JP2017040207A - Internal combustion engine control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an internal combustion engine control device capable of highly accurately estimating a combustion state of each cylinder in an internal combustion engine including a plurality of cylinders.SOLUTION: Torsional vibration component identification means 17 identifies a frequency component of a torsional vibration from a crank angle detected in a period in which an internal combustion engine does not perform combustion and detection time, and frequency component adjustment means 18 decreases a component corresponding to the torsional vibration from the frequency component in a time function configured from a crank angle detected in a period including combustion and detection time. Angular velocity/angular acceleration calculation means 19 calculates a crank angular velocity and a crank angular acceleration by differentiating the time function from which the component corresponding to the torsional vibration component is decreased by a frequency space, external force torque estimation means 21 estimates a cylinder internal pressure by applying an external force torque, the angular velocity, and the angular acceleration to an equation of motion of a piston, a connecting rod, and a crankshaft, and combustion parameter calculation means 22 calculates a combustion parameter indicating a combustion state.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a control device for an internal combustion engine, and more particularly, to a control device for an internal combustion engine that optimizes the combustion state by estimating the combustion state of the internal combustion engine.

  In order to improve the fuel consumption performance and emission performance of the internal combustion engine, a method of controlling the combustion state of the internal combustion engine and feeding back the measurement result is effective. For that purpose, it is important to accurately measure the combustion state of the internal combustion engine. It is widely known that the combustion state of an internal combustion engine can be accurately measured by measuring the in-cylinder pressure. Conventionally, for example, Patent Literature 1 discloses a combustion state estimation device that estimates a combustion state from an output signal of a crank angle sensor.

Japanese Patent No. 5026334

  However, in an internal combustion engine having a plurality of cylinders, the combustion gas pressure torque of these cylinders is intermittently transmitted to the crankshaft. On the other hand, since the crankshaft is not a rigid body but an elastic body, torsional vibration is generated in the crankshaft. Therefore, the crank angle position of the crankshaft measured by the crank angle sensor and the crank angular velocity and crank angle acceleration calculated from the time when the crank angle position is input to the control device are each affected by torsional vibration. . In Patent Document 1, since the crankshaft is handled as a rigid body, the measured combustion state is not necessarily accurate under a condition in which torsional vibration is generated on the crankshaft.

  The present invention has been made in order to solve the above-described problems in a conventional control device for an internal combustion engine, and accurately estimates the combustion state of each cylinder in an internal combustion engine having a plurality of cylinders. An object of the present invention is to provide a control device for an internal combustion engine.

  An internal combustion engine control apparatus according to the present invention is an internal combustion engine control apparatus having a plurality of cylinders coupled to a crankshaft, and detects a crank angle in the internal combustion engine and a time at the crank angle. Detecting means, crank angle time storing means for storing the crank angle and time detected by the crank angle detecting means, and obtaining a crank angle and time corresponding to a period including combustion of the internal combustion engine from the crank angle time storing means, A function of time with respect to the angle is converted into a form that can be regarded as a periodic function, a frequency domain conversion unit that converts the periodic function into a frequency domain, and a crank angle and a time corresponding to a period in which the internal combustion engine is not combusted from the crank angle time storage unit The time function for the crank angle in this period is converted into a form that can be regarded as a periodic function, Is converted to the frequency domain, and based on the magnitude of the frequency component, the torsional vibration component specifying means for specifying the component derived from the torsional vibration of the crankshaft, and the periodic function converted to the frequency domain by the frequency domain converting means From the frequency components, a component corresponding to the frequency component specified by the torsional vibration component specifying means is selected, and the frequency component adjusting means for adjusting the amount of the component, and the frequency component adjusted by the frequency component adjusting means An equation of motion of a system including an angular velocity and angular acceleration calculating means for calculating an angular velocity and an angular acceleration of a crank using an algebraic differentiation in a frequency space as an argument, and a piston, a connecting rod and a crank of an internal combustion engine is provided. In the singular crank angle that can be regarded as a relational expression of moment of inertia, angular acceleration, and external force torque, The external force torque estimating means for estimating the torque calculated by the equation as an external force torque, and the external force torque, the angular velocity and the angular acceleration estimated by the external force torque estimating means are applied to the equation of motion to estimate the in-cylinder pressure of the internal combustion engine. In-cylinder pressure estimation means and combustion parameter calculation means for calculating a parameter indicating the combustion state of the internal combustion engine based on the in-cylinder pressure.

