EP0370091A1 - Regelverfahren und -vorrichtung, insbesondere lambdaregelung. - Google Patents
Regelverfahren und -vorrichtung, insbesondere lambdaregelung.Info
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- EP0370091A1 EP0370091A1 EP89905393A EP89905393A EP0370091A1 EP 0370091 A1 EP0370091 A1 EP 0370091A1 EP 89905393 A EP89905393 A EP 89905393A EP 89905393 A EP89905393 A EP 89905393A EP 0370091 A1 EP0370091 A1 EP 0370091A1
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- 238000000034 method Methods 0.000 title claims abstract description 59
- 230000008569 process Effects 0.000 title claims abstract description 13
- 230000006978 adaptation Effects 0.000 claims abstract description 69
- 238000012937 correction Methods 0.000 claims abstract description 58
- 238000002485 combustion reaction Methods 0.000 claims abstract description 25
- 238000009826 distribution Methods 0.000 claims description 36
- 238000011156 evaluation Methods 0.000 claims description 35
- 239000000654 additive Substances 0.000 claims description 17
- 230000000996 additive effect Effects 0.000 claims description 16
- 239000000446 fuel Substances 0.000 claims description 16
- 230000000694 effects Effects 0.000 claims description 15
- 230000001419 dependent effect Effects 0.000 claims description 12
- 238000006243 chemical reaction Methods 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 8
- 230000001105 regulatory effect Effects 0.000 claims description 7
- 239000000203 mixture Substances 0.000 claims description 3
- 230000003679 aging effect Effects 0.000 abstract description 14
- 230000033228 biological regulation Effects 0.000 abstract description 3
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- 230000008901 benefit Effects 0.000 description 4
- 239000012530 fluid Substances 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- 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
- F02D41/26—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using computer, e.g. microprocessor
-
- 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
- F02D41/2432—Methods of calibration
-
- 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
Definitions
- Control method and device in particular lab control
- the invention relates to a method and a device for precontroling and regulating a controlled variable, in particular the lambda value of the air / fuel mixture to be supplied to an internal combustion engine.
- a method for piloting and regulating a variable is e.g. B. known from the regulation of the lambda value.
- B A method for piloting and regulating a variable.
- the air flow supplied to an internal combustion engine is constant.
- a quantity of fuel is supplied which should lead to lambda value 1.
- Compliance with this setpoint is monitored by a lambda probe. If, due to a change in the value of a disturbance variable, the actual lambda value deviates from the desired lambda value, the amount of fuel supplied is changed so that the lambda value 1 is set again.
- the amount of fuel supplied is changed so that the lambda value 1 is set again.
- the air flow In order to determine the correct pilot variable, the air flow must be measured in the example. If the output value of the measuring device changes over time due to aging effects with the same air flow, ie the same input value, the pilot control value is incorrectly determined. This error can also be compensated for by the control, but with the already mentioned disadvantage of the slow reaction compared to the pre-control.
- adaptation methods have already been developed to e.g. B. such aging effects already to be taken into account in the feedforward control. In the known adaptation methods, however, only a single adaptation value or a single set of adaptation values is determined for the entire measuring range. The result of this is that the corrected pilot control only works precisely in the measuring range for which the adaptation value corresponds to the age-related deviation. Around.
- the invention is based on the object of specifying a method for piloting and regulating a controlled variable which compensates for aging-related effects in some areas by influencing the pilot variable.
- the invention is also based on the object of specifying a device for carrying out such a method.
- the method according to the invention is characterized in that it uses a counter field in which only counter readings are corrected during operation of the controlled system, but this is not evaluated continuously but only when an evaluation condition occurs.
- the counter field is subdivided into influencing variable classes and control variable classes, with each combination of the two classes belongs to a cell with a counter. Each time a value is recorded during operation, it is checked in which influencing variable class the influencing variable and in which control manipulated variable class the control manipulated variable is located and the counter of the associated cell is incremented.
- the counter field is evaluated in such a way that the distribution over the control manipulated variable class is determined for each setpoint variable class and, if the distribution focal points for different influence variable classes are in different controlled manipulated variable classes, a correction value is calculated for the respective influencing variable class and during operation of the controlled system, the manipulated values are influenced by the respective correction value, taking into account the respective influencing variable class, the correcting values being determined by the evaluation so that the distribution centers for all influencing variable classes should be in the same regulating variable class . If no further adaptation measures are taken, the correction values are determined in such a way that the distribution focal points for all classes of influencing factors . should be in the control value 0. It is particularly advantageous to use the method together with a relatively fast-acting adaptation. This assumes all deviations' express themselves in an equal influence for all size classes multiplicative and / or additive interference value. The evaluation of the counter field then only serves for structural adaptation, that is to say for compensating for such errors which are individual in terms of the influencing variables.
