CN205297753U - Engine speed management system based on parallel two PID - Google Patents
Engine speed management system based on parallel two PID Download PDFInfo
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- CN205297753U CN205297753U CN201521106756.0U CN201521106756U CN205297753U CN 205297753 U CN205297753 U CN 205297753U CN 201521106756 U CN201521106756 U CN 201521106756U CN 205297753 U CN205297753 U CN 205297753U
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Abstract
The utility model provides an engine speed management system based on parallel two PID, including the speed setpoint calculator, the PID control parameter calculator, two PID controllers, two PID controllers include the upper limit PI controller of concurrent operation, lower limit PI controller and derivative controller, the speed setpoint calculator is asked with height idle speed, external equipment's rotational speed request is as the input value, output bound speed setpoint, the PID control parameter calculator uses the bound speed setpoint as the input value, output bound PI population of parameters, upper limit PI controller is regarded as respectively with bound PI population of parameters to the bound speed setpoint, the input value of lower limit PI controller, the value of output bound PI control, the demand moment of torsion of the value of derivative controller output PID control as total output interference engine is passed through to the value of bound PI control. This designs not only easy operation, can unify and manage effectively the engine speed moreover.
Description
Technical field
This utility model relates to the engine speed management system in a kind of high pressure common rail electric-controlled diesel engine, particularly relates to a kind of engine speed management system based on parallel double; two PID, is primarily adapted for use in and engine speed is unified and effectively manages.
Background technology
Engine speed is the very important characteristic variable characterizing engine operation condition, will engine speed be controlled under many operating modes, and most typical operating mode is exactly idle speed control. Before extensive automatically controlledization of diesel engine, machinery diesel engine generally all uses speed regulator that rotating speed is regulated and controled, and after state three code enforcement, Electrocontrolled high-pressure common rail has become the mainstream technology of diesel engine, and rotating speed controls also to be managed by electronic controller (EECU).
Control of engine speed in general sense refers to the control of height idling, along with popularizing of electric-control motor, is remotely controlled engine speed by CAN and is possibly realized. Now engine speed is had the source of request, following three classes can be classified as: the request of engine speed working range, including height idling; External equipment rotating speed from CAN asks to access, including change speed gear box, ABS, entire car controller, propulsion box and retarder; Speed variable is asked, and the propulsion box rotating speed including non-bus form is asked, and can pass through the switch-mode regulation rotating speed at steering wheel place. Following problem can be brought in numerous rotating speed request sources: when there is multiple rotating speeds request source, how rotating speed of target sets, controls how parameter selects; How source is asked to be switched to another kind of request source from one fast and effectively.
Pid algorithm can be used to control the rotating speed of diesel engine. Traditional PID can only for the less situation of working conditions change scope, and the range of operation operating mode of diesel engine (including rotating speed and moment of torsion) is relatively wide in range, it is thus desirable to propose new method to meet the complicated ruuning situation of diesel engine speed, it addition, engine speed can not be unified and effectively manage by traditional independent pid algorithm.
Chinese patent application publication No. is CN103742278A, engine revolution speed control system during a kind of gear that has been the disclosure of the invention on April 23rd, 2014 switching of Shen Qing Publication day, it is made up of TMS and EMS, EMS includes base torque module, pid control module and microprocessor, TMS carries out gear switching, send rotating speed to engine management system and control request signal, car load load resistance square, response time and engine target rotating speed, when rotating speed control request signal is effective, base torque module is by engine resistance torque, car load load resistance square and rotary inertia moment are added and export as basic moment of torsion, pid control module is using engine speed deviation and electromotor actual torque as input, obtain revising moment of torsion output, microprocessor calculates according to engine speed deviation and obtains rotary inertia moment, also the output of basic moment of torsion and correction moment of torsion output are added, obtain the output of electromotor actual torque and actual engine speed output. although this invention has the advantages such as the on-demand output of moment of torsion, rotating speed response is accurate, PID control is fine, but it yet suffers from following defect: when this invention can only switch for gear, the rotating speed of electromotor is controlled, and various rotating speed is asked, engine speed can not be unified and effectively manage by such design.
