EP0744538A2 - Cooling system with an electrically controlled actuator - Google Patents

Cooling system with an electrically controlled actuator Download PDF

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Publication number
EP0744538A2
EP0744538A2 EP96105511A EP96105511A EP0744538A2 EP 0744538 A2 EP0744538 A2 EP 0744538A2 EP 96105511 A EP96105511 A EP 96105511A EP 96105511 A EP96105511 A EP 96105511A EP 0744538 A2 EP0744538 A2 EP 0744538A2
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EP
European Patent Office
Prior art keywords
actuator
coolant temperature
cooling system
internal combustion
coolant
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Application number
EP96105511A
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German (de)
French (fr)
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EP0744538A3 (en
Inventor
Zlatko Ovari
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Bayerische Motoren Werke AG
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Bayerische Motoren Werke AG
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Publication date
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Publication of EP0744538A2 publication Critical patent/EP0744538A2/en
Publication of EP0744538A3 publication Critical patent/EP0744538A3/en
Withdrawn legal-status Critical Current

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01P—COOLING OF MACHINES OR ENGINES IN GENERAL; COOLING OF INTERNAL-COMBUSTION ENGINES
    • F01P7/00—Controlling of coolant flow
    • F01P7/14—Controlling of coolant flow the coolant being liquid
    • F01P7/16—Controlling of coolant flow the coolant being liquid by thermostatic control
    • F01P7/167—Controlling of coolant flow the coolant being liquid by thermostatic control by adjusting the pre-set temperature according to engine parameters, e.g. engine load, engine speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01P—COOLING OF MACHINES OR ENGINES IN GENERAL; COOLING OF INTERNAL-COMBUSTION ENGINES
    • F01P7/00—Controlling of coolant flow
    • F01P7/14—Controlling of coolant flow the coolant being liquid
    • F01P2007/146—Controlling of coolant flow the coolant being liquid using valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01P—COOLING OF MACHINES OR ENGINES IN GENERAL; COOLING OF INTERNAL-COMBUSTION ENGINES
    • F01P2023/00—Signal processing; Details thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01P—COOLING OF MACHINES OR ENGINES IN GENERAL; COOLING OF INTERNAL-COMBUSTION ENGINES
    • F01P2023/00—Signal processing; Details thereof
    • F01P2023/08—Microprocessor; Microcomputer
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
    • F01P—COOLING OF MACHINES OR ENGINES IN GENERAL; COOLING OF INTERNAL-COMBUSTION ENGINES
    • F01P2025/00—Measuring
    • F01P2025/08—Temperature