- the device according to the invention is characterized in particular by the presence of a counter field of the type mentioned and by means for evaluating the counter field.
- FIG. 1 shows a block function diagram of a conventional control circuit
- FIG. 2 shows a block function diagram of a control circuit with pilot control and adaptation
- FIG. 3 shows a characteristic diagram for a measuring device
- FIG. 9 shows a block function diagram of a means for manipulating variable processing with counter field and counter field evaluation
- 16 shows a block function diagram of a control loop with online and offline adaptation of the pilot control
- 17 and 18 each a counter field diagram for explaining measures for improving the resolution of a counter field.
- the control loop has a controlled system 20, on which the actual value of a controlled variable is measured by an actual value sensor 21. This is fed to a comparison point 22 and subtracted from a control variable setpoint there.
- the resulting control deviation is controlled by a control device 23, e.g. B. a PI control device processed into a control manipulated variable. This is calculated in such a way that it adjusts an actuator 24 on the controlled system 20 in such a way that conditions are established which adjust the actual value in the direction of the setpoint.
- the controlled system 20 can ⁇ . B. a pump driven by an electric motor or an internal combustion engine.
- the setpoint is then z. B.
- the control device calculates a current flow required to achieve the speed or a fuel quantity required to achieve the predetermined lambda value.
- the actuator is accordingly a current controller, for. B. a thyristor or a fuel to eßeinrichtu ⁇ g, z. B. an injection valve arrangement. If the setpoint, i.e. the speed or the lambda value, is suddenly changed, there is a control deviation. The control device 23 then calculates a new control manipulated value, which leads to an actual value which corresponds to the desired value. It is important for understanding the following that the control manipulated variable thus depends on the setpoint.
- control manipulated value depends not only on the setpoint but also on the value of influencing variables which act on the control system 20.
- this can be the viscosity of the fluid to be pumped, the voltage applied to the electric motor and the resistance of bearings.
- the air pressure and injection valve aging influencing variables In the internal combustion engine mentioned z. B. the Heil ⁇ volume, the air pressure and injection valve aging influencing variables. It is assumed that e.g. B. increase the viscosity of the fluid to be pumped. Then the pump must do more at the same speed, so the control device 23 must ensure a higher current flow by changing the control value.
- the control manipulated value has therefore changed in the case of a constant setpoint due to the changed value of an influencing variable. This relationship is also important for understanding the following.
- the relationship between setpoints and manipulated values that are required for the actual value to reach the setpoint is determined by calibration.
- the size that leads to an immediate change in the manipulated value by pilot control can be the air flow supplied to the internal combustion engine.
- FIG. 2 Details of a pilot control are explained with reference to FIG. 2.
- the exemplary embodiment according to FIG. 2 does not yet represent the invention, but rather leads to it by a summary of measures known per se from the prior art.
- FIG. 2 it is to be explained in particular that the control manipulated variable behaves differently in the case of methods with feedforward control in the case of changes in influencing variables than in the case of control, and that the behavior is changed even further if an adaptation is additionally present.
- control device 23 also presupposes a control system 20, an actual value sensor 21, a comparison point 22, a control device 23 and an actuator 24.
- the control manipulated variable output by the control device 23 is no longer passed directly to the actuator 24, but rather from it and a pilot control value, a manipulated variable then supplied to the actuator 24 is formed at a manipulated variable linking point 25.
- the pre-control value comes about in a relatively complex process, which is, however, only explained in principle on the basis of FIG. 2.
- FIG. 2 it is assumed that only an uncompensated influencing variable as a disturbance variable on the controlled system 20 works. Only fluctuations in the disturbance variable values can still be compensated for via the control device 23. The influence of other disturbances or z. B. the setpoint is compensated by a feedforward control. A sequence is drawn in for a compensated disturbance variable. A disturbance variable input value is namely determined and a disturbance variable output value is determined by means 26 for disturbance variable conversion. The disturbance input value is e.g. B.
- the measured input voltage, for the pump, or the air pressure, for the internal combustion engine, and the disturbance variable output value is a current which is required for power compensation or a multiplication factor with which a pre-calculated injection time is corrected by a Air pressure change to compensate for the change in air mass.
- the disturbance variable output value is introduced into the calculation of the pilot control value by means 27 for disturbance variable correction.
- This agent can e.g. B. addi an additional current or multiply an injection time correction factor.
- a task variable is shown in FIG. 2 as a further variable processed in the pre-control value.
- this can be the speed, ie the pump volume, and in the example of the internal combustion engine, the air volume drawn in.