Summary of the invention
The purpose of this utility model is to overcome defect engine speed can not unified and effectively manage and problem that exist in prior art, it is provided that a kind of engine speed management system based on parallel double; two PID engine speed can unified and effectively manage.
For realizing object above, technical solution of the present utility model is: a kind of engine speed management system based on parallel double; two PID, described engine speed management system includes speed setpoint computer, pid control parameter computer, double; two PID controller, double; two PID controller include PI controller, derivative controller, and described PI controller includes the upper limit PI controller of concurrent operation, lower limit PI controller.
The outfan of described speed setpoint computer respectively with the input of pid control parameter computer, the input of upper limit PI controller, lower limit PI controller input end signal be connected, the outfan of described pid control parameter computer is connected with the input end signal of the input of upper limit PI controller, lower limit PI controller respectively, the described outfan of upper limit PI controller is connected with the input end signal of derivative controller, and the outfan of described lower limit PI controller is connected with the input end signal of derivative controller.
The input value of described speed setpoint computer is the rotating speed request of height idling speed request, external equipment, and the output valve of speed setpoint computer is upper limit speed setpoint, lower limit speed setpoint.
The input value of described pid control parameter computer is upper limit speed setpoint, lower limit speed setpoint, and the output valve of pid control parameter computer is upper limit PI parameter group, lower limit PI parameter group.
The input value of described upper limit PI controller is upper limit speed setpoint, upper limit PI parameter group, the output valve of upper limit PI controller is the upper limit PI value controlled, the input value of described lower limit PI controller is lower limit speed setpoint, lower limit PI parameter group, and the output valve of lower limit PI controller is the lower limit PI value controlled.
The input value of described derivative controller is the value of the value of upper limit PI control, lower limit PI control, and the output valve of derivative controller is the PID value controlled, and the value that PID controls is as the demand torque of total output interference electromotor.
Compared with prior art, the beneficial effects of the utility model are:
1, owing to a kind of engine speed management system based on parallel double, two PID of this utility model first passing through speed setpoint computer, height idling speed is asked, the request sources such as external equipment rotating speed request carry out bound speed setting to obtain bound speed setpoint, further according to bound speed setpoint and actual engine speed, by pid control parameter computer to obtain bound PI parameter group, then bound PID control is carried out according to bound speed setpoint and bound PI parameter group, obtain total output and interfere the demand torque of electromotor, engine speed is controlled with this demand torque, such design is not only simple to operate, and take into account various rotating speed request source, engine speed is limited between the set point of upper and lower two PID controller, avoid the frequent switching of rotating speed of target and relevant parameter during height idling difference operating mode, and various rotating speed please be sought unification on an algorithm, take into account various rotating speed access stencil, engine speed can be unified and effectively manage. therefore, this utility model is not only simple to operate, and engine speed can be unified and effectively manage.
2, speed setpoint computer, pid control parameter computer, double; two PID controller are included owing to this utility model is a kind of based on engine speed management system in the engine speed management system of parallel double; two PID, double; two PID controller include upper limit PI controller, lower limit PI controller, derivative controller, engine speed can not only be unified and effectively manage by such design, and simple in construction. Therefore, engine speed can not only be unified and effectively manage by this utility model, and simple in construction.
Accompanying drawing explanation
Fig. 1 is the structural representation of engine speed management system in this utility model.
Fig. 2 is the schematic flow sheet that in this utility model, high idle speed set point obtains.
Fig. 3 is the schematic flow sheet that in this utility model, low idling set point obtains.
Fig. 4 is the schematic flow sheet that this utility model peripheral rotating speed controls request (controlling without moment of torsion) speed setpoint bound output.
Fig. 5 is the schematic flow sheet that this utility model peripheral rotating speed controls request (having torque limit) speed setpoint bound output.
Fig. 6 is the schematic flow sheet of this utility model peripheral rotating speed limit request speed setpoint bound output.
Fig. 7 is the schematic flow sheet controlling the Windowing process of parameter input value in this utility model.
Fig. 8 is the schematic flow sheet controlling parameter input value correction in this utility model.
Fig. 9 is the structural representation of double; two PID controller in this utility model.
Figure 10 is the operation schematic diagram of first differential controller in this utility model.
