CN115478952B - Electronic control system simulation device of gasoline engine and control method thereof - Google Patents
Electronic control system simulation device of gasoline engine and control method thereof Download PDFInfo
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- CN115478952B CN115478952B CN202211220374.5A CN202211220374A CN115478952B CN 115478952 B CN115478952 B CN 115478952B CN 202211220374 A CN202211220374 A CN 202211220374A CN 115478952 B CN115478952 B CN 115478952B
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- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000004088 simulation Methods 0.000 title claims abstract description 19
- 230000008859 change Effects 0.000 claims abstract description 19
- 238000002347 injection Methods 0.000 claims abstract description 14
- 239000007924 injection Substances 0.000 claims abstract description 14
- 239000000446 fuel Substances 0.000 claims description 16
- 238000013178 mathematical model Methods 0.000 claims description 11
- 230000001105 regulatory effect Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 claims description 8
- 230000001276 controlling effect Effects 0.000 claims description 4
- 239000013078 crystal Substances 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000000737 periodic effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 14
- 230000007246 mechanism Effects 0.000 abstract description 8
- 239000000243 solution Substances 0.000 description 5
- 238000011217 control strategy Methods 0.000 description 4
- 239000004973 liquid crystal related substance Substances 0.000 description 4
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- 101001096159 Homo sapiens Pituitary-specific positive transcription factor 1 Proteins 0.000 description 2
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Classifications
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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
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
Abstract
The application provides a petrol engine electronic control system simulation device and a control method thereof, comprising a slide rheostat, a singlechip, a driving 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 singlechip 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 according to the position information of a sliding 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, so that the working process of the throttle valve, the oil injector, the ignition coil and the spark plug in the petrol engine under the control of an ECU can be simulated in the position change process of the accelerator pedal, and the change condition of the rotating speed of the engine is displayed; the electronic control system can be used as a teaching tool to intuitively display the working process of the electronic control system of the gasoline engine and the electrical connection relation in the electronic control system.
Description
Technical Field
The application belongs to the field of teaching simulation tools, and relates to a simulation device and a control method of an electronic control system of a gasoline engine, which are used for simulating the working process of the electronic control system of the gasoline engine.
Background
Because of the needs of life and work, the number of times of people going out is more and more, the demand on automobiles is more and more, and meanwhile, the fuel consumed by the automobiles and the discharged tail gas also bring about energy and environmental problems, so that the requirements of people on the economy, the discharge and the comfort of the automobiles are also higher and higher. The gasoline engine is used as a power mechanism of an automobile and has important influence on the performance of the automobile.
In the running process of the automobile, a driver expresses the driving intention by stepping on an accelerator pedal, the accelerator pedal position sensor can convert pedal position information into an electric signal and transmit the electric signal to an ECU of the engine, the ECU of the engine can determine the expected opening of the electronic throttle valve according to the collected position information of the accelerator pedal and synthesize the current rotating speed of the engine and control the electronic throttle valve to achieve the expected opening, the expected opening of the throttle valve is always larger when the accelerator pedal is stepped on, the air inflow of the engine is larger when the opening of the throttle valve is larger, the ECU can control the oil injector to increase the oil injection quantity, the power of the engine can be increased along with the increase of the power of the engine, and 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 the ignition coil can be increased.
In the control field, people improve response speed, control accuracy, stability and the like of an executing mechanism by researching an electronic control system of the gasoline engine, so as to further improve 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 taking the ECU as a control unit, but the current demonstration tool of the gasoline engine in the aspects of teaching and the like can only show the mechanical structure of the engine and the working process of each mechanical part, lacks the demonstration of the working process, the working principle and the electrical connection relation of the electronic control system of the gasoline engine, and lacks the demonstration of the working mode and the principle of each executing mechanism in the electric control system.
Disclosure of Invention
The application 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 and simulating the change of the engine rotating speed, can show the working process, the working principle and the electrical connection relation of the gasoline engine electronic control system, and can show the working process of a corresponding executing mechanism.