Definitions

  • the invention relates to a cooling system with an electrically controllable actuator for influencing the coolant temperature of internal combustion engines in motor vehicles according to the preamble of claim 1.
  • Such a cooling system is known for example from DE 43 24 178 A1.
  • This known cooling system for internal combustion engines has a cooler and a thermostatic valve as an electrically controllable actuator with which the temperature of the coolant can be controlled in a warm-up mode, a mixed mode and a cooler mode.
  • the thermostatic valve as an electrically controllable actuator contains an expansion element which can be heated electrically to reduce the coolant temperature.
  • the thermostatic valve regulates the flow of the coolant between the internal combustion engine and the cooler in such a way that the coolant coming from the internal combustion engine flows back to the internal combustion engine essentially bypassing the cooler through a short circuit during warm-up operation, so that during the mixed operation that of the Internal coolant coming partly through the cooler and partly through the short circuit back to the internal combustion engine and that during cooler operation the coolant coming from the internal combustion engine essentially flows back through the cooler to the internal combustion engine.
  • the electrical heating of the electrically controllable actuator increases the opening cross section for the flow of the coolant to the cooler compared to an opening cross section caused by the temperature of the coolant.
  • the electrically controllable actuator is electrically heated via a control device, by means of which the actual coolant temperature is detected and compared with a predetermined desired coolant temperature. If the detected actual coolant temperature is above the target coolant temperature, the electrical heating is switched on to cool the coolant, while when the actual coolant temperature is below the predetermined target coolant temperature, the electrical heating of the electrically controllable actuator is switched off.
  • This known cooling system depending on the actual coolant temperature, only performs a two-point control in comparison with the target coolant temperature, so that strong undershoots or overshoots can occur with respect to the target coolant temperature to be achieved.
  • a cooling system is known, for example, from DE 44 03 713, which has not yet been published, and whose electrically controllable actuator for influencing the coolant temperature is an electrically controllable coolant feed pump.
  • electrically controllable actuator for influencing the coolant temperature is an electrically controllable coolant feed pump.
  • no control strategy is described for this.
  • the parameters of the controller are determined adaptively during internal combustion engine operation by evaluating the step response of a variable proportional to the actual coolant temperature in response to step excitation as the input signal of the actuator.
  • a PID controller is particularly suitable for regulating the cooling system with an electronically or electrically controllable actuator for influencing the coolant temperature of internal combustion engines, in order to achieve the predetermined target coolant temperature as quickly as possible.
  • a PID controller can be constructed either in an analog or digital manner and can be integrated, for example, in an electronic control device that is already present to control the cooling system and / or the internal combustion engine.
  • the outlay and the costs for a cooling system according to the invention are only small, despite the improved control.
  • the regulator can also be another electronic regulator, e.g. B. a PI n D n - or a PI controller.
  • variable influenced by the coolant temperature or the variable proportional to the actual coolant temperature can also be the (actual) coolant temperature itself.
  • the controller simulates the transmission path between the input of the actuator and the output of the cooling system, as a result of which the parameters of the controller are automatically adjusted as a function of all the parameters occurring in this transmission path, such as B. from the vehicle speed, the outside temperature, the engine load, the vehicle interior heating, the condition of the air conditioning units, the speed of the radiator water fan and / or the temperature detection with dead time as well as the inertia and non-linearity of the actuator. Additional sensors for recording these parameters are not necessary. This not only optimizes the control but also saves additional costs.
  • An advantageous embodiment of the invention is the subject of claim 2.
  • the jump excitation is carried out by the control signal size for controlling the actuator itself.
  • the control signal variable contains at least partially a jump signal component, according to the invention, it is not necessary to generate a separate test signal as a jump stimulus in order to determine the jump response.
  • the step response is preferably evaluated in the presence of a specific operating condition.
  • control signal size is a pulse-width-modulated signal.
  • a pulse-width modulated signal on the one hand a finely tuned control of the control signal is possible and on the other hand a jump excitation for evaluating the step response is often available automatically.
  • An internal combustion engine 1 contains coolant-carrying lines. These coolant-carrying lines are connected from the output A of the internal combustion engine 1 via a line to an input of an electrically controllable actuator 3 in the form of a thermostatic valve. An output of the actuator 3 is connected via a further line and the input E of the internal combustion engine 1 to the coolant-carrying lines of the internal combustion engine 1. Another output of the actuator 3 leads via a line to the input of a cooler 2. The output of the cooler 2 is in turn connected to the input E of the internal combustion engine 1 via a coolant-carrying line.
  • the electrically controllable actuator in the form of a thermostatic valve has a temperature-dependent expansion element which can be heated via an electrical line which is connected to an electronic control unit 4.
  • an electronic control unit 4 For the functioning of the electrically controllable thermostatic valve 3, reference is made, for example, to DE 43 24 178 A1.
  • the actuator 3 is shown in warm-up mode, in which the left passage is completely closed and the right passage is fully open.
  • the coolant flows from the output A of the internal combustion engine 1 in a kind of short circuit via the actuator 3 directly back to the input E of the internal combustion engine 1.
  • the cooler is bypassed by the coolant.
  • the right passage would be completely closed and the left passage of the actuator 3 would be fully opened.
  • a mixing operation is possible, can be open in which both the right and the left passage of the actuator 3 in part.
  • the control signal size of the actuator 3 is a pulse width modulated control signal PWM.
  • the electronic control device 4 should be the controller according to the invention, preferably a PID controller.
  • the controller it is also possible to use the controller as a function block in an electronic device that is already present Control device, e.g. B. to control the internal combustion engine and / or the cooling system.
  • the PID controller 4 receives as input signals at least the actual coolant temperature T, and the specification of a target to be set coolant temperature T set.
  • a corresponding control signal PWM is generated as a control signal variable and output in the form of electrical heating of the actuator 3 by the PID controller 4.
  • control signal PWM is a pulse-width modulated signal
  • this control signal PWM itself can be used as step excitation SE '.
  • the pulse should have a predetermined minimum duration within the period t PWM .
  • a specially formed pulse e.g. B. with a predetermined duration t SE used.
  • Respect is actual coolant temperature T is the step response SA z, the step command SE or SE 'back. B. for a predetermined time, recorded and evaluated.
  • the parameters of the PID controller 4 are adapted to the conditions of the actuator 3 and / or the controlled system 5 in accordance with the evaluation of the step response SA.
  • the step response SA is evaluated, for example, with regard to its dead time T tot and / or its slope dT / dt. To evaluate the step response SA, however, other characteristics of the curve shape of the step response SA can also be considered.
  • the actuator 3 and / or the controlled system 5 are automatically taken into account. This results in an increase in the control quality and control speed, saving additional sensors for recording further operating parameters or disturbance variables. As a result
  • the cooling system according to the invention also results in consumption and performance optimization under given operating conditions.
  • the invention is not restricted to the exemplary embodiment mentioned. So instead of the thermostatic valve 3 or additionally as an electrically or electronically controllable actuator z.
  • a coolant supply pump provided in the coolant circuit can be regulated according to the invention - or an electrically controllable coolant throttle valve.
  • the invention covers each actuator that can be controlled electrically or electronically to influence the coolant temperature.
  • the control signal size does not necessarily have to be a pulse-width-modulated signal, but can also - according to the design of the actuator - be any suitable electrical signal, such as, for. B. a displacement-proportional voltage signal or a frequency-modulated pulse.
  • a variable influenced by the coolant temperature may be, for example, a different temperature instead of the coolant temperature itself, such as, for. B. that of a coolant-flowed component.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Temperature (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)