Detailed description of the invention
Illustrate with detailed description of the invention, this utility model to be described in further detail below in conjunction with accompanying drawing.
Referring to Fig. 1 to Figure 10, a kind of engine speed management system based on parallel double; two PID, described engine speed management system includes speed setpoint computer, pid control parameter computer, double; two PID controller, double; two PID controller include PI controller, derivative controller, and described PI controller includes the upper limit PI controller of concurrent operation, lower limit PI controller.
The outfan of described speed setpoint computer respectively with the input of pid control parameter computer, the input of upper limit PI controller, lower limit PI controller input end signal be connected, the outfan of described pid control parameter computer is connected with the input end signal of the input of upper limit PI controller, lower limit PI controller respectively, the described outfan of upper limit PI controller is connected with the input end signal of derivative controller, and the outfan of described lower limit PI controller is connected with the input end signal of derivative controller.
The input value of described speed setpoint computer is the rotating speed request of height idling speed request, external equipment, and the output valve of speed setpoint computer is upper limit speed setpoint, lower limit speed setpoint.
The input value of described pid control parameter computer is upper limit speed setpoint, lower limit speed setpoint, and the output valve of pid control parameter computer is upper limit PI parameter group, lower limit PI parameter group.
The input value of described upper limit PI controller is upper limit speed setpoint, upper limit PI parameter group, the output valve of upper limit PI controller is the upper limit PI value controlled, the input value of described lower limit PI controller is lower limit speed setpoint, lower limit PI parameter group, and the output valve of lower limit PI controller is the lower limit PI value controlled.
The input value of described derivative controller is the value of the value of upper limit PI control, lower limit PI control, and the output valve of derivative controller is the PID value controlled, and the value that PID controls is as the demand torque of total output interference electromotor.
Principle of the present utility model illustrates as follows:
1, referring to Fig. 1 to Figure 10, the control method of a kind of engine management system based on parallel double; two PID, described control method comprises the following steps:
A, bound speed setpoint obtain:
A, high idle speed set point obtain: first using current gear speed ratio and speed ratio judgment threshold as input value, compare current gear speed ratio and speed ratio judgment threshold again to judge that gear is in high-grade district or low-grade district, then gear district residing for gear obtains gear high idle speed set point, now, gear high idle speed set point is high idle speed set point; When the engine is started, gear high idle speed set point is taken with minima in high idle speed set point when starting as high idle speed set point; When robbing in grade situation, take gear high idle speed set point with maximum in high idle speed set point when robbing grade as high idle speed set point; When multistate switch is in different conditions, take gear high idle speed set point with minima in multistate switch State set point as high idle speed set point;
B, low idling set point obtains: first obtain the minimum speed of cell voltage demand respectively, the minimum speed of throttle component demand, the minimum speed of air supply rate demand, the minimum speed of current gear demand, the low idling set point of warming-up operating mode, the idling setting value that multipole switch is corresponding, again by the minimum speed of the cell voltage demand of acquisition, the minimum speed of throttle component demand, the minimum speed of air supply rate demand, the minimum speed of current gear demand, the low idling set point of warming-up operating mode, the idling setting value that multipole switch is corresponding compares, take in above each value maximum as low idling set point,
C, external request speed setpoint bound export: when external equipment request rotating speed controls and do not have moment of torsion to control to access, outside request original value exports as external request speed setpoint bound; When external equipment request rotating speed controls and has moment of torsion to control to access, outside request original value exports as external request speed setpoint lower limit, and high idle speed set point exports as the external request speed setpoint upper limit; During external equipment request rotating speed restriction, outside request original value exports as the external request speed setpoint upper limit, and low idling set point exports as external request speed setpoint lower limit;
D, high idle speed set point in step a and step c peripheral are asked that the output of the speed setpoint upper limit compares, choose maximum as upper limit speed setpoint, idling set point low in step b is asked with step c peripheral that the output of speed setpoint lower limit compares, chooses minima as lower limit speed setpoint;