The aim of the application is realized by the following technical scheme:
an electronic control system simulation device of a gasoline engine 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 providing power for the units; the input unit is used for simulating the position of an automobile accelerator pedal, and the input unit changes the resistance value of the variable output end to a certain end by changing the scribing position, so that the output voltage value of the variable output end is changed; the control unit is used for processing the 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 periodic 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 drives the executing unit 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, wherein the direct current motor is used for simulating the rotating speed of an engine; the detection unit comprises a throttle position sensor for detecting the opening degree of a throttle and a photoelectric encoder for detecting the rotating speed of a 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 is electrically connected with the TIM module; the display unit is connected with the I/O interface.
As a more preferable technical scheme of the application, the input unit is a slide rheostat or a potentiometer.
As a more preferable technical scheme of the application, the throttle valve position sensor is a slide rheostat.
As a better technical scheme of the application, 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 application, the power supply unit comprises 12V and 5V power supplies, wherein the 12V power supply is provided by a battery, and the 5V power supply is provided by a voltage regulating circuit.
As a better technical scheme of the application, the control unit is a singlechip minimum system formed by 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 better technical scheme of the application, the PIT module generates two-way period interruption, the opening control of the throttle valve and the rotating speed control of the direct current motor, and 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 period interruption service subroutine, and the opening control of the throttle valve and the rotating speed control of the direct current motor use discrete PID controllers.
As a better technical scheme of the application, the throttle opening control is realized in one path of PIT period interrupt service subroutine generated by the PIT module, and comprises the following steps:
step 1: calculating the expected opening of the electronic throttle valve according to the collected voltage signal of the input unit;
step 2: calculating an actual opening degree of a throttle valve according to an output voltage of the throttle valve position sensor;
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 the PWM signal output to the throttle valve driving circuit by the PWM module, and controlling the throttle valve to follow the expected opening.
As a better technical scheme of the application, the control of the rotation speed of the direct current motor is realized by another PIT period interrupt service subroutine generated by a 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;
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 DC motor driving circuit by a PWM module, and the DC motor is controlled to follow the expected rotating speed;
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 better technical scheme of the application, the mathematical model of the gasoline engine comprises the following two parts:
a first part: according to the actual opening of the throttle valveCalculating mass air flow into cylinder by combining throttle valve flow model, air inlet valve flow model and manifold pressure change model>
The mass air flow at the throttle valve can be calculated according to the actual opening degree of the throttle valve and the throttle valve flow model
Wherein the method comprises the steps ofIs the mass air flow at the throttle valve,/->Is the actual opening degree of the throttle valve, P man Is the intake manifold pressure, P a Is at ambient atmospheric pressure, A at To fit coefficients, T a Is ambient temperature;
then, the air mass flow m entering the cylinder is calculated according to the air inlet valve flow model ap ；
Wherein the method comprises the steps ofIs the mass air flow 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 a photoelectric encoder, R is the air gas constant, eta vman Is the charge coefficient, can be obtained by looking up map, T man The 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 road period interrupt service subroutine;
a second part: based on mass air flow into the cylinderCalculating the output torque of the engine by combining the power output torque empirical formula, calculating the acceleration by combining the moment of inertia, and further calculating the rotating speed of the engine, namely the expected rotating speed n of the direct current motor e ；
Firstly, obtaining engine output torque T according to a power output torque empirical formula 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, θ is the ignition advance angle, T b Is the load torque, a i (i=1, 2, …, 11) is a fitting coefficient, where the load torque, air-to-fuel ratio, and spark advance angle can be approximated as constants. Delta t is the time for one turn of the motor, and the singlechip can calculate the time interval of adjacent pulses to obtain delta t by capturing the Z phase output pulse of the photoelectric encoder, wherein the photoelectric encoder outputs one pulse for each turn of the Z phase;
then, the expected rotating speed n of the direct current motor is calculated according to the acceleration e ；
Wherein is n e The desired rotational speed of the direct current motor.
