EP2756180B1 - Procédé et dispositif de modification d'un système asservi - Google Patents

Procédé et dispositif de modification d'un système asservi Download PDF

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Publication number
EP2756180B1
EP2756180B1 EP12745806.5A EP12745806A EP2756180B1 EP 2756180 B1 EP2756180 B1 EP 2756180B1 EP 12745806 A EP12745806 A EP 12745806A EP 2756180 B1 EP2756180 B1 EP 2756180B1
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EP
European Patent Office
Prior art keywords
controller
lambda
exhaust gas
probe
behaviour
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EP12745806.5A
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German (de)
English (en)
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EP2756180A1 (fr
Inventor
Bernhard Ledermann
Claudius Bevot
Thomas Schulz
Rolf Reischl
Thomas Braun
Ruediger Fehrmann
Ralf Kraemer
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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
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1438—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor
    • F02D41/1473—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor characterised by the regulation method
    • F02D41/1474—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor characterised by the regulation method by detecting the commutation time of the sensor
    • 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
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1438—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor
    • F02D41/1477—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor characterised by the regulation circuit or part of it,(e.g. comparator, PI regulator, output)
    • F02D41/1481—Using a delaying circuit

Definitions

  • the invention relates to a method for controlled-system modification of a lambda controller which is connected to an exhaust gas probe on the input side and wherein a dynamic behavior and / or deadtime behavior changing as a result of the probe design, a specimen scattering, a variable probe temperature or aging takes into account and the control behavior of the lambda controller is adjusted accordingly becomes.
  • the invention further relates to a device for carrying out the method according to the invention.
  • lambda regulators installed in engine control units must be supplemented with additional electronic circuits if exhaust gas sensors, in particular from different suppliers, are installed.
  • vehicle manufacturers demand a uniform ECU hardware for all probes.
  • a control system in which a change of the control behavior is made possible by analyzing a target / actual comparison.
  • the preferred embodiment provides for switching between different controller characteristics.
  • the control system provides in particular for use in a lambda control and allows a good compensation of occurring disturbances by suitable switching of the controller behavior.
  • a compensation of the dynamic behavior of the lambda probe is described, wherein an adaptable feedback to the lambda controller is provided.
  • a block BL1 is described, in which a model of the controlled system is stored, which allows a compensation of the dynamic behavior of the controlled system. From this compensation of the track behavior conclusions can be drawn on a change in the delay time of the lambda probe.
  • the DE 10 2008 001 569 A1 relates to a method and a device for adapting a dynamic model of an exhaust gas probe, which forms part of an exhaust gas duct of a Internal combustion engine is and with a lambda value for controlling an air-fuel composition is determined, wherein in a control device or in a diagnostic device of the internal combustion engine, a simulated lambda value is calculated in parallel and used by a user function, both the simulated and the measured lambda value , According to the invention, it is provided that, during ongoing vehicle operation, by evaluating a signal change upon excitation of the system, a jumping behavior of the exhaust gas probe is determined and the dynamics model of the exhaust gas probe is adapted on the basis of these results.
  • the invention serves to determine the actual response of the exhaust gas probe and the correction of the model parameters of the calculated lambda value, and thus to improve the match of measured and modeled lambda value, as long as this makes sense from the point of view of the user function.
  • the results of the step responses are collected and sorted into categories according to specific criteria.
  • the main criterion here may be the exhaust gas mass flow, since the response of the exhaust gas probe and the gas transit time depend essentially on this size.
  • the object relating to the method is achieved by adapting the control behavior of the lambda controller to the structure of different exhaust gas probes and their dynamic characteristics by means of a pure software adaptation.
  • the object relating to the device is achieved in that the lambda controller is designed as a digital PID controller and by means of a pure software adaptation the Control behavior of the lambda controller can be adapted to the structure of different exhaust gas sensors and their dynamic characteristics, said means having for carrying out the method according to the invention with its variants.
  • a preferred variant of the method provides that a digital PID controller is used as lambda controller and an output signal of the controller is fed back and added to the input difference signal, wherein the entire controller output or parts of the controller characteristic of the controller are multiplied by a predeterminable gain factor and fed back.
  • a digital PID controller is used as lambda controller and an output signal of the controller is fed back and added to the input difference signal, wherein the entire controller output or parts of the controller characteristic of the controller are multiplied by a predeterminable gain factor and fed back.
  • a PI, PD, DI, P, I or D component is coupled back as part of the controller characteristic. Which part of the controller characteristic is fed back depends on the connected probe type. Simulations can help to provide the optimal feedback case for each type of probe determine. For example, when using a probe with a long dead time, it could be determined that a feedback of the P component in conjunction with a D component for such exhaust gas probes led to the best results for controller stability. For other probes with a different characteristic, such feedback can also be completely withdrawn or applied only to a small extent.
  • the control system can be adapted to almost all available on the market exhaust gas sensor types quite cheaply, which is advantageous in terms of high flexibility both the vehicle manufacturer and the repair shop.
  • the output signal of the digital PID controller is fed back with an applicable factor less than 1 and the feedback is taken into account in a next time step of the digital PID controller. This can have a particularly advantageous effect on the lambda control.
  • an advantageous variant of the method provides that a broadband lambda probe with a Nernst cell and a pumping cell is used as the exhaust gas probe, the dead time being compensated as a result of the gas runtime by means of a direct electrical feedback, which directly proportional and integrating a pumping current change to the pump cell passes a reference electrode. This stabilizes the pumping current control without the need for additional wiring or a D-component.
  • a preferred application of the method, as described above in its variants, provides for the use for controlled system modification in a lambda evaluation ASIC, which is designed as a digital PID controller as part of a lambda control of an internal combustion engine.
  • a lambda evaluation ASIC is known, for example, as the "CJ 135 Lambda Probe Interface IC" by the Applicant, to which different exhaust gas probes are connected can and can generally be part of a higher-level engine control. Additional circuits are not necessary when using the method described above, if in the production of the vehicle different exhaust gas sensors are installed by different manufacturers.
  • FIG. 1 shows a detail of a lambda controller 1, to which an exhaust gas probe can be connected.
  • lambda regulators 1 are known, for example, as "CJ 135 Lambda Probe Interface IC".
  • FIG. 1 shows that a feedback 19 of the P component of the PID controller 10 is switched to an input value 11, wherein the P component of the PID controller 10 in an amplification unit 20 multiplied by an applicable factor, usually less than 1, by means of an integrator 21 is integrated and subtracted from the input 11 by means of a subtractor 13.
  • the o.g. Functionality is implemented particularly advantageously as a pure software solution in lambda controller 1.
  • a typical application describes the following application example. Flue gas probes from certain suppliers can usually be operated stably on a PID digital controller, such as the already mentioned CJ 135 module, only with additional RC circuitry. Other exhaust gas sensors, including those of the applicant, however, do not need this high pass. On the other hand, these probes can not be operated with this high-pass filter, because thereby the internal resistance measurement is unduly impaired. Since the vehicle manufacturers require a uniform ECU hardware for all probes, the high pass must be provided with a shutdown device. This is associated with other, already mentioned above disadvantages.
  • the measure according to the invention in which a stabilizing effect of the controlled system is modeled, can also be operated on the CJ 135 module without additional electrical connections and gas probes. The adaptation of the control unit to the probe type is now possible by a pure software adaptation.