B, bound PI parameter group obtains: first by the difference of the upper limit speed setpoint obtained in step A and actual engine speed value, the difference of lower limit speed setpoint and actual engine speed value is respectively as controlling parameter input value, again the excursion of described control parameter input value is divided into small-signal, big positive signal, big negative signal three sections, three segment limits have parameter three kinds different corresponding respectively, then by described control parameter input value and positive window value, negative window value compares the parameter selecting unlike signal corresponding, obtain Selection parameter value, when described control parameter input value is more than positive window value, Selection parameter value is big positive signal correspondence parameter, when described control parameter input value is less than negative window value, Selection parameter value is big negative signal correspondence parameter, when described control parameter input value is between positive window value and negative window value, Selection parameter value is small-signal correspondence parameter, further according to engine speed and moment of torsion, the mode tabled look-up is used to obtain correction factor, correction factor is multiplied by control parameter input value, obtain revised control parameter input value, then revised control parameter input value is multiplied with described Selection parameter value, obtain bound PI parameter group,
C, total output interferes the demand torque of electromotor to obtain: first by the difference of the upper limit speed setpoint of acquisition in step A with electromotor mean speed, the difference of lower limit speed setpoint and electromotor mean speed is respectively as the input value of bound PID controller, again through the bound PI parameter group obtained in step B, the input value of bound PID controller is carried out PI control, the value that output bound PI controls, again the bound PI value controlled is added, then the value after will add up carries out differential control, the value that output PID controls, the value that output PID controls interferes the demand torque of electromotor as total output, engine speed is controlled by demand torque.
2, bound PI parameter group: bound PI parameter group includes bound P parameter, bound I parameter, described bound P parameter includes upper limit P parameter, lower limit P parameter, and described bound I parameter includes upper limit I parameter, lower limit I parameter.
3, referring to Fig. 9, difference between engine speed setpoint and electromotor mean speed, control and the I input controlled as P, it is different from P control, I control in order to eliminate steady-state error and always cumulative, therefore for I control it is contemplated that the problem of scope restriction, must be limited after being namely added to a threshold value. Except I control, the value that the value (value that PI controls refers to that the P value controlled is added, with the I value controlled, the value drawn) of PI control and PID control, it is also desirable to carry out the restriction of bound.
Value, the value of upper limit PI control that described upper limit I controls all need to be limited within the scope of limited torque threshold limit value and upper limited torque irreducible minimum value, the value that value that described lower limit I controls, lower limit PI control all needs to be limited in lower limited torque threshold limit value with within the scope of lower limited torque irreducible minimum value, and the value that described PID controls needs to be limited in final moment of torsion output threshold limit value and exports in minimum limits with final moment of torsion.
When engine condition is from when starting to bar transfer, it is necessary to controlling to compose initial value to I, this initial value is determined according to electromotor current water temperature and gear ratios.
4, referring to Figure 10, lower into rapidly in the process of idling in engine speed, in order to avoid rotating speed declines too quickly even flame-out (such as when car load load increases suddenly), therefore when engine speed is close to set point, need to add first differential controller (DT1) to intervene, the action principle of first differential controller is consider the rate of change of input signal in time domain, namely refers to the rate of change (decline or rise) of engine speed, is embodied in:
Entering " not activating " state after system initialization, DT1 is inoperative.
When engine speed adds preparation decline offset threshold more than lower bound set point, system enters " preparing to decline " state, preparation activation DT1 link; In " preparing to decline " state, when engine speed activates offset threshold less than lower bound set point plus declining, system enters " decline and activate " state, and DT1 activates; When engine speed is less than or equal to lower bound set point, from this state transition to " not activating " state, DT1 link is inoperative. Under " decline and activate " state, when engine speed activates offset threshold more than lower bound set point plus declining, system is from " decline and activate " state transition to " activate and prepare " state; When engine speed is less than or equal to lower bound set point, from this state transition to " not activating " state.
When engine speed adds preparation upward drift threshold value less than lower bound set point, system enters " preparing to rise " state, preparation activation DT1 link; In " preparing to rise " state, when engine speed activates offset threshold more than lower bound set point plus rising, system enters " rise and activate " state, and DT1 activates; When engine speed is be more than or equal to lower bound set point, from this state transition to " not activating " state, DT1 link is inoperative. " rising and activating that " under state, when the little lower bound set point of engine speed activates offset threshold plus declining, system is from " decline activate " state transition to " activating preparation " state; When engine speed is be more than or equal to lower bound set point, from this state transition to " not activating " state.
