EP0366735B1 - Lernendes regelungsverfahren für eine brennkraftmaschine und vorrichtung hierfür - Google Patents

Lernendes regelungsverfahren für eine brennkraftmaschine und vorrichtung hierfür Download PDF

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Publication number
EP0366735B1
EP0366735B1 EP89902933A EP89902933A EP0366735B1 EP 0366735 B1 EP0366735 B1 EP 0366735B1 EP 89902933 A EP89902933 A EP 89902933A EP 89902933 A EP89902933 A EP 89902933A EP 0366735 B1 EP0366735 B1 EP 0366735B1
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EP
European Patent Office
Prior art keywords
value
learning
values
variable
meter reading
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Expired - Lifetime
Application number
EP89902933A
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German (de)
English (en)
French (fr)
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EP0366735A1 (de
Inventor
Martin Klenk
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Robert Bosch GmbH
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Robert Bosch GmbH
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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
    • F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
    • F02D41/2406—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using essentially read only memories
    • F02D41/2425—Particular ways of programming the data
    • F02D41/2429—Methods of calibrating or learning
    • F02D41/2441—Methods of calibrating or learning characterised by the learning conditions
    • 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
    • F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
    • F02D41/2406—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using essentially read only memories
    • F02D41/2425—Particular ways of programming the data
    • F02D41/2429—Methods of calibrating or learning
    • F02D41/2451—Methods of calibrating or learning characterised by what is learned or calibrated
    • F02D41/2454—Learning of the air-fuel ratio control
    • 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
    • F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
    • F02D41/2406—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using essentially read only memories
    • F02D41/2425—Particular ways of programming the data
    • F02D41/2429—Methods of calibrating or learning
    • F02D41/2477—Methods of calibrating or learning characterised by the method used for learning

