JP2012167577A - Engine control program and engine control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a model prediction control technique for suppressing drastic variations in operation-amount command value with respect to an engine.SOLUTION: An item regarding power of an operation amount of evaluation coefficients in model prediction control is changed in such a form that the difference in-between the operation amount before one unit time of the current time is taken into consideration in all prediction sections, thereby introducing a matrix for suppressing drastic variations in operation-amount command value. Namely, it is configured to introduce a matrix of a second time-series value of the operation amount of valve opening of an exhaust gas circulator and a second time-series value of the operation amount of nozzle opening of a variable nozzle turbo. The matrix suppresses variations in operation amount of the valve opening of the exhaust gas circulator and the nozzle opening of the variable nozzle turbo according to a value before one unit time of the current time about the operation amount of the valve opening of the exhaust gas circulator and a value before one unit time of the current time about the operation amount of the nozzle opening of the variable nozzle turbo.

Description

  The present technology relates to engine control technology.

  In recent diesel engines, new air volume (MAF: Mass Air Flow) and intake air pressure (MAP: Manifold Air Pressure) are optimally controlled by an intake system controller to reduce emissions and improve fuel efficiency. .

  In general, as shown in FIG. 1, the intake control system of a diesel engine includes an intake pressure control system and a fresh air amount control system, and the intake pressure and the fresh air amount are controlled independently of each other. The intake pressure control system controls the nozzle diameter of a variable nozzle turbo VNT (Variable Nozzle Turbo) to reduce the soot (PM) in the exhaust so that the intake pressure follows the intake pressure target value. Controlling. On the other hand, the new air quantity control system controls the valve opening of an exhaust gas recirculation (EGR) that recirculates exhaust gas into the cylinder to reduce nitrogen oxide (NOx) in the exhaust gas. The air volume is controlled to follow the new air volume target value.

  For these control systems, in the planner described later, the optimum intake pressure and fresh air amount are set as target values and the optimum VNT is set according to the operating conditions (engine speed rpm and fuel injection amount q). The reference values of the nozzle opening and the EGR valve opening are determined as feedforward values and output to the intake control system.

  Conventionally, the intake pressure control system and the new air volume control system were configured independently as shown in FIG. 2 (SISO: Single Input Single Output). That is, the intake control system includes two parts, an upper fresh air amount control system and a lower intake pressure control system. The new air quantity control system controls the new air quantity by adjusting the valve opening of the EGR. On the other hand, the intake pressure control system controls the intake pressure by adjusting the nozzle opening of the VNT. Specifically, the planner to which the operating conditions (setting of the fuel injection amount and the engine speed) are input outputs the corresponding new air amount target value, intake pressure target value, EGR reference value, and VNT reference value. . Then, the fresh air amount controller outputs a control value according to the difference between the new air amount target value and the fresh air amount measurement value. Then, the sum of the control value and the EGR reference value is input to the engine as the EGR valve opening. On the other hand, the intake pressure controller outputs a control value according to the difference between the intake pressure target value and the intake pressure measurement value. Then, the sum of the control value and the VNT reference value is input to the engine as the VNT nozzle opening.

  However, the engine has an interference element. That is, the amount of fresh air changes according to the VNT nozzle opening, or the intake pressure changes according to the EGR valve opening. Therefore, it is difficult to make the intake pressure and the fresh air amount simultaneously follow the target. Therefore, as shown in FIG. 3, the first interference compensation for changing the VNT nozzle opening in accordance with the fresh air amount error and the second interference for changing the EGR valve opening in accordance with the intake pressure error. Compensation is provided to compensate for interference between the two control systems. In addition to this interference compensation, a cooperative control system (MIMO: Multi Input Multi Output) is proposed that can be applied when the manipulated variables of the VNT nozzle opening and the EGR valve opening are saturated. In such a cooperative control system, a control system based on a model predictive control theory that is effective when there is interference and saturation in the control system has been proposed.

  Model prediction control will be described with reference to FIG. When the target value s at the time k is set, the reference trajectory r (k) in the prediction section N according to the observation trajectory y (k) (= state x (k)) at the time k from the plant to be controlled. ) (Because it is a substantial target value as described below, it is also referred to as a target value r (k).). The manipulated variables u (k), u (k + 1),... In the control section Hu from the time k so as to be as close as possible to the reference trajectory r (k). . . u (k + Hu-1) is calculated. However, there are cases where Hu = N. Then, only the manipulated variable u (k) is adopted and output to the plant. Thereafter, the same processing is performed after time k + 1.

  Generally, in model predictive control, as will be described in detail below, an evaluation function for the tracking error between the target value r (k) and the state x (k) and the manipulated variable u (k) is created, and the evaluation function The operation amount u (k) is calculated so that the value of is minimized. Conventionally, the operation amount u (k) itself is evaluated, or the difference Δu (k) = u (k) −u (k−1) from the operation amount of the previous sample at each sample point in the prediction interval N. Is evaluated. However, the output values (also referred to as command values) of the manipulated variables to EGR and VNT calculated by the conventional model predictive control are values having a large fluctuation including a lot of high frequency components as shown in FIGS. 5 and 6, for example. Become. 5 and 6, the horizontal axis represents frequency, and the vertical axis represents power. In FIG. 5, the frequency components of the power of the EGR manipulated variable command value according to another method are shown together with those according to another method and those according to conventional model predictive control (MPC). Obviously, the conventional model predictive control has higher high-frequency power. Similarly, in FIG. 6, the frequency components of the power of the VNT manipulated variable command value by another method are shown together with those by another method and those by conventional model predictive control (MPC). Also in this case, obviously, the conventional model predictive control has a higher high frequency power.

  This manipulated variable command value is given to the servo system of EGR and VNT, so if a strong frequency component is included in the frequency band exceeding the response frequency of these servo systems, the valve or turbo cannot respond and oscillates. May cause damage and damage.

  Note that there is a conventional technique in which control is performed while performing prediction using a model, but this is not improvement of model prediction control according to a scheme as shown in FIG.

JP 2007-192171 A JP-T-2005-516298

  Accordingly, an object of the present technology is to provide a model predictive control technology for suppressing rapid fluctuations in the operation amount command value for the engine.

  The engine control method according to the first aspect includes (A) a setting value of a fuel injection amount for an engine having an exhaust circulator and a variable nozzle turbo, a setting value of an engine speed, a measured value of an intake pressure of the engine, and a fresh air amount. (B) and (b1) a target time series value corresponding to a set value of fuel injection amount and a set value of engine speed, a measured value of intake pressure, and a measured value of fresh air amount The first time series value of the manipulated variable of the valve opening of the exhaust circulator and the variable nozzle turbo obtained by multiplying the matrix related to the error with the corresponding response time series value by the main control matrix of model predictive control A matrix of first time-series values of the manipulated variable of the nozzle opening, and (b2) the value of one unit time before the current time and the nozzle opening of the variable nozzle turbo of the manipulated variable of the valve opening of the exhaust circulator 1 unit time of the current time for the operation amount The second time-series value of the manipulated variable of the exhaust circulator valve opening and the variable nozzle turbo, which suppresses fluctuations in the manipulated variable of the exhaust valve circulator opening and the variable nozzle turbo manipulated variable according to the value of (B3) The third time-series value of the manipulated variable of the valve opening of the exhaust circulator and the variable nozzle turbo are obtained by adding the matrix of the second time-series value of the manipulated variable of the nozzle opening of A step of generating a matrix of third time series values of the manipulated variable of the nozzle opening, and (C) a third time series value of the manipulated variable of the valve opening of the exhaust circulator and the nozzle opening of the variable nozzle turbo. From the matrix of the third time series value of the manipulated variable, the value of the manipulated variable of the exhaust circulator valve opening one unit time after the current time and the current time of the manipulated variable of the nozzle opening of the variable nozzle turbo While extracting the value after the time, set value of fuel injection amount and engine speed By adding the reference value of the valve opening of the exhaust circulator and the reference value of the nozzle opening of the variable nozzle turbo according to the set value, the command value of the valve opening of the exhaust circulator and the nozzle opening of the variable nozzle turbo are added. Calculating a command value of the degree.

  The engine control method according to the second aspect includes (A) a set value of fuel injection amount for an engine having an exhaust circulator and a variable nozzle turbo, a set value of engine speed, a measured value of engine intake pressure, and a fresh air amount. (B) and (b1) a target time series value corresponding to a set value of fuel injection amount and a set value of engine speed, a measured value of intake pressure, and a measured value of fresh air amount The first time series value of the manipulated variable of the valve opening of the exhaust circulator and the variable nozzle turbo obtained by multiplying the matrix related to the error with the corresponding response time series value by the main control matrix of model predictive control A matrix of first time-series values of the manipulated variable of the nozzle opening, and (b2) the value of one unit time before the current time and the nozzle opening of the variable nozzle turbo of the manipulated variable of the valve opening of the exhaust circulator 1 unit time of the current time for the operation amount The second time-series value of the manipulated variable of the exhaust circulator valve opening and the variable nozzle turbo, which suppresses fluctuations in the manipulated variable of the exhaust valve circulator opening and the variable nozzle turbo manipulated variable according to the value of From the matrix of the second time series value of the manipulated variable of the nozzle opening of (b3), the value after one unit time of the current time of the manipulated variable of the valve opening of the exhaust circulator and the nozzle opening of the variable nozzle turbo A step of extracting and adding a value after one unit time of the current time of the operation time of (C), (C) the addition result of the operation amount of the valve opening of the exhaust circulator and the operation amount of the nozzle opening of the variable nozzle turbo By adding the reference value of the valve opening of the exhaust circulator and the reference value of the nozzle opening of the variable nozzle turbo according to the setting value of the fuel injection amount and the setting value of the engine speed to the addition result, the exhaust circulation Valve opening command value and variable nozzle And calculating a command value of the nozzle opening.

  The engine control method according to the third aspect includes (A) a set value of fuel injection amount for an engine having an exhaust circulator and a variable nozzle turbo, a set value of engine speed, a measured value of engine intake pressure, and a fresh air amount. (B), (b1) a target time series value corresponding to the set value of the fuel injection amount and the set value of the engine speed, the internal state output value of the pre-compensator and the intake pressure Of the valve opening of the exhaust circulatory system obtained by multiplying the matrix related to the error between the measured time value and the response time series value corresponding to the measured value of the fresh air volume by the main control matrix of model predictive control A matrix of the first time-series value of the quantity and the first time-series value of the manipulated variable of the nozzle opening of the variable nozzle turbo, and (b2) one unit time of the current time for the manipulated variable of the valve opening of the exhaust circulator Previous value and variable nozzle turbo nozzle opening The amount of operation of the valve opening of the exhaust circulator that suppresses fluctuations in the amount of operation of the valve opening of the exhaust circulator and the nozzle opening of the variable nozzle turbo according to the value one unit time before the current time. (B3) obtained by adding the second time-series value and the matrix of the second time-series value of the manipulated variable of the nozzle opening of the variable nozzle turbo, (b3) A step of generating a third time series value and a third time series value matrix of manipulated variable of the nozzle opening of the variable nozzle turbo, and (C) a third time series of manipulated variable of the valve opening of the exhaust circulator From the matrix of the value and the third time series value of the variable nozzle turbo nozzle opening, the value after one unit time of the current time of the valve opening of the exhaust circulator and the variable nozzle turbo nozzle opening Pre-compensator by extracting the value after 1 unit time of the current time The value of the manipulated value of the valve opening of the exhaust circulator after the first time after processing and the current value of the manipulated value of the nozzle opening of the variable nozzle turbo after being processed by the precompensator. Add the reference value of the valve opening of the exhaust circulator and the reference value of the nozzle opening of the variable nozzle turbo according to the setting value of the fuel injection amount and the setting value of the engine speed to the value after one unit time. And calculating a command value of the valve opening of the exhaust circulator and a command value of the nozzle opening of the variable nozzle turbo.