- the task size values correspond to target values, while in the second case, they correspond to influencing value values.
- the respective value of the task variable is fed as an input value to a means 28 for converting the task variable, which outputs an output value.
- the input value can be a voltage proportional to the setpoint value and the output value can be a manipulated value for current control.
- the input value can be a voltage emitted by an air volume sensor and the output value can be a preliminary injection time, e.g. B. expressed as a counter value.
- the disturbance variable output value is linked in the mean value 27 for disturbance variable correction.
- FIG. 2 also shows a stationary condition filter 29, a control manipulated variable processing 30 and a means 31 for adaptive correction 31.
- the procedural steps carried out by these centers should initially be disregarded.
- the output value of the task variable corrected by the disturbance variable output value on average 27 for disturbance variable correction forms the pilot control value, which is linked in the control value linkage point 25 with the control manipulated variable from the control device 23 to the manipulated value supplied to the actuator 24.
- the calibration of the means 28 for the task variable conversion and the means 26 for the disturbance variable conversion is now considered.
- the procedure is such that the setpoint and all influencing variable except the task variable are kept constant.
- the output value is then determined for each input value of the task variable such that the value of the control manipulated variable becomes 0. If the task variable then assumes a certain input value during operation of the controlled system 20, the means 28 for converting the task variable outputs the output value determined in the calibration method described, so that the control manipulated variable 0 should be reached again.
- the cases in which the value of the control manipulated variable is not equal to 0 are discussed below. This is of crucial importance for the invention.
- the calibration of the means 26 for disturbance variable conversion is carried out in the same way as the calibration described above.
- the setpoint and all influencing factors are large, apart from the one disturbance variable, which is converted.
- That disturbance variable output value is determined which, in combination with the present output value, leads to the control manipulated variable 0.
- any change in this compensated disturbance variable by the associated disturbance variable output value should have its influence on the controlled system eliminated.
- the control manipulated value should not deviate from the value 0 if there is no change in these recorded variables.
- the means 26 and 28 for converting sizes can age. Then, after some operating time, the relationship between the input value and the output value determined during calibration is no longer correct, ie an output value is read out for a specific input value that does not lead to an actual value that matches the setpoint value, that is to say a value of the control variable not equal to 0 results Has. The greater the aging error, the greater the control value.
- the control value that deviates from 0 is composed of partial values that are caused by aging errors of the various transducers.
- the control manipulated variable is influenced by uncompensated disturbance variables. Is z. For example, if the bearing resistance was greater, the actual speed value would decrease compared to the target value if the control device 23 were not present, which increases the control manipulated value in this case.
- an uncompensated disturbance variable can be the valve aging, due to which the valve opens more and more slowly. The control device must then ensure an ever longer activation time for the same amount of fuel in each case.
- the values of the control manipulated variable depend on the values of all influencing variables and on the setpoint.
- all changes in the value of compensated variables be it the soli value or influencing variables, do not lead to a deviation of the control manipulated variable from the value 0, as long as no aging effects occur. Changes in the control value are therefore only caused by aging effects and uncompensated disturbance variables.
- control manipulated variable is typically integrated by the control manipulated variable processing 30 already mentioned. So that the adaptation is not based on control manipulated values for special situations, the control manipulated variable processing 30 is preceded by the stationary condition filter 29 in various embodiments. This is z. B. supplied the task variable, and it only passes a control manipulated variable to the control manipulated variable processing 30 if the task variable falls below a predetermined rate of change.
- the adaptation value or typically set of adaptation values calculated by the control manipulation variable processing 30 is fed to the means for adaptive correction 31, which links the adaptation value or the adaptation values with the above-mentioned pre-control value to the current pre-control value.
- control manipulated variable associated with control deviation 0 need not necessarily be 0, as previously assumed. This will expediently be the case if the control manipulated value is additionally linked to the pilot control value. However, the control manipulated variable can also be a control factor. In this case, the control value associated with control deviation 0 is value 1. The above-mentioned calibration processes take place in response to this control control value 1.
- the task size is the air volume and compensated disturbance variable the air pressure.
- the device was calibrated with certain injection valves. Now these original injectors have been replaced by new ones, which output 5% less fuel with the same manipulated variable.
- the control manipulated variable In order to compensate for this 5% fuel loss with the same pilot control value, the control manipulated variable must increase from 1 to 1.05 in order to provide a 5% increased manipulated variable after multiplying with the pilot control value.
- This control manipulated value is integrated by the adaptation method and the adaptation value thus formed is multiplied on average 31 for adaptive correction with the disturbance variable-compensated output value. The integration continues until the control manipulated value returns to the value 1. Then the adaptation value is 1.05.