  According to the control apparatus for an internal combustion engine according to the present invention, the crank angle and time corresponding to the period including combustion of the internal combustion engine are obtained from the crank angle time storage means for storing the crank angle and time detected by the crank angle detection means, A function of time with respect to the crank angle is converted into a form that can be regarded as a periodic function, a frequency domain conversion unit that converts the periodic function into a frequency domain, and a crank angle corresponding to a period in which the internal combustion engine is not combusted from the crank angle time storage unit, After obtaining the time and converting the function of time with respect to the crank angle during this period into a form that can be regarded as a periodic function, the periodic function is converted into the frequency domain, and the torsional vibration of the crankshaft is based on the magnitude of this frequency component. The torsional vibration component specifying means for specifying the component derived from the frequency of the periodic function converted to the frequency domain by the frequency domain converting means A component corresponding to the frequency component specified by the torsional vibration component specifying means is selected from the components, and a frequency component adjusting means for adjusting the amount of the component is provided, and the frequency component from the frequency component adjusting means is used. Since the parameter indicating the combustion state of the internal combustion engine is calculated, even when torsional vibration is generated in the crankshaft, which is an elastic body, the frequency component related to the movement of the crankshaft during the period in which the internal combustion engine is not combusting is obtained. Based on this, the frequency component of the torsional vibration of the crankshaft is specified and the angular acceleration of the crank angle including the combustion period of the internal combustion engine is corrected. Further, it is possible to provide a control device for an internal combustion engine that estimates a combustion state.

It is a block diagram which shows the structure of the control apparatus of the internal combustion engine which concerns on Embodiment 1, Embodiment 2, Embodiment 3, and Embodiment 4 of this invention. It is a block diagram which shows the basic composition of the combustion state estimation process part in the control apparatus of the internal combustion engine by Embodiment 1 of this invention. 5 is a flowchart showing a flow of processing for estimating a combustion state in a control device for an internal combustion engine according to Embodiment 1, Embodiment 2, Embodiment 3 and Embodiment 4 of the present invention. It is explanatory drawing which shows the accumulation | storage state of the crank angle position detection time in the control apparatus of the internal combustion engine which concerns on Embodiment 1, Embodiment 2, Embodiment 3, and Embodiment 4 of this invention. It is a figure for demonstrating the crank angular velocity of an internal combustion engine. It is a figure for demonstrating the actual cylinder pressure of an internal combustion engine. In the control apparatus for an internal combustion engine according to the first, second, third, and fourth embodiments of the present invention, the frequency function represents the crank angle during the non-combustion period and the time function of the detection time. It is a figure for demonstrating the spectrum obtained by converting into an area | region. It is a figure for demonstrating the spectrum obtained by converting the time function of the crank angle and detection time of the period including combustion in the control apparatus of the internal combustion engine by Embodiment 1 of this invention to a frequency domain. It is explanatory drawing which shows the dynamic relationship of a piston crank system in the control apparatus of the internal combustion engine by Embodiment 1, Embodiment 2, Embodiment 3, and Embodiment 4 of this invention. It is a block diagram which shows the basic composition of the combustion state estimation process part in the control apparatus of the internal combustion engine by Embodiment 2 of this invention. It is a block diagram which shows the basic composition of the combustion state estimation process part in the control apparatus of the internal combustion engine by Embodiment 3 of this invention. It is a block diagram which shows the basic composition of the combustion state estimation process part in the control apparatus of the internal combustion engine by Embodiment 4 of this invention.

  A preferred embodiment of an internal combustion engine control apparatus according to the present invention will be described below with reference to the drawings.

Embodiment 1 FIG.
FIG. 1 is a configuration diagram showing the configuration of a control device for an internal combustion engine according to Embodiment 1, Embodiment 2, Embodiment 3, and Embodiment 4 of the present invention. In FIG. 1, an internal combustion engine 1 is a four-cylinder internal combustion engine having four cylinders, that is, a first cylinder 2a, a second cylinder 2b, a third cylinder 2c, and a fourth cylinder 2d. The pressure of the combustion gas generated in each of the second cylinder 2b, the third cylinder 2c, and the fourth cylinder 2d is received by the upper surface of the piston 3 and rotates one crankshaft 5 via the connecting rod 4. It is transmitted to the crankshaft 5 as power. The vehicle is driven based on the output torque output from the output side end of the crankshaft 5. A flywheel 6 is attached to the output side end of the crankshaft 5.