  An engine control method according to a fourth aspect includes: (A) a set value of fuel injection amount for an engine having an exhaust circulator and a variable nozzle turbo, a set value of engine speed, a measured value of intake pressure of the engine, and a fresh air amount (B) (b1) a target time series value corresponding to the set value of the fuel injection amount and the set value of the engine speed, the internal state output value of the pre-compensator, and the intake pressure The manipulated variable of the valve opening of the exhaust circulatory system obtained by multiplying the matrix related to the error between the measured value and the response time series value according to the measured value of the fresh air volume by the main control matrix of model predictive control A first time series value and a matrix of first time series values of the manipulated variable of the nozzle opening of the variable nozzle turbo, and (b2) one unit time before the current time of the manipulated value of the valve opening of the exhaust circulator Value and variable nozzle turbo nozzle operation The second of the manipulated variable of the valve opening of the exhaust circulator, which suppresses fluctuations in the manipulated variable of the valve opening of the exhaust circulator and the nozzle opening of the variable nozzle turbo according to the value one unit time before the current time. (B3) A value after one unit time of the current time of the valve opening operation amount of the exhaust circulator from the matrix of the second time series value of the operation amount of the nozzle opening of the variable nozzle turbo And a step of extracting and adding a value after one unit time of the current time of the operation amount of the nozzle opening of the variable nozzle turbo, and (C) the addition result of the operation amount of the valve opening of the exhaust circulator and the variable nozzle turbo The result of addition of the manipulated variable of the nozzle opening is processed by the precompensator, and the result of adding the manipulated variable of the valve opening of the exhaust circulator after being processed by the precompensator and the variable nozzle turbo The result of adding the manipulated variable of the nozzle opening of the The valve opening of the exhaust circulator is added by adding the reference value of the valve opening of the exhaust circulator and the reference value of the nozzle opening of the variable nozzle turbo according to the setting value of the shot amount and the setting value of the engine speed. And calculating a command value for the nozzle opening of the variable nozzle turbo.

  When model predictive control is applied to engine control, it is possible to suppress rapid fluctuations in the manipulated variable command value for the engine.

FIG. 1 is a schematic diagram of an engine. FIG. 2 is a block diagram for explaining a conventional control system of the engine. FIG. 3 is a block diagram for explaining another conventional control system. FIG. 4 is a diagram for explaining model prediction control. FIG. 5 is a diagram for explaining problems of conventional model predictive control. FIG. 6 is a diagram for explaining problems of conventional model predictive control. FIG. 7 is a block diagram of conventional model predictive control. FIG. 8 is a schematic diagram of an engine in the present embodiment. FIG. 9 is a block diagram according to the first embodiment. FIG. 10 is a diagram illustrating a processing flow according to the first embodiment. FIG. 11 is a diagram illustrating a processing flow according to the first embodiment. FIG. 12 is a diagram illustrating the frequency characteristics of the power of the operation amount command value for the EGR valve in the first embodiment. FIG. 13 is a diagram illustrating the frequency characteristics of the power of the operation amount command value for the VNT nozzle in the first embodiment. FIG. 14 is a block diagram according to the second embodiment. FIG. 15 is a diagram illustrating a processing flow according to the second embodiment. FIG. 16 is a diagram illustrating a processing flow according to the second embodiment. FIG. 17 is a block diagram according to the third embodiment. FIG. 18 is a diagram illustrating a processing flow according to the third embodiment. FIG. 19 is a diagram illustrating a processing flow according to the third embodiment. FIG. 20 is a block diagram in the fourth embodiment. FIG. 21 is a block diagram when the engine control apparatus is implemented by a computer. FIG. 22 is a functional block diagram of the engine control apparatus.

[Embodiment 1]
First, general model predictive control will be described to clarify the difference from the present embodiment. A plant model to be controlled (for example, a diesel engine) is expressed as follows. However, it shall be a linear time-invariant system.

The state x (k) includes the new air amount x _maf (k) and the intake pressure x _map (k), and the operation amount u (k) indicates the operation amount u _egr (k) of the EGR valve opening and the VNT nozzle opening. It includes every manipulated variable u _vnt, observed trajectory y (k) is consistent with the state (k).

  Such a control system is solved as a finite-time optimal control problem for obtaining an operation amount that minimizes the evaluation function as follows.

  Here, the first term in the first row of the equation (4) indicates the sum of squares of the tracking error with respect to the target value r (k) (the value of the reference trajectory at time k) in the state x (k). The second term represents the sum of squares (energy) of the manipulated variable u (k). Q and R are weights for the respective terms. This problem is a problem of obtaining u (k) so that the sum of the first term and the second term is optimal.

  The first term and the second term are in a trade-off relationship by setting the weights Q and R. Specifically, when R is constant and the weight Q is increased, a solution that relatively reduces the tracking error to the target value with the same energy of u (k) is obtained. Decreasing the value provides a solution that the tracking error to the target value may be relatively large. On the other hand, when the weight Q is constant and R is increased, it means that a constant target value followability is achieved with less energy. Conversely, when the weight Q is small, a constant target value followability is achieved with large energy. Is meant to do. Such an evaluation function actually causes an operation amount such that a component in the high frequency band as shown in FIG. 4 remains high.

  Here, when the expansion system is defined to correspond to the prediction period N, the expression (1) is rewritten as follows.

なお、Ｘは２Ｎ次元の状態ベクトルであり、Ｕも２Ｎ次元の操作量ベクトルである。

X is a 2N-dimensional state vector, and U is also a 2N-dimensional manipulated variable vector.

  Further, the target value r (k) is expressed as a 2N-dimensional target value vector as follows.

  When the evaluation function of equation (4) is rewritten using equations (6) and (8), the result is as follows.

  Furthermore, substituting the relationship of equation (5) into equation (9) yields the following.

  However, γ is a summary of terms unrelated to U.

  Uopt (k) that optimizes J (k) in equation (11) satisfies the following conditions.

  Therefore, it is expressed as follows.

  Therefore, Uopt (k) is expressed as follows.

Finally, the optimum values u _opt (k) of the manipulated variables of the VNT nozzle opening and the EGR valve opening at time k are expressed as follows.

A block diagram in the case of performing such control is shown in FIG. When the engine speed and the fuel injection amount are input, the planner outputs a reference value u _ref (k) and a target value s (k) corresponding to them. The target value s (k) is multiplied by a reference trajectory matrix T to generate a reference trajectory, that is, a target vector T (k).

  As a precaution, the target vector T (k) is shown. In the present embodiment, the time series value from time k to k + N of the response when the step response is via the first-order lag element is set as the target vector T (k). The transfer function is as follows.

  Here, Tr is a time constant of the first order delay of the reference trajectory. When Tr is shortened, a quick response is obtained, and when Tr is lengthened, a slow response is obtained.

  When this is converted into a time response, it is expressed as follows.

  This is represented by the following vector.

  Then, assuming that Ts is a sampling period, t = Ts × i, and i is 1 to N, the following is developed.

When time t ₀ is set as Ts × k, it is expressed as follows.

However, since s (k) is [s _maf , s _map ] ^T , the reference trajectory matrix T is a 2N row × 2 column matrix as follows.

  Here, regarding the time constant Tr of the reference trajectory, MAF and MAP may be individually set as Trmaf and Trmap.

On the other hand, the measured value x (k) of the engine characteristic is multiplied by Ψ in Expression (7) to calculate Ψx (k). Then, E (k) = T (k) −Ψx (k) is calculated and input to the main controller of the MPC, and M _2x2N H ⁻¹ Θ ^T _Q˜ ( _Q˜ or Q _bar represents Q bar) ) Is multiplied by E (k). U _opt (k), which is the output of the main controller of the MPC, is added to the reference value u _ref (k) output from the planner and input to the engine.

On the other hand, in this embodiment, the evaluation function is defined by the difference between each operation amount in the prediction period N and the value one sample before the current time k. If the operation amount one sample before is u ~ = u (k-1) (u ~ or u _bar represents u bar), the evaluation function J (k) is expressed as follows.

  Note that, as is apparent from the second line of the equation (2-1), there is a feature in that all the operation amounts in the prediction period N are evaluated after subtracting the operation amount one sample before the current k. By calculating the operation amount so as to reduce such a difference, fluctuations in the operation amount are reduced.

  Here, the following definitions are made.

  When the same conversion as the conversion from the expression (4) to the expression (11) is performed on the expression (2-1) by further using the expression (2-2), the result is as follows.

  Uopt (k) that minimizes J (k) in equation (2-3) satisfies the following condition.

  Then, the expression (2-3) is expressed as follows.

  Therefore, Uopt (k) is expressed as follows.

  It can be seen that the second term is added to the expression (2-5) when compared with the expression (14). As will be described later, this second term makes it possible to suppress rapid fluctuations in the operation amount.

Finally, u _opt (k) is expressed as follows:

  In the present embodiment, control based on equation (2-7) is performed. FIG. 8 shows a diesel engine as an example of an engine according to an embodiment of the present technology. The engine body 1 includes an exhaust circulator EGR that supplies exhaust gas from the engine body 1, and a variable nozzle turbo VNT that compresses fresh air by rotating the turbine with the pressure of the exhaust gas and supplies the compressed air to the engine body 1. And are connected. By adjusting the nozzle opening of the variable nozzle turbo VNT, the rotation of the turbine of the variable nozzle turbo VNT is adjusted, and the intake pressure (MAP) measured by the intake pressure (MAP) sensor is adjusted. On the other hand, the fresh air amount (MAF) measured by the fresh air amount (MAF) sensor is adjusted by adjusting the valve opening degree of the EGR valve provided in the exhaust gas circulator EGR.

  In the engine control apparatus 1000 according to the present embodiment, an intake pressure measurement value from the MAP sensor, a fresh air amount measurement value from the MAF sensor, a set value of the fuel injection amount given from the outside, and the same are given from the outside. And the set value of the engine speed to be input. Further, from the engine control apparatus 1000, the operation amount of the valve opening of the EGR valve is output to the EGR valve, and the operation amount of the nozzle opening of the VNT nozzle is output to the VNT nozzle.

FIG. 9 shows a block diagram of engine control apparatus 1000 according to the present embodiment. That is, the fuel injection amount set value and the engine speed set value are input, and the EGR valve opening target value and the VNT nozzle opening target value are associated with the fuel injection amount value and the engine speed value. EGR valve opening corresponding to the set value of the fuel injection amount and the set value of the engine speed from the planner 110 in which the combination of the value, the reference value of the fresh air amount MAF and the reference value of the intake pressure MAP is registered , The VNT nozzle opening target value s (k), the fresh air amount MAF reference value, and the intake pressure MAP reference value u _ref (k).

  The planner 110 outputs, for example, a set value of the fuel injection amount and a set value of the engine speed to the matrix setter 112. Instead of the setting value of the fuel injection amount and the setting value of the engine speed, other parameter values used when specifying the target value and the reference value may be used. The matrix setter 112 is used to specify the appropriate matrices A, B, Q, and R according to the set value of the fuel injection amount and the set value of the engine speed, and to calculate the equation (2-7). Is calculated and set in the MPC main control unit 114 and the fluctuation suppression unit 118. Settings are also made for T and Ψ. Such a matrix setting is carried out, for example, every predetermined period or when there is a significant change in at least one of the fuel injection amount and the engine speed.