- the adaptation thus has the advantage that disturbance variables which are not recorded by measurement technology are also recorded in the pilot control value, so that control processes are limited to a minimum.
- the problem with the adaptation is that usually only a single adaptation value is determined for the entire working range of the controlled system 20, for. B. only a single multiplicative correction factor for all speed and Load ranges of an internal combustion engine. So far, this deficiency has been countered by two methods.
- One is that a set of adaptation values for effects of different character is determined, ⁇ .
- B an additive leakage air adaptation value, an ultimate adaptation value and an injection-additive adaptation value.
- the three values are linked in the order mentioned with the starting value from means 28 for task size conversion, the control factor being incorporated before the last additive linking. In this case, too, the Sat ⁇ of three values applies to all speed and load ranges.
- FIG. 4 An example of the counter field just mentioned is shown in FIG. 4.
- the four input quantity classes lie one above the other, ie in the y direction.
- the x-direction there are a total of eight control part size classes, namely a class -IV for manipulated variable deviations of - (6th - 8%), -III of - (4% - 6%), -II of - (2% - 4%) , -I from - (0% - 2%), I from 0 - 2.5%, II from 2.5% - 5 l, III from 5 _ - 7.5% and IV from 7.5% - 10 %. Due to the overlap between the four input variable classes and the eight control variable classes overall, the field shows 32 CELLS.
- a counter is assigned to each cell, ie if the counter field is realized by a RAM, each RAM cell belonging to the counter field can be incremented.
- the count of each cell is set to "0" at the start of operation of the controlled system 20.
- the actuator 24 that is, for. B. an injection valve, it is checked in which input size class and which control part size class the system is currently located.
- the manipulated variable deviation is ideally 0%, ie in practice it fluctuates slightly around this value, so that entries are only made in the Control variable classes I and -I take place.
- FIG. 4 it is assumed that 3600 measurements of the manipulated variable deviation have already been carried out.
- the invention is based, inter alia, on the consideration that if there are deviations in the manipulated variable due to an aging effect, the counter readings in input variable classes can no longer be symmetrical about the y-axis. Then the focal points must be calculated from the counter readings Normal distributions must be shifted with respect to the y axis.
- the characteristic curve according to FIG. 3 is a 4% reduced output variable due to aging over the entire range of the input variable. For example, instead of the final value "10”, 0.4 units less are now displayed, ie "9.6". Since the error is the same over the entire range of the input variable, it has the same effect in all four input variable classes. It is assumed that all input quantity classes are approached the same number of times during the measurement value acquisition, that is to say that the same number of measurement values fall into each input quantity class. This assumption applies to all further considerations of meter fields. In the case of FIG. 5b, 1500 count values should fall into the control manipulated variable class II for each input variable class and 500 count values into the class III. This leads to normal distributions with the maximum and the center of gravity at about 4%. When evaluating the normal distribution, the x-axis is therefore not used to classify, but in this case shows the control value deviation in percent.
- the example case according to FIGS. 5a and b means ⁇ in practice.
- the input variable is the air mass actually flowing through an air mass meter and gear size for the counter value to determine the injection time. If the counter values for the same air masses decrease by 4%, this means that 4% too little fuel is supplied to the air mass that is actually drawn in. This can be compensated for by multiplying the pilot control value by the control factor, that is to say the control partial value 1.04. In order to compensate for the 4% lower output values, a 4% increased control manipulated value is necessary, which can be read directly from FIG. 5b.
- this deviation means percentage deviation of different sizes.
- the deviation in the lowest input size class A means on average about 7.5%, while in the highest input size class it only makes up about 2%.
- the maxima and the focal points of the normal distributions of the meter readings are no longer in the same control variable class, but for the input variable classes A, B, C and D the maxima and focal point lie in the control variable classes IV, III, II and I.
- FIG. 7a shows a characteristic curve which, due to aging effects, shows both a constant and a proportional deviation from the initial characteristic curve of FIG. 3, namely a shift downwards by approximately 2 units as in FIG. 6a and a proportional increase of 4%.
- the maximum centers of gravity of the normal distributions of the counter values lie in the control variable classes IV, III, II and I.
- FIG. 8a A further variant of an age-related error in the current characteristic versus the original characteristic of FIG. 3 is shown in FIG. 8a.
- the values of the output size are 0.15 output size units below the originally measured values. There are no errors in the control variable classes A, B and D.
- the maxima and focal points of the normal distributions of the meter readings remain unchanged at the manipulated variable deviation 0%.