Abstract

The cooling circuit has an electrically-controlled setting element (3) for determining the temp of the cooling medium circulated through the engine and a preceding electronic regulator (4). The setting element is pref. provided by a thermostat valve, the electronic regulator comparing the actual cooling medium temp with a required temp dependent on the momentary regulation parameters, to provide a setting signal for the setting element, e.g. a pulse width modulated setting signal.

Description

Die Erfindung betrifft eine Kühlanlage mit elektrisch regelbarem Stellglied zur Beeinflussung der Kühlmitteltemperatur von Brennkraftmaschinen in Kraftfahrzeugen nach dem Oberbegriff des Patentanspruchs 1.The invention relates to a cooling system with an electrically controllable actuator for influencing the coolant temperature of internal combustion engines in motor vehicles according to the preamble of claim 1.

Eine derartige Kühlanlage ist beispielsweise aus der DE 43 24 178 A1 bekannt. Diese bekannte Kühlanlage für Brennkraftmaschinen weist einen Kühler und ein Thermostatventil als elektrisch regelbares Stellglied auf, mit dem die Temperatur des Kühlmittels in einem Warmlaufbetrieb, einem Mischbetrieb und einem Kühlerbetrieb regelbar ist. Das Thermostatventil als elektrisch regelbares Stellglied enthält ein Dehnstoffelement, das zum Reduzieren der Kühlmitteltemperatur elektrisch beheizbar ist.Such a cooling system is known for example from DE 43 24 178 A1. This known cooling system for internal combustion engines has a cooler and a thermostatic valve as an electrically controllable actuator with which the temperature of the coolant can be controlled in a warm-up mode, a mixed mode and a cooler mode. The thermostatic valve as an electrically controllable actuator contains an expansion element which can be heated electrically to reduce the coolant temperature.

Bei dieser bekannten Kühlanlage regelt das Thermostatventil die Strömung des Kühlmittels zwischen der Brennkraftmaschine und dem Kühler derart, daß während des Warmlaufbetriebs das von der Brennkraftmaschine kommende Kühlmittel im wesentlichen unter Umgehen des Kühlers durch einen Kurzschluß hindurch zur Brennkraftmaschine zurückströmt, daß während des Mischbetriebes das von der Brennkraftmaschine kommende Kühlmittel teilweise durch den Kühler hindurch und teilweise durch den Kurzschluß hindurch zur Brennkraftmaschine zurückströmt und daß während des Kühlerbetriebs das von der Brennkraftmaschine kommende Kühlmittel im wesentlichen durch den Kühler hindurch zur Brennkraftmaschine zurückströmt. Durch die elektrische Beheizung des elektrisch regelbaren Stellglieds wird der Öffnungsquerschnitt für den Durchfluß des Kühlmittels zum Kühler hin gegenüber einem durch die Temperatur des Kühlmittels bedingten Öffnungsquerschnitt vergrößert.In this known cooling system, the thermostatic valve regulates the flow of the coolant between the internal combustion engine and the cooler in such a way that the coolant coming from the internal combustion engine flows back to the internal combustion engine essentially bypassing the cooler through a short circuit during warm-up operation, so that during the mixed operation that of the Internal coolant coming partly through the cooler and partly through the short circuit back to the internal combustion engine and that during cooler operation the coolant coming from the internal combustion engine essentially flows back through the cooler to the internal combustion engine. The electrical heating of the electrically controllable actuator increases the opening cross section for the flow of the coolant to the cooler compared to an opening cross section caused by the temperature of the coolant.