  Then, the 2N-dimensional target vector T (k) is calculated by multiplying the target value s (k) of the EGR valve opening and the target value s (k) of the VNT nozzle opening output from the planner 110 by the reference trajectory matrix T, The measured value x (k) of the engine characteristic 120 is multiplied by ψ to calculate a 2N-dimensional response vector ψx (k). Then, a 2N-dimensional error vector E (k) = T (k) −Ψx (k) is obtained.

The error vector E (k) is input to the MPC main control unit 114. The MPC main control unit 114 multiplies E (k) by M 2 _{× 2N} H ⁻¹ Θ ^T _Q˜ and outputs the result. The output of the MPC main control unit 114 and the output of the fluctuation suppressing unit 118 are added to calculate the optimum operation amount u _opt (k). The optimum operation amount u _opt (k) is added to the feedforward value u _ref (k) output from the planner 110 and output to the engine characteristic 120. That is, the VNT nozzle opening and the EGR valve opening are controlled by u _opt (k) + u _ref (k).

The pre-operation amount matrix generation unit 116 delays u _opt (k) by one sample time, generates a matrix U˜ of the equation (2-2), and outputs the generated matrix U˜ to the fluctuation suppression unit 118. Fluctuation suppressing unit 118, U ~ against ^{_{(2-7) M 2x2N H -1 R}} ~ U ~ M 2x2N H -1 multiplied by the R ~ a is a second term of the formula (R ~ or R _bar is R Represents a bar). Then, it is added to the output of the MPC main controller 114 at the next sample time.

  Next, detailed processing contents of the engine control apparatus 1000 will be described with reference to FIGS. 10 and 11.

First, the engine control apparatus 1000 sets k = 0 (FIG. 10: step S1). Further, the engine control apparatus 1000 performs initial setting (step S3). Specifically, the matrix setter 112 acquires, for example, plant matrices A and B corresponding to the engine speed and the fuel injection amount at k = 0, a weight matrix Q and R, a prediction period N, an initial value x ( 0) and u (0), initial U˜ ( _U˜ or U _bar represents U bar), time constant Tr for reference trajectory matrix T, and the like are acquired. These data are stored in advance in a memory or the like, and the corresponding data is read out.

Further, the matrix setting unit 112 of the engine control apparatus 1000 calculates and sets the reference trajectory matrix T as described above as an initial calculation (step S5). Further, the matrix setting unit 112 calculates and sets matrices H ⁻¹ = (Θ ^T Q˜Θ) ⁻¹ and Θ ^T Q˜ used by the MPC main control unit 114 and the fluctuation suppression unit 118. Further, the initial R˜U˜ is calculated and set using the initial U˜. Further, H ⁻¹ Θ ^T Q˜ is calculated and set (step S7). The processing shifts to the processing in FIG.

Shifting to the description of the processing in FIG. 11, the engine control apparatus 1000 increments k by 1 (step 9), acquires the state x (k) from the MAP sensor and the MAF sensor, and determines the engine speed and fuel at the current time. The set value of the injection amount is acquired and the target value s (k) corresponding to them is acquired from the planner 110 (step S11). The engine control apparatus 1000 also acquires a reference value u _ref corresponding to the engine speed and the fuel injection amount at the current time from the planner 110.

Then, engine control apparatus 1000 calculates target value vector T (k) (= Ts (k) (step S13), and engine control apparatus 1000 also includes target vector T (k) and response vector Ψx (k). Is calculated (step S15), and the engine control apparatus 1000 calculates an optimum manipulated variable vector Uopt (k) in consideration of U˜ (step S17). The MPC main controller 114 multiplies the vector E (k) by H ⁻¹ Θ ^T Q˜, and generates a U˜ vector from Uopt (k−1) except for the case of k−1 = 0. When −1 = 0, the initial U˜ is used as it is, and H ⁻¹ R˜U˜ is calculated by using the U˜ vector by the fluctuation suppressing unit 118. The output of the MPC main control unit 114 and the fluctuation suppressing unit 118. With the output of Uopt (k) is calculated.

Further, the engine control device 1000 multiplies the result of step S17 by M _2x2N to calculate (extract here) the optimum operation amount u _opt (k) at the current time k, and further, the reference value u _ref (k ) Is calculated, and the command value of the manipulated variable is calculated, and the command value is output to the VNT nozzle and the EGR valve of the engine 1 (step S19).

The calculation of this part can be changed using the property of the matrix. Specifically, the MPC main control unit 114 may multiply M _2x2N , and the fluctuation suppression unit 118 may also multiply M _2x2N .

Further, the pre-operation amount matrix generation unit 116 of the engine control apparatus 1000 sets u (k−1) = u _opt (k), generates a new U˜ from u (k−1), and stores it in the memory. Hold (step S21). The new U is used after k is incremented by one.

Then, engine control apparatus 1000 determines whether k has reached a preset maximum value k _max (step S23). If k has not reached k _max , the process returns to step S9. On the other hand, when k reaches k _max , the process is terminated. For example, returning to step S1, processing is started from the initial setting.

  By performing the processing as described above, it is possible to suppress a rapid fluctuation in the operation amount command value. In step S3 in FIG. 10, the system matrix A, B, weights Q, R, Uref are read, and the constant matrix calculation in step S7 is inserted between step S9 and step S11 in FIG. Each time, it is possible to cope with a case where the operating conditions change and the system matrix changes. Specific experimental results are shown in FIGS. In FIG. 12, the horizontal axis represents frequency, and the vertical axis represents power (dB). The thick line represents the operation amount command value for the EGR valve opening in the present embodiment, and the thin line represents the operation amount command value for the EGR valve by the conventional MPC. Thus, the power in the high frequency band is lower than that of the conventional MPC. Also in FIG. 13, the horizontal axis represents frequency and the vertical axis represents power (dB). The thick line represents the operation amount command value for the VNT nozzle in the present embodiment, and the thin line represents the operation amount command value for the VNT nozzle by the conventional MPC. Thus, it can be seen that the operation amount command value for the VNT nozzle also has a lower power in the high frequency band than in the conventional MPC. In this way, stable control is performed while suppressing rapid fluctuations in the manipulated variable command value.

[Embodiment 2]
Since the EGR valve and the VNT nozzle are opened and closed, there are restrictions such that the fully closed state is 0 and the fully open state is 1 or 100. Therefore, a solution that minimizes the evaluation function J (k) as described above is obtained in consideration of such restrictions. That is, in model predictive control, the optimization problem under such a constraint condition is solved.

  More specifically, the constraint condition on the operation amount is expressed as follows.

  Here, a and b are the lower limit and upper limit of EGR, and c and d are the lower and upper limits of VNT.

  Consider expressing the expression (3-1) in the following format.

  First, equation (3-1) is modified as follows.

  The expression (3-3) is expressed as follows.

  Furthermore, the above constraints are imposed on all elements of U (k). That is, it is expressed as follows.

  This can be summarized as follows.

  On the other hand, the constraint condition for the controlled variable is expressed as follows. Although the same a, b, c, and d are used for the upper limit value and the lower limit value, they are different from the above-described a, b, c, and d.

  Here, a and b are the lower limit value and upper limit value of MAF, and c and d are the lower limit value and upper limit value of MAP.

  The expression (3-9) is considered to be expressed in the following format.

  Furthermore, the expression (3-11) can also be expressed as follows.

  Furthermore, the above constraints are imposed on all elements of X (k). That is, it is expressed as follows.

  Therefore, this can be summarized as follows.

  Substituting X (k) = Ψx (k) + ΘU (k) into the expression (3-14), it is expressed as follows.

  The above constraint conditions are summarized as follows.

  When U (k) that does not satisfy the expression (3-17) is calculated, the following constraint condition of the expression (3-17) is satisfied, and J (k) of the expression (2-3) The optimization problem of finding U (k) that minimizes. That is, the optimization problem is expressed as follows.

  There are QP problems, a Lagrange multiplier method, an active set method, an interior point method, and the like as a solution method of the expression (3-18), and thus will not be described in detail here.

FIG. 14 shows an example of a block diagram in consideration of such a constraint condition. Specifically, the fuel injection amount setting value and the engine speed setting value are input, and the target value of the EGR valve opening and the VNT nozzle opening are associated with the fuel injection amount value and the engine speed value. EGR corresponding to the set value of the fuel injection amount and the set value of the engine speed from the planner 210 in which the combination of the target value of the engine degree, the reference value of the fresh air amount MAF and the reference value of the intake pressure MAP is registered The target value of the valve opening and the target value s (k) of the VNT nozzle opening, the reference value of the fresh air amount MAF, and the reference value u _ref (k) of the intake pressure MAP are read out.

  The planner 210 outputs, for example, a fuel injection amount set value and an engine speed set value to the matrix setter 212. Instead of the setting value of the fuel injection amount and the setting value of the engine speed, other parameter values used when specifying the target value and the reference value may be used. The matrix setting unit 212 identifies appropriate matrices A, B, Q, and R according to, for example, the setting value of the fuel injection amount and the setting value of the engine speed, and the expressions (2-7) and (3-17) The other matrix used for the calculation is calculated and set in the optimizer 214 or the like. Settings are also made for T and Ψ. Such a matrix setting is carried out, for example, every predetermined period or when there is a significant change in at least one of the fuel injection amount and the engine speed.

  Then, the 2N-dimensional target vector T (k) is calculated by multiplying the target value s (k) of the EGR valve opening and the target value s (k) of the VNT nozzle opening output from the planner 210 by the reference trajectory matrix T, The measured value x (k) of the engine characteristic 120 is multiplied by ψ to calculate a 2N-dimensional response vector ψx (k). Then, a 2N-dimensional error vector E (k) = T (k) −Ψx (k) is obtained.

This error vector E (k) is input to the optimizer 214. The optimizer 214 includes the functions of the MPC main control unit 114, the pre-operation amount matrix generation unit 116 and the fluctuation suppression unit 118 in the first embodiment, and the function of the optimization calculation unit. Specifically, U (k) = H ⁻¹ Θ ^T Q˜E (k) + H ⁻¹ R˜U˜ is calculated, and it is determined whether or not Expression (3-17) is satisfied. When the expression (3-17) is satisfied, the processing in the optimization calculation unit is omitted, and M _2x2N Uopt (k) = u _opt (k) is generated as U (k) = Uopt (k). On the other hand, when the expression (3-17) is not satisfied, the optimization calculation unit performs processing for solving the expression (3-18). M _2x2N Uopt (k) = u _opt (k) is generated with the solution of the expression (3-18) as Uopt (k).
It should be noted that the values of a, b, c, d of the constraints on EGR and VNT included in f in the expression (3-17) are values obtained by adding the feedforward value u _ref (k) or not. Is set to a value that can determine

The optimum manipulated variable u _opt (k), which is the output of the optimizer 214, is added to the feedforward value u _ref (k) output from the planner 210 and output to the engine characteristic 120. That is, the VNT nozzle opening and the EGR valve opening are controlled by u _opt (k) + u _ref (k).

Note that the optimizer 214 delays u _opt (k) by one sample time, generates a matrix of equation (2-2), and stores it in the memory.

  Next, detailed processing contents of the engine control apparatus 1000 will be described with reference to FIGS. 15 and 16.

  First, the engine control apparatus 1000 sets k = 0 (FIG. 15: Step S31). In addition, the engine control apparatus 1000 performs initial setting (step S33). Specifically, the matrix setting unit 212 acquires plant matrices A and B corresponding to, for example, the engine speed and the fuel injection amount at k = 0, the weight matrices Q and R, the prediction period N, the initial value x ( 0) and u (0), initial U˜, time constant Tr, and the like are acquired. These data are stored in advance in a memory or the like, and the corresponding data is read out.