Embodiment:
Referring to Fig. 1 to Figure 10, a kind of engine speed management system based on parallel double; two PID, described engine speed management system includes speed setpoint computer, pid control parameter computer, double; two PID controller, double; two PID controller include PI controller, derivative controller, and described PI controller includes the upper limit PI controller of concurrent operation, lower limit PI controller; The outfan of described speed setpoint computer respectively with the input of pid control parameter computer, the input of upper limit PI controller, lower limit PI controller input end signal be connected, the outfan of described pid control parameter computer is connected with the input end signal of the input of upper limit PI controller, lower limit PI controller respectively, the described outfan of upper limit PI controller is connected with the input end signal of derivative controller, and the outfan of described lower limit PI controller is connected with the input end signal of derivative controller.
The input value of described speed setpoint computer is the rotating speed request of height idling speed request, external equipment, and the output valve of speed setpoint computer is upper limit speed setpoint, lower limit speed setpoint; The input value of described pid control parameter computer is upper limit speed setpoint, lower limit speed setpoint, and the output valve of pid control parameter computer is upper limit PI parameter group, lower limit PI parameter group; The input value of described upper limit PI controller is upper limit speed setpoint, upper limit PI parameter group, the output valve of upper limit PI controller is the upper limit PI value controlled, the input value of described lower limit PI controller is lower limit speed setpoint, lower limit PI parameter group, and the output valve of lower limit PI controller is the lower limit PI value controlled; The input value of described derivative controller is the value of the value of upper limit PI control, lower limit PI control, and the output valve of derivative controller is the PID value controlled, and the value that PID controls is as the demand torque of total output interference electromotor.
Claims (5)
1. the engine speed management system based on parallel double; two PID, it is characterised in that:
Described engine speed management system includes speed setpoint computer, pid control parameter computer, double; two PID controller, double; two PID controller include PI controller, derivative controller, and described PI controller includes the upper limit PI controller of concurrent operation, lower limit PI controller;
The outfan of described speed setpoint computer respectively with the input of pid control parameter computer, the input of upper limit PI controller, lower limit PI controller input end signal be connected, the outfan of described pid control parameter computer is connected with the input end signal of the input of upper limit PI controller, lower limit PI controller respectively, the described outfan of upper limit PI controller is connected with the input end signal of derivative controller, and the outfan of described lower limit PI controller is connected with the input end signal of derivative controller.
2. a kind of engine speed management system based on parallel double; two PID according to claim 1, it is characterized in that: the input value of described speed setpoint computer is the rotating speed request of height idling speed request, external equipment, and the output valve of speed setpoint computer is upper limit speed setpoint, lower limit speed setpoint.
3. a kind of engine speed management system based on parallel double; two PID according to claim 2, it is characterized in that: the input value of described pid control parameter computer is upper limit speed setpoint, lower limit speed setpoint, the output valve of pid control parameter computer is upper limit PI parameter group, lower limit PI parameter group.
4. a kind of engine speed management system based on parallel double; two PID according to claim 3, it is characterized in that: the input value of described upper limit PI controller is upper limit speed setpoint, upper limit PI parameter group, the output valve of upper limit PI controller is the upper limit PI value controlled, the input value of described lower limit PI controller is lower limit speed setpoint, lower limit PI parameter group, and the output valve of lower limit PI controller is the lower limit PI value controlled.
5. a kind of engine speed management system based on parallel double; two PID according to claim 4, it is characterized in that: the input value of described derivative controller is the value of the value of upper limit PI control, lower limit PI control, the output valve of derivative controller is the PID value controlled, and the value that PID controls interferes the demand torque of electromotor as total output.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114326844A (en) * | 2021-12-31 | 2022-04-12 | 菲仕绿能科技(宁波)有限公司 | Control method for hydraulic working system of pure electric loader |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114326844A (en) * | 2021-12-31 | 2022-04-12 | 菲仕绿能科技(宁波)有限公司 | Control method for hydraulic working system of pure electric loader |
| CN114326844B (en) * | 2021-12-31 | 2024-03-15 | 菲仕绿能科技(宁波)有限公司 | Control method for hydraulic working system of pure electric loader |
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