  The crank angle sensor 7 is disposed in the vicinity of the peripheral surface of the crank angle sensor signal rotor 8 attached to the counter-output side end that is the front end in the axial direction of the crankshaft 5. The crank angle sensor signal rotor 8 includes a plurality of protrusions disposed on the peripheral surface thereof at predetermined angular intervals. The crank angle sensor 7 has a pulse shape corresponding to the fact that each protrusion of the crank angle sensor signal rotor 8 sequentially approaches and leaves the crank angle sensor 7 as the crank angle sensor signal rotor 8 rotates. The crank angle signal is generated and input to a control device (also referred to as ECU) 9. The control device 9 detects the angular position of the non-output side end of the crankshaft 5 based on the crank angle signal input from the crank angle sensor 7.

  The camshaft 10 is connected to the crankshaft 5 by a chain 11, and the camshaft 10 rotates once while the crankshaft 5 rotates twice. The cam angle sensor 12 is disposed close to the peripheral surface of the cam angle sensor signal rotor 13 attached to the camshaft 10. The cam angle sensor 12 generates a pulsed cam angle signal in response to rotation of the cam angle sensor signal rotor 13 so that each protrusion sequentially approaches and separates from the cam angle sensor 12. Input to the control device 9. The control device 9 detects the cam angle position of the camshaft 10 based on the cam angle signal input from the cam angle sensor 12.

  The control device 9 is configured by an ECU (Electronic Control Unit). As described above, the control device 9 determines the first cylinder 2a, the second cylinder 2b, the second cylinder 2 based on the angle information of the crank angle signal from the crank angle sensor 7 and the cam angle signal from the cam angle sensor 12. The combustion states in the third cylinder 2c and the fourth cylinder 2d are estimated. Although detailed description is omitted here, the control device 9 has a function of controlling the amount of fuel supplied to the internal combustion engine 1 and the ignition timing, and based on the calculated combustion parameters, By estimating the combustion state in the 1 cylinder 2a, the 2nd cylinder 2b, the 3rd cylinder 2c, and the 4th cylinder 2d, and controlling the fuel amount and the ignition timing so as to obtain an ideal combustion state, Improve performance and emission performance.

  Next, the structure of the combustion state estimation process part provided in the control apparatus 9 is demonstrated. FIG. 2 is a block diagram showing a basic configuration of a combustion state estimation processing unit in the control apparatus for an internal combustion engine according to the first embodiment of the present invention. In FIG. 2, the combustion state estimation processing unit 9 </ b> A provided in the control device 9 includes a crank angle time storage unit 15, a frequency domain conversion unit 16, a torsional vibration component identification unit 17, and a frequency component adjustment unit 18. , An angular velocity and angular acceleration calculating means 19, an in-cylinder pressure estimating means 20, an external force torque estimating means 21, and a combustion parameter calculating means 22.

  The crank angle time storage unit 15 stores the crank angle detected by the crank angle detection unit 14 and the time when the angle is detected for a predetermined period. The crank angle detection means 14 corresponds to the crank angle sensor 7 in FIG.

  Here, the predetermined period is the crank angle of the expansion stroke that is considered to end the combustion of the cylinder in front of the cylinder for which the combustion state is estimated (for example, the compression top dead center (hereinafter, the cylinder for which the combustion state is to be estimated) (Referred to as TDC) as a reference, the crank angle of the expansion stroke at which the combustion of the target cylinder whose combustion state is to be estimated is considered to end, or the crank angle with a certain margin (for example, , At least including TDC + 180 [deg] of the cylinder to be estimated for the combustion state, it may be stored longer than this.

  The frequency domain conversion means 16 reads the crank angle corresponding to the period including the combustion of the internal combustion engine and the data of the time at which each crank angle is detected from the crank angle time storage means 15, and the function of the time with respect to the crank angle is a periodic function. And convert this periodic function to the frequency domain.

  The torsional vibration component specifying means 17 is obtained by reading out from the crank angle time storage means 15 the crank angle in the period before the internal combustion engine starts combustion and the time data series for detecting each crank angle. Is converted into a form that can be regarded as a periodic function, and then converted into the frequency domain to calculate a frequency component. And the frequency component which shows the characteristic of torsional vibration with this frequency component is specified.

  The frequency component adjusting unit 18 adjusts the magnitude of the frequency component specified by the torsional vibration component specifying unit 17 with respect to the frequency component of the periodic function converted into the frequency domain by the frequency domain converting unit 16.

  The angular velocity and angular acceleration calculating means 19 uses the algebraic differentiation in the frequency space for the frequency component adjusted by the frequency component adjusting means 18 to calculate the angular velocity and angular acceleration of the crank using the crank angle as an argument. .