- the maximum and the focus are on the set variable deviation 2.5%, that is, they are offset by a control variable class width compared to the values of the unchanged input variable class ⁇ .
- FIG. 9 shows the broken down functional diagram of a control variable process. processing 30 (see FIG. 2).
- processing 30 see FIG. 2.
- the counting field evaluation takes place offline, that is, not every time an error level is incremented in the counter field 33.
- the evaluation can ⁇ . B. each after a specified period of time, after reaching a total number of counter increments or after decommissioning the controlled system 20.
- Which measure is most sensible for triggering the counter field evaluation depends on the application. In the case of a pump which is operated without interruption and without frequent unsteady states, it makes sense to evaluate each time after a predetermined period of time. If, on the other hand, transient conditions often occur, it can make more sense to wait until a total incentive time has been reached. For controlled systems that are only ever operated over periods that are short in comparison to aging times, such as.
- FIGS. 10a, b to 13a, b Various evaluation options will now be explained with reference to FIGS. 10a, b to 13a, b.
- FIG. 10a The current characteristic curve is thus steeper than the original one, but is offset from it downwards and has smaller values in some areas in the input size class C.
- the additive error is now corrected first, and ⁇ was by determining by how many control deviation percentages the center of gravity of the normal distribution of the lowest input quantity class A compared to the center of gravity of the normal distribution is the largest influenced by the additive error Input size class D is shifted.
- the normal distribution of the lowest input variable class A is shifted by the amount determined below the normal distribution of the uppermost input variable class D, so that the two focal points and maxima now lie in the same control variable class, in the example in the control variable class -II.
- the inclination of the characteristic curve that is to say the multiplicative error
- FIG. 12b this is done by averaging the centers of gravity of all normal distributions in relation to the line of the manipulated variable deviation 0.
- the focus of the normal distribution in the input size classes A, B and D is then about - 0.8% and the focus of the normal distribution in the input size class C is about 2.5%.
- a corresponding additive correction value is output, e.g. B.
- both the input variable to which reference has previously been made in this connection and the output variable can be used to classify influencing variable classes.
- the input variable and output variable represent variables as they occur on a measuring device, values of the input variable are not directly accessible, but values of the input variable are determined from values of the output variable, which is the point of the measurement. Is z.
- the input variable is the air mass ML and the output variable for further processing is the output voltage U of the air mass sensor.
- the influencing variable classes are then output variable classes instead of input variable classes, as previously assumed for the explanation.
- a voltage U is output by an air mass sensor 36, and this is converted into a count value Z, which is used to calculate the injection time, within which an injection valve 37 should be open.
- the count value Z is divided in a dividing step 38 by the speed n of the internal combustion engine 35 and normalized in a normalizing step 39 by multiplication by a constant factor. Multiplication by a global adaptation factor FG then follows in a slope correction step 40. In a displacement correction step 41, a global adaptation sum SG is added.
- Area-dependent corrections are carried out in a structure correction step 42 by multiplication with area-dependent correction factors FA, FB, FC or FD. An adapted pre-control value is thereby formed. This is multiplicatively connected to a control factor FR in a set point linkage point 25, whereby the control value supplied to the injection valve 37 is finally formed.
- the above-mentioned manipulated variable has exactly the right size, that the lambda value 1 is currently being set due to the air supplied and the quantity of fuel injected. This is reported by a lambda probe 43 to a comparison point 22, which subtracts the actual lambda value obtained from a lambda target value and feeds the resulting control deviation, in the assumed case the control deviation 0, to a control device 23. It is pointed out that the control device in practical use is not realized by a separate device but by calculation steps of a program.
- the control device 23 outputs the control factor FR as a control manipulated variable. Since the control deviation is "0", the control factor is "1".
- the control factor FR is not only fed to the manipulated variable link 25 ⁇ , but also to a stationary condition filter 29, and ⁇ was both a variable to be transmitted and a decision variable. Further decisions The size of the voltage is the output voltage U from the air mass sensor 36. If both the control factor FR and the voltage U only have rates of change below predetermined threshold values, the stationary condition filter 29 allows the control factor FR determined in each computing cycle
- Counter field 33 continues, which is structured according to control factor deviation classes as control manipulated variable classes and according to voltage classes as influencing variable classes. In this field there is an entry such as B. that of FIG. 4, since it was assumed that there should be no manipulated variable deviations.
- a counter field evaluation 34 accordingly shows that the global adaptation factor FG should maintain the value 1 and the global adaptation summation SG the value 0, both values which leave the pilot control value unchanged. Accordingly, the area factors FA, FB, FC and FD are output unchanged with "1".