Definitions

  • the invention relates to a learning control method with feedforward control for an operating variable to be set for an internal combustion engine.
  • the invention also relates to an apparatus for performing such a method. (See US-A-4,715,344)
  • the device has a pilot control means, a setpoint generator means, a control means, a weakening means, a learning condition detection means and a learning map.
  • the pilot control device outputs a pilot control value for the farm variable to be set, depending on values from farm variables other than the one to be set.
  • the setpoint generator provides a controlled variable setpoint, which is compared with a respective controlled variable actual value.
  • the control means forms one depending on the difference between the two values mentioned Control value with which the respective pilot control value is corrected in a regulating manner. However, the pilot control value is also corrected in a controlling manner, with the aid of an adaptation value read out from the learning map.
  • the learning map stores adaption values in an addressable manner via values of addressing operating variables.
  • To correct the feedforward control value it reads out the adaptation value that belongs to the set of values of the addressing operating variables present at the time.
  • the adaptation values are determined again and again, specifically whenever the learning condition detection means outputs a learning signal for a respective adaptation value when a predefined learning condition is fulfilled.
  • the correction is carried out with the aid of the manipulated variable provided by the control means, which is not used directly for correction, however, but only after multiplication by a learning intensity factor supplied by the attenuation means.
  • a learning map whose interpolation point values are changed with the help of weakened values of a manipulated variable when a learning condition occurs, is also from the SAE paper no. 860594, 1986, for a device for adjusting the injection time.
  • the attenuating means does not continuously output the same learning intensity value, but this depends on how often one has already learned at a support point and how large the respective manipulated variable is.
  • the attenuation means has a count status memory and a learning intensity table. A counter reading is stored in the counter reading memory for each interpolation point of this characteristic map, the interpolation points being identical to those of the learning characteristic diagram.
  • the status is up to a 16-bit value with each new learning cycle for each relevant support point increased by 1. However, if the control value for this interpolation point is greater than a threshold value in three successive learning cycles, the counter reading for this interpolation point is reset to 0. Depending on the respective meter reading and the respective value of the manipulated variable, a learning intensity factor which is predetermined for these addressing values is read out from the learning intensity table. The manipulated variable is multiplied by this and the result is added to the previous reference point value.
  • the invention has for its object to provide a device for learning control with feedforward control for an operating variable to be set of an internal combustion engine, which achieves rapid learning progress in a learning map without the controlled system tending to vibrate.
  • the invention is also based on the object of specifying a device for executing such a method.
  • the inventive method is characterized in that the counter reading in the counter reading memory is no longer is incremented by the value 1 with each learning process and is reset to 0 after three unsatisfactory learning cycles, but that a counter difference table is available that depends on the control manipulated variable, i.e. the control deviation, and the learning progress already achieved, i.e. the counter reading in the counter reading memory, counter differences stores with which the counter reading is incremented or decremented for a given operating point in the counter reading memory.
  • the device according to claim 2 has the means already described, that is to say a pilot control means, a setpoint generator means, a control means, a weakening means, which contains a counter reading map and a learning intensity table, a learning condition detection means and a learning map.
  • the device according to the invention has a counter difference table as part of the attenuation means. This counter difference table stores counter difference values in an addressable manner using values of the counter reading and a variable dependent on the manipulated variable. For each set of available values of the meter reading and the manipulated variable-dependent size, it outputs the associated meter difference value to the meter reading map to change the meter reading at the respective reference point by the meter difference value.
  • the counter difference table means that the counter reading for the relevant support point is no longer increased by the fixed value 1 in a respective learning cycle as in the system according to the SAE paper mentioned, but that the counter difference is designed to be variable.
  • the counter difference value is only "+ 1" for small values of the manipulated variable and small counter values. For larger deviations, the difference becomes smaller, ie goes over the value "0" to negative values.
  • the meter reading values are in the meter reading map limited to a maximum value. The effect of this measure is as follows.
  • This advantageous effect can also be supported by a delay step which, according to an advantageous development, can also be used.
  • This delay step delays the change of a meter reading in the meter reading map until, after the appearance of a learning signal, a learning intensity value based on the meter reading applicable before the learning signal occurred has been read from the learning intensity table. So if a large value of the manipulated variable-dependent variable occurs, which leads to a relatively large decrease in the counter reading and thus a relatively large increase in the learning intensity value, the will not existing large value of the manipulated variable is weakened with the new learning intensity value, which would lead to high learning intensity, but the large value of the manipulated variable is only weakened with the old learning intensity value, which leads to lower learning intensity.
  • the method according to the invention can be used to set a wide variety of operating variables of an internal combustion engine.
  • the application for setting the fuel metering time, in particular the injection time is particularly advantageous. This is because in systems for setting this variable, the lambda value which is measured in the exhaust gas of the internal combustion engine is used as the control variable, which is a considerable Dead time between making a change and measuring it. Such systems tend to vibrate because of the dead time mentioned and therefore the vibration-damping measure according to the invention is particularly useful.
  • Figures 1 and 2 relate to a single embodiment. This relates to the setting of the injection time for an injection valve of an internal combustion engine 10.
  • the setting of the injection time was chosen as an example, since the invention can be illustrated particularly well with it.
  • the presentation in the form of block diagrams has also been chosen for reasons of clarity alone. In practice, the function which is explained on the basis of the block diagrams will generally be carried out by a microcomputer, as is customary in motor vehicle electronics.
  • An injection valve 12 is arranged in the intake manifold 11 of the internal combustion engine 10 and is actuated with a signal for the injection time TI.
  • a lambda value is set, which is measured by a lambda probe 14 arranged in the exhaust duct 13 of the internal combustion engine 10.
  • the measured actual lambda value is compared with a lambda setpoint value supplied by a setpoint generator means 15 in a comparison step 16, and the control deviation value formed is fed to a control means 17 with integrating behavior, which outputs a manipulated variable which, in the case of the injection time control, has the character of a control factor FR .