  The in-cylinder pressure estimating means 20 is a system including the piston 3, the connecting rod 4 and the crankshaft 5 of the internal combustion engine that uses the external force torque estimated by the external force torque estimating means 21 and the angular velocity and angular acceleration calculated by the angular acceleration calculating means 19. The cylinder pressure of the internal combustion engine is estimated by applying to the equation of motion.

  The external force torque estimation means 21 estimates the torque calculated by the equation of motion as an external force torque at a specific crank angle at which the equation of motion can be regarded as a relational expression of the moment of inertia around the crankshaft, angular acceleration, and external force torque.

  The combustion parameter calculation means 22 calculates a combustion parameter indicating the combustion state of the internal combustion engine based on the in-cylinder pressure estimated by the in-cylinder pressure estimation means 20.

Next, the processing flow of the combustion state estimation processing unit 9A in the control device 9 will be described in detail. FIG. 3 is a flowchart showing the flow of processing for estimating the combustion state in the control apparatus for an internal combustion engine according to the first embodiment of the present invention, and the second, third and fourth embodiments described later. is there.
3, in step S301, the crank angle position detected by the crank angle detecting means 14 (corresponding to the crank angle sensor 7 in FIG. 1) and the time at which this crank angle position is detected are stored in the crank angle time storing means 15. Remember.

  Specifically, the time when the crank angle position θ is detected is stored in correspondence with the angle position θ as shown in FIG. In the control apparatus for an internal combustion engine according to the first embodiment of the present invention, the protrusion disposed on the crank angle sensor signal rotor 8 is spaced by 3 [deg] from the TDC of the reference cylinder (for example, the first cylinder 2a). Thus, 120 pieces are arranged per one rotation of the crankshaft.

  FIG. 5 is a graph showing an example of the angular velocity calculated from the crank angle detected by the crank angle detecting means 14 and the time. FIG. 6 is a graph showing the actual in-cylinder pressure of the internal combustion engine measured simultaneously with FIG. In FIG. 5, high-frequency components are removed from the crank angle time data series for the purpose of noise removal before calculating the angular velocity. For this reason, variations in crank angular speed due to manufacturing tolerances of protrusions on the signal rotor are eliminated. However, high frequency fluctuations that are clearly different from the behavior of the in-cylinder pressure shown in FIG. 6 remain throughout the entire graph. The cause of this fluctuation is torsional vibration generated in the crankshaft. Unless the fluctuation component due to the torsional vibration can be properly removed from the angular velocity and acceleration of the crankshaft, the in-cylinder pressure of the internal combustion engine cannot be accurately estimated. As a result, the combustion state of the internal combustion engine cannot be accurately estimated. If the frequency component corresponding to this variation is simply removed from the angular velocity or acceleration of the crankshaft, it can be realized by using, for example, a low-pass filter. Since a high-frequency component that changes sharply in the vicinity of the TDC of the cylinder is included, the estimation accuracy of the in-cylinder pressure is also lowered simply by using a low-pass filter.

  Next, in step S302, a series of crank angles and detection times corresponding to a period including combustion is read from the crank angle time storage means 15 to form a time data series tb (θn). As long as this data series includes a period for estimating the combustion state of the internal combustion engine, it may be composed of all or a part of the data stored in the crank angle time storage means 15. In the first embodiment, the data series is configured using all of the data stored in the crank angle time storage means 15. Next, the time data series tb (θn) is converted into a function xb (θn) that can be regarded as a periodic function, as shown in the following equation (1).

ここで、αは次の式（２）で示される。

Here, α is expressed by the following equation (2).

次に、この周期関数ｘｂ（θｎ）を離散フーリエ変換を用いて、周波数領域の関数Ｘｂ（Ω）に変換する。一般に、Ｘｂ（Ω）は複素関数となる。

Next, the periodic function xb (θn) is converted into a frequency domain function Xb (Ω) using discrete Fourier transform. In general, Xb (Ω) is a complex function.

  Next, in step S303, the crank angle and the detection time are read out from the crank angle time storage means 15 as a period during which the internal combustion engine is not combusting, before the combustion target state cylinder starts combustion. Thus, a time data series tu (θk) (s ≦ k ≦ e) is formed. Here, s is a storage number at the head of the data series, and is set to a timing at which combustion of the cylinder immediately preceding the cylinder whose combustion state is to be estimated ends. Further, e is a storage number at the end of the data series, and is set to a timing before the combustion state estimation target cylinder starts combustion. In the first embodiment, these are experimentally determined in advance. For example, −75 [deg] to −30 [deg] (from 6 of storage number n in FIG. 4) is clearly set as a period during which the internal combustion engine does not burn. 21) (corresponding to a series of 21 data) is read out to form a time data series tu (θk). Next, the time data series tu (θk) is converted into a function xu (θk) in a form that can be regarded as a periodic function as shown in the following equation (3).

