CN115559821A - Closed-loop control method, device and equipment of EGR rate and storage medium - Google Patents

Closed-loop control method, device and equipment of EGR rate and storage medium Download PDF

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Publication number
CN115559821A
CN115559821A CN202211185107.9A CN202211185107A CN115559821A CN 115559821 A CN115559821 A CN 115559821A CN 202211185107 A CN202211185107 A CN 202211185107A CN 115559821 A CN115559821 A CN 115559821A
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egr
egr valve
opening degree
target opening
parameter
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秦龙
雷雪
杨柳春
王冬
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Dongfeng Motor Corp
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Dongfeng Motor Corp
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/0025—Controlling engines characterised by use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures
    • F02D41/0047—Controlling exhaust gas recirculation [EGR]
    • F02D41/0065—Specific aspects of external EGR control
    • F02D41/0072—Estimating, calculating or determining the EGR rate, amount or flow
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/0025—Controlling engines characterised by use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures
    • F02D41/0047—Controlling exhaust gas recirculation [EGR]
    • F02D41/0077—Control of the EGR valve or actuator, e.g. duty cycle, closed loop control of position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D21/00—Controlling engines characterised by their being supplied with non-airborne oxygen or other non-fuel gas
    • F02D21/06—Controlling engines characterised by their being supplied with non-airborne oxygen or other non-fuel gas peculiar to engines having other non-fuel gas added to combustion air
    • F02D21/08—Controlling engines characterised by their being supplied with non-airborne oxygen or other non-fuel gas peculiar to engines having other non-fuel gas added to combustion air the other gas being the exhaust gas of engine
    • F02D2021/083—Controlling engines characterised by their being supplied with non-airborne oxygen or other non-fuel gas peculiar to engines having other non-fuel gas added to combustion air the other gas being the exhaust gas of engine controlling exhaust gas recirculation electronically
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Exhaust-Gas Circulating Devices (AREA)

Abstract

The invention discloses a closed-loop control method, a device, equipment and a storage medium of an EGR rate, wherein the method comprises the following steps: according to EGR system time constant r EGR And a filter time constant lambda, determining a parameter k in the PID controller p 、k D And k I (ii) a According to the parameter k p 、k D And k I Determining p items of EGR valve target opening degree Pct p D term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I (ii) a According to the p-term EGR valve target opening degree Pct p D-term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I The target opening degree of the EGR valve is determined. Has the beneficial effects that: fewer objects need to be calibrated, the working intensity is greatly reduced, the processing deviation in an engine EGR system, the interference of aging, oil products, knocking and pre-ignition factors in the actual use process, the p-term EGR valve target opening degree and the D-term EGR valve target are consideredThe target opening of the I-item EGR valve and the target opening of the standard opening can be automatically adjusted, and the fluctuation error of the engine EGR rate is ensured to be small while the calibration workload is small.

Description

Closed-loop control method, device and equipment of EGR rate and storage medium
Technical Field
The invention relates to the technical field of engines, in particular to a closed-loop control method, a closed-loop control device, closed-loop control equipment and a storage medium for an EGR rate.
Background
Research shows that the EGR system has certain advantages in improving emission, reducing oil consumption and improving anti-knock capability. Due to the hysteresis of the EGR system, the process variation of the EGR system during the manufacturing process of the engine, the aging wear during the actual use of the engine, the quality of the oil, the occurrence of knocking and pre-ignition, etc., these interfere with the closed-loop control of the EGR rate and cannot be predicted in advance. In order to better deal with the problem, the closed-loop control of the EGR rate is realized by a method which is simpler in calibration and automatically optimized in calibration.
Disclosure of Invention
In view of the above-identified deficiencies in the art or needs for improvements, it is an object of the present invention to provide a method, apparatus, device and storage medium for closed loop control of EGR rate.
In order to achieve the purpose, the invention adopts the following technical scheme:
in a first aspect, a method of closed-loop control of an EGR rate includes the steps of:
according to EGR system time constant r EGR And a filter time constant lambda, determining a parameter k in the PID controller p 、k D And k I ；
According to the parameter k p 、k D And k I Determining p items of EGR valve target opening degree Pct p D term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I ；
According to the p-term EGR valve target opening degree Pct p D-term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I The target opening degree of the EGR valve is determined.
In one embodiment, the parameter k p 、k D And k I Determined according to the following equations, respectively:
Figure BDA0003867237430000021
Figure BDA0003867237430000022
Figure BDA0003867237430000023
in one embodiment, the time constant r is based on an EGR system EGR And a filter time constant lambda, determining a parameter k in the PID controller p 、k D And k I Comprises the following steps:
according to engine speed n Eng Fresh air intake density rho Air Throttle back air pressure p MAP Throttle valve forward air pressure p prethr EGR valve inlet exhaust gas pressure p EGRValveI n, EGR valve outlet exhaust gas pressure p EGRValveOut And the outlet gas pressure p of the supercharger compressor BoostOutLet Inlet gas pressure p of supercharger compressor BoostInLet Looking up the table, calculating and determining the time constant r of the EGR system EGR 。
In one embodiment, the time constant r is based on an EGR system EGR And a filter time constant, determining a parameter k in the PID controller p 、k D And k I Further comprising the steps of:
according to the change rate dr of the throttle state, the supercharging control state and the actual EGR rate of the mixing valve EGRAct A difference r between the target EGR rate and the actual EGR rate EGRError Determining a first function f (dr) EGRAct ,r EGRError )；
Determining a first parameter k according to the temperature of an inlet of an EGR valve, whether knocking occurs or not, whether pre-ignition occurs or not and the exhaust gas pressure ratio between an outlet of the EGR valve and the inlet of the EGR valve;
according to said first function f (dr) EGRAct ,r EGRError ) And a first parameter k determining the filter time constant λ.