Die elektrische Beheizung des elektrisch regelbaren Stellgliedes erfolgt über eine Regeleinrichtung, mittels derer die Ist-Kühlmitteltemperatur erfaßt und mit einer vorgegebenen Soll-Kühlmitteltemperatur verglichen wird. Liegt die erfaßte Ist-Kühlmitteltemperatur oberhalb der Soll-Kühlmitteltemperatur wird zum Kühlen des Kühlmittels die elektrische Beheizung eingeschaltet, während bei einer Ist-Kühlmitteltemperatur unterhalb der vorgegebenen Soll-Kühlmitteltemperatur die elektrische Beheizung des elektrisch regelbaren Stellglieds ausgeschaltet wird.The electrically controllable actuator is electrically heated via a control device, by means of which the actual coolant temperature is detected and compared with a predetermined desired coolant temperature. If the detected actual coolant temperature is above the target coolant temperature, the electrical heating is switched on to cool the coolant, while when the actual coolant temperature is below the predetermined target coolant temperature, the electrical heating of the electrically controllable actuator is switched off.

Diese bekannte Kühlanlage führt in Abhängigkeit von der Ist-Kühlmitteltemperatur im Vergleich mit der Soll-Kühlmitteltemperatur lediglich eine Zweipunktregelung aus, wodurch bezüglich der zu erreichenden Soll-Kühlmitteltemperatur starke Unter- bzw. Überschwinger auftreten können.This known cooling system, depending on the actual coolant temperature, only performs a two-point control in comparison with the target coolant temperature, so that strong undershoots or overshoots can occur with respect to the target coolant temperature to be achieved.

Darüber hinaus ist beispielsweise aus der noch nicht veröfffentlichten DE 44 03 713 eine Kühlanlage bekannt, deren elektrisch regelbares Stellglied zur Beeinflussung der Kühlmitteltemperatur eine elektrisch regelbare Kühlmittelförderpumpe ist. Hierzu ist jedoch keine Regelstrategie beschrieben.In addition, a cooling system is known, for example, from DE 44 03 713, which has not yet been published, and whose electrically controllable actuator for influencing the coolant temperature is an electrically controllable coolant feed pump. However, no control strategy is described for this.

Es ist Aufgabe der Erfindung, eine Kühlanlage eingangs genannter Art derart zu verbessern, daß zum einen Unter- bzw. Überschwinger bezogen auf die vorgegebene Soll-Kühlmitteltemperatur verhindert werden und zudem die vorgegebene Soll-Kühlmitteltemperatur möglichst schnell erreicht wird.It is an object of the invention to improve a cooling system of the type mentioned in such a way that, on the one hand, undershoot or overshoot related to the predetermined target coolant temperature can be prevented and, moreover, the predetermined target coolant temperature is reached as quickly as possible.

Diese Aufgabe wird durch die kennzeichnenden Merkmale des Patentanspruchs 1 gelöst.This object is achieved by the characterizing features of patent claim 1.

Erfindungsgemäß werden die Parameter des Reglers während des Brennkraftmaschinenbetriebs adaptiv durch Auswertung der Sprungantwort einer der Ist-Kühlmitteltemperatur proportionalen Größe auf eine Sprunganregung als Eingangssignal des Stellgliedes hin bestimmt.According to the invention, the parameters of the controller are determined adaptively during internal combustion engine operation by evaluating the step response of a variable proportional to the actual coolant temperature in response to step excitation as the input signal of the actuator.