ここで、βは次の式（４）で示される。

Here, β is expressed by the following equation (4).

次に、この周期関数ｘｕ（θｋ）を離散フーリエ変換を用いて、周波数領域の関数Ｘｕ（Ω）に変換する。

Next, the periodic function xu (θk) is converted into a frequency domain function Xu (Ω) using discrete Fourier transform.

  Next, a spectrum indicating the magnitude of each frequency component of the function Xu (Ω) is calculated. Torsional vibration is a kind of resonance phenomenon of the system around the crankshaft, and therefore is a component in which the amplitude decays slowly and continues to vibrate even when the engine is not combusting. Accordingly, it is possible to specify that the frequency component generated during this period has a large absolute value as torsional vibration. FIG. 7 shows the spectrum of Xu (Ω). Here, it is determined that the frequency component Ωtv exceeding THTV, which is the torsional vibration determination value, is a frequency component due to torsional vibration.

  Next, in step S304, the frequency component of the function Xb (Ω) obtained by converting the time data series of the crank angle corresponding to the period including combustion calculated in step S302 into the frequency domain is the frequency due to the torsional vibration specified in step S303. Adjust based on ingredients. Specifically, as shown in FIG. 8, the frequency component of the function Xb (Ω) related to the frequency component Ωtv is set to zero. The function Xb (Ω) after component adjustment is assumed to be Xbm (Ω).

  Next, in step S305, Xbm (Ω) obtained by adjusting the frequency component of the function Xb (Ω) in step S304 is obtained by using algebraic differentiation in the frequency space, and the crank angular velocity ω (θ ) And angular acceleration dω (θ) / dθ. The crank angular velocity ω (θ) with the crank angle as an argument is expressed by the following equation (5).

ここで、時刻データの周期関数ｘｂｍ（θ）の一次微分であるｄｘｂｍ（θ）／ｄθは、ｘｂｍ（θ）の離散フーリエ変換Ｘｂｍ（Ω）にｉΩ（ｉは虚数単位）を掛けたｉΩ・Ｘｂｍ（Ω）を逆離散フーリエ変換することにより求められる。
また、クランク角度を引数とするクランクの角加速度ｄω（θ）／ｄθは次の式（６）で示される。

Here, dxbm (θ) / dθ, which is the first derivative of the periodic function xbm (θ) of the time data, is iΩ · multiplier obtained by multiplying the discrete Fourier transform Xbm (Ω) of xbm (θ) by iΩ (i is an imaginary unit). Xbm (Ω) is obtained by inverse discrete Fourier transform.
Also, the angular acceleration dω (θ) / dθ of the crank with the crank angle as an argument is expressed by the following equation (6).

ここで、時刻データの周期関数ｘｂｍ（θ）の二次微分であるｄ^２ｘｂｍ（θ）／ｄθ^２は、ｘｂｍ（θ）の離散フーリエ変換Ｘｂｍ（Ω）に（ｉΩ）^２（ｉは虚数単位）を掛けた（ｉΩ）^２・Ｘｂｍ（Ω）を逆離散フーリエ変換することにより求められる。

Here, d ² xbm (θ) / dθ ² which is the second derivative of the periodic function xbm (θ) of the time data is expressed as (iΩ) ² (i is an imaginary number) in the discrete Fourier transform Xbm (Ω) of xbm (θ). (IΩ) multiplied by (unit) ² · Xbm (Ω) is obtained by inverse discrete Fourier transform.

  Next, in step S306, the crank angular velocity and crank angular acceleration calculated in step S305 are applied to the equation of motion including the piston 3, the connecting rod 4 and the crankshaft 5 shown in the following equation (7) to estimate the external force torque. FIG. 9 shows a system that is an object of this equation of motion.