Further, the matrix setting unit 212 of the engine control apparatus 1000 includes constraints (a, b, c, and d2 sets in the above description. Specifically, the upper limit value and the lower limit of the VNT nozzle opening degree are stored in a memory or the like. Value, upper limit value and lower limit value of EGR valve opening, upper limit value and lower limit value of x _maf , and upper limit value and lower limit value of x _map ) are acquired (step S35).

Further, the engine control apparatus 1000 calculates and sets a reference trajectory matrix T as an initial calculation (step S37). Further, the matrix setter 212 calculates the constraint expansion matrices f, F, g, and G, such as the constant matrices H ⁻¹ = (Θ ^T Q˜Θ) ⁻¹ and Θ ^T Q˜ used by the optimizer 214, Set. Also, an initial R˜U˜ (R˜ represents a bar of R) is calculated and set using the initial U˜. Further, H ⁻¹ Θ ^T Q˜ is also calculated and set (step S39). The processing shifts to the processing in FIG.

Shifting to the description of the processing in FIG. 16, the engine control apparatus 1000 increments k by 1 (step S41), acquires the state x (k) from the MAP sensor and the MAF sensor, The fuel injection amount is acquired, and the target value s (k) corresponding to the engine speed and the fuel injection amount is acquired from the planner 210 (step S43). The engine control apparatus 1000 also acquires a reference value u _ref (k) corresponding to the engine speed and the fuel injection amount at the current time k from the planner 210.

Then, engine control apparatus 1000 calculates target value vector T (k) (= Ts (k) (step S45), and engine control apparatus 1000 also includes target vector T (k) and response vector Ψx (k). (Step S47) Then, the optimizer 214 of the engine control apparatus 1000 calculates an optimum manipulated variable vector U (k) considering U˜ (step S49). In this step, the error vector E (k) is multiplied by H ⁻¹ Θ ^T Q˜, except for the case where k−1 = 0, a U˜ vector is generated from Uopt (k−1), and k− . using the initial U ~ in the case of 1 = 0, and calculates the H ^-1 R ~ U ~ from the U ~ vector ^{and, U (k) = H -1} Θ T Q ~ E (k) + H - ¹ R ~ U ~ is calculated.

Then, the engine control apparatus 1000 determines whether or not the constraint condition of the expression (3-17) is satisfied (step S51). When U (k) satisfying the constraint condition is obtained, the process proceeds to step S55 as U (k) = Uopt (k) obtained in step S49. On the other hand, when U (k) satisfying the constraint condition is not obtained, the optimizer 214 of the engine control apparatus 1000 performs optimization processing according to the equation (3-18) and performs Uopt (k) Is calculated (step S53). It should be noted that the values of a, b, c, and d of the constraints on EGR and VNT included in f in the equation (3-17) are saturated whether the value obtained by adding the feedforward value u _ref (k) is saturated. Is set to such a value that can be determined.

Further, the optimizer 214 of the engine control apparatus 1000 multiplies the result of step S49 or S53 by M _2x2N to calculate the optimum operation amount u _opt (k) at the current time k (extract here). Further, the operation value command value is calculated by adding the reference value u _ref (k), and the command value is output to the VNT nozzle and the EGR valve of the engine 1 (step S55).

Further, the optimizer 214 of the engine control apparatus 1000 sets u (k−1) = u _opt (k), generates a new U˜, and holds it in the memory (step S57). The new U is used after k is incremented by one.

Then, engine control apparatus 1000 determines whether k has reached a preset maximum value k _max (step S59). If k has not reached k _max , the process returns to step S41. On the other hand, when k reaches k _max , the process is terminated. For example, returning to step S31, the processing is started from the initial setting.

  By performing the processing as described above, rapid fluctuations can be suppressed while satisfying the constraint conditions. In step S33 in FIG. 15, the acquisition of the system matrices A and B, the weights Q and R, the constraint conditions in step S35, and the calculation of the constant matrix and the constraint expansion matrix in step S39 are the same as step S41 in FIG. By inserting it in step S43, it is possible to cope with a case where the operating conditions change and the system matrix changes every time.

[Embodiment 3]
In the present embodiment, a case is considered where a predistorter having a low-pass filter characteristic is introduced in order to suppress a component of an operation amount command value in a high frequency band.

  In the present embodiment, a plant to be controlled (for example, a diesel engine) is represented as follows.

  In addition, the transfer function of the introduced predistorter is assumed to be expressed as follows.

  Here, Td11 and Td22 are time constants that describe the low-pass characteristics of the predistorter, and the low-pass characteristics can be specified more strongly by setting a large value. It is also possible to specify this characteristic as a cross term.

  The discrete state equation of such a precompensator is as follows:

  Here, a synthesis system of the equations (4-1) and (4-5) is considered. Therefore, the state equation of the synthetic system is expressed as follows.

  Where x (k) represents a 6 × 1 state vector, u represents a 2 × 1 manipulated variable vector, y represents a 2 × 1 measurement vector, and A represents a 6 × 6 matrix. B represents a 6 × 2 matrix, and C represents a 2 × 6 matrix.

  If the synthesis system is expressed in this way, the finite time optimal control problem to be solved has the same form as the evaluation formula J (k) in the first embodiment. Note that u˜ = u (k−1), which represents an operation amount one sample before the current time. Q and R are weighting factors.

  Further, when the expansion system is defined with Y being a measurement vector of 2N rows and U being an operation amount vector of 2N rows, the equation (4-1) is expressed as follows.

  Further, assuming that T, U˜, Q˜, R˜, and γ are the same as those defined in the first embodiment, equation (4-9) is expressed as follows.

  When Uopt (k) that minimizes the evaluation function J (k) is derived in the same manner as in the first embodiment, it is expressed as follows.

Finally, the optimum operation amount u _opt (k) is expressed as follows.

  In the present embodiment, control is performed based on the equation (4-17).

Next, FIG. 17 shows a block diagram of engine control apparatus 1000 according to the present embodiment. That is, the fuel injection amount set value and the engine speed set value are input, and the EGR valve opening target value and the VNT nozzle opening target value are associated with the fuel injection amount value and the engine speed value. EGR valve opening corresponding to the set value of the fuel injection amount and the set value of the engine speed from the planer 310 in which the combination of the value, the reference value of the fresh air amount MAF and the reference value of the intake pressure MAP is registered , The VNT nozzle opening target value s (k), the fresh air amount MAF reference value, and the intake pressure MAP reference value u _ref (k).

  The planner 310 outputs, for example, a set value of the fuel injection amount and a set value of the engine speed to the matrix setter 312. Instead of the setting value of the fuel injection amount and the setting value of the engine speed, other parameter values used when specifying the target value and the reference value may be used. The matrix setting unit 312 is used to calculate an equation (4-17) by specifying appropriate matrices A, B, Q, and R according to the setting value of the fuel injection amount and the setting value of the engine speed. Is calculated and set in the second MPC main control unit 314, the second fluctuation suppression unit 318, and the response vector generation unit 322. T is also set. Such a matrix is set, for example, every predetermined period or when there is a significant change in at least one of the fuel injection amount and the engine speed.

Then, the 2N-dimensional target vector T (k) is calculated by multiplying the target value s (k) of the EGR valve opening and the target value s (k) of the VNT nozzle opening output by the planner 310 by the reference trajectory matrix T. On the other hand, the response vector generation unit 322 generates a state vector x (k) from the measured value x _p (k) of the engine characteristic 120 and the internal state output value x _d (k) of the predistorter 320. A 2N-dimensional response vector Ψcx (k) is calculated by multiplying Ψc. Then, a 2N-dimensional error vector E (k) = T (k) −Ψcx (k) is obtained.

The error vector E (k) is input to the second MPC main control unit 314. The second MPC main controller 314 multiplies M _2x2N H ⁻¹ Θ ^T _Q˜ by E (k) and outputs the result. The output of the second MPC main control unit 314 and the output of the second fluctuation suppression unit 318 are added to calculate the operation amount u (k). The pre-compensator 320 having a low-pass filter characteristic processes the manipulated variable u (k) and outputs the manipulated variable u _p (k). The output u _p (k) is added to the feedforward value u _ref (k) and output to the engine characteristic 120. That is, _{u p (k) + u ref} (k), VNT nozzle opening degree and the EGR valve opening is controlled.

Note that the pre-operation amount matrix generation unit 316 delays u (k) by one sample time, generates a matrix of equation (2-2), and outputs the generated matrix to the second variation suppression unit 318. The second fluctuation suppressing unit 318 calculates M _2x2N Hc ⁻¹ _R˜U˜ by multiplying _U˜ by M _2x2N Hc ⁻¹ _R˜ which is the second term of the equation (4-17). Then, the output of the second fluctuation suppressing unit 318 is added to the output of the second MPC main control unit 314 at the next sample time.

  Next, detailed processing contents of the engine control apparatus 1000 will be described with reference to FIGS. 18 and 19.

  First, the engine control apparatus 1000 sets k = 0 (FIG. 18: step S61). Further, the engine control apparatus 1000 performs initial setting (step S63). Specifically, the matrix setting unit 312 acquires the plant matrices A and B corresponding to the engine speed and the fuel injection amount at k = 0, the weight matrices Q and R, the prediction period N, and the initial value x (0 ) And u (0), initial U˜, time constant Tr, and the like. A and B are different from those in the first embodiment. These data are stored in advance in a memory or the like, and the corresponding data is read out.

Further, the matrix setting unit 312 of the engine control apparatus 1000 calculates and sets the reference trajectory matrix T as an initial calculation (step S65). Further, the matrix setting unit 312 calculates and sets the matrices Hc ⁻¹ = (Θc ^T Q˜Θc) ⁻¹ and Θc ^T Q˜ used in the second MPC main control unit 314 and the second fluctuation suppression unit 318 ( Step S67). Also, an initial R˜U˜ (R˜ represents a bar of R) is calculated and set using the initial U˜. Further, Hc ⁻¹ Θc ^T Q˜ is also calculated and set. The processing shifts to the processing in FIG.

19, the engine control apparatus 1000 increments k by 1 (step S69), acquires the state x _p (k) from the MAP sensor and the MAF sensor, and transmits the internal state from the precompensator 320. The state output x _d (k) is acquired, the engine speed and the fuel injection amount at the current time are acquired, and the target value s (k) corresponding to the engine speed and the fuel injection amount is acquired (step S71). . The engine control apparatus 1000 also acquires a reference value u _ref corresponding to the engine speed and the fuel injection amount at the current time from the planner 310.

Then, engine control apparatus 1000 calculates target value vector T (k) (= Ts (k) (step S73), and response vector generation unit 322 of engine control apparatus 1000 uses x _d (k) and x _p (k) and x (k) are generated to further calculate a response vector Ψcx (k), and the engine control apparatus 1000 determines an error vector between the target vector T (k) and the response vector Ψcx (k). E (k) = T (k) −Ψcx (k) is calculated (step S75), and the engine control apparatus 1000 calculates the optimum operation amount u _opt (k) considering U˜ (step S77). .

In this step, the second MPC main controller 314 multiplies the error vector E (k) by Hc ⁻¹ Θ ^T Q˜. Also, except for the case of k-1 = 0, a U ~ vector is generated from Uopt (k-1). When k-1 = 0, the initial U ~ is used as it is, and the second U ~ vector is used as the second. The fluctuation suppressing unit 318 calculates Hc ⁻¹ R˜U˜. Uopt (k) is calculated from the sum of the output of the MPC main control unit 314 and the output of the fluctuation suppressing unit 318. The engine control apparatus 1000 calculates the optimum operation amount u _opt (k) by multiplying this Uopt (k) by M _2x2N .