In one embodiment, the step of determining the first parameter k based on the EGR valve inlet temperature, whether knock occurred, whether pre-ignition occurred, and the EGR valve outlet to inlet exhaust gas pressure ratio comprises:
determining a first sub-parameter k based on an EGR valve inlet temperature 1 ；
Determining a second sub-parameter k based on the knock timing and the pre-ignition timing 2 ；
Determining a third sub-parameter k according to the pressure ratio of the exhaust gas at the outlet and the inlet of the EGR valve and the preset ratio 3 ；
The first sub-parameter k 1 A second sub-parameter k 2 And a third sub-parameter k 3 As the first parameter k.
In one embodiment, the second sub-parameter k is determined based on knock timing and pre-ignition timing 2 Comprises the following steps:
determining said second sub-parameter k if an overlap occurs during a first period T1 after occurrence of knock and during a second period T2 during which pre-ignition occurs 2 Wherein the first duration T1 is less than or equal to the second duration T2, or
If the time of the first time period T1 after the occurrence of the knocking and the time of the second time period T2 of the pre-ignition do not overlap or the pre-ignition does not occur, determining the second sub-parameter k 2 (ii) a Or alternatively
The second sub-parameter k is determined in such a way that no overlap occurs or no knocking occurs in the second time period T2 after the occurrence of early combustion and the first time period T1 during which knocking occurs 2 。
In one embodiment, the determining p terms EGR valve target opening degree Pct p D term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I Comprises the following steps:
according to the parameter k p A difference r between the target EGR rate and the actual EGR rate EGRError Determining the p-term EGR valve target opening degree Pct p ；
According to the parameter k D Target EGR Rate Dr EGRSetpoint Actual EGR Rate dr EGRAct A difference r between the target EGR rate and the actual EGR rate EGRError Determining the D term EGR valve target opening degree Pct D ；
According to the initial I term EGR valve target opening degree Pct IInitial And the I term accumulating term Pct IIncredent Determining the I term EGR valve target opening degree Pct I Wherein the initial I term EGR valve target opening degree Pct IInitial The I term accumulation term Pct is determined when the closed loop of the EGR rate is just activated IIncredent Accumulating the time period delta t and the second sub-parameter k by I terms at each time 2 Target idle speed and actual rotational speed difference r EGRError Inverse integral saturation target opening degree Pct Antiwindup And (5) determining.
In a second aspect, a closed-loop control apparatus of an EGR rate includes:
a first module for determining an EGR system time constant r EGR And a filter time constant lambda, determining a parameter k in the PID controller p 、k D And k I 。
A second module for determining the parameter k p 、k D And k I Determining p items of EGR valve target opening degree Pct p D term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I 。
A third module for calculating a target opening Pct of the EGR valve according to the p terms p D term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I The target opening degree of the EGR valve is determined.
In a third aspect, an electronic device includes a processor and a memory, the processor and the memory being interconnected;
the memory is used for storing a computer program;
the processor is configured to perform the method as described above when the computer program is invoked.
In a fourth aspect, a computer-readable storage medium is characterized in that the computer-readable storage medium stores a computer program, which is executed by a processor to implement the above-mentioned method.
The invention has the beneficial effects that:
for the closed-loop control method of the EGR rate, fewer objects need to be calibrated, the working intensity is greatly reduced, the processing deviation in an engine EGR system, the interference of aging, oil products, knocking and pre-ignition factors in the actual use process are considered, the target opening degree of the EGR valve in the p terms, the target opening degree of the EGR valve in the D terms and the target opening degree of the EGR valve in the I term can be automatically adjusted, and the fluctuation error of the EGR rate of the engine is ensured to be small while the calibration workload is small.
For a closed-loop control device of the EGR rate, fewer objects need to be calibrated, the working intensity is greatly reduced, the processing deviation in an engine EGR system, the interference of aging, oil products, knocking and pre-ignition factors in the actual use process are considered, the target opening degree of the EGR valve in the p terms, the target opening degree of the EGR valve in the D terms and the target opening degree of the EGR valve in the I term can be automatically adjusted, and the fluctuation error of the EGR rate of the engine is ensured to be small while the calibration workload is small.
For electronic equipment, fewer objects need to be calibrated, the working intensity is greatly reduced, the processing deviation in an engine EGR system, the interference of aging, oil products, knocking and pre-ignition factors in the actual use process are considered, the target opening degree of the EGR valve in the p terms, the target opening degree of the EGR valve in the D terms and the target opening degree of the EGR valve in the I term can be automatically adjusted, and the fluctuation error of the EGR rate of the engine is ensured to be small while the calibration workload is small.