ここで、Ｉは慣性モーメント、Ｓはピストン３の頂面投影面積、ｍｐはピストン３の質量、ｒはクランクシャフト５の半径であり、これらは設計時点で決まる値である。また、ｊは気筒番号を示すパラメータ、Ｎは気筒数（実施の形態１ではＮ＝４）である。また、Ｐｃｙｌｊはｊ番気筒の筒内圧力、ａｊはｊ番気筒のピストンの往復方向の加速度である。θｊはｊ番気筒のクランク角度、すなわち、ｊ番気筒のピストンの往復運動方向とクランクシャフト５とがなすクランクシャフト５の回転中心における角度θである。φｊはｊ番気筒のピストン３の往復運動方向とコンロッド４とがなすピストン３とコンロッド４との接続点における角度φである。また、Ｔ_Ｌは内燃機関に掛かるフリクショントルクや走行負荷などの外力トルクである。

Here, I is the moment of inertia, S is the projected area of the top surface of the piston 3, mp is the mass of the piston 3, and r is the radius of the crankshaft 5. These are values determined at the time of design. Further, j is a parameter indicating the cylinder number, and N is the number of cylinders (N = 4 in the first embodiment). Pcylj is the in-cylinder pressure of the j-th cylinder, and aj is the acceleration in the reciprocating direction of the piston of the j-th cylinder. θj is the crank angle of the j-th cylinder, that is, the angle θ at the rotation center of the crankshaft 5 formed by the reciprocating direction of the piston of the j-th cylinder and the crankshaft 5. φj is an angle φ at the connecting point between the piston 3 and the connecting rod 4 formed by the connecting rod 4 and the reciprocating direction of the piston 3 of the j-th cylinder. Further, _TL is an external force torque such as a friction torque or a traveling load applied to the internal combustion engine.

  At the crank angle θj = 0, 180, 360, 540 [deg], which is the top and bottom dead center of the piston, the equation (7) becomes the following equation (8). These angles are called singular crank angles.

従って、クランク角度θｊ＝０、１８０、３６０、５４０［ｄｅｇ］の時点で、慣性モーメントとクランク角加速度の積に（−１）を乗じることにより、外力トルクを推定することができる。

Therefore, at the time of crank angle θj = 0, 180, 360, 540 [deg], the external force torque can be estimated by multiplying the product of the moment of inertia and the crank angular acceleration by (−1).

Next, in step S307, the in-cylinder pressure of the internal combustion engine is estimated using the external torque _TL estimated in step S306. Specifically, the _TL of Expression (8) obtained with the singular crank angle is substituted into the equation of motion represented by Expression (7). When formula (7) is arranged for the in-cylinder pressure Pcylb of the b-th cylinder (that is, j = b) that is currently burning, the following formula (9) is obtained.

ここで、ｊ番気筒の筒内圧力Ｐｃｙｌｊは、シリンダに吸入された空気と燃料の混合気の圧力Ｐｕｊと、燃料が燃焼することによって得られるガス圧力ΔＰｂｊの和によって次の式（１０）の様に表される。

Here, the in-cylinder pressure Pcylj of the j-th cylinder is expressed by the following equation (10) by the sum of the pressure Puj of the air / fuel mixture sucked into the cylinder and the gas pressure ΔPbj obtained by the combustion of the fuel. It is expressed as

４気筒エンジンでは、各気筒の膨張行程は重ならないため、現在燃焼中のｂ番目の気筒以外の気筒のΔＰｂｊは全て０になる。従って、式（９）は次の式（１１）の様に表される。

In a four-cylinder engine, the expansion strokes of the cylinders do not overlap, so that ΔPbj of all cylinders other than the b-th cylinder that is currently in combustion is 0. Therefore, Expression (9) is expressed as the following Expression (11).

燃焼していない気筒のシリンダの圧力Ｐｕｊに関しては、検出したクランク角度に基づいて各気筒の筒内容積が求まるため、内燃機関の吸入する空気の量を検出すれば、これを例えば筒内での断熱変化と考えて、圧力Ｐｕｊを求めることができる。ピストンの往復方向の加速度ａｊに関しては、次の式（１２）で求められる。

With respect to the pressure Puj of the cylinder of the non-combusted cylinder, the in-cylinder volume of each cylinder is obtained based on the detected crank angle. Therefore, if the amount of air taken in by the internal combustion engine is detected, this can be calculated, for example, in the cylinder. The pressure Puj can be obtained by considering an adiabatic change. The acceleration aj in the reciprocating direction of the piston is obtained by the following equation (12).

従って、式（１１）を用いて燃焼気筒の筒内圧力Ｐｃｙｌｂを得ることができる。

Therefore, the in-cylinder pressure Pcylb of the combustion cylinder can be obtained using the equation (11).