- the air mass sensor 36 After some operating time, the air mass sensor 36 has aged so that the relationship according to FIG. 3 no longer exists between the air mass ML actually flowing through it and the output voltage U, but that shown in FIG. 10a. Counter values then result for the various voltage classes during operation, which lead to normal distributions in accordance with FIG. 10b. If the internal combustion engine 35 is stopped, the counter field evaluation begins to work, ie it carries out the correction steps described above, ie determines a global adaptation summand SG (explanation above with reference to FIG. 12), a global adaptation factor FG (explanation above) with reference to FIG. 11) and range factors FA, FB, FC and FD (above explanation with reference to FIG. 13).
- the respective new correction value is superimposed on the old correction value, which calculation steps are shown in FIG. 14 by grinding with sample / hold steps S / H 44. Fraud the old global adap tion sum SG z. B. 10 counter steps for the injection time calculation and, accordingly, the newly determined global adaptation summation SG 5 counter steps, a global adaptation sum S of 15 is included in the pilot control value.
- the relationships for the global adaptation factor FG have already been explained above using an example. The same applies to the range factors FA - FD.
- the counter field 33 can also be of a more complex structure than previously explained.
- a pre-control value memory 46 present, • the number n on values of Dreh ⁇ and the accelerator pedal position FPS ⁇ is änquaint.
- the pilot control value is multiplicatively linked in a set value linkage position 25 with a control factor FR and the control value calculated in this way is fed to an injection valve 37.
- the control factor FR is calculated as described above with reference to FIG. 14. 15, a stationary condition filter 29 is missing; Adjustment factors FR are therefore entered without filtering in a counter field 33. which contains a plurality of individual counter fields, each of which is divided into accelerator position classes and control factor deviation classes. Each of the fields is assigned to a certain speed range.
- the counter field evaluation 34 determines correction values for each individual counter field for each accelerator pedal position class. With these correction values, the values of the accelerator pedal position FPS are
- the correction can only be accomplished in one of the last steps for determining the pilot control value.
- the suitable correction point depend on the overall properties of the system, but also the most suitable evaluation method. If it can be assumed that disruptive effects are predominantly multiplicative effects, the evaluation will focus on determining a factor from the normal distributions as precisely as possible. If, on the other hand, it is to be assumed with another system that aging effects or even non-compensated disturbance variables have a predominantly additive effect, the aim is to achieve a state corresponding to that of FIG. 13b by as many additive correction components as possible. It also depends on the type of overall system whether a stationary condition filter is expediently used or not, the conditions under which such a filter works, and how control manipulated values are to be evaluated.
- control manipulated variable which corresponds to control deviation 0 means an average of the control manipulated variable ⁇ u.
- FIG. 16 In block function diagram of FIG. 16 is a Lucasvolumen ⁇ sensor 49 present, the function of the volume flow it Maschinenströmen ⁇ the VL Spanfr a 'U ng outputs the ⁇ u a count value Z ⁇ u calculating performs the Einsprit ⁇ eit. As already explained with reference to FIG. 14, this count value Z is again divided by the speed n in a dividing step 38 and normalized in a normalizing step 39.
- a structure correction step 42 follows, as explained with reference to FIG. 14. This is followed by a leakage air adaptation step 50, a multiplication adaptation step 51, the manipulated value linking step 25 already mentioned several times, an injection-corrective correction 52 and a battery voltage correction step 53. The more recent ones will not be discussed any further.
- the control value to be supplied to the injection valve 37 is formed by all of these steps. It will pointed out that in this case the manipulated variable is not, as described in the previous cases, formed at the manipulated variable link 25 from a pilot control value and a control manipulated variable, but rather at the manipulated variable link 25 a preliminary pilot value is initially included a control manipulated value, here again a control factor FR, which is followed by the injection-additive correction step 52 and the additive battery voltage correction step 53. As already explained several times, the control factor is formed with the aid of a lambda probe 43, a comparison point 22 and a control device 23.
- the leakage air sum for the leakage air adaptation step 50, the compensation factor for the multiplication adaptation step 51 and the injection sum for the correction step 52 are formed in the usual way by means 54 for online adaptation from the control factor FR.
- the adaptation has the effect that the control factor FR even after sudden changes in a disturbance variable, e.g. B. due to the change of Einsprit ⁇ venti len or by a significantly different air pressure when switching on again than when you last switched off, reached the value that is associated with the control deviation 0 relativ, i.e. the value 1 in the case of the control factor FR .
- Slowly occurring aging effects have an undetectable effect on the control factor FR, since they are constantly compensated for by the rapid online adaptation.
- the leakage air sum, the compensation factor and the injection sum are added to the control factor FR in three summation steps 55.