The second MPC main control unit 314 multiplies the error vector E (k) by M _2x2N H ⁻¹ Θ ^T _Q˜ , and the second fluctuation suppression unit 318 calculates M _2x2N Hc ⁻¹ _R˜U˜. Then, finally, the engine control apparatus 1000 may add those calculation results.

Further, the pre-compensator 320 processes the optimum operation amount u _opt (k), and the engine control device 1000 adds the operation amount by adding the output of the pre-compensator 320 and the reference value u _ref (k). The command value is calculated, and the command value is output to the VNT nozzle and the EGR valve of the engine 1 (step S79).

Further, the pre-operation amount matrix generation unit 316 of the engine control apparatus 1000 sets u (k−1) = u _opt (k), and generates and holds a new U˜ (step S81). The new U is used after k is incremented by one.

Then, engine control apparatus 1000 determines whether k has reached a preset maximum value k _max (step S83). If k has not reached k _max , the process returns to step S69. On the other hand, when k reaches k _max , the process is terminated. For example, returning to step S61, the processing is started from the initial setting.

  As described above, the pre-compensator 320 can be provided to further suppress the power in the high frequency band, and as a whole, sudden fluctuations in the manipulated variable command value can be suppressed.

[Embodiment 4]
Although it has been shown in the second embodiment that the constraint condition is taken into consideration with respect to the first embodiment, an embodiment in which the constraint condition is taken into consideration with respect to the third embodiment is shown.

  The basic idea is the same as that of the second embodiment, but only the portion that is affected by the introduction of the predistorter will be described. Specifically, Θc and ψc are used instead of Θ and ψ. Therefore, the constraint condition is expressed as follows.

If the manipulated variable vector U (k) that satisfies the equation (5-1) can be calculated, u _opt (k) is extracted from U (k) as it is. On the other hand, if the manipulated variable vector U (k) that satisfies the equation (5-1) cannot be calculated, the following optimization problem is solved.

FIG. 20 shows an example of a block diagram in consideration of such a constraint condition. Specifically, the fuel injection amount setting value and the engine speed setting value are input, and the target value of the EGR valve opening and the VNT nozzle opening are associated with the fuel injection amount value and the engine speed value. EGR corresponding to the set value of the fuel injection amount and the set value of the engine speed from the planer 410 in which the combination of the target value of the engine speed, the reference value of the fresh air amount MAF, and the reference value of the intake pressure MAP is registered The target value of the valve opening and the target value s (k) of the VNT nozzle opening, the reference value of the fresh air amount MAF, and the reference value u _ref (k) of the intake pressure MAP are read out.

  The planner 410 outputs, for example, a set value of the fuel injection amount and a set value of the engine speed to the matrix setter 412. Instead of the setting value of the fuel injection amount and the setting value of the engine speed, other parameter values used when specifying the target value and the reference value may be used. The matrix setter 412 specifies appropriate matrices A, B, Q, and R according to, for example, the set value of the fuel injection amount and the set value of the engine speed, and formulas (4-15) and (5-1) The other matrix used to calculate is calculated and set in the second optimizer 414 and the second response vector generation unit 422. T is also set. Such a matrix setting is performed, for example, every predetermined period or when at least one of the fuel injection amount and the engine speed changes significantly.

Then, the target value s (k) of the EGR valve opening and the target value s (k) of the VNT nozzle opening output by the planner 410 are multiplied by the reference trajectory matrix T to calculate a 2N-dimensional target vector T (k), A state vector x (k) generated from the measured value x _p (k) of the engine characteristic 120 and the internal state output x _d (k) of the precompensator 420 is multiplied by Ψc to give a 2N-dimensional response vector Ψcx (k ) Is calculated. Then, a 2N-dimensional error vector E (k) = T (k) −Ψcx (k) is obtained.

This error vector E (k) is input to the second optimizer 414. The optimizer 414 includes the functions of the second MPC main control unit 314, the pre-operation amount matrix generation unit 316 and the second variation suppression unit 318 in the third embodiment, and the function of the optimization calculation unit. ^{Specifically, U (k) = Hc -1} Θc T Q ~ E (k) + Hc -1 calculates R ~ U ~, determines whether they meet the (5-1) equation.

When the expression (5-1) is satisfied, the processing in the optimization calculation unit is omitted, and M _2x2N Uopt (k) = u _opt (k) is generated as U (k) = Uopt (k). On the other hand, when Expression (5-1) is not satisfied, the optimization calculation unit performs processing for solving Expression (5-2). Then, M _2x2N Uopt (k) = u _opt (k) is generated with the solution of the equation (5-2) as Uopt (k).
It should be noted that the values of a, b, c, d of the constraints on EGR and VNT included in f in the equation (5-2) are saturated with the value obtained by adding the feedforward value u _ref (k). Is set to a value that can be determined.

The output u _opt (k) of the second optimizer 414 is input to the pre-compensator 420 and processed by the pre-compensator 420 to output the manipulated variable u _p (k).

The manipulated variable u _p (k) that is the output of the predistorter 420 is added to the feedforward value u _ref (k) output from the planner 410 and output to the engine characteristic 120. That is, _{u p (k) + u ref} (k), VNT nozzle opening degree and the EGR valve opening is controlled.

In the second optimizer 414, u _p (k) is delayed by one sample time to generate a matrix of equation (2-2) and hold it in the memory.

  Although the form of the matrix used in this way is different from that of the second embodiment, the form of the processing flow is the same, and the description is omitted.

  By performing the processing as described above, even when a predistorter is provided, it is possible to suppress rapid fluctuations by reducing the power in the high-frequency band in consideration of the constraint conditions. In step S63 in FIG. 18, the acquisition of the system matrices A and B, the weights Q and R, the constraint conditions in step S35, and the calculation of the constant matrix and the constraint expansion matrix in step S67 are the same as step S69 in FIG. By inserting it in step S71, it is possible to deal with a case where the operating conditions change and the system matrix changes every time.

  Although the embodiment of the present technology has been described above, the present technology is not limited to this. For example, the program module configuration may not be according to the block diagram. In addition, regarding the processing flow, as long as the processing result does not change, the processing order may be changed or may be performed in parallel.

  The engine control device 1000 described above is a computer device, and as shown in FIG. 21, a RAM (Random Access Memory) 2501, a processor 2503, a ROM (Read Only Memory) 2507, and a sensor group 2515 are provided as a bus. 2519 is connected. A control program (and an operating system (OS: Operating System, if present)) for executing the processing in the present embodiment is stored in the ROM 2507 and is executed by the processor 2503. The data is read from the ROM 2507 to the RAM 2501. The processor 2503 acquires a measurement value by controlling a sensor group (an intake pressure sensor and a fresh air amount sensor. In some cases, a fuel injection amount measurement unit, an engine speed measurement unit, and the like). Further, data in the middle of processing is stored in the RAM 2501. Note that the processor 2503 may include a ROM 2507 and may further include a RAM 2501. In the embodiment of the present technology, a control program for performing the above-described processing may be stored and distributed on a computer-readable removable disk and written to the ROM 2507 by a ROM writer. Such a computer device has various functions as described above by organically cooperating hardware such as the processor 2503, RAM 2501, and ROM 2507 described above and a control program (or OS in some cases). Is realized.

  However, it is also possible to mount the entire engine control device only by hardware. The above-described embodiment can be summarized as follows.

  The engine control method according to the first aspect of the present embodiment includes (A) a fuel injection amount setting value, an engine speed setting value, and an engine intake pressure measurement value for an engine having an exhaust circulator and a variable nozzle turbo. And (B) (b1) a target time series value according to the set value of the fuel injection amount and the set value of the engine speed, the measured value of the intake pressure, and the fresh air amount The first time series value of the manipulated variable of the valve opening of the exhaust circulator obtained by multiplying the matrix related to the error with the response time series value according to the measured value by the main control matrix of the model predictive control And a matrix of the first time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo, and (b2) the value of one unit time before the current time and the variable nozzle turbo of the manipulated variable of the valve opening of the exhaust circulator The current time for the operation amount of the nozzle opening The second time series of the manipulated variable of the valve opening of the exhaust circulator, which suppresses fluctuations in the manipulated variable of the valve opening of the exhaust circulator and the nozzle opening of the variable nozzle turbo according to the value one unit time ago. (B3) Third time-series value of the manipulated variable of the valve opening of the exhaust circulator, obtained by adding the value and the matrix of the second time-series value of the manipulated variable of the nozzle opening of the variable nozzle turbo And a step of generating a matrix of third time series values of the manipulated variable of the nozzle opening of the variable nozzle turbo, and (C) a third time series value of the manipulated variable of the valve opening of the exhaust circulator and the variable nozzle turbo From the matrix of the third time-series value of the manipulated variable of the nozzle opening, the value of the manipulated variable of the exhaust circulator valve opening one unit time after the current time and the manipulated variable of the nozzle opening of the variable nozzle turbo Extracts the value one unit time after the current time and sets the fuel injection amount By adding the reference value of the valve opening of the exhaust circulator and the reference value of the nozzle opening of the variable nozzle turbo according to the setting value of the engine speed, the command value of the exhaust circulator and the variable nozzle Calculating a command value for the turbo nozzle opening.

  As described above, in the model predictive control, the valve opening degree of the exhaust circulator is obtained by modifying the evaluation function so as to evaluate the difference between each operation amount during the prediction period and the operation amount one unit time before the current time. A matrix of the second time series value of the operation amount and the second time series value of the operation amount of the nozzle opening of the variable nozzle turbo is introduced. As a result, it is possible to suppress rapid fluctuations in the command value of the operation amount.

  The engine control method according to the first aspect of the present embodiment includes (D) a third time-series value of the operation amount of the valve opening of the exhaust circulator and a third operation amount of the nozzle opening of the variable nozzle turbo. A step of determining whether the time series value satisfies a constraint condition due to saturation of the valve opening of the exhaust circulator and the nozzle opening of the variable noise turbo; and (E) if it is determined that the constraint condition is not satisfied, While satisfying the conditions, the valve of the exhaust circulator is minimized so as to minimize the value of the evaluation function obtained by weighted addition of the value related to the tracking error and the value related to the difference between the operation amount and the operation amount one unit time before the current time. And recalculating the third time series value of the manipulated variable of the opening degree and the third time series value of the manipulated variable of the nozzle opening degree of the variable nozzle turbo.

  In this way, it is possible to suppress rapid fluctuations in the command value of the operation amount while satisfying the restrictions on the opening degree of the exhaust circulator and the opening degree of the variable nozzle turbo.

  The engine control method according to the second aspect of the present embodiment includes (A) a fuel injection amount setting value, an engine speed setting value, and an engine intake pressure measurement value for an engine having an exhaust circulator and a variable nozzle turbo. And (B) (b1) a target time series value according to the set value of the fuel injection amount and the set value of the engine speed, the measured value of the intake pressure, and the fresh air amount The first time series value of the manipulated variable of the valve opening of the exhaust circulator obtained by multiplying the matrix related to the error with the response time series value according to the measured value by the main control matrix of the model predictive control And a matrix of the first time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo, and (b2) the value of one unit time before the current time and the variable nozzle turbo of the manipulated variable of the valve opening of the exhaust circulator The current time for the operation amount of the nozzle opening Second time-series value of the manipulated value of the valve opening of the exhaust circulator, which suppresses fluctuations in the manipulated variable of the valve opening of the exhaust circulator and the nozzle opening of the variable nozzle turbo according to the value one unit time before And the second time series value matrix of the manipulated variable of the nozzle opening of the variable nozzle turbo, the value after one unit time of the current time of the manipulated variable of the valve opening of the exhaust circulator and the nozzle opening of the variable nozzle turbo A step of extracting and adding a value after one unit time of the current time of the operation amount of time, (C) the addition result of the operation amount of the valve opening of the exhaust circulator, and the operation amount of the nozzle opening of the variable nozzle turbo By adding the reference value of the valve opening of the exhaust circulator and the reference value of the nozzle opening of the variable nozzle turbo according to the set value of the fuel injection amount and the set value of the engine speed, Command value of variable valve opening and variable nozzle And calculating a command value of the nozzle opening degree of the turbo.