Es hat sich bei Versuchen herausgestellt, daß zu einer Regelung der Kühlanlage mit elektronisch bzw. elektrisch regelbarem Stellglied zur Beeinflussung der Kühlmitteltemperatur von Brennkraftmaschinen ein PID-Regler besonders geeignet ist, um möglichst schnell die vorgegebene Soll-Kühlmitteltemperatur zu erreichen. Ein derartiger PID-Regler kann entweder analog oder digital aufgebaut sein und beispielsweise in einem ohnehin vorhandenen elektronischen Steuergerät zur Steuerung der Kühlanlage und/oder der Brennkraftmaschine integriert sein. Insbesondere bei Verwendung eines digitalen PID-Reglers sind zudem der Aufwand und die Kosten für eine erfindungsgemäße Kühlanlage trotz verbesserter Regelung nur gering. Der Regler kann jedoch auch ein anderer elektronischer Regler sein, z. B. ein PInDn- oder ein PI-Regler.It has been found in tests that a PID controller is particularly suitable for regulating the cooling system with an electronically or electrically controllable actuator for influencing the coolant temperature of internal combustion engines, in order to achieve the predetermined target coolant temperature as quickly as possible. Such a PID controller can be constructed either in an analog or digital manner and can be integrated, for example, in an electronic control device that is already present to control the cooling system and / or the internal combustion engine. In particular when using a digital PID controller, the outlay and the costs for a cooling system according to the invention are only small, despite the improved control. However, the regulator can also be another electronic regulator, e.g. B. a PI n D n - or a PI controller.

Ergänzend wird darauf hingewiesen, daß die durch die Kühlmitteltemperatur beeinflußte Größe bzw. die der Ist-Kühlmitteltemperatur proportionale Größe auch die (Ist-)Kühlmitteltemperatur selbst sein kann.In addition, it is pointed out that the variable influenced by the coolant temperature or the variable proportional to the actual coolant temperature can also be the (actual) coolant temperature itself.

Der erfindungsgemäße Regler bildet die Übertragungsstrecke zwischen dem Eingang des Stellglieds und dem Ausgang der Kühlanlage nach, wodurch eine Anpassung der Parameter des Reglers automatisch in Abhängigkeit von sämtlichen in dieser Übertragungsstrecke auftretenden Parametern stattfindet, wie z. B. von der Fahrzeuggeschwindigkeit, der Außentemperatur, der Motorlast, der Fahrzeuginnenraumheizung, dem Zustand der Klimaaggregate, der Drehzahl des Kühlerwasserlüfters und/oder der totzeitbehafteten Temperaturerfassung sowie auch der Trägheit und Nichtlinearität des Stellgliedes. Zusätzliche Sensoren zur Erfassung dieser Parameter sind nicht notwendig. Somit wird nicht nur eine optimierte Regelung sondern auch die Einsparung von zusätzlichen Kosten erreicht.The controller according to the invention simulates the transmission path between the input of the actuator and the output of the cooling system, as a result of which the parameters of the controller are automatically adjusted as a function of all the parameters occurring in this transmission path, such as B. from the vehicle speed, the outside temperature, the engine load, the vehicle interior heating, the condition of the air conditioning units, the speed of the radiator water fan and / or the temperature detection with dead time as well as the inertia and non-linearity of the actuator. Additional sensors for recording these parameters are not necessary. This not only optimizes the control but also saves additional costs.

Eine vorteilhafte Ausgestaltung der Erfindung ist der Gegenstand des Patentanspruchs 2.
Die Sprunganregung wird durch die Stellsignalgröße zur Ansteuerung des Stellglieds selbst vorgenommen.
Unter der Voraussetzung, daß die Stellsignalgröße zumindest teilweise einen Sprungsignalanteil enthält, muß erfindungsgemäß zur Ermittlung der Sprungantwort nicht ein eigenes Testsignal als Sprunganregung erzeugt werden. Vorzugsweise wird die Sprungantwort bei Vorliegen einer bestimmten Betriebsbedingung ausgewertet.An advantageous embodiment of the invention is the subject of claim 2.
The jump excitation is carried out by the control signal size for controlling the actuator itself.
Provided that the control signal variable contains at least partially a jump signal component, according to the invention, it is not necessary to generate a separate test signal as a jump stimulus in order to determine the jump response. The step response is preferably evaluated in the presence of a specific operating condition.

Eine weitere vorteilhafte Ausgestaltung der Erfindung ist der Gegenstand des Patentanspruchs 3.
Erfindungsgemäß ist die Stellsignalgröße ein pulsweitenmoduliertes Signal. Mittels eines pulsweitenmodulierten Signals ist zum einen eine fein abgestimmte Ansteuerung des Stellsignals möglich und zum anderen automatisch eine Sprunganregung zur Auswertung der Sprungantwort häufig verfügbar.A further advantageous embodiment of the invention is the subject of claim 3.
According to the invention, the control signal size is a pulse-width-modulated signal. Using a pulse-width modulated signal, on the one hand a finely tuned control of the control signal is possible and on the other hand a jump excitation for evaluating the step response is often available automatically.