  • a pilot control value TIV is available at its input for the injection time, which is supplied by a pilot control means, which in the exemplary embodiment shown is implemented by a pilot control memory 19 which can be addressed via values of Speed n and the position of an accelerator pedal FP stores pilot control values TIV.
  • the pilot control values TIV are defined for certain operating conditions and certain system properties. Now, however, the operating conditions change when operating the internal combustion engine, for. B. the air pressure or the system properties, e.g. B. air leakage properties or the closing time of the injection valve 12.
  • the pilot control value read from the pilot control memory 19 is modified with an adaptation factor FA in an adaptation multiplication step 20.
  • the adaptation factor FA is read from an adaptation factor memory 21 which has a corresponding number of support points as the pilot control memory 19 and, like this, can be addressed via sets of values of the speed n and the accelerator pedal position FP. It is e.g. B. 64 support points each with 8 addresses for classes of speed values and 8 addresses for classes of accelerator pedal positions.
  • the adaptation factors at the 64 support points are all set to the value "1" during commissioning.
  • An area is defined around each base. If this area is left and the internal combustion engine 10 was previously in stationary operation, a learning condition detection means 22 outputs a learning signal LS. This leads to a subsequent change in the adaptation factor of the support point, which is given by the coordinates nv, FPv, which are the values of the addressing operating variables at the time of leaving the area.
  • Averaging means 23 and a weakening means 24 are provided for carrying out the learning step.
  • the system is identical to an exemplary embodiment which is described in DE 35 05 965 A1 already mentioned with reference to FIG. 11 there.
  • the decisive difference is that in the known method, the attenuation means 24 continuously specifies the same learning intensity factor, while the attenuation means of the present method, as will be explained in more detail below with reference to FIG. 2, outputs a variable learning intensity factor.
  • the setpoint generator means 15 and the comparison step 16 are missing, and there is also no integration step 25 between the lambda probe 14 and the comparison step 16.
  • These function groups are included in the known system in the control means 17, since a permanently fixed lambda setpoint of 1 was assumed there. In the present case, the function groups are drawn separately to show that the lambda setpoint can also be variable, which is the case when applied to lean lambda control.
  • Another difference from the known exemplary embodiment is that functional groups for setting a global adaptation factor are also shown there. These function groups can also be used in the present system if a global factor is to be incorporated. For the invention discussed here, namely the type of variable design of the learning intensity factor M, these details are irrelevant.
  • the attenuation means 24 has three main function groups, namely a learning intensity table 26, a counter reading memory 27 and a counter difference table 28. All three function groups represent characteristic maps from which values which are assigned sets of values of addressing quantities are read out can be. However, the addressing sizes are different, which is why different terms have been used for the function groups.
  • the counter status memory 27, like the pilot control memory 29 and the adaptation factor memory 21, can be addressed via values of the rotational speed n and the accelerator pedal position FP, the same class division, e.g. B. is available in 8 x 8 support points.
  • Diz maps of the two tables that is, the learning intensity table 26 and the counter difference table 28, are instead addressed via values of the percentage manipulated variable deviation and the counter reading output by the counter reading memory 27 for a respective support point.
  • the classification of these sizes is absolutely independent of the classification of the other sizes that are used to address the above-mentioned memories.
  • Table I for the learning intensity table and Table II for the counter difference table are also divided into 8 x 8 support points, because this is possible due to the usual addressing methods. However, this division has nothing to do with the 8 x 8 division of the memories, so it could also be any other division.
  • an addressing variable for the learning intensity table 26 and the counter difference table 28 is the percentage manipulated variable deviation.
  • This is the average control factor FR formed by subtracting the value "1" from this mean value and calculating the difference as a percentage value based on the value "1". If an averaged manipulated variable now occurs, ie an averaged control factor of again "1.1”, as in the example above, and this applies to a support point for which a learning cycle has never been carried out, for which the counter reading "0" in Counter memory 27 is stored, the learning intensity table outputs the learning intensity factor "1", as can be seen from Table I.
  • This learning intensity factor M is in a weakening multiplication step 29 with the absolute manipulated variable deviation, that is, the difference from the averaged manipulated variable FR and the target value "1”, multiplied and to obtain a provisional adaptation factor FAv, the target value "1" is added in an addition step 30, so that the value "1.1” is finally obtained.
  • the old adaptation factor FA that is to say "1” is multiplied by this, whereby the new adaptation factor "1.1” is obtained.
  • the counter reading for the continuously considered support point is then "24".
  • the fact that the reading from the learning intensity table 26 is still based on the old meter reading and only then is the meter reading in the meter reading memory 27 corrected for the corresponding reference point is shown in the function diagram according to FIG. 2 by a delay step 31 between the meter difference table 28 and the meter reading memory 27 indicated.
  • the above-mentioned delay has the advantage that a large deviation from the manipulated variable is initially only multiplied by a learning intensity factor, which passes on the deviation in a greatly weakened manner. If there are then only minor deviations in the manipulated variable, the counter reading is increased to "28" so that the small learning intensity factor finally applies again. This means that a one-off major deviation has had little effect. However, if this occurs again, it will be passed on more strongly than the first time, since the counter reading has now decreased and the learning intensity factor has increased. This fact that one-off larger deviations are hardly taken into account leads to a greatly reduced tendency to oscillate in the system.
  • the pilot control means need not be implemented by a pilot control memory 19, but a pilot control value can be obtained in any other way, e.g. B. by quotient formation from the air mass and the speed, as described in the SAE paper already mentioned.
  • a pilot control value can be obtained in any other way, e.g. B. by quotient formation from the air mass and the speed, as described in the SAE paper already mentioned.
  • B. in DE 34 08 215 (US Ser. No. 696 536/1985).
  • a global factor can also be determined.
  • the condition under which the learning signal LS is output is also irrelevant.
  • the above condition corresponds to that as described in the two German patent applications mentioned.
  • the learning signal can also be output with every program cycle without additional conditions.
  • control factor FR as it is output by the control means 17, is used to obtain a new adaptation factor FA.
  • This control factor FR typically contains a proportional and an integral component. The integral part is the direct measure of the effort to eliminate a control deviation. If this integral component can be tapped separately from the control means 17, it is therefore advantageous to use only this integral component of the control factor FR and not the entire control factor to calculate a new adaptation factor FA.
  • the learning intensity value is obtained for changing the adaptation values, namely by looking up in a learning intensity table with the counter reading of a reference point as an addressing variable, this counter reading depending on positive or negative values that are read from a counter difference table. is changeable up to a maximum value.