- the compensation factor should actually have a multiplicative link, but an additive link leads to a negligible error, since the deviations from 1 are generally small.
- the summation education has the advantage that the progress of the online adaptation does not affect the totalized value; the sum is rather solely due to the values of variables acting in the respective operating point, which differ from values of this variable at the same operating point at the time of calibration.
- the distribution shown in FIG. 17 results as an example. There are four control variable classes each, for positive and negative deviations with amount ranges of 0 - 5, 5 - 10, 10 - 15 and 15 - 25%.
- Three voltage value classes are available as influencing variable classes, namely for 0-1, 1-2 and 2-3 voltage units.
- the maxima and focal points of the determined normal distributions of the meter readings lie in the deviation class for control variable deviations of 10-15% and in the next higher class, that is for those with deviations of 15-25%. 25% corresponds to the typical setting stroke of a control device 23 for an internal combustion engine 3
- the normal distributions are shifted accordingly, taking into account possible additive and multiplicative errors, as was explained with reference to FIGS. 11 and 12.
- the area-dependent errors according to FIG. 12, which in the case of FIG. 16 are incorporated into the determination of the pilot control value by area-dependent summands in the structure correction step 42.
- Which range correction sum is passed on by a counter field evaluation 34 is determined in a range determination step 45, which checks which voltage range is currently present.
- a back-correction step 56 is also shown in broken lines, the execution of which may be advantageous under special conditions.
- the counter field evaluation 34 determines new range correction values for the structural correction step 42 while the internal combustion engine is at a standstill, which, after the internal combustion engine is switched on, provides a different pilot control value for a specific operating state than it did shortly before it was switched off when it was correct adaptation was used. This results in an overall incorrectly adapted value which has to be compensated for again by the online adaptation 54.
- z. B the leakage air sum reduced by the back-correction step 56 by the amount by which the area correction value is increased, or vice versa, the overall effect of the adaptation remains unchanged.
- the fine division reveals that the maxima and focal points due to improved range adaptation only z. B. between 14 and 18%, the division of the counter field for the value acquisition in the next operating cycle is advantageously refined further, that is to say two large marginal classes and six classes in between each with only half a percent width.
- control variable classes and four influencing variable classes were assumed. These class numbers were chosen for reasons of clarity of presentation. In practice, the number of influencing variable classes is preferably chosen to be higher, in order to enable a structuring which is as finely structured as possible, that is to say structured in areas.
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Feedback Control In General (AREA)
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE3816520A DE3816520A1 (de) | 1988-05-14 | 1988-05-14 | Regelverfahren und -vorrichtung, insbesondere lambdaregelung |
DE3816520 | 1988-05-14 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0370091A1 true EP0370091A1 (de) | 1990-05-30 |
EP0370091B1 EP0370091B1 (de) | 1991-09-18 |
Family
ID=6354393
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19890905393 Expired - Lifetime EP0370091B1 (de) | 1988-05-14 | 1989-05-10 | Regelverfahren und -vorrichtung, insbesondere lambdaregelung |
Country Status (6)
Country | Link |
---|---|
US (1) | US5079691A (de) |
EP (1) | EP0370091B1 (de) |
JP (1) | JP3048588B2 (de) |
KR (1) | KR0141370B1 (de) |
DE (2) | DE3816520A1 (de) |
WO (1) | WO1989011032A1 (de) |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5541833A (en) * | 1987-03-30 | 1996-07-30 | The Foxboro Company | Multivariable feedforward adaptive controller |
DE4418731A1 (de) * | 1994-05-28 | 1995-11-30 | Bosch Gmbh Robert | Verfahren zur Steuerung/Regelung von Prozessen in einem Kraftfahrzeug |