  Even if a calculation method different from that of the first mode is adopted, it is possible to suppress a rapid fluctuation of the command value of the operation amount.

  The engine control method according to the third aspect of the present embodiment includes (A) a fuel injection amount setting value, an engine speed setting value, and an engine intake pressure measurement value for an engine having an exhaust circulator and a variable nozzle turbo. And (B) (b1) a target time series value corresponding to the set value of the fuel injection amount and the set value of the engine speed, and an internal state output of the precompensator The exhaust circulatory valve is obtained by multiplying the matrix related to the error between the response time series value according to the measured value, the measured value of the intake pressure and the measured value of the fresh air amount by the main control matrix of the model predictive control A matrix of a first time-series value of the operation amount of the opening and a first time-series value of the operation amount of the nozzle opening of the variable nozzle turbo, and (b2) the current time of the operation amount of the valve opening of the exhaust circulator 1 unit time before and variable nozzle turbo Exhaust circulator valve opening that suppresses fluctuations in exhaust circulator valve opening and variable nozzle turbo nozzle opening according to the value of the unit time before the current time. Obtained by adding the second time-series value of the manipulated variable and the matrix of the second time-series value of the manipulated variable of the nozzle opening of the variable nozzle turbo, (b3) of the valve opening of the exhaust circulator Generating a matrix of a third time series value of the manipulated variable and a third time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo; and (C) a first of the manipulated variables of the valve opening of the exhaust circulator. From the matrix of the time series value of 3 and the third time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo, the value of the manipulated variable of the valve opening of the exhaust circulator 1 unit time after the current time and the variable nozzle Extract the value of the operation amount of the nozzle opening of the turbo one unit time after the current time The value of the manipulated variable of the exhaust circulator valve opening after one unit time of the exhaust circulator after being processed by the precompensator and processed by the precompensator and the manipulated variable of the nozzle opening of the variable nozzle turbo The reference value of the valve opening of the exhaust circulator and the reference of the nozzle opening of the variable nozzle turbo in accordance with the set value of the fuel injection amount and the set value of the engine speed to the value after one unit time of the current time A step of calculating a command value of the valve opening of the exhaust circulator and a command value of the nozzle opening of the variable nozzle turbo by adding the values.

  Even when a pre-compensator is introduced in order to suppress rapid fluctuations, the second time-series value of the manipulated variable of the valve opening of the exhaust circulator and the second manipulated variable of the nozzle opening of the variable nozzle turbo are used. By introducing the time-series value matrix, it is possible to suppress sudden fluctuations in the command value of the manipulated variable.

  The engine control method according to the third embodiment of the present embodiment includes (D) a third time-series value of the operation amount of the valve opening of the exhaust circulator and a third operation amount of the nozzle opening of the variable nozzle turbo. A step of determining whether the time series value satisfies a constraint condition due to saturation of the valve opening of the exhaust circulator and the nozzle opening of the variable noise turbo; and (E) if it is determined that the constraint condition is not satisfied, While satisfying the conditions, the valve of the exhaust circulator is minimized so as to minimize the value of the evaluation function obtained by weighted addition of the value related to the tracking error and the value related to the difference between the operation amount and the operation amount one unit time before the current time. The method may further include a step of recalculating the third time series value of the manipulated variable of the opening degree and the third time series value of the manipulated variable of the nozzle opening degree of the variable nozzle turbo. Even when the pre-compensator is adopted, it is possible to suppress rapid fluctuations in the command value of the operation amount while satisfying the restrictions on the opening degree of the exhaust circulator and the opening degree of the variable nozzle turbo.

  The engine control method according to the fourth aspect of the present embodiment includes (A) a fuel injection amount setting value, an engine speed setting value, and an engine intake pressure measurement value for an engine having an exhaust circulator and a variable nozzle turbo. And (B) (b1) a target time series value corresponding to the set value of the fuel injection amount and the set value of the engine speed, and the internal state output value of the predistorter The valve opening of the exhaust circulator is obtained by multiplying the matrix related to the error between the response time series value corresponding to the measured value of the intake air pressure and the measured value of the fresh air volume by the main control matrix of model predictive control. The first time-series value of the operation amount of the degree and the matrix of the first time-series value of the operation amount of the nozzle opening of the variable nozzle turbo, and (b2) the operation amount of the valve opening of the exhaust circulator 1 unit time before and variable nozzle turbo nose The amount of operation of the exhaust circulator, which suppresses fluctuations in the amount of operation of the valve opening of the exhaust circulator and the nozzle opening of the variable nozzle turbo according to the value one unit time before the current time. From the second time-series value of the manipulated variable and the matrix of the second time-series value of the manipulated variable of the nozzle opening of the variable nozzle turbo, one unit time after the current time of the manipulated variable of the valve opening of the exhaust circulator And a step of extracting and adding a value after one unit time of the current time of the operation amount of the nozzle opening of the variable nozzle turbo and (C) the addition result and variable of the operation amount of the valve opening of the exhaust circulator The result of adding the manipulated variable of the nozzle opening of the nozzle turbo is processed by the pre-compensator, and the result of adding the variable of the manipulated variable of the valve opening of the exhaust circulator after being processed by the pre-compensator and variable In the result of adding the operation amount of the nozzle opening of the nozzle turbo, By adding the reference value for the valve opening of the exhaust circulator and the reference value for the nozzle opening of the variable nozzle turbo according to the setting value of the fuel injection amount and the setting value of the engine speed, the valve opening of the exhaust circulator is And calculating a command value for the degree of opening and a command value for the nozzle opening of the variable nozzle turbo.

  Even if a different calculation method from that of the third embodiment is adopted, it is possible to suppress a rapid fluctuation in the command value of the operation amount.

  Note that the matrix included in the main control matrix of the model predictive control is, for example, at least one of a set value of the fuel injection amount and an engine speed set value for an engine having a certain period or an engine having an exhaust circulator and a variable nozzle turbo. It may be changed when is changed by more than a threshold value.

  Furthermore, the engine control apparatus (FIG. 22: 4000) according to the fourth aspect of the present embodiment includes (A) a set value of a fuel injection amount for an engine (FIG. 22: 1) having an exhaust circulator and a variable nozzle turbo, A data acquisition unit (FIG. 22: 4100) for acquiring a set value of the engine speed, a measured value of the intake air pressure of the engine, and a measured value of the fresh air amount, and (B) (b1) a set value of the fuel injection amount and the engine speed Multiply the matrix related to the error between the target time series value according to the set value of the number and the response time series value according to the measured value of the intake pressure and the measured value of the fresh air amount by the main control matrix of the model predictive control A matrix of the first time-series value of the manipulated variable of the valve opening of the exhaust circulator and the first time-series value of the manipulated variable of the nozzle opening of the variable nozzle turbo, and (b2) the exhaust circulator 1 unit of the current time for the operation amount of the valve opening of Suppressing fluctuations in the valve opening of the exhaust circulator and the operation amount of the nozzle opening of the variable nozzle turbo according to the previous value and the operation amount of the nozzle opening of the variable nozzle turbo according to the value one unit time before the current time The second time-series value of the manipulated variable of the valve opening of the exhaust circulator and the matrix of the second time-series value of the manipulated variable of the nozzle opening of the variable nozzle turbo are obtained by adding (b3 ) Control arithmetic unit for generating a matrix of the third time series value of the manipulated variable of the valve opening of the exhaust circulator and the third time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo (FIG. 22: 4200) And (C) a matrix of the third time series value of the manipulated variable of the valve opening of the exhaust circulator and the third time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo, the valve opening of the exhaust circulator is determined. The value of the operation amount of 1 degree after 1 unit time of the current time and the variable nozzle turbo Extracts the value after 1 unit time of the current time of the manipulated variable of the throttle opening, and changes the reference value and variable of the valve opening of the exhaust circulator according to the set value of the fuel injection amount and the set value of the engine speed A command value calculation unit (FIG. 22: 4300) that calculates the command value of the valve opening of the exhaust circulator and the command value of the nozzle opening of the variable nozzle turbo by adding the reference value of the nozzle opening of the nozzle turbo. Have

  In addition, the engine control apparatus (FIG. 22: 4000) according to the fifth aspect of the present embodiment includes (A) a fuel injection amount set value for an engine (FIG. 22: 1) having an exhaust circulator and a variable nozzle turbo, A data acquisition unit (FIG. 22: 4100) for acquiring a set value of the engine speed, a measured value of the intake air pressure of the engine, and a measured value of the fresh air amount, and (B) (b1) a set value of the fuel injection amount and the engine speed Matrix relating to errors between the target time series value according to the set value of the number and the response time series value according to the internal state output value of the pre-compensator, the measured value of the intake pressure, and the measured value of the fresh air amount Is obtained by multiplying the main control matrix of model predictive control with the first time-series value of the manipulated variable of the valve opening of the exhaust circulator and the first time of the manipulated variable of the nozzle opening of the variable nozzle turbo. Matrix of series values and (b2) valve opening of exhaust circulator Exhaust circulator valve opening and variable nozzle turbo nozzle opening according to the value of the operation amount one unit time before the current time and the variable nozzle turbo nozzle opening operation amount according to the value one unit time before the current time A second time series value of the operation amount of the valve opening of the exhaust circulator and a matrix of the second time series value of the operation amount of the nozzle opening of the variable nozzle turbo, which suppresses fluctuations in the operation amount of the exhaust circulator. (B3) Control to generate a matrix of the third time series value of the manipulated variable of the valve opening of the exhaust circulator and the third time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo obtained by adding Matrix of calculation unit (FIG. 22: 4200), (C) third time-series value of manipulated variable of valve opening of exhaust circulator and third time-series value of manipulated variable of nozzle opening of variable nozzle turbo To 1 unit of the current time of the manipulated variable of the exhaust circulator valve The exhaust value circulation after extracting the value after 1 unit time of the current time and the value after the current time of the manipulated value of the nozzle opening of the variable nozzle turbo after extracting the value after the processing and the processing by the precompensator The set value of the fuel injection amount and the engine speed are set to the value after 1 unit time of the current time of the valve opening degree and the value after 1 unit time of the current time of the variable nozzle turbo nozzle opening. By adding the reference value of the valve opening of the exhaust circulator and the reference value of the nozzle opening of the variable nozzle turbo according to the set value of the number, the command value of the valve opening of the exhaust circulator and the variable nozzle turbo A command value calculation unit (FIG. 22: 4300) that calculates a command value of the nozzle opening.

  A program for causing the processor to perform the processing according to the above method can be created, and the program can be a computer-readable storage medium such as a flexible disk, a CD-ROM, a magneto-optical disk, a semiconductor memory, a hard disk, or the like. It is stored in a storage device. The intermediate processing result is temporarily stored in a storage device such as a main memory.

  The following supplementary notes are further disclosed with respect to the embodiments including the above examples.