For a computer readable storage medium, fewer objects need to be calibrated, the working intensity is greatly reduced, the processing deviation in an engine EGR system, the interference of aging, oil products, knocking and pre-ignition factors in the actual use process are considered, the target opening degrees of the P EGR valves, the target opening degrees of the D EGR valves and the target opening degree of the I EGR valves can be automatically adjusted, and the engine EGR rate fluctuation error is ensured to be small while the calibration workload is small.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
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The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural diagram of a low-pressure EGR system provided in the present embodiment;
FIG. 2 is a schematic flow chart of a closed-loop control method of the EGR rate provided in the present embodiment;
FIG. 3 is a schematic structural view of a closed-loop control apparatus of the EGR rate in the present embodiment;
fig. 4 is a schematic structural diagram of the electronic device of the present embodiment.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings, not all of them.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It will be understood by those within the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The invention provides a closed-loop control method of an EGR rate, which is applied to a low-pressure EGR system.
FIG. 1 is a schematic diagram of a low-pressure EGR system provided in this embodiment, and as shown in FIG. 1, the system includes an air filter, a supercharger compressor, a throttle valve, an engine, a supercharger turbine, a catalyst, a particulate trap, an EGR cooler, an EGR valve, an EGR temperature sensor, an EGR differential pressure sensor, a flow meter, and a linear oxygen sensor, where the linear oxygen sensor is replaced by an integrated temperature and pressure sensor.
The supercharger compressor is used for compressing fresh air for supercharging.
The supercharger turbine controls the operating efficiency of the turbine by controlling the opening of the waste gate valve of the supercharger, thereby achieving different supercharging capacities.
The low-pressure EGR system has the following added parts compared with the non-low-pressure EGR system: EGR cooler, EGR temperature sensor, EGR valve, EGR differential pressure sensor, mixing valve, flow meter and oxygen sensor.
A flow meter is mounted between the air filter and the mixing valve for sensing the flow of fresh air into the engine.
The mixing valve is used for adjusting the pressure at the outlet of the EGR valve, improving the pressure difference at two ends of the EGR valve and improving the EGR rate.
An oxygen sensor is installed between the compressor and the throttle valve and near the throttle valve, and the oxygen sensor is used for detecting the flow of the mixture entering the cylinder.
The EGR cooler is used to cool the exhaust gas, facilitating an increase in the exhaust gas flow and a decrease in the exhaust gas temperature.
The EGR valve acts as a throttle, controlling the flow of exhaust gas into the cylinder.
An EGR temperature sensor is used to detect the temperature of exhaust gas entering the EGR valve.
The EGR differential pressure sensor is used to detect a difference in exhaust gas pressure between both sides of EGR.
When the engine enters an EGR rate closed-loop control activation state, the EGR rate control adopts PID control.
Fig. 2 is a flowchart illustrating a closed-loop control method of the EGR rate according to the present embodiment.
As shown in fig. 2, the method includes:
s100, according to EGR system time constant r EGR And a filter time constant lambda, determining a parameter k in the PID controller p 、k D And k I 。
Wherein the EGR system time constant r EGR Reflecting the time for the exhaust gas to enter the cylinder from the EGR valve via the throttle. The filter time constant λ is a fixed value, which is determined in accordance with the throttle state and the boost control state of the hybrid method.
Wherein the content of the first and second substances,
Figure BDA0003867237430000071
Figure BDA0003867237430000072
Figure BDA0003867237430000081
further, the EGR system time constant r EGR Is based on the engine speed n Eng Fresh air intake density rho Air Throttle back air pressure p MAP Throttle valve forward air pressure p prethr EGR valve inlet exhaust gas pressure p EGRValveIn EGR valve outlet exhaust gas pressure p EGRValveOut Supercharger compressor outlet gas pressure p BoostOutLet Inlet gas pressure p of supercharger compressor BoostInLet And (4) looking up a table and calculating and determining.
In the present embodiment, the EGR system time constant r EGR Calculated according to the following formula.
Figure BDA0003867237430000082
f(n Eng ,rho Air ) As determined by table look-up 1.
Figure BDA0003867237430000083
TABLE 1
Figure BDA0003867237430000084
As determined by look-up table 2.
Figure BDA0003867237430000091
TABLE 2
Figure BDA0003867237430000092
As determined by table 3.
Figure BDA0003867237430000093
TABLE 3
Figure BDA0003867237430000094
As determined by table 4.
Figure BDA0003867237430000095
TABLE 4
The filter time constant lambda is dependent on a first function f (dr) EGRAct ,r EGRError ) And a first parameter k.
In particular, the first function f (dr) EGRAct ,r EGRError ) And determining according to the throttling state and the pressurization control state of the mixing valve.