The application also aims to provide a control method based on the simulation device, which comprises the following steps:
changing the scribing position of the slide rheostat, regulating the expected opening of the throttle valve by the control unit according to the voltage signal output by the sliding contact acquired by the A/D module, and calculating the actual opening of the throttle valve according to the voltage signal output by the throttle valve position sensor acquired by the A/D module;
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 singlechip PWM module, so that a throttle valve is controlled to follow the expected opening;
according to the change of the opening degree of the throttle valve, the expected rotating speed of the direct current motor is regulated by combining an engine mathematical model, and the actual rotating speed of the direct current motor is calculated 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 DC motor driving circuit by a PWM module, so that the DC motor is controlled to follow the expected rotating speed;
the frequency of the PWM signal output to the fuel injector driving circuit by the PWM module and the frequency of the PWM signal output to the ignition coil driving circuit are adjusted according to the change of the rotating speed of the direct current motor;
the display unit continuously refreshes information for displaying the opening degree of the throttle valve and the rotating speed of the direct current motor.
The beneficial effects are as follows:
according to the simulation device provided by the application, when the position of the sliding contact of the sliding rheostat is changed, under the control of the control unit, the throttle valve is adjusted in opening degree according to the position of the sliding contact, the direct current motor is adjusted in rotating speed according to the opening degree of the throttle valve, and the fuel injector and the ignition coil are adjusted in ignition frequency and fuel injection frequency according to the rotating speed of the direct current motor, so that the working process of the throttle valve, the fuel injector, the ignition coil and the spark plug in the gasoline engine under the control of the ECU and the change condition of the rotating speed of the engine are simulated when the position of the accelerator pedal of an automobile is changed.
The application 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 executing mechanism.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the overall structure of the present application;
FIG. 2 is a schematic diagram of a power supply unit according to the present application;
FIG. 3 is a flow chart of a throttle opening PID control strategy;
FIG. 4 is a flow chart of a DC motor speed PID control strategy;
FIG. 5 is a block diagram depicting throttle opening versus engine speed;
fig. 6 is a flowchart of a main routine.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1 and 2, the present application provides a gasoline engine electronic control system simulation device, which 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 providing power for the units; the input unit is used for simulating the position of an automobile accelerator pedal, and the input unit changes the resistance value of the variable output end to a certain end by changing the scribing position, so that the output voltage value of the variable output end is changed; the control unit is used for processing the 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 periodic 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 drives the executing unit 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, wherein the direct current motor is used for simulating the rotating speed of an engine; the detection unit comprises a throttle position sensor for detecting the opening degree of a throttle and a photoelectric encoder for detecting the rotating speed of a 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 is electrically connected with the TIM module; the display unit is connected with the I/O interface.
In some embodiments, the input unit is a slide rheostat or potentiometer.
In some embodiments, the throttle position sensor is a slide rheostat.
In some embodiments, 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.
In some embodiments, the power supply unit includes 12V and 5V power supplies, wherein the 12V power supply is provided by a battery and the 5V power supply is provided by a voltage regulating circuit.
In some embodiments, the control unit is a single-chip microcomputer minimum system formed by a single-chip microcomputer chip and a peripheral circuit, and the peripheral circuit comprises a reset circuit, a crystal oscillator circuit and a filter circuit.
In some embodiments, the PIT module generates a two-way cycle interrupt, and the throttle opening control and the direct current motor speed control, and the injector injection frequency and the ignition coil ignition frequency adjustment are completed in a two-way cycle interrupt service subroutine, wherein the throttle opening control and the direct current motor speed control use discrete PID controllers.
In some embodiments, the throttle opening control is implemented in one of the PIT period interrupt service subroutines generated by the PIT module, including the steps of:
step 1: calculating the expected opening of the electronic throttle valve according to the collected voltage signal of the input unit;
step 2: calculating an actual opening degree of a throttle valve according to an output voltage of the throttle valve position sensor;
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 the PWM signal output to the throttle valve driving circuit by the PWM module, and controlling the throttle valve to follow the expected opening.