(Appendix 1)
Obtaining a set value of fuel injection amount for an engine having an exhaust circulator and a variable nozzle turbo, a set value of engine speed, a measured value of intake pressure of the engine and a measured value of fresh air;
According to an error between a target time series value according to the set value of the fuel injection amount and the set value of the engine speed, and a response time series value according to the measured value of the intake pressure and the measured value of the fresh air amount A first time-series value of the manipulated variable of the valve opening of the exhaust circulator and a manipulated variable of the manipulated variable of the nozzle opening of the variable nozzle turbo, which are obtained by multiplying the matrix by the main control matrix of model predictive control. A matrix of time series values of 1;
The exhaust circulator according to the value of one unit time before the current time for the operation amount of the valve opening of the exhaust circulator and the value of one unit time before the current time of the operation amount of the nozzle opening of the variable nozzle turbo The second time-series value of the manipulated variable of the valve opening of the exhaust circulator and the nozzle opened value of the variable nozzle turbo are configured to suppress fluctuations in the manipulated variable of the variable valve turbo and the variable nozzle turbo. A matrix of second time series values of manipulated variables;
Generating a matrix of a third time series value of the manipulated variable of the valve opening of the exhaust circulator and a third time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo, obtained by adding When,
From the matrix of the third time series value of the operation amount of the valve opening of the exhaust circulator and the third time series value of the operation amount of the nozzle opening of the variable nozzle turbo, the valve opening degree of the exhaust circulator is determined. Extracting the value after one unit time of the current time of the current amount and the value after one unit time of the current time of the amount of operation of the nozzle opening of the variable nozzle turbo, the set value of the fuel injection amount, and the By adding the reference value of the valve opening of the exhaust circulator and the reference value of the nozzle opening of the variable nozzle turbo according to the set value of the engine speed, the command value of the valve opening of the exhaust circulator And calculating a command value of the nozzle opening of the variable nozzle turbo,
Is a control program for causing a processor to execute.

(Appendix 2)
A third time series value of the manipulated variable of the valve opening of the exhaust circulator and a third time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo are the valve opening and the variable of the exhaust circulator. A step of determining whether or not a constraint condition due to saturation of the noise turbo nozzle opening is satisfied;
When it is determined that the constraint condition is not satisfied, the value regarding the tracking error and the value regarding the difference between the operation amount and the operation amount one unit time before the current time are weighted and added while satisfying the constraint condition. Calculate a third time-series value of the manipulated variable of the valve opening of the exhaust circulator and a third time-series value of the manipulated variable of the nozzle opening of the variable nozzle turbo so as to minimize the value of the evaluation function Step to redo,
The control program according to appendix 1, for causing the processor to execute

(Appendix 3)
Obtaining a set value of fuel injection amount for an engine having an exhaust circulator and a variable nozzle turbo, a set value of engine speed, a measured value of intake pressure of the engine and a measured value of fresh air;
According to an error between a target time series value according to the set value of the fuel injection amount and the set value of the engine speed, and a response time series value according to the measured value of the intake pressure and the measured value of the fresh air amount A first time-series value of the manipulated variable of the valve opening of the exhaust circulator and a manipulated variable of the manipulated variable of the nozzle opening of the variable nozzle turbo, which are obtained by multiplying the matrix by the main control matrix of model predictive control. A matrix of time series values of 1;
The exhaust circulator according to the value of one unit time before the current time for the operation amount of the valve opening of the exhaust circulator and the value of one unit time before the current time of the operation amount of the nozzle opening of the variable nozzle turbo The second time-series value of the manipulated variable of the valve opening of the exhaust circulator and the nozzle opened value of the variable nozzle turbo are configured to suppress fluctuations in the manipulated variable of the variable valve turbo and the variable nozzle turbo. A matrix of second time series values of manipulated variables;
From this, the value of the manipulated variable of the valve opening of the exhaust circulator after one unit time of the current time and the value of the manipulated variable of the nozzle opening of the variable nozzle turbo after one unit time of the current time are extracted. Adding and
According to the addition value of the operation amount of the valve opening of the exhaust circulator and the addition result of the operation amount of the nozzle opening of the variable nozzle turbo, according to the set value of the fuel injection amount and the set value of the engine speed. By adding the reference value of the valve opening of the exhaust circulator and the reference value of the nozzle opening of the variable nozzle turbo, the command value of the valve opening of the exhaust circulator and the nozzle opening of the variable nozzle turbo Calculating a command value;
Is a control program for causing a processor to execute.

(Appendix 4)
Obtaining a set value of fuel injection amount for an engine having an exhaust circulator and a variable nozzle turbo, a set value of engine speed, a measured value of intake pressure of the engine and a measured value of fresh air;
A target time series value according to the set value of the fuel injection amount and the set value of the engine speed, an internal state output value of the predistorter, a measured value of the intake pressure, and a measured value of the fresh air amount A first time series value of the manipulated variable of the valve opening degree of the exhaust circulator and the variable obtained by multiplying a matrix related to an error with a corresponding response time series value by a main control matrix of model predictive control A matrix of first time series values of the operation amount of the nozzle opening of the nozzle turbo;
The exhaust circulator according to the value of one unit time before the current time for the operation amount of the valve opening of the exhaust circulator and the value of one unit time before the current time of the operation amount of the nozzle opening of the variable nozzle turbo The second time-series value of the manipulated variable of the valve opening of the exhaust circulator and the nozzle opened value of the variable nozzle turbo are configured to suppress fluctuations in the manipulated variable of the variable valve turbo and the variable nozzle turbo. A matrix of second time series values of manipulated variables;
Generating a matrix of a third time series value of the manipulated variable of the valve opening of the exhaust circulator and a third time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo, obtained by adding When,
From the matrix of the third time series value of the operation amount of the valve opening of the exhaust circulator and the third time series value of the operation amount of the nozzle opening of the variable nozzle turbo, the valve opening degree of the exhaust circulator is determined. A value after one unit time of the current time of the operation amount and a value after one unit time of the current time of the operation amount of the nozzle opening of the variable nozzle turbo are extracted and processed by the precompensator, A value after one unit time of the current time of the valve opening manipulated variable of the exhaust circulator after being processed by the pre-compensator and 1 of the current time of the manipulated variable of the nozzle opening of the variable nozzle turbo The reference value of the valve opening of the exhaust circulator and the reference value of the nozzle opening of the variable nozzle turbo according to the set value of the fuel injection amount and the set value of the engine speed are set to the value after the unit time. By adding up the valve opening of the exhaust circulator Calculating a decree value and the command value of the nozzle opening degree of the variable nozzle turbo,
Is a control program for causing a processor to execute.

(Appendix 5)
A third time series value of the manipulated variable of the valve opening of the exhaust circulator and a third time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo are the valve opening and the variable of the exhaust circulator. A step of determining whether or not a constraint condition due to saturation of the noise turbo nozzle opening is satisfied;
When it is determined that the constraint condition is not satisfied, the value regarding the tracking error and the value regarding the difference between the operation amount and the operation amount one unit time before the current time are weighted and added while satisfying the constraint condition. Calculate a third time-series value of the manipulated variable of the valve opening of the exhaust circulator and a third time-series value of the manipulated variable of the nozzle opening of the variable nozzle turbo so as to minimize the value of the evaluation function Step to redo,
The control program according to appendix 4, for causing the processor to execute

(Appendix 6)
Obtaining a set value of fuel injection amount for an engine having an exhaust circulator and a variable nozzle turbo, a set value of engine speed, a measured value of intake pressure of the engine and a measured value of fresh air;
A target time series value according to the set value of the fuel injection amount and the set value of the engine speed, an internal state output value of the predistorter, a measured value of the intake pressure, and a measured value of the fresh air amount A first time series value of the manipulated variable of the valve opening degree of the exhaust circulator and the variable obtained by multiplying a matrix related to an error with a corresponding response time series value by a main control matrix of model predictive control A matrix of first time series values of the operation amount of the nozzle opening of the nozzle turbo;
The exhaust circulator according to the value of one unit time before the current time for the operation amount of the valve opening of the exhaust circulator and the value of one unit time before the current time of the operation amount of the nozzle opening of the variable nozzle turbo The second time-series value of the manipulated variable of the valve opening of the exhaust circulator and the nozzle opened value of the variable nozzle turbo are configured to suppress fluctuations in the manipulated variable of the variable valve turbo and the variable nozzle turbo. A matrix of second time series values of manipulated variables;
From this, the value of the manipulated variable of the valve opening of the exhaust circulator after one unit time of the current time and the value of the manipulated variable of the nozzle opening of the variable nozzle turbo after one unit time of the current time are extracted. Adding and
The addition result of the operation amount of the valve opening of the exhaust circulator and the addition result of the operation amount of the nozzle opening of the variable nozzle turbo are processed by the pre-compensator and processed by the pre-compensator. After adding the operation amount of the valve opening of the exhaust circulator and the addition result of the operation amount of the nozzle opening of the variable nozzle turbo, the set value of the fuel injection amount and the set value of the engine speed Accordingly, by adding the reference value of the valve opening of the exhaust circulator and the reference value of the nozzle opening of the variable nozzle turbo, the command value of the valve opening of the exhaust circulator and the nozzle of the variable nozzle turbo Calculating a command value for the opening;
Is a control program for causing a processor to execute.

(Appendix 7)
A data acquisition unit for acquiring a set value of fuel injection amount for an engine having an exhaust circulator and a variable nozzle turbo, a set value of engine speed, a measured value of intake pressure of the engine, and a measured value of fresh air amount;
According to an error between a target time series value according to the set value of the fuel injection amount and the set value of the engine speed, and a response time series value according to the measured value of the intake pressure and the measured value of the fresh air amount A first time-series value of the manipulated variable of the valve opening of the exhaust circulator and a manipulated variable of the manipulated variable of the nozzle opening of the variable nozzle turbo, which are obtained by multiplying the matrix by the main control matrix of model predictive control. A matrix of time series values of 1;
The exhaust circulator according to the value of one unit time before the current time for the operation amount of the valve opening of the exhaust circulator and the value of one unit time before the current time of the operation amount of the nozzle opening of the variable nozzle turbo The second time-series value of the manipulated variable of the valve opening of the exhaust circulator and the nozzle opened value of the variable nozzle turbo are configured to suppress fluctuations in the manipulated variable of the variable valve turbo and the variable nozzle turbo. A matrix of second time series values of manipulated variables;
For generating a matrix of a third time series value of the manipulated variable of the valve opening of the exhaust circulator and a third time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo obtained by adding An arithmetic unit;
From the matrix of the third time series value of the operation amount of the valve opening of the exhaust circulator and the third time series value of the operation amount of the nozzle opening of the variable nozzle turbo, the valve opening degree of the exhaust circulator is determined. Extracting the value after one unit time of the current time of the current amount and the value after one unit time of the current time of the amount of operation of the nozzle opening of the variable nozzle turbo, the set value of the fuel injection amount, and the By adding the reference value of the valve opening of the exhaust circulator and the reference value of the nozzle opening of the variable nozzle turbo according to the set value of the engine speed, the command value of the valve opening of the exhaust circulator And a command value calculation unit for calculating a command value of the nozzle opening of the variable nozzle turbo,
An engine control device.