In this example, in the mixingWhen the valve is in an un-throttling state (at the moment, the mixing valve is fully opened, the mixing valve has no throttling loss, and the pressure difference between two sides of the EGR valve does not need to be adjusted through the mixing valve), the supercharging control state is in an un-closed loop state, and the filtering time constant is lambda = f 1 (dr EGRAct ,r EGRError )×k。
When the mixing valve is in a non-throttling state (at the moment, the mixing valve is fully opened, the mixing valve has no throttling loss, and the pressure difference between two sides of the EGR valve does not need to be adjusted through the mixing valve), the supercharging control state is in a closed loop state, and the filtering time constant is lambda = f 2 (dr EGRAct ,r EGRError )×k。
When the mixing valve is in a throttling state (when the mixing valve is not fully opened, the mixing valve has throttling loss, and the pressure difference between two sides of the EGR valve is required to be adjusted through the mixing valve to achieve the EGR rate), the supercharging control state is in a non-closed loop state, and the filter time constant lambda = f 3 (dr EGRAct ,r EGRError )×k。
When the mixing valve is in a throttling state (at the moment, the mixing valve is not fully opened, the mixing valve has throttling loss, and the pressure difference between two sides of the EGR valve is required to be adjusted through the mixing valve to achieve the EGR rate), the supercharging control state is in a closed loop state, and the filtering time constant lambda = f 4 (dr EGRAct ,r EGRError )×k。
In addition, f is 1 (dr EGRAct ,r EGRError )、f 2 (dr EGRAct ,r EGRError )、f 3 (dr EGRAct ,r EGRError ) And f 4 (dr EGRAct ,r EGRError ) Are all derived from the rate of change dr of the actual EGR rate EGRAct A difference r between the target EGR rate and the actual EGR rate EGRError And (6) determining.
Rate of change dr of actual EGR rate EGRAct Larger absolute value of (D) or difference r between target EGR rate and actual EGR rate EGRError The larger the absolute value of (a), the smaller the parameters for regulating the P, I and D terms, f 1 (dr EGRAct ,r EGRError )、f 2 (dr EGRAct ,r EGRError )、f 3 (dr EGRAct ,r EGRError ) And f 4 (dr EGRAct ,r EGRError ) The larger each to avoid overshoot of the control.
And, overall, the same rate dr of change of the actual EGR rate EGRAc t and the difference r between the target EGR rate and the actual EGR rate EGRError Lower, f 1 (dr EGRAct ,r EGRError )、f 2 (dr EGRAct ,r EGRError )、f 3 (dr EGRAct ,r EGRError ) And f 4 (dr EGRAct ,r EGRError ) Has the following relationship:
f 1 (dr EGRAct ,r EGRError )≥f 2 (dr EGRAct ,r EGRError )≥f 3 (dr EGRAct ,r EGRError )≥f 4 (dr EGRAct ,r EGRError )。
further, the first parameter k is a ratio of an EGR valve outlet exhaust gas pressure to an EGR valve inlet exhaust gas pressure, based on an EGR valve inlet temperature, whether knocking occurs, whether pre-ignition occurs, or not
Figure BDA0003867237430000111
And (6) determining.
Specifically, the first sub-parameter k is determined according to the EGR valve inlet temperature 1 (ii) a Determining a second sub-parameter k based on the knock timing and the pre-ignition timing 2 (ii) a Determining a third sub-parameter k according to the magnitude of the exhaust gas pressure ratio of the outlet and the inlet of the EGR valve and the preset ratio 3 (ii) a The first sub-parameter k 1 A second sub-parameter k 2 And a third sub-parameter k 3 As the first parameter k.
Wherein the higher the EGR valve inlet temperature, the first sub-parameter k 1 The larger.
In this embodiment, the second sub-parameter k 2 The discussion is divided into three cases.
In the first case, the time T1 after the occurrence of knocking (50 ms in the example) and the time T2 after the occurrence of pre-ignition (80ms in the example, T2 is not less than T1), the occurrence of pre-ignition can aggravate the damage of the engine and the deterioration of combustion stability, the time constant of EGR rate control is increased when the pre-ignition occurs, and the phenomenon that the combustion occurs due to the excessively fast regulation and control of the EGR rate is avoidedFurther deterioration of the firing stability) occurs, the second sub-parameter k 2 A number greater than 1 is used, and 1.12 is used in this example.
In the second case, the second sub-parameter k is set such that the time period T1 after occurrence of knocking does not overlap with the time period T2 after occurrence of pre-ignition 2 A number greater than 1 was used, and 1.03 was used in this example.
In the third case, when the time T2 after the occurrence of the early combustion does not overlap but the knocking does not occur or the time T1 after the occurrence of the knocking does not overlap 2 A number greater than 1 is used, and 1.10 is used in this example.
It should be noted that the second sub-parameter k determined in the first case 2 A second sub-parameter k determined in a second case and a third case 2 。
The third sub-parameter k3 is based on the ratio of the EGR valve outlet exhaust gas pressure to the EGR valve inlet exhaust gas pressure
Figure BDA0003867237430000112
And comparing the size of the signal with a preset value, and determining according to the size of the signal and the preset value. In the present embodiment, if the former is larger than the latter, the third subparameter k3 is set to 1.04, otherwise, to 1.
To this end, the parameter k p 、k D And k I Can be determined.
Step S200 is carried out after step S100 according to the parameter k p 、k D And k I Determining p items of EGR valve target opening degree Pct p D-term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I 。
The step S200 includes:
s201, according to the parameter k p A difference r between the target EGR rate and the actual EGR rate EGRError Determining p-term EGR valve target opening degree Pct p 。
S202, according to the parameter k D Target EGR Rate Dr EGRSetpoint Actual EGR Rate of Change dr EGRAct A difference r between the target EGR rate and the actual EGR rate EGRError Determining D term EGR valve targetOpening degree Pct D 。
S203, EGR valve target opening degree Pct according to the initial I item IInitial And the I term accumulating term Pct IIncredent Determining I term EGR valve target opening degree Pct I 。
Specifically, in step S201, the p-term EGR valve target opening degree is determined by:
Pct p ＝k p ×r EGRError ×f 5 (r EGRError ) Wherein f is 5 (r EGRError ) From r EGRError And (4) determining. Note that f is not combined 5 (r EGRError ) And r EGRError The method aims to reduce the calibration difficulty of the integral function and further reduce the calibration workload.