In der Zeichnung ist ein Ausführungsbeispiel der Erfindung dargestellt. Sie zeigt eine erfindungsgemäße Kühlanlage mit einem elektrisch beheizbaren Thermostatventil als elektrisch regelbares Stellglied.In the drawing, an embodiment of the invention is shown. It shows a cooling system according to the invention with an electrically heatable thermostatic valve as an electrically controllable actuator.

Eine Brennkraftmaschine 1 enthält kühlmittelführende Leitungen. Diese kühlmittelführenden Leitungen sind vom Ausgang A der Brennkraftmaschine 1 über eine Leitung mit einem Eingang eines elektrisch regelbaren Stellgliedes 3 in Form eines Thermostatventiles verbunden. Ein Ausgang des Stellgliedes 3 ist über eine weitere Leitung und den Eingang E der Brennkraftmaschine 1 an die kühlmittelführenden Leitungen der Brennkraftmaschine 1 angeschlossen. Ein weiterer Ausgang des Stellgliedes 3 führt über eine Leitung zum Eingang eines Kühlers 2. Der Ausgang des Kühlers 2 ist wiederum über eine kühlmittelführende Leitung mit dem Eingang E der Brennkraftmaschine 1 verbunden.An internal combustion engine 1 contains coolant-carrying lines. These coolant-carrying lines are connected from the output A of the internal combustion engine 1 via a line to an input of an electrically controllable actuator 3 in the form of a thermostatic valve. An output of the actuator 3 is connected via a further line and the input E of the internal combustion engine 1 to the coolant-carrying lines of the internal combustion engine 1. Another output of the actuator 3 leads via a line to the input of a cooler 2. The output of the cooler 2 is in turn connected to the input E of the internal combustion engine 1 via a coolant-carrying line.

Das elektrisch regelbare Stellglied in Form eines Thermostatventils weist ein temperaturabhängiges Dehnstoffelement auf, das über eine elektrische Leitung, die an ein elektronisches Steuergerät 4 angeschlossen ist, beheizbar ist. Zur Funktionsweise des elektrisch regelbaren Thermostatventils 3 sei beispielsweise auf die DE 43 24 178 A1 verwiesen. In der Zeichnung ist das Stellglied 3 im Warmlaufbetrieb dargestellt, bei dem der linke Durchlaß vollständig geschlossen und der rechte Durchlaß vollständig geöffnet ist. Somit fließt das Kühlmittel vom Ausgang A der Brennkraftmaschine 1 in einer Art Kurzschluß über das Stellglied 3 direkt zum Eingang E der Brennkraftmaschine 1 zurück. Der Kühler 2 wird hierbei vom Kühlmittel umgangen. Beispielsweise wäre im Kühlerbetrieb der rechte Durchlaß vollständig geschlossen und der linke Durchlaß des Stellglieds 3 vollständig geöffnet. Zum Einstellen einer gewünschten Soll-Kühlmitteltemperatur Tsoll ist auch ein Mischbetrieb möglich, bei dem sowohl der rechte als auch der linke Durchlaß des Stellgliedes 3 teilweise geöffnet sein können. Die Stellsignalgröße des Stellglieds 3 ist ein pulsweitenmoduliertes Ansteuersignal PWM.The electrically controllable actuator in the form of a thermostatic valve has a temperature-dependent expansion element which can be heated via an electrical line which is connected to an electronic control unit 4. For the functioning of the electrically controllable thermostatic valve 3, reference is made, for example, to DE 43 24 178 A1. In the drawing, the actuator 3 is shown in warm-up mode, in which the left passage is completely closed and the right passage is fully open. Thus, the coolant flows from the output A of the internal combustion engine 1 in a kind of short circuit via the actuator 3 directly back to the input E of the internal combustion engine 1. The cooler is bypassed by the coolant. For example, in the cooler mode, the right passage would be completely closed and the left passage of the actuator 3 would be fully opened. For setting a desired target coolant temperature T set, a mixing operation is possible, can be open in which both the right and the left passage of the actuator 3 in part. The control signal size of the actuator 3 is a pulse width modulated control signal PWM.