In some embodiments, the control of the rotational speed of the dc motor is implemented in another PIT period interrupt service routine generated by the PIT module, including 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;
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 DC motor driving circuit by a PWM module, and the DC motor is controlled to follow the expected rotating speed;
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 comprises the following two parts:
a first part: according to the actual opening of the throttle valveCalculating mass air flow into cylinder by combining throttle valve flow model, air inlet valve flow model and manifold pressure change model>
The mass air flow at the throttle valve can be calculated according to the actual opening degree of the throttle valve and the throttle valve flow model
Wherein the method comprises the steps ofIs the mass air flow at the throttle valve,/->Is the actual opening degree of the throttle valve, P man Is the intake manifold pressure, P a Is at ambient atmospheric pressure, A at To fit coefficients, T a Is ambient temperature;
then, the mass air flow of air entering the cylinder is calculated according to the air inlet valve flow model
Wherein the method comprises the steps ofIs the mass air flow 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 a photoelectric encoder, R is the air gas constant, eta vman Is the charge coefficient, can be obtained by looking up map, T man The 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 road period interrupt service subroutine;
a second part: based on mass air flow into the cylinderCalculating the output torque of the engine by combining the power output torque empirical formula, calculating the acceleration by combining the moment of inertia, and further calculating the rotating speed of the engine, namely the expected rotating speed n of the direct current motor e ；
Firstly, obtaining engine output torque T according to a power output torque empirical formula 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, θ is the ignition advance angle, T b Is the load torque, a i (i＝1,2…, 11) are fitting coefficients, where the load torque, air-to-air ratio, and spark advance angle can be approximated as constants. Delta t is the time for one turn of the motor, and the singlechip can calculate the time interval of adjacent pulses to obtain delta t by capturing the Z phase output pulse of the photoelectric encoder, wherein the photoelectric encoder outputs one pulse for each turn of the Z phase;
then, the expected rotating speed n of the direct current motor is calculated according to the acceleration e ；
Wherein is n e The desired rotational speed of the direct current 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 select a Feisharl 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 is 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, and is electrically connected with the PWM module and used for driving the executing unit to work.
The execution unit comprises an electronic throttle valve, an oil sprayer, an ignition coil, an ignition plug and a 12V permanent magnet 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 an engine.
The electronic throttle valve driving circuit can be a TLE7209-2R H bridge chip.
The fuel 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 be an IRF520PbF N channel MOS tube.
The throttle valve position sensor is a slide rheostat and is integrated in the electronic throttle valve to detect the opening degree of the throttle valve 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 and is electrically connected with the TIM module 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 the electronic throttle valve and the rotating speed information of the direct current motor.
The electronic throttle opening control strategy uses a discrete PID controller, and the direct current motor rotating speed control strategy also uses a discrete PID controller.
And initializing each module of the singlechip by programming, and generating two paths of period interrupt PIT0 and PIT1 through a PIT module in the singlechip.
The PID adjustment of the electronic throttle opening is completed in the period interrupt service subroutine PIT0, as shown in fig. 3, including the steps of:
step 1: the single-chip microcomputer A/D module collects the sliding contact voltage signal of the sliding rheostat, and calculates the expected opening of the electronic throttle valve according to the converted voltage value in a pedal following method, namely the larger the sliding contact voltage is, the larger the expected opening of the throttle valve is.
Step 2: the single-chip microcomputer A/D module collects output voltage of the throttle position sensor, and the single-chip microcomputer calculates actual opening of the throttle according to the voltage output by the throttle position sensor.
Step 3: the single chip microcomputer 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 PWM module of the single chip microcomputer, so as to control the throttle valve to follow the expected opening.
PID adjustment of the speed of the DC motor and adjustment of the oil injection frequency of the oil 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 singlechip 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 the mathematical model of the gasoline engine.
Step 2: 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.
Step 3: the single chip microcomputer adjusts the control quantity by using a discrete PID controller according to the deviation of the expected rotating speed and the actual rotating speed, namely the duty ratio of the PWM signal output to the DC motor driving circuit by the PWM module of the single chip microcomputer, so as to control the DC motor to follow the expected rotating speed.
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 PWM module of the single-chip microcomputer and the frequency of a PWM signal output to the ignition coil driving circuit.
The mathematical model of the engine in step 1 uses an average model, as shown in fig. 5, mainly comprising the following:
(1) According to the actual opening of the throttle valveCalculating mass air flow into cylinder by combining throttle valve flow model, air inlet valve flow model and manifold pressure change model>
The mass air flow at the throttle valve can be calculated according to the actual opening degree of the throttle valve and the throttle valve flow model
Wherein the method comprises the steps ofIs the mass air flow at the throttle valve,/->Is the actual opening degree of the throttle valve, P man Is the intake manifold pressure, P a Is at ambient atmospheric pressure, A at To fit coefficients, T a Is ambient temperature.