In step S202, the D-term EGR valve target opening degree is determined by:
Pct D ＝k D ×f 6 [(dr EGRSetpoint -dr EGRAct ),r EGRError ]×(dr EGRSetpoint -dr EGRAct ) Wherein f is 6 [(dr EGRSetpoint -dr EGRAct ),r EGRError ]From dr EGRSetpoint -dr EGRAct The value of (2) is determined. Note that f is not combined 6 [(dr EGRSetpoint -dr EGRAct ) And dr EGRSetpoint -dr EGRAct The method aims to reduce the calibration difficulty of the integral function and further reduce the calibration workload.
In step S203, the initial I term EGR valve target opening degree Pct IInitial Determined upon activation of the EGR rate closed loop.
Specifically, the initial I-term EGR valve target opening degree Pct IInitial For a fixed value, the determination is made upon activation of the EGR rate closed loop:
Figure BDA0003867237430000131
wherein C is a fixed value, in this embodiment, C is 1%, and k is 4 1 is taken.
I term accumulation term Pct IIncredent By adding each time I termTime period deltat, second sub-parameter k 2 Target idle speed and actual rotational speed difference r EGRError Inverse integral saturation target opening degree Pct Antiwindup And (4) determining.
Specifically, the I term adds up the term Pct IIncredent Determined by the following equation:
Pct IIncredent ＝Δt×r EGRError ×k 1 ×f 7 (r EGRError )-Pct Antiwindup ，f 7 (r EGRError ) Is r of EGRError Is measured as a function of (c).
Inverse integral saturation target opening degree Pct Antiwindup The target opening Pct of the EGR valve is calculated according to the p terms of the previous period p D term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I Sum (Pct) p +Pct D +Pct I ) And the difference from the target opening degree of the EGR valve in the previous period.
Further, the I term EGR valve target opening degree Pct for the time period of the (n + 1) th calculation I (n+1)＝Pct I (n)+M IIncredent Wherein the term I of the first time period is the EGR valve target opening degree Pct I (0)＝Pct IInitial And when the EGR rate closed-loop control is just activated, n is cleared and is added by 1 according to the time period interval every time.
After step S200, step S300 is performed to obtain the target EGR valve opening degree Pct according to the p terms p D term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I The target opening degree of the EGR valve is determined.
Specifically, the EGR valve target opening degree is p-term EGR valve target opening degree Pct p D-term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I And (4) summing.
To this end, the final target opening degree of the EGR valve is determined and limited within the minimum value and the maximum value, where the minimum value is set to 0 (0 means full-closed EGR valve) and the maximum value is set to 100 (100 means full-open EGR valve).
All the calibration parameter calibration references are realized by ensuring that the EGR rate error is controlled within +/-1%.
The above completes the entire description of the control method of the EGR rate closed loop.
The closed-loop control method for the EGR rate provided by the embodiment has the advantages that the number of objects needing to be calibrated is small, the working intensity is greatly reduced, the processing deviation in an engine EGR system, the interference of aging, oil products, knocking and pre-ignition factors in the actual use process are considered, the target opening degrees of the P-term EGR valve, the target opening degrees of the D-term EGR valve and the I-term EGR valve can be automatically adjusted, the calibration workload is small, and meanwhile, the fluctuation error of the engine EGR rate is ensured to be small.
The present embodiment further provides a closed-loop control device of an EGR rate, fig. 3 is a schematic structural diagram of the closed-loop control device of the EGR rate in the present embodiment, and as shown in fig. 3, the closed-loop control device of the EGR rate includes a first module, a second module and a third module.
Wherein the first module is configured to determine the EGR system time constant r EGR And a filter time constant lambda, determining a parameter k in the PID controller p 、k D And k I 。
A second module for determining a parameter k based on said parameter k p 、k D And k I Determining p items of EGR valve target opening degree Pct p D term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I 。
The third module is used for controlling the EGR valve according to the p items of EGR valve target opening degree Pct p D-term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I The target opening degree of the EGR valve is determined.
Wherein k is p 、k D And k I Determined according to the following formulas, respectively:
Figure BDA0003867237430000141
Figure BDA0003867237430000142
Figure BDA0003867237430000143
the first module is further to: according to engine speed n Eng Fresh air intake density rho Air Throttle rear intake pressure p MAP Throttle front air pressure p prethr EGR valve inlet exhaust gas pressure p EGRValveI n, EGR valve outlet exhaust gas pressure p EGRValveOut And the outlet gas pressure p of the supercharger compressor BoostOutLet Inlet gas pressure p of supercharger compressor BoostInLet Looking up the table, calculating and determining the time constant r of the EGR system EGR 。
The first module is further configured to: according to the change rate dr of the throttle state, the supercharging control state and the actual EGR rate of the mixing valve EGRAct A difference r between the target EGR rate and the actual EGR rate EGRError Determining a first function f (dr) EGRAct ,r EGRError )；
Determining a first parameter k according to the EGR valve inlet temperature, whether knocking occurs or not, whether pre-ignition occurs or not and the EGR valve outlet-to-inlet exhaust gas pressure ratio;
according to said first function f (dr) EGRAct ,r EGRError ) And a first parameter k, determining the filter time constant λ.