  In step S308, the combustion parameter is calculated using the in-cylinder pressure Pcylb of the combustion cylinder obtained in step S307. From the in-cylinder pressure Pcylb (θ) obtained for each crank angle, the heat generation rate dQ (θ) / dθ for each known crank angle can be obtained using the following equation (13). Thereafter, a return state is established, and the above-described combustion state estimation process is continued repeatedly.

ここでκは燃料と空気の混合気の比熱比であり、具体的には１．３〜１．４の値である。次に燃焼パラメータである質量燃焼割合ＭＦＢ（θ）を求める。質量燃焼割合ＭＦＢ（θ）は、燃焼期間全域で得られた総熱発生量に対する、クランク角度θまでの累積熱発生量であり、次の式（１４）で算出される。

Here, κ is the specific heat ratio of the mixture of fuel and air, specifically a value of 1.3 to 1.4. Next, a mass combustion ratio MFB (θ) which is a combustion parameter is obtained. The mass combustion ratio MFB (θ) is the cumulative heat generation amount up to the crank angle θ with respect to the total heat generation amount obtained over the entire combustion period, and is calculated by the following equation (14).

ここで、燃焼期間全域で得た総熱発生量Ｑｔｏｔａｌは次の式（１５）で示される。

Here, the total heat generation amount Qtotal obtained over the entire combustion period is expressed by the following equation (15).

一般に、質量燃焼割合が５０％となるクランク角度、すなわちＭＦＢ（θ）＝０．５となるクランク角度θが、圧縮上死点後８〜１０［ｄｅｇ］となる様に燃焼状態を制御することにより、燃費性能やエミッション性能が最適となることが判っている。そこで、制御装置９は、燃焼状態推定処理部９Ａで燃焼パラメータとしてクランク角毎に質量燃焼割合を算出し、この値が０．５となるクランク角度が圧縮上死点後８〜１０［ｄｅｇ］となる様に点火タイミングを制御する。

Generally, the combustion state is controlled so that the crank angle at which the mass combustion ratio is 50%, that is, the crank angle θ at which MFB (θ) = 0.5 is 8 to 10 [deg] after compression top dead center. Has been found to optimize fuel efficiency and emissions performance. Therefore, the control device 9 calculates the mass combustion ratio for each crank angle as a combustion parameter in the combustion state estimation processing unit 9A, and the crank angle at which this value becomes 0.5 is 8 to 10 [deg] after compression top dead center. The ignition timing is controlled so that

  As described above, according to the control apparatus for an internal combustion engine according to the first embodiment, even when torsional vibration is generated in the crankshaft that is an elastic body, the crankshaft motion during a period in which the internal combustion engine is not combusting. In order to identify the frequency component of the torsional vibration of the crankshaft based on the frequency component related to, and to correct the angular acceleration of the crank angle including the period during which the internal combustion engine is burning, the influence of the torsional vibration component that is a disturbance element And the combustion state can be estimated accurately.

Embodiment 2. FIG.
Next, a description will be given of an internal combustion engine control apparatus according to Embodiment 2 of the present invention. In the control apparatus for an internal combustion engine according to the first embodiment, the frequency component of the torsional vibration of the crankshaft is specified based on the frequency component related to the movement of the crankshaft during the period in which the internal combustion engine is not combusting, To provide a control device for an internal combustion engine that accurately estimates the combustion state by suppressing the influence of a torsional vibration component that is a disturbance element in order to correct the angular acceleration of the crank angle including the period during which the internal combustion engine is burning. It was shown that you can.

  However, in the first embodiment, a period during which the internal combustion engine is not combusting (hereinafter referred to as a non-combustion period) is experimentally determined as a fixed value in advance. In order to ensure the non-combustion period even when the operating conditions of the internal combustion engine are changed, it is necessary to determine the end timing of the non-combustion period sufficiently before the combustion period to be estimated for the combustion state. As a result, the non-burning period is shortened. In the discrete Fourier transform used to extract the torsional vibration component, if the number of points to be sampled decreases, the frequency resolution decreases, and therefore the torsional vibration component extraction accuracy decreases.

  The control apparatus for an internal combustion engine according to the second embodiment solves the above-described problems in the control apparatus for the internal combustion engine according to the first embodiment. Hereinafter, the control apparatus for an internal combustion engine according to the second embodiment will be described. Except for the torsional vibration component specifying means 17, since it is the same as the description of the control device for an internal combustion engine according to the first embodiment, the description thereof is omitted.