Das elektronische Steuergerät 4 soll im dargestellten Fall der erfindungsgemäße Regler, vorzugsweise ein PID-Regler, sein. Es ist jedoch auch möglich, den Regler als Funktionsblock in einem ohnehin vorhandenen elektronischen Steuergerät, z. B. zur Steuerung der Brennkraftmaschine und/oder der Kühlanlage, zu integrieren. Der PID-Regler 4 erhält als Eingangssignale zumindest die Ist-Kühlmitteltemperatur T ist und die Vorgabe einer einzustellenden Soll-Kühlmitteltemperatur Tsoll . In Abhängigkeit von den momentan eingestellten Parametern des PID-Reglers 4 wird ein entsprechendes Ansteuersignal PWM als Stellsignalgröße erzeugt und in Form einer elektrischen Beheizung des Stellglieds 3 vom PID-Regler 4 ausgegeben.In the case shown, the electronic control device 4 should be the controller according to the invention, preferably a PID controller. However, it is also possible to use the controller as a function block in an electronic device that is already present Control device, e.g. B. to control the internal combustion engine and / or the cooling system. The PID controller 4 receives as input signals at least the actual coolant temperature T, and the specification of a target to be set coolant temperature T set. Depending on the currently set parameters of the PID controller 4, a corresponding control signal PWM is generated as a control signal variable and output in the form of electrical heating of the actuator 3 by the PID controller 4.

Ist beispielsweise das Ansteuersignal PWM ein pulsweitenmoduliertes Signal, kann ggf. dieses Ansteuersignal PWM selbst (dünne Linie) als Sprunganregung SE' verwendet werden. Hierzu sollte jedoch der Impuls innerhalb der Periodendauer tPWM eine vorgegebene Mindestdauer aufweisen. Andernfalls wird als Sprunganregung SE ein eigens dafür gbildeter Impuls (fette Linie), z. B. mit einer vorgegebenen Dauer tSE, verwendet.For example, if the control signal PWM is a pulse-width modulated signal, this control signal PWM itself (thin line) can be used as step excitation SE '. For this purpose, however, the pulse should have a predetermined minimum duration within the period t PWM . Otherwise, a specially formed pulse (bold line), e.g. B. with a predetermined duration t SE used.

Auf die Sprunganregung SE oder SE' hin wird bezüglich der Ist-Kühlmitteltemperatur Tist die Sprungantwort SA, z. B. für eine vorgegebene Zeit, erfaßt und ausgewertet. Die Parameter des PID-Reglers 4 werden entsprechend der Auswertung der Sprungantwort SA an die Gegebenheiten des Stellglieds 3 und/oder der Regelstrecke 5 angepaßt. Hierzu wird die Sprungantwort SA beispielsweise bezüglich ihrer Totzeit Ttot und/oder ihrer Steigung dT/dt ausgewertet. Zur Auswertung der Sprungantwort SA können jedoch auch andere Charakteristika des Kurvenverlaufs der Sprungantwort SA betrachtet werden.Respect is actual coolant temperature T is the step response SA z, the step command SE or SE 'back. B. for a predetermined time, recorded and evaluated. The parameters of the PID controller 4 are adapted to the conditions of the actuator 3 and / or the controlled system 5 in accordance with the evaluation of the step response SA. For this purpose, the step response SA is evaluated, for example, with regard to its dead time T tot and / or its slope dT / dt. To evaluate the step response SA, however, other characteristics of the curve shape of the step response SA can also be considered.

Mittels der Auswertung der Sprungantwort SA auf die Sprunganregung SE hin werden automatisch sämtliche Einflüsse von Betriebsparametern und Störgrößen, die auf den PID-Regler 4, das Stellglied 3 und/oder die Regelstrecke 5 einwirken, beachtet. Hierdurch wird eine Erhöhung der Regelgüte und Regelgeschwindigkeit unter Einsparung von zusätzlichen Sensoren zur Erfassung weiterer Betriebsparameter oder Störgrößen erreicht. Als Folge der erfindungsgemäßen Kühlanlage ergibt sich zudem bei vorgegebenen Betriebsbedingungen eine Verbrauchs- und Leistungsoptimierung.By evaluating the step response SA to the step excitation SE, all influences of operating parameters and disturbance variables which act on the PID controller 4, the actuator 3 and / or the controlled system 5 are automatically taken into account. This results in an increase in the control quality and control speed, saving additional sensors for recording further operating parameters or disturbance variables. As a result The cooling system according to the invention also results in consumption and performance optimization under given operating conditions.

