelectric encoder in an interrupt period;
and step 3: according to the deviation between the expected rotating speed and the actual rotating speed, a discrete PID controller is used for adjusting the duty ratio of a PWM signal output to a direct current motor driving circuit by a PWM module, and the direct current motor is controlled to follow the expected rotating speed;
and 4, step 4: and adjusting the oil injection frequency of the oil injector and the ignition frequency of the ignition coil according to the actual rotating speed of the direct current motor.
9. The gasoline engine electronic control system simulation apparatus as set forth in claim 8, wherein: the gasoline engine mathematical model comprises the following two parts:
the first part, based on the actual opening of the throttle valve
Calculating the mass flow of air entering the cylinder by combining the throttle flow model, the intake valve flow model and the manifold pressure variation model
Firstly, the air mass flow at the throttle valve can be calculated according to the actual opening of the throttle valve and a throttle valve flow model
Wherein
Is the mass flow of air at the throttle,
is the actual opening degree of the throttle valve, P man Is the intake manifold pressure, P a Is ambient atmospheric pressure，A at As fitting coefficient, T a Is the ambient temperature;
then, the mass flow of the air entering the air cylinder is calculated according to the flow model of the air inlet valve
Wherein
Is the mass flow of air into the cylinder, V d Is the engine displacement, n is the engine speed, i.e. the actual speed of the DC motor, which can be measured by the photoelectric encoder, R is the air gas constant, eta vman Is the coefficient of charge, which can be obtained by looking up a map, T man Intake manifold temperature may be considered constant;
finally, updating the pressure of the intake manifold according to the manifold pressure change model;
wherein T is 1 Is the interrupt period of the path period interrupt service subprogram;
second part, according to air mass flow into cylinder
The output torque of the engine is calculated by combining a power output torque empirical formula, the acceleration is calculated by combining the rotational inertia, and the rotating speed of the engine, namely the expected rotation of the direct current motor is further calculatedSpeed n e ；
Firstly, obtaining the output torque T of the engine according to an empirical formula of the power output torque e ；
T e ＝a 1 +a 2 *m ap +a 3 *AFR+a 4 *AFR 2 +a 5 +a 6 *θ 2 +a 7 *n+a 8 *n 2 +a 9 *nθ+a 10 *θm ap +a 11 *θ 2 m ap
Wherein T is e Is the output torque of the engine, AFR is the air-fuel ratio, n is the engine speed, i.e. the actual speed of the DC motor, theta is the spark advance, T b Is the load torque, a i (i =1,2, \8230;, 11) are fitting coefficients where the load torque, the air-to-air ratio, and the ignition advance angle may be approximated as constants; the delta t is the time taken by the motor to rotate for one circle, the singlechip can calculate the time interval of adjacent pulses by capturing the Z-phase output pulse of the photoelectric encoder to obtain the delta t, wherein the Z-phase output pulse of each rotation circle of the photoelectric encoder;
then, the expected rotating speed n of the direct current motor is calculated according to the acceleration e ；
Wherein is n e Desired speed of the dc motor.
10. A control method of a gasoline engine electronic control system simulator is characterized in that: the control method based on the simulation device specifically comprises the following steps:
the scribing position of the slide rheostat is changed, the control unit adjusts the expected opening degree of the throttle valve according to the sliding contact output voltage signal collected by the A/D module, and the actual opening degree of the throttle valve is calculated according to the voltage signal collected by the A/D module and output by the throttle valve position sensor;
according to the deviation between the expected opening and the actual opening, a discrete PID controller is used for adjusting the duty ratio of a PWM signal output to a throttle valve driving circuit by a single chip microcomputer PWM module, so that the throttle valve is controlled to follow the expected opening;
adjusting the expected rotating speed of the direct current motor according to the change of the opening degree of a throttle valve and an engine mathematical model, and calculating the actual rotating speed of the direct current motor according to the pulse number acquired by a TIM module in one period;
according to the deviation between the expected rotating speed and the actual rotating speed, a discrete PID controller is used for adjusting the duty ratio of a PWM signal output to a direct current motor driving circuit by a PWM module, so that the direct current motor is controlled to follow the expected rotating speed;
adjusting the frequency of a PWM signal output to an oil sprayer driving circuit by a PWM module and the frequency of the PWM signal output to an ignition coil driving circuit according to the change of the rotating speed of the direct current motor;
the display unit continuously refreshes and displays the information of the opening of the throttle valve and the rotating speed of the direct current motor.
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| CN101739862A (en) * | 2008-11-13 | 2010-06-16 | 黑龙江工程学院 | Electronic throttle control simulation experiment system |
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| CN115050237A (en) * | 2022-07-08 | 2022-09-13 | 湖南汽车工程职业学院 | Automobile engine rotating speed control practical training device and control method |
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| CN101739862A (en) * | 2008-11-13 | 2010-06-16 | 黑龙江工程学院 | Electronic throttle control simulation experiment system |
| CN103700313A (en) * | 2013-12-25 | 2014-04-02 | 苏州工业园区职业技术学院 | Voltage-controlled variable-frequency motor simulation experiment system for automotive engine throttle |
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