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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)
  • Feedback Control In General (AREA)
EP89902933A 1988-04-02 1989-03-04 Lernendes regelungsverfahren für eine brennkraftmaschine und vorrichtung hierfür Expired - Lifetime EP0366735B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3811263 1988-04-02
DE3811263A DE3811263A1 (de) 1988-04-02 1988-04-02 Lernendes regelungsverfahren fuer eine brennkraftmaschine und vorrichtung hierfuer

Publications (2)

Publication Number Publication Date
EP0366735A1 EP0366735A1 (de) 1990-05-09
EP0366735B1 true EP0366735B1 (de) 1992-06-17

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EP89902933A Expired - Lifetime EP0366735B1 (de) 1988-04-02 1989-03-04 Lernendes regelungsverfahren für eine brennkraftmaschine und vorrichtung hierfür

Country Status (5)

Country Link
US (1) US5023794A (ja)
EP (1) EP0366735B1 (ja)
JP (1) JP2901677B2 (ja)
DE (2) DE3811263A1 (ja)
WO (1) WO1989009331A1 (ja)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5215536A (en) * 1991-11-13 1993-06-01 Merit Medical Systems, Inc. Self-locking control syringe
DE4418731A1 (de) * 1994-05-28 1995-11-30 Bosch Gmbh Robert Verfahren zur Steuerung/Regelung von Prozessen in einem Kraftfahrzeug
US7137386B1 (en) * 2005-09-02 2006-11-21 Gm Global Technology Operations, Inc. Closed loop A/F ratio control for diesel engines using an oxygen sensor
JP7059855B2 (ja) * 2018-07-30 2022-04-26 トヨタ自動車株式会社 内燃機関の点火時期制御装置
FR3085721B1 (fr) * 2018-09-11 2020-09-04 Psa Automobiles Sa Procede d’apprentissage d’adaptatifs dans un controle moteur
CN111255585B (zh) * 2018-11-30 2022-08-09 联合汽车电子有限公司 混合气多点自学习方法

Family Cites Families (6)

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Publication number Priority date Publication date Assignee Title
DE2847021A1 (de) * 1978-10-28 1980-05-14 Bosch Gmbh Robert Vorrichtung zur regelung von betriebskenngroessen einer brennkraftmaschine auf optimale werte
JPS59196942A (ja) * 1983-04-14 1984-11-08 Mazda Motor Corp エンジンの空燃比制御装置
US4715344A (en) * 1985-08-05 1987-12-29 Japan Electronic Control Systems, Co., Ltd. Learning and control apparatus for electronically controlled internal combustion engine
DE3628628C2 (de) * 1986-08-22 1994-12-08 Bosch Gmbh Robert Verfahren und Einrichtung zur Adaption der Gemischsteuerung bei Brennkraftmaschinen
US4879656A (en) * 1987-10-26 1989-11-07 Ford Motor Company Engine control system with adaptive air charge control
DE3802274A1 (de) * 1988-01-27 1989-08-03 Bosch Gmbh Robert Steuer-/regelsystem fuer instationaeren betrieb einer brennkraftmaschine

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
SAE Papers 860594,1986 Soc. of Automotive Engineers, Inc.,N. Tomisawa et al.: "Development of a high-speed high-precision learning control system for the engine control", pages 3,733-3.741, 3.736: "Renewal of learning date-renewal of learning counter" *

Also Published As

Publication number Publication date
JPH02503816A (ja) 1990-11-08
EP0366735A1 (de) 1990-05-09
DE3811263A1 (de) 1989-10-12
JP2901677B2 (ja) 1999-06-07
DE58901688D1 (de) 1992-07-23
US5023794A (en) 1991-06-11
WO1989009331A1 (en) 1989-10-05

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