(Appendix 8)
A data acquisition unit for acquiring a set value of fuel injection amount for an engine having an exhaust circulator and a variable nozzle turbo, a set value of engine speed, a measured value of intake pressure of the engine, and a measured value of fresh air amount;
A target time series value according to the set value of the fuel injection amount and the set value of the engine speed, an internal state output value of the predistorter, a measured value of the intake pressure, and a measured value of the fresh air amount A first time series value of the manipulated variable of the valve opening degree of the exhaust circulator and the variable obtained by multiplying a matrix related to an error with a corresponding response time series value by a main control matrix of model predictive control A matrix of first time series values of the operation amount of the nozzle opening of the nozzle turbo;
The exhaust circulator according to the value of one unit time before the current time for the operation amount of the valve opening of the exhaust circulator and the value of one unit time before the current time of the operation amount of the nozzle opening of the variable nozzle turbo The second time-series value of the manipulated variable of the valve opening of the exhaust circulator and the nozzle opened value of the variable nozzle turbo are configured to suppress fluctuations in the manipulated variable of the variable valve turbo and the variable nozzle turbo. A matrix of second time series values of manipulated variables;
For generating a matrix of a third time series value of the manipulated variable of the valve opening of the exhaust circulator and a third time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo obtained by adding An arithmetic unit;
From the matrix of the third time series value of the operation amount of the valve opening of the exhaust circulator and the third time series value of the operation amount of the nozzle opening of the variable nozzle turbo, the valve opening degree of the exhaust circulator is determined. A value after one unit time of the current time of the operation amount and a value after one unit time of the current time of the operation amount of the nozzle opening of the variable nozzle turbo are extracted and processed by the precompensator, A value after one unit time of the current time of the valve opening manipulated variable of the exhaust circulator after being processed by the pre-compensator and 1 of the current time of the manipulated variable of the nozzle opening of the variable nozzle turbo The reference value of the valve opening of the exhaust circulator and the reference value of the nozzle opening of the variable nozzle turbo according to the set value of the fuel injection amount and the set value of the engine speed are set to the value after the unit time. By adding up the valve opening of the exhaust circulator A command value calculation unit for calculating a decree value and the command value of the nozzle opening degree of the variable nozzle turbo,
An engine control device.

DESCRIPTION OF SYMBOLS 1 Engine main body 1000 Engine control apparatus 110 Planner 112 Matrix setter 114 MPC main control part 116 Pre-operation amount matrix generation part 118 Fluctuation suppression part 120 Engine characteristic

Claims (6)

Obtaining a set value of fuel injection amount for an engine having an exhaust circulator and a variable nozzle turbo, a set value of engine speed, a measured value of intake pressure of the engine and a measured value of fresh air;
According to an error between a target time series value according to the set value of the fuel injection amount and the set value of the engine speed, and a response time series value according to the measured value of the intake pressure and the measured value of the fresh air amount A first time-series value of the manipulated variable of the valve opening of the exhaust circulator and a manipulated variable of the manipulated variable of the nozzle opening of the variable nozzle turbo, which are obtained by multiplying the matrix by the main control matrix of model predictive control. A matrix of time series values of 1;
The exhaust circulator according to the value of one unit time before the current time for the operation amount of the valve opening of the exhaust circulator and the value of one unit time before the current time of the operation amount of the nozzle opening of the variable nozzle turbo The second time-series value of the manipulated variable of the valve opening of the exhaust circulator and the nozzle opened value of the variable nozzle turbo are configured to suppress fluctuations in the manipulated variable of the variable valve turbo and the variable nozzle turbo. A matrix of second time series values of manipulated variables;
Generating a matrix of a third time series value of the manipulated variable of the valve opening of the exhaust circulator and a third time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo, obtained by adding When,
From the matrix of the third time series value of the operation amount of the valve opening of the exhaust circulator and the third time series value of the operation amount of the nozzle opening of the variable nozzle turbo, the valve opening degree of the exhaust circulator is determined. Extracting the value after one unit time of the current time of the current amount and the value after one unit time of the current time of the amount of operation of the nozzle opening of the variable nozzle turbo, the set value of the fuel injection amount, and the By adding the reference value of the valve opening of the exhaust circulator and the reference value of the nozzle opening of the variable nozzle turbo according to the set value of the engine speed, the command value of the valve opening of the exhaust circulator And calculating a command value of the nozzle opening of the variable nozzle turbo,
Is a control program for causing a processor to execute. A third time series value of the manipulated variable of the valve opening of the exhaust circulator and a third time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo are the valve opening and the variable of the exhaust circulator. A step of determining whether or not a constraint condition due to saturation of the noise turbo nozzle opening is satisfied;
When it is determined that the constraint condition is not satisfied, the value regarding the tracking error and the value regarding the difference between the operation amount and the operation amount one unit time before the current time are weighted and added while satisfying the constraint condition. Calculate a third time-series value of the manipulated variable of the valve opening of the exhaust circulator and a third time-series value of the manipulated variable of the nozzle opening of the variable nozzle turbo so as to minimize the value of the evaluation function Step to redo,
The control program according to claim 1, further causing the processor to execute. Obtaining a set value of fuel injection amount for an engine having an exhaust circulator and a variable nozzle turbo, a set value of engine speed, a measured value of intake pressure of the engine and a measured value of fresh air;
A target time series value according to the set value of the fuel injection amount and the set value of the engine speed, an internal state output value of the predistorter, a measured value of the intake pressure, and a measured value of the fresh air amount A first time series value of the manipulated variable of the valve opening degree of the exhaust circulator and the variable obtained by multiplying a matrix related to an error with a corresponding response time series value by a main control matrix of model predictive control A matrix of first time series values of the operation amount of the nozzle opening of the nozzle turbo;
The exhaust circulator according to the value of one unit time before the current time for the operation amount of the valve opening of the exhaust circulator and the value of one unit time before the current time of the operation amount of the nozzle opening of the variable nozzle turbo The second time-series value of the manipulated variable of the valve opening of the exhaust circulator and the nozzle opened value of the variable nozzle turbo are configured to suppress fluctuations in the manipulated variable of the variable valve turbo and the variable nozzle turbo. A matrix of second time series values of manipulated variables;
Generating a matrix of a third time series value of the manipulated variable of the valve opening of the exhaust circulator and a third time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo, obtained by adding When,
From the matrix of the third time series value of the operation amount of the valve opening of the exhaust circulator and the third time series value of the operation amount of the nozzle opening of the variable nozzle turbo, the valve opening degree of the exhaust circulator is determined. A value after one unit time of the current time of the operation amount and a value after one unit time of the current time of the operation amount of the nozzle opening of the variable nozzle turbo are extracted and processed by the precompensator, A value after one unit time of the current time of the valve opening manipulated variable of the exhaust circulator after being processed by the pre-compensator and 1 of the current time of the manipulated variable of the nozzle opening of the variable nozzle turbo The reference value of the valve opening of the exhaust circulator and the reference value of the nozzle opening of the variable nozzle turbo according to the set value of the fuel injection amount and the set value of the engine speed are set to the value after the unit time. By adding up the valve opening of the exhaust circulator Calculating a decree value and the command value of the nozzle opening degree of the variable nozzle turbo,
Is a control program for causing a processor to execute. A third time series value of the manipulated variable of the valve opening of the exhaust circulator and a third time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo are the valve opening and the variable of the exhaust circulator. A step of determining whether or not a constraint condition due to saturation of the noise turbo nozzle opening is satisfied;
When it is determined that the constraint condition is not satisfied, the value regarding the tracking error and the value regarding the difference between the operation amount and the operation amount one unit time before the current time are weighted and added while satisfying the constraint condition. Calculate a third time-series value of the manipulated variable of the valve opening of the exhaust circulator and a third time-series value of the manipulated variable of the nozzle opening of the variable nozzle turbo so as to minimize the value of the evaluation function Step to redo,
The control program according to claim 3, further causing the processor to execute. A data acquisition unit for acquiring a set value of fuel injection amount for an engine having an exhaust circulator and a variable nozzle turbo, a set value of engine speed, a measured value of intake pressure of the engine, and a measured value of fresh air amount;
According to an error between a target time series value according to the set value of the fuel injection amount and the set value of the engine speed, and a response time series value according to the measured value of the intake pressure and the measured value of the fresh air amount A first time-series value of the manipulated variable of the valve opening of the exhaust circulator and a manipulated variable of the manipulated variable of the nozzle opening of the variable nozzle turbo, which are obtained by multiplying the matrix by the main control matrix of model predictive control. A matrix of time series values of 1;
The exhaust circulator according to the value of one unit time before the current time for the operation amount of the valve opening of the exhaust circulator and the value of one unit time before the current time of the operation amount of the nozzle opening of the variable nozzle turbo The second time-series value of the manipulated variable of the valve opening of the exhaust circulator and the nozzle opened value of the variable nozzle turbo are configured to suppress fluctuations in the manipulated variable of the variable valve turbo and the variable nozzle turbo. A matrix of second time series values of manipulated variables;
For generating a matrix of a third time series value of the manipulated variable of the valve opening of the exhaust circulator and a third time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo obtained by adding An arithmetic unit;
From the matrix of the third time series value of the operation amount of the valve opening of the exhaust circulator and the third time series value of the operation amount of the nozzle opening of the variable nozzle turbo, the valve opening degree of the exhaust circulator is determined. Extracting the value after one unit time of the current time of the current amount and the value after one unit time of the current time of the amount of operation of the nozzle opening of the variable nozzle turbo, the set value of the fuel injection amount, and the By adding the reference value of the valve opening of the exhaust circulator and the reference value of the nozzle opening of the variable nozzle turbo according to the set value of the engine speed, the command value of the valve opening of the exhaust circulator And a command value calculation unit for calculating a command value of the nozzle opening of the variable nozzle turbo,
An engine control device. A data acquisition unit for acquiring a set value of fuel injection amount for an engine having an exhaust circulator and a variable nozzle turbo, a set value of engine speed, a measured value of intake pressure of the engine, and a measured value of fresh air amount;
A target time series value according to the set value of the fuel injection amount and the set value of the engine speed, an internal state output value of the predistorter, a measured value of the intake pressure, and a measured value of the fresh air amount A first time series value of the manipulated variable of the valve opening degree of the exhaust circulator and the variable obtained by multiplying a matrix related to an error with a corresponding response time series value by a main control matrix of model predictive control A matrix of first time series values of the operation amount of the nozzle opening of the nozzle turbo;
The exhaust circulator according to the value of one unit time before the current time for the operation amount of the valve opening of the exhaust circulator and the value of one unit time before the current time of the operation amount of the nozzle opening of the variable nozzle turbo The second time-series value of the manipulated variable of the valve opening of the exhaust circulator and the nozzle opened value of the variable nozzle turbo are configured to suppress fluctuations in the manipulated variable of the variable valve turbo and the variable nozzle turbo. A matrix of second time series values of manipulated variables;
For generating a matrix of a third time series value of the manipulated variable of the valve opening of the exhaust circulator and a third time series value of the manipulated variable of the nozzle opening of the variable nozzle turbo obtained by adding An arithmetic unit;
From the matrix of the third time series value of the operation amount of the valve opening of the exhaust circulator and the third time series value of the operation amount of the nozzle opening of the variable nozzle turbo, the valve opening degree of the exhaust circulator is determined. A value after one unit time of the current time of the operation amount and a value after one unit time of the current time of the operation amount of the nozzle opening of the variable nozzle turbo are extracted and processed by the precompensator, A value after one unit time of the current time of the valve opening manipulated variable of the exhaust circulator after being processed by the pre-compensator and 1 of the current time of the manipulated variable of the nozzle opening of the variable nozzle turbo The reference value of the valve opening of the exhaust circulator and the reference value of the nozzle opening of the variable nozzle turbo according to the set value of the fuel injection amount and the set value of the engine speed are set to the value after the unit time. By adding up the valve opening of the exhaust circulator A command value calculation unit for calculating a decree value and the command value of the nozzle opening degree of the variable nozzle turbo,
An engine control device.

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