  FIG. 10 is a block diagram showing a basic configuration of a combustion state estimation processing unit 9A in the control apparatus for an internal combustion engine according to the second embodiment of the present invention. In the control apparatus for an internal combustion engine according to the second embodiment, the configuration of the torsional vibration component specifying means 17 in FIG. 2 in the case of the control apparatus for the internal combustion engine according to the first embodiment is changed. In FIG. 10, the torsional vibration component specifying means 17 has a non-combustion period setting means 23.

  The non-combustion period setting means 23 acquires the ignition timing from the function of controlling the ignition timing of the control device 9, and sets the crank angle and detection time range that the torsional vibration component specifying means 17 reads from the crank angle time storage means 15. To do. Specifically, the crank angle read from the crank angle time storage means 15 and the end timing of the detection time are set based on the ignition timing. In the case of a spark ignition internal combustion engine, since combustion starts after the ignition timing, the period until the ignition timing or until the air-fuel mixture is ignited after the ignition timing can be treated as a non-combustion period. The period until the air-fuel mixture is ignited after the ignition timing is a constant of the dimension of the crank angle, and is experimentally determined from the ignition timing of the internal combustion engine and the fuel amount. Therefore, a longer non-burning period can be ensured than in the first embodiment, and the number of sampling points of the discrete Fourier transform used for extracting the torsional vibration component can be increased. As a result, the extraction accuracy of the torsional vibration component can be improved.

  As described above, according to the control apparatus for an internal combustion engine according to the second embodiment, the same effect as in the first embodiment can be obtained, and further, by setting the non-combustion period based on the ignition timing, A non-burning period can be ensured, and the number of sampling points of the discrete Fourier transform used for extracting the torsional vibration component can be increased. For this reason, the extraction accuracy of the torsional vibration component can be improved, the influence of the torsional vibration component that is a disturbance element can be appropriately suppressed, and the combustion state can be accurately estimated.

Embodiment 3 FIG.
Next, a description will be given of an internal combustion engine control apparatus according to Embodiment 3 of the present invention. In the control apparatus for an internal combustion engine according to the first embodiment described above, the frequency component of the torsional vibration of the crankshaft is specified based on the frequency component related to the movement of the crankshaft during the non-combustion period, and the internal combustion engine burns. It was shown that the angular acceleration of the crank angle including the period is corrected. However, if sudden and accidental vibrations that differ from torsional vibrations occur only during some specific periods during the non-combustion period, the discrete Fourier transform will detect many frequency components of these sudden vibrations. Therefore, a frequency component unrelated to torsional vibration is erroneously determined to be a torsional vibration component, and is removed from the crank angle time data series in the period including combustion. As a result, the estimation accuracy of the in-cylinder pressure decreases, and the estimation accuracy of the combustion state decreases.

  The control apparatus for an internal combustion engine according to the third embodiment solves the aforementioned problems in the control apparatus for the internal combustion engine according to the first embodiment. The internal combustion engine control apparatus according to Embodiment 3 will be described below. Except for the torsional vibration component specifying means 17, since it is the same as the description of the control device for an internal combustion engine according to the first embodiment, the description thereof is omitted.

  FIG. 11 is a block diagram showing a basic configuration of a combustion state estimation processing unit 9A in the control apparatus for an internal combustion engine according to Embodiment 3 of the present invention. In the control apparatus for an internal combustion engine according to the third embodiment, the configuration of the torsional vibration component specifying means 17 in FIG. 2 in the case of the control apparatus for the internal combustion engine according to the first embodiment is changed. In FIG. 11, the torsional vibration component specifying means 17 has a vibration continuation component extracting means 24.

  The vibration continuation component extraction means 24 performs a discrete Fourier transform a plurality of times while changing the crank angle range during the non-burning period. As described above, the torsional vibration is a kind of resonance phenomenon of the system around the crankshaft. Therefore, the attenuation of the amplitude is slow, and the vibration continues continuously even in the non-combustion period. Accordingly, when a plurality of spectral characteristics obtained by a plurality of discrete Fourier transforms exceed THTV, which is a torsional vibration determination value, and the variance is smaller than a predetermined value SGMTV. By specifying this frequency component as torsional vibration, accidental vibration component that occurs suddenly can be excluded from the determination of torsional vibration.

  As described above, according to the control apparatus for an internal combustion engine according to the third embodiment, the same effect as in the first embodiment can be obtained. Multiple discrete Fourier transforms are performed while changing the period. As described above, the torsional vibration is a kind of resonance phenomenon of the system around the crankshaft. Therefore, the attenuation of the amplitude