Wherein the step of determining the first parameter k based on the EGR valve inlet temperature, whether knock occurred, whether pre-ignition occurred, and the EGR valve outlet to inlet exhaust gas pressure ratio comprises:
determining a first sub-parameter k based on an EGR valve inlet temperature 1 ；
Determining a second sub-parameter k based on the knock timing and the pre-ignition timing 2 ；
Determining a third sub-parameter k according to the magnitude of the exhaust gas pressure ratio of the outlet and the inlet of the EGR valve and the preset ratio 3 ；
The first sub-parameter k 1 A second sub-parameter k 2 And a third sub-parameter k 3 As the first parameter k.
Wherein the second sub-parameter k is determined according to the knock timing and the pre-ignition timing 2 Comprises the following steps:
if at knockingOverlapping the first time period T1 after the occurrence and the second time period T2 of the pre-ignition occurrence, and determining the second sub-parameter k 2 Wherein the first duration T1 is less than or equal to the second duration T2, or
If the time of the first time period T1 after the occurrence of the knocking and the time of the second time period T2 of the pre-ignition do not overlap or the pre-ignition does not occur, determining the second sub-parameter k 2 (ii) a Or
The second sub-parameter k is determined in such a way that no overlap occurs or no knocking occurs in the second time period T2 after the occurrence of early combustion and the first time period T1 during which knocking occurs 2 。
Wherein p-term EGR valve target opening degree Pct is determined p D-term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I Comprises the following steps:
according to the parameter k p A difference r between the target EGR rate and the actual EGR rate EGRError Determining the p-term EGR valve target opening degree Pct p ；
According to the parameter k D Target EGR Rate Dr EGRSetpoint Actual EGR Rate of Change dr EGRAct A difference r between the target EGR rate and the actual EGR rate EGRError Determining the D-term EGR valve target opening degree Pct D ；
According to the initial I term EGR valve target opening degree Pct IInitial And the I term accumulating term Pct IIncredent Determining the I term EGR valve target opening degree Pct I Wherein the initial I term EGR valve target opening degree Pct IInitial The I term accumulation term Pct is determined when the closed loop of the EGR rate is just activated IIncredent Accumulating the time period delta t and the second sub-parameter k by I terms at each time 2 Target idle speed and actual rotational speed difference r EGRError Inverse integral saturation target opening degree Pct Antiwindup And (4) determining.
It should be noted that the closed-loop control device for the EGR rate provided by the present embodiment may be a computer program (including program code) running in a computer device, for example, the closed-loop control device for the EGR rate is an application software; the closed-loop control device of the EGR rate can be used for executing corresponding steps in the method provided by the embodiment of the application.
In some possible embodiments, the closed-loop control Device of the EGR rate provided in this embodiment may be implemented by combining hardware and software, and by way of example, the closed-loop control Device of the EGR rate provided in this embodiment may be a processor in the form of a hardware decoding processor, which is programmed to execute the closed-loop control method of the EGR rate provided in this embodiment, for example, the processor in the form of the hardware decoding processor may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), programmable Logic Devices (PLDs), complex Programmable Logic Devices (CPLDs), field Programmable Gate Arrays (FPGAs), or other electronic components.
In some possible embodiments, the closed-loop control device for the EGR rate provided by the embodiment may be implemented in software, which may be software in the form of programs, plug-ins, and the like, and includes a series of modules, such as a first module, a second module, and a third module, to implement the closed-loop control method for the EGR rate provided by the embodiment of the invention.
The closed-loop control device for the EGR rate provided by the embodiment has the advantages that the number of objects needing to be calibrated is small, the working intensity is greatly reduced, the interference of factors such as processing deviation, aging in the actual use process, oil products, knocking and pre-ignition in an engine EGR system is considered, the target opening degree of the EGR valve in the p terms, the target opening degree of the EGR valve in the D terms and the target opening degree of the EGR valve in the I term can be automatically adjusted, the calibration workload is small, and meanwhile, the fluctuation error of the EGR rate of the engine is ensured to be small.
An embodiment of the present application further provides an electronic device, fig. 4 is a schematic structural diagram of the electronic device of the present embodiment, and as shown in fig. 4, the electronic device 1000 in the present embodiment may include: the processor 1001, the network interface 1004, and the memory 1005, and the electronic device 1000 may further include: a user interface 1003, and at least one communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display) and a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a standard wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1004 may be a high-speed RAM memory or a non-volatile memory (e.g., at least one disk memory). The memory 1005 may alternatively be at least one memory device located remotely from the processor 1001. As shown in fig. 4, a memory 1005, which is a kind of computer-readable storage medium, may include therein an operating system, a network communication module, a user interface module, and a device control application program.
In the electronic sub-device 1000 shown in fig. 4, the network interface 1004 may provide network communication functions; the user interface 1003 is an interface for providing a user with input; and the processor 1001 may be used to invoke a device control application stored in the memory 1005 to implement:
according to EGR system time constant r EGR And a filter time constant lambda, determining a parameter k in the PID controller p 、k D And k I ；
According to the parameter k p 、k D And k I Determining p items of EGR valve target opening degree Pct p D-term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I ；
According to the p-term EGR valve target opening degree Pct p D term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I The target opening degree of the EGR valve is determined.