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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)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)

Claims (6)

  1. Procédé de modification du comportement de régulation d'un régulateur lambda (1) qui est relié, côté entrée, à une sonde de gaz d'échappement et dans lequel un comportement dynamique et/ou un comportement en temps mort variant en fonction de la conception de la sonde, d'une tolérance de fabrication, d'une température variable de la sonde ou d'un vieillissement est pris en compte et le comportement de régulation du régulateur lambda (1) est adapté en conséquence, caractérisé en ce qu'un régulateur PID numérique (10) est utilisé en tant que régulateur lambda (1) et en ce qu'un signal de sortie (18) du régulateur est réinjecté et est ajouté au signal différentiel d'entrée, dans lequel la totalité de la sortie du régulateur ou des parties de la caractéristique de régulation du régulateur sont multipliées par un facteur d'amplification pouvant être prédéterminé et sont réinjectées et par conséquent dans lequel le comportement de régulation du régulateur lambda (1) est adapté à la conception de différentes sondes de gaz d'échappement et à leur caractéristique dynamique.
  2. Procédé selon la revendication 1, caractérisé en ce qu'une partie PI, PD, DI, P, I ou D est réinjectée en tant que partie de la caractéristique du régulateur.
  3. Procédé selon l'une quelconque des revendications 1 et 2, caractérisé en ce que le signal de sortie du régulateur PID numérique (10) est réinjecté avec un facteur applicable inférieur à 1 et en ce que la réinjection (19) est prise en compte lors d'un pas temporel suivant du régulateur PID numérique (10) .
  4. Procédé selon l'une quelconque des revendications 1 à 3, caractérisé en ce qu'une sonde lambda à large bande est utilisée en tant que sonde de gaz d'échappement comportant une cellule de Nernst et une cellule de comptage, dans lequel un temps mort dû à une durée de vie des gaz est compensé au moyen d'une rétroaction électrique directe (19) qui reproduit directement de manière proportionnelle et intégrale au niveau d'une électrode de référence une variation du courant de pompe de la cellule de pompe.
  5. Application du procédé selon l'une quelconque des revendications 1 à 4, pour modifier un comportement de régulation d'un régulateur lambda (1) dans un circuit ASIC d'analyse lambda qui est réalisé sous la forme d'un régulateur PID numérique (10) en tant que partie d'une régulation lambda d'un moteur à combustion interne.
  6. Dispositif de modification d'un comportement de régulation d'un régulateur lambda (1) qui est relié, côté entrée, à une sonde de gaz d'échappement, dans lequel un comportement dynamique et/ou un comportement en temps mort variant en fonction de la conception de la sonde, d'une tolérance de fabrication, d'une température variable de la sonde ou d'un vieillissement est pris en compte et le comportement de régulation du régulateur lambda (1) est adapté en conséquence, caractérisé en ce que le régulateur lambda (1) est réalisé sous la forme d'un régulateur PID numérique (10) et en ce qu'un signal de sortie (18) du régulateur peut être réinjecté et peut être ajouté au signal différentiel d'entrée, dans lequel la totalité de la sortie du régulateur ou des parties de la caractéristique de régulation du régulateur peuvent être multipliées par un facteur d'amplification pouvant être prédéterminé et peuvent être réinjectées et par conséquent, dans lequel le comportement de régulation du régulateur lambda (1) peut être adapté à la structure de différentes sondes de gaz d'échappement et à leur caractéristique dynamique, dans lequel le dispositif comporte des moyens destinés à mettre en oeuvre le procédé selon les revendications de procédé 1 à 4.
EP12745806.5A 2011-09-14 2012-07-23 Procédé et dispositif de modification d'un système asservi Active EP2756180B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011082641A DE102011082641A1 (de) 2011-09-14 2011-09-14 Verfahren und Vorrichtung zur Regelstreckenmodifikation
PCT/EP2012/064417 WO2013037551A1 (fr) 2011-09-14 2012-07-23 Procédé et dispositif de modification d'un système asservi