Then, the mass air flow of air entering the cylinder is calculated according to the air inlet valve flow model
Wherein the method comprises the steps ofIs the mass air flow 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 a photoelectric encoder, R is the air gas constant, eta vman Is the charge coefficient, can be obtained by looking up 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 road period interrupt service subroutine.
(2) Based on mass air flow into the cylinderCalculating the output torque of the engine by combining the power output torque empirical formula, calculating the acceleration by combining the moment of inertia, and further calculating the rotating speed of the engine, namely the expected rotating speed n of the direct current motor e
Firstly, obtaining engine output torque T according to a power output torque empirical formula 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, θ is the ignition advance angle, T b Is the load torque, a i (i=1, 2, …, 11) is a fitting coefficient. Wherein the load torque, air-fuel ratio, and spark advance angle may be approximated as constants. Delta t is the time for one turn of the motor, and the singlechip can calculate the time interval of adjacent pulses by capturing the Z phase output pulse of the photoelectric encoder, wherein the photoelectric encoder outputs one pulse for each turn of the Z phase.
Then, the expected rotating speed n of the direct current motor is calculated according to the acceleration e 。
In the main program, the singlechip converts the throttle opening and the rotating speed of the direct current motor into characters, and transmits data through the I/O port, controls the LCD to continuously refresh and display the electronic throttle opening and the rotating speed information of the direct current motor, and the main program flow chart is shown in figure 6.
According to the application, the working process, the working principle and the electrical connection relation of the electronic control system of the gasoline engine can be displayed, the working mode and the principle of an actuating mechanism in the electronic control system, such as the working modes of an electronic throttle valve, an oil sprayer, an ignition coil and a spark plug, and the change condition of the engine speed can be displayed.
The application also provides a control method based on the electronic control system simulation device of the gasoline engine, which comprises the following steps that when the sliding rheostat is rotated, the singlechip adjusts the expected opening of the throttle valve according to the output voltage of the sliding contact acquired by the A/D module, and adjusts the control quantity by using the 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 by the singlechip PWM module to a throttle valve driving circuit, so as to control the throttle valve to follow the expected opening; the singlechip adjusts the expected rotating speed of the direct current motor according to the change of the opening degree of a throttle valve and by combining an engine mathematical model, calculates the actual rotating speed of the direct current motor according to the pulse number output by the photoelectric encoder acquired by the TIM module in one period, and adjusts the control quantity by using the 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 singlechip PWM module, so as to control the direct current motor 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 the oil injector driving circuit by the PWM module of the single-chip microcomputer and the frequency of a PWM signal output to the ignition coil driving circuit; the LCD liquid crystal display screen continuously refreshes and displays the information of the throttle opening and the rotating speed of the direct current motor.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present application without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that the above-mentioned embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (7)
1. An electronic control system simulation device of a gasoline engine 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 automobile accelerator pedal, and the input unit changes the resistance value of the variable output end to a certain end by changing the scribing position, so that the output voltage value of the variable output end is changed; 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 periodic 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 drives the executing unit 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, wherein the direct current motor is used for simulating the rotating speed of an engine; the detection unit comprises a throttle position sensor for detecting the opening of a throttle valve 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 is electrically connected with the TIM module; the display unit is connected with the I/O interface;
the PIT module generates two-path period interruption, and completes opening control of the throttle valve and rotation speed control of the direct current motor in a two-path period interruption service subroutine;
the throttle opening control is realized in one path of PIT period interrupt service subroutine generated by the PIT module, and comprises the following steps:
step 1: calculating the expected opening of the electronic throttle valve according to the collected voltage signal of the input unit;
step 2: calculating an actual opening degree of a throttle valve according to an output voltage of the throttle valve position sensor;
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 a throttle valve is controlled to follow the expected opening;