JP2000089525A (ja) | 1998-09-07 | 2000-03-31 | Toshiba Corp | 調整制御システム |
DE19917440B4 (de) | 1999-04-17 | 2005-03-24 | Robert Bosch Gmbh | Verfahren zur Steuerung des Luft-Kraftstoff-Gemisches bei extremen Dynamikvorgängen |
DE19963974C2 (de) * | 1999-12-31 | 2002-11-14 | Bosch Gmbh Robert | Gasbrenner |
DE10133555A1 (de) * | 2001-07-11 | 2003-01-30 | Bosch Gmbh Robert | Verfahren zum zylinderindividuellen Abgleich der Einspritzmenge bei Brennkraftmaschinen |
DE10260721A1 (de) | 2002-12-23 | 2004-07-29 | Volkswagen Ag | Verfahren und Vorrichtung zur Diagnose der dynamischen Eigenschaften einer zur zylinderindividuellen Lambdaregelung verwendeten Lambdasonde |
EP1517023B1 (de) * | 2003-07-30 | 2007-03-07 | Ford Global Technologies, LLC, A subsidary of Ford Motor Company | Verfahren zum Voreinstellen der Frischluftzufuhrdrosselung in einem Verbrennungsmotor |
DE10337228A1 (de) * | 2003-08-13 | 2005-03-17 | Volkswagen Ag | Verfahren zum Betreiben einer Brennkraftmaschine |
US8701628B2 (en) | 2008-07-11 | 2014-04-22 | Tula Technology, Inc. | Internal combustion engine control for improved fuel efficiency |
US9020735B2 (en) | 2008-07-11 | 2015-04-28 | Tula Technology, Inc. | Skip fire internal combustion engine control |
US8402942B2 (en) | 2008-07-11 | 2013-03-26 | Tula Technology, Inc. | System and methods for improving efficiency in internal combustion engines |
US8616181B2 (en) | 2008-07-11 | 2013-12-31 | Tula Technology, Inc. | Internal combustion engine control for improved fuel efficiency |
US8646435B2 (en) * | 2008-07-11 | 2014-02-11 | Tula Technology, Inc. | System and methods for stoichiometric compression ignition engine control |
US8131447B2 (en) * | 2008-07-11 | 2012-03-06 | Tula Technology, Inc. | Internal combustion engine control for improved fuel efficiency |
US8336521B2 (en) * | 2008-07-11 | 2012-12-25 | Tula Technology, Inc. | Internal combustion engine control for improved fuel efficiency |
US8511281B2 (en) | 2009-07-10 | 2013-08-20 | Tula Technology, Inc. | Skip fire engine control |
WO2012075290A1 (en) | 2010-12-01 | 2012-06-07 | Tula Technology, Inc. | Skip fire internal combustion engine control |
US10417076B2 (en) | 2014-12-01 | 2019-09-17 | Uptake Technologies, Inc. | Asset health score |
JP6563378B2 (ja) * | 2016-11-04 | 2019-08-21 | 株式会社東芝 | 自動電圧調整器、自動電圧調整方法、自動電圧調整プログラム、発電機励磁システムおよび発電システム |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS569633A (en) * | 1979-07-02 | 1981-01-31 | Hitachi Ltd | Control of air-fuel ratio for engine |
US4437340A (en) * | 1981-11-23 | 1984-03-20 | Ford Motor Company | Adaptive air flow meter offset control |
DE3238753A1 (de) * | 1982-10-20 | 1984-04-26 | Robert Bosch Gmbh, 7000 Stuttgart | Verfahren und vorrichtung zur regelung des einer brennkraftmaschine zuzufuehrenden kraftstoffluftgemischs |
US4631687A (en) * | 1983-11-03 | 1986-12-23 | Rohrback Technology Corporation | Method and apparatus for analysis employing multiple separation processes |
DE3408215A1 (de) * | 1984-02-01 | 1985-08-01 | Robert Bosch Gmbh, 7000 Stuttgart | Steuer- und regelverfahren fuer die betriebskenngroessen einer brennkraftmaschine |
JPH0689690B2 (ja) * | 1987-03-18 | 1994-11-09 | 株式会社ユニシアジェックス | 内燃機関の空燃比の学習制御装置 |
-
1988
- 1988-05-14 DE DE3816520A patent/DE3816520A1/de not_active Withdrawn
-
1989
- 1989-05-10 JP JP1505094A patent/JP3048588B2/ja not_active Expired - Fee Related
- 1989-05-10 US US07/459,735 patent/US5079691A/en not_active Expired - Fee Related
- 1989-05-10 KR KR1019900700068A patent/KR0141370B1/ko not_active IP Right Cessation
- 1989-05-10 DE DE8989905393T patent/DE58900305D1/de not_active Expired - Lifetime
- 1989-05-10 WO PCT/DE1989/000291 patent/WO1989011032A1/de active IP Right Grant
- 1989-05-10 EP EP19890905393 patent/EP0370091B1/de not_active Expired - Lifetime
Non-Patent Citations (1)
Title |
---|
See references of WO8911032A1 * |
Also Published As
Publication number | Publication date |
---|---|
DE3816520A1 (de) | 1989-11-23 |
KR0141370B1 (ko) | 1998-07-01 |
DE58900305D1 (de) | 1991-10-24 |
US5079691A (en) | 1992-01-07 |
JP3048588B2 (ja) | 2000-06-05 |
EP0370091B1 (de) | 1991-09-18 |
WO1989011032A1 (en) | 1989-11-16 |
KR900702207A (ko) | 1990-12-06 |
JPH02504538A (ja) | 1990-12-20 |
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