Publications (2)

Publication Number Publication Date
EP2756180A1 EP2756180A1 (fr) 2014-07-23
EP2756180B1 true EP2756180B1 (fr) 2018-01-10

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EP (1) EP2756180B1 (fr)
JP (1) JP5931201B2 (fr)
CN (1) CN103782015B (fr)
DE (1) DE102011082641A1 (fr)
WO (1) WO2013037551A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104102788B (zh) * 2014-07-25 2017-06-13 国网上海市电力公司 一种基于联合循环燃机系统模型的调速方法
DE102015205049A1 (de) * 2015-03-20 2016-09-22 Robert Bosch Gmbh Verfahren zum Betreiben eines Lambdareglers einer Brennkraftmaschine, Vorrichtung zur Durchführung des Verfahrens, Steuergeräteprogramm sowie Steuergerät-Programmprodukt

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3408635A1 (de) * 1984-03-09 1985-09-12 Robert Bosch Gmbh, 7000 Stuttgart Lambda-geregeltes gemischzumesssystem fuer eine brennkraftmaschine
JPS6285150A (ja) * 1985-09-28 1987-04-18 フオルクスウア−ゲン・アクチエンゲゼルシヤフト ラムダゾンデを備えたエンジンにおけるガソリン空気混合調整のための装置
DE3727369A1 (de) 1987-08-17 1989-03-02 Bosch Gmbh Robert Regelsystem
DE19516239C2 (de) * 1995-05-03 2001-07-19 Siemens Ag Verfahren zur Parametrierung eines linearen Lambdareglers für eine Brennkraftmaschine
JP3663794B2 (ja) * 1997-01-10 2005-06-22 株式会社デンソー Ｐｉｄ制御回路の定常偏差測定方法及び装置
DE19844994C2 (de) * 1998-09-30 2002-01-17 Siemens Ag Verfahren zur Diagnose einer stetigen Lambdasonde
DE19941051C2 (de) * 1999-08-28 2003-10-23 Bosch Gmbh Robert Sensorelement zur Bestimmung der Sauerstoffkonzentration in Gasgemischen und Verfahren zur Herstellung desselben
US6406422B1 (en) * 2000-03-02 2002-06-18 Levram Medical Devices, Ltd. Ventricular-assist method and apparatus
JP3854040B2 (ja) * 2000-06-15 2006-12-06 株式会社日立製作所 内燃機関の空燃比検出装置
DE10304245B3 (de) * 2003-02-03 2004-07-15 Siemens Ag Verfahren zur Adaption einer Signalabtastung von Lambdasondensignalwerten bei einer Mehrzylinder-Brennkraftmaschine
DE102006061565A1 (de) 2006-12-27 2008-07-03 Robert Bosch Gmbh Sondeneinrichtung mit Anpassungseinrichtung zur Anpassung an Auswerteeinrichtung zur Auswertung eines Sondengrenzstroms
JP4320744B2 (ja) * 2007-04-18 2009-08-26 株式会社デンソー 内燃機関の制御装置
JP4240132B2 (ja) * 2007-04-18 2009-03-18 株式会社デンソー 内燃機関の制御装置
DE102007062655A1 (de) * 2007-12-24 2009-06-25 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Verfahren zum Einstellen des Luft-/Kraftstoffverhältnisses eines Verbrennungsmotors
DE102008001569B4 (de) * 2008-04-04 2021-03-18 Robert Bosch Gmbh Verfahren und Vorrichtung zur Adaption eines Dynamikmodells einer Abgassonde
JP5446759B2 (ja) * 2009-11-13 2014-03-19 マツダ株式会社 エンジンの異常検出方法及び異常検出装置

Also Published As

Publication number Publication date
EP2756180A1 (fr) 2014-07-23
JP5931201B2 (ja) 2016-06-08
CN103782015A (zh) 2014-05-07
WO2013037551A1 (fr) 2013-03-21
JP2014530313A (ja) 2014-11-17
DE102011082641A1 (de) 2013-03-14
CN103782015B (zh) 2017-02-15

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