the control of the rotating speed of the direct current motor is realized in another path of PIT period interrupt service subroutine 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;
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 DC motor driving circuit by a PWM module, and the DC motor is controlled to follow the expected rotating speed;
step 4: according to the actual rotating speed of the direct current motor, the oil injection frequency of the oil injector and the ignition frequency of the ignition coil are adjusted;
the mathematical model of the gasoline engine comprises the following two parts:
a first part for controlling the actual opening of the throttle valveCalculating mass air flow into cylinder by combining throttle valve flow model, air inlet valve flow model and manifold pressure change model>
The mass air flow at the throttle valve can be calculated according to the actual opening degree of the throttle valve and the throttle valve flow model
Wherein the method comprises the steps ofIs the mass air flow at the throttle valve,/->Is the actual opening degree of the throttle valve, P man Is the intake manifold pressure, P a Is at ambient atmospheric pressure, A at To fit coefficients, T a Is ambient temperature;
then, the mass air flow of air entering the cylinder is calculated according to the air inlet valve flow model
Wherein the method comprises the steps ofIs an advanceMass air flow into 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 a photoelectric encoder, R is the air gas constant, eta vman Is the charge coefficient, can be obtained by looking up map, T man The 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 road period interrupt service subroutine;
a second part based on the mass air flow into the cylinderCalculating the output torque of the engine by combining the power output torque empirical formula, calculating the acceleration by combining the moment of inertia, and further calculating the rotating speed of the engine, namely the expected rotating speed n of the direct current motor e ；
Firstly, obtaining engine output torque T according to a power output torque empirical formula 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, θ is the ignition advance angle, T b Is the load torque, a i (i=1, 2, …,11 are fitting coefficients, wherein the load torque, the space-to-natural ratio and the ignition advance angle can be approximated to be constant, delta t is the time taken by the motor to rotate one turn, and the singlechip can calculate the time interval between adjacent pulses to obtain delta t by capturing the Z-phase output pulse of the photoelectric encoder, wherein the Z-phase output pulse is output every turn 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 The desired rotational speed of the direct current motor.
2. The gasoline engine electronic control system simulation apparatus according to claim 1, wherein: the input unit is a slide rheostat or potentiometer.
3. The gasoline engine electronic control system simulation apparatus according to claim 1, wherein: the throttle position sensor is a slide rheostat.
4. The gasoline engine electronic control system simulation apparatus according to claim 1, wherein: the power supply unit comprises 12V and 5V power supplies, wherein the 12V power supply is provided by a battery, and the 5V power supply is provided by a voltage regulating circuit.
5. The gasoline engine electronic control system simulation apparatus according to claim 1, wherein: the control unit comprises a singlechip minimum system formed by a singlechip chip and a peripheral circuit, wherein 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 according to claim 1, wherein: and a discrete PID controller is used for controlling the opening degree of the throttle valve and the rotating speed of the direct current motor.
7. A control method of a gasoline engine electronic control system simulation device is characterized by comprising the following steps of: the control method based on the simulation apparatus according to any one of claims 1 to 6 specifically comprises the steps of:
changing the scribing position of the slide rheostat, regulating the expected opening of the throttle valve by the control unit according to the voltage signal output by the sliding contact acquired by the A/D module, and calculating the actual opening of the throttle valve according to the voltage signal output by the throttle valve position sensor acquired by the A/D module;
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 singlechip PWM module, so that a throttle valve is controlled to follow the expected opening;
according to the change of the opening of the throttle valve, the expected rotating speed of the direct current motor is regulated by combining an engine mathematical model, and the actual rotating speed of the direct current motor is calculated according to the pulse number acquired 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 DC motor driving circuit by a PWM module, so that the DC motor is controlled to follow the expected rotating speed;
the frequency of the PWM signal output to the fuel injector driving circuit by the PWM module and the frequency of the PWM signal output to the ignition coil driving circuit are adjusted according to the change of the rotating speed of the direct current motor;
the display unit continuously refreshes information for displaying the opening degree 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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| CN104464489A (en) * | 2014-12-11 | 2015-03-25 | 丽水市职业高级中学 | Low-carbon type electronic-controlled engine simulation testbed |
| 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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