Die Erfindung ist jedoch nicht auf das genannte Ausführungsbeispiel beschränkt.
So kann anstelle des Thermostatventils 3 oder zusätzlich als elektrisch bzw. elektronisch regelbares Stellglied z. B. auch eine im Kühlmittelkreislauf vorgesehene Kühlmittelförderpumpe entsprechend der Erfindung geregelt werden - oder auch eine elektrisch regelbare Kühlmitteldrosselklappe. Grundsätzlich ist durch die Erfindung jedes Stellglied erfaßt, das zur Beeinflussung der Kühlmitteltemperatur elektrisch bzw. elektronisch regelbar ist.
Weiterhin muß die Stellsignalgröße nicht zwingend ein pulsweitenmoduliertes Signal sein, sondern kann auch - entsprechend der Ausgestaltung des Stellglieds - ein beliebig geeignetes elektrisches Signal sein, wie z. B. ein verstellwegproportionales Spannungssignal oder ein frequenzmodulierter Puls.However, the invention is not restricted to the exemplary embodiment mentioned.
So instead of the thermostatic valve 3 or additionally as an electrically or electronically controllable actuator z. B. a coolant supply pump provided in the coolant circuit can be regulated according to the invention - or an electrically controllable coolant throttle valve. Basically, the invention covers each actuator that can be controlled electrically or electronically to influence the coolant temperature.
Furthermore, the control signal size does not necessarily have to be a pulse-width-modulated signal, but can also - according to the design of the actuator - be any suitable electrical signal, such as, for. B. a displacement-proportional voltage signal or a frequency-modulated pulse.

Darüber hinaus kann eine durch die Kühlmitteltemperatur beeinflußte Größe anstelle der Kühlmitteltemperatur selbst beispielsweise eine andere Temperatur sein, wie z. B. die eines kühlmitteldurchflossenen Bauteils.In addition, a variable influenced by the coolant temperature may be, for example, a different temperature instead of the coolant temperature itself, such as, for. B. that of a coolant-flowed component.

Claims (3)

Kühlanlage mit elektrisch regelbarem Stellglied zur Beeinflussung der Kühlmitteltemperatur von Brennkraftmaschinen in Kraftfahrzeugen und mit einem dem Stellglied vorgeschalteten elektronischen Regler, der zumindest in Abhängigkeit von einer durch die Kühlmitteltemperatur beeinflußten Größe die Stellsignalgröße zur Ansteuerung des Stellglieds zum Erreichern einer Soll- Kühlmitteltemperatur erzeugt,
dadurch gekennzeichnet, daß die Parameter des Reglers (4) während des Brennkraftmaschinenbetriebs adaptiv durch Auswertung der Sprungantwort (SA) einer der Ist-Kühlmitteltemperatur
Figure imgb0001
proportionalen Größe auf eine Sprunganregung (SE) als Eingangssignal des Stellglieds (3) hin bestimmt werden.Cooling system with an electrically controllable actuator for influencing the coolant temperature of internal combustion engines in motor vehicles and with an electronic controller connected upstream of the actuator, which generates the actuating signal size for controlling the actuator to achieve a desired coolant temperature, at least depending on a variable influenced by the coolant temperature,
characterized in that the parameters of the controller (4) adaptively during operation of the internal combustion engine by evaluating the step response (SA) of an actual coolant temperature
Figure imgb0001
proportional size to a jump excitation (SE) as the input signal of the actuator (3) can be determined. Kühlanlage nach Patentanspruch 1, dadurch gekennzeichnet, daß die Sprunganregung (SE) durch die Stellsignalgröße (PWM) zur Ansteuerung des Stellglieds (3) selbst vorgenommen wird.Cooling system according to claim 1, characterized in that the jump excitation (SE) is carried out by the control signal variable (PWM) for controlling the actuator (3) itself. Kühlanlage nach Patentanspruch 1 oder 2, dadurch gekennzeichnet, daß die Stellsignalgröße (PWM) ein pulsweitenmoduliertes Signal ist.Cooling system according to claim 1 or 2, characterized in that the control signal variable (PWM) is a pulse width modulated signal.
EP96105511A 1995-05-26 1996-04-06 Cooling system with an electrically controlled actuator Withdrawn EP0744538A3 (en)

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