In some possible embodiments, the parameter k p 、k D And k I Determined according to the following equations, respectively:
Figure BDA0003867237430000181
Figure BDA0003867237430000182
Figure BDA0003867237430000183
in some possible embodiments, the processor 1001 is configured to:
according to engine speed n Eng Fresh air intake density rho Air Throttle back air pressure p MAP Throttle front air pressure p prethr EGR valve inlet exhaust gas pressure p EGRValveI n, EGR valve outlet exhaust gas pressure p EGRValveOut And the outlet gas pressure p of the supercharger compressor BoostOutLet Inlet gas pressure p of supercharger compressor BoostInLet Looking up the table, calculating and determining the time constant r of the EGR system EGR 。
In some possible embodiments, the processor 1001 is configured to:
rate of change dr according to throttle state, boost control state, actual EGR rate of mixing valve EGRAct A difference r between the target EGR rate and the actual EGR rate EGRError Determining a first function f (dr) EGRAct ,r EGRError )；
Determining a first parameter k according to the EGR valve inlet temperature, whether knocking occurs or not, whether pre-ignition occurs or not and the EGR valve outlet-to-inlet exhaust gas pressure ratio;
according to the first function f (dr) EGRAct ,r EGRError ) And a first parameter k determining the filter time constant λ.
In some possible embodiments, the processor 1001 is configured to:
determining a first sub-parameter k based on an EGR valve inlet temperature 1 ；
Determining a second sub-parameter k based on the knock timing and the pre-ignition timing 2 ；
Determining a third sub-parameter k according to the magnitude of the exhaust gas pressure ratio of the outlet and the inlet of the EGR valve and the preset ratio 3 ；
Dividing the first sub-parameter k 1 A second sub-parameter k 2 And a third sub-parameter k 3 As the first parameter k.
In some possible embodiments, the processor 1001 is configured to:
determining said second sub-parameter k if an overlap occurs during a first period T1 after occurrence of knock and during a second period T2 during which pre-ignition occurs 2 Wherein the first duration T1 is less than or equal to the second duration T2, or
If the time of the first time period T1 after the occurrence of the knocking and the time of the second time period T2 of the pre-ignition do not overlap or the pre-ignition does not occur, determining the second sub-parameter k 2 (ii) a Or
The second sub-parameter k is determined in such a way that no overlap occurs or no knocking occurs in the second time period T2 after the occurrence of early combustion and the first time period T1 during which knocking occurs 2 。
In some possible embodiments, the processor 1001 is configured to:
according to the parameter k p A difference r between the target EGR rate and the actual EGR rate EGRError Determining the p-term EGR valve target opening degree Pct p ；
According to the parameter k D Target EGR Rate Dr EGRSetpoint Actual EGR Rate dr EGRAct A difference r between the target EGR rate and the actual EGR rate EGRError Determining the D term EGR valve target opening degree Pct D ；
According to the initial I item EGR valve target opening degree Pct IInitial And the I term additive term Pct IIncredent Determining the I term EGR valve target opening degree Pct I Wherein the initial I term EGR valve target opening degree Pct IInitial The I term accumulation term Pct is determined when the closed loop of the EGR rate is just activated IIncredent Accumulating the time period delta t and the second sub-parameter k by each I item 2 Target idle speed and actual rotational speed difference r EGRError Inverse integral saturation target opening degree Pct Antiwindup And (4) determining.
It should be understood that in some possible embodiments, the processor 1001 may be a Central Processing Unit (CPU), and the processor may be other general-purpose processors, DSPs, ASICs, FPGAs, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The memory may include both read-only memory and random access memory, and provides instructions and data to the processor. The portion of memory may also include non-volatile random access memory. For example, the memory may also store device type information.
In a specific implementation, the electronic device 1000 may execute the implementation manners provided in the steps in fig. 2 through the built-in functional modules, which may specifically refer to the implementation manners provided in the steps, and are not described herein again.
An embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and is executed by a processor to implement the method provided in each step in fig. 2, which may specifically refer to the implementation manner provided in each step, and is not described herein again.
The computer readable storage medium may be an internal storage unit, such as a hard disk or a memory of an electronic device, of the EGR rate closed-loop control method provided in any of the foregoing embodiments. The computer readable storage medium may also be an external storage device of the electronic device, such as a plug-in hard disk, a Smart Memory Card (SMC), a Secure Digital (SD) card, a flash card (flash card), and the like, which are provided on the electronic device. The computer readable storage medium may further include a magnetic disk, an optical disk, a read-only memory (ROM), a Random Access Memory (RAM), and the like. Further, the computer readable storage medium may also include both an internal storage unit and an external storage device of the electronic device. The computer-readable storage medium is used for storing the computer program and other programs and data required by the electronic device. The computer readable storage medium may also be used to temporarily store data that has been output or is to be output.
Embodiments of the present application provide a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided by the steps of fig. 2.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless otherwise indicated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.

Claims (10)

1. A closed-loop control method of an EGR rate, characterized by being controlled by a PID controller, said control method comprising the steps of:
according to EGR system time constant r EGR And a filter time constant lambda, determining a parameter k in the PID controller p 、k D And k I ；
According to the parameter k p 、k D And k I Determining p items of EGR valve target opening degree Pct p D term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I ；
According to the p items of EGR valveStandard opening degree Pct p D-term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I The target opening degree of the EGR valve is determined.
2. Closed-loop control method of the EGR rate according to claim 1, characterized in that the parameter k p 、k D And k I Determined according to the following equations, respectively:
Figure FDA0003867237420000011
Figure FDA0003867237420000012
Figure FDA0003867237420000013
3. closed-loop control method of EGR rate according to claim 2, characterized in that said EGR system-dependent time constant r EGR And a filter time constant lambda, determining a parameter k in the PID controller p 、k D And k I Comprises the following steps:
according to engine speed n Eng Fresh air intake density rho Air Throttle back air pressure p MAP Throttle valve forward air pressure p prethr EGR valve inlet exhaust gas pressure p EGRValveI n, EGR valve outlet exhaust gas pressure p EGRValveOut Supercharger compressor outlet gas pressure p BoostOutLet Inlet gas pressure p of supercharger compressor BoostInLet Looking up a table and calculating to determine the EGR system time constant r EGR 。
4. Closed-loop control method of EGR rate according to claim 2, characterized in that said EGR system-dependent time constant r EGR And a filter time constant, determining a parameter k in the PID controller p 、k D And k I Further comprising the steps of:
according to the change rate dr of the throttle state, the supercharging control state and the actual EGR rate of the mixing valve EGRAct A difference r between the target EGR rate and the actual EGR rate EGRError Determining a first function f (dr) EGRAct ,r EGRError )；
Determining a first parameter k according to the EGR valve inlet temperature, whether knocking occurs or not, whether pre-ignition occurs or not and the EGR valve outlet-to-inlet exhaust gas pressure ratio;
according to said first function f (dr) EGRAct ,r EGRError ) And a first parameter k determining the filter time constant λ.
5. The closed-loop control method of EGR rate of claim 4 wherein the step of determining the first parameter k based on EGR valve inlet temperature, whether knock occurs, whether pre-ignition occurs, and EGR valve outlet to inlet exhaust gas pressure ratio comprises:
determining a first sub-parameter k based on an EGR valve inlet temperature 1 ；
Determining a second sub-parameter k based on the knock timing and the pre-ignition timing 2 ；
Determining a third sub-parameter k according to the magnitude of the exhaust gas pressure ratio of the outlet and the inlet of the EGR valve and the preset ratio 3 ；
Dividing the first sub-parameter k 1 A second sub-parameter k 2 And a third sub-parameter k 3 As the first parameter k.
6. Closed-loop control method of the EGR rate according to claim 5, characterized in that the second sub-parameter k is determined based on knock timing and pre-ignition timing 2 Comprises the following steps:
determining said second sub-parameter k if an overlap occurs during a first period T1 after occurrence of knock and during a second period T2 during which pre-ignition occurs 2 Wherein the first duration T1 is less than or equal to the second duration T2, or
If the time of the first time period T1 after the occurrence of the knocking and the time of the second time period T2 of the pre-ignition do not overlap or the pre-ignition does not occur, determining the second sub-parameter k 2 (ii) a Or
The second sub-parameter k is determined when the second time length T2 after the occurrence of early combustion does not overlap with the first time length T1 during which knocking occurs or knocking does not occur 2 。
7. Closed-loop control method of EGR rate according to claim 6, characterized in that the determining p terms EGR valve target opening degree Pct p D-term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I Comprises the following steps:
according to the parameter k p A difference r between the target EGR rate and the actual EGR rate EGRError Determining the p-term EGR valve target opening degree Pct p ；
According to the parameter k D Target EGR Rate Dr EGRSetpoint Actual EGR Rate dr EGRAct A difference r between the target EGR rate and the actual EGR rate EGRError Determining the D term EGR valve target opening degree Pct D ；
According to the initial I item EGR valve target opening degree Pct IInitial And the I term accumulating term Pct IIncredent Determining the I term EGR valve target opening degree Pct I Wherein the initial I term EGR valve target opening degree Pct IInitial The I term accumulation term Pct is determined when the closed loop of the EGR rate is just activated IIncredent Accumulating the time period delta t and the second sub-parameter k by I terms at each time 2 Target idle speed and actual rotational speed difference r EGRError Inverse integral saturation target opening degree Pct Antiwindup And (5) determining.
8. A closed-loop control apparatus of an EGR rate, characterized by comprising:
a first module for determining an EGR system time constant r EGR And a filter time constant lambda, determining a parameter k in the PID controller p 、k D And k I ；
Second module for rootAccording to the parameter k p 、k D And k I Determining p items of EGR valve target opening degree Pct p D term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I ；
A third module for calculating a target opening Pct of the EGR valve according to the p terms p D term EGR valve target opening degree Pct D And the I term EGR valve target opening degree Pct I The target opening degree of the EGR valve is determined.
9. An electronic device comprising a processor and a memory, the processor and the memory being interconnected;
the memory is used for storing a computer program;
the processor is configured to perform the method of any of claims 1 to 7 when the computer program is invoked.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program which is executed by a processor to implement the method of any one of claims 1 to 7.
CN202211185107.9A 2022-09-27 2022-09-27 Closed-loop control method, device and equipment of EGR rate and storage medium Pending CN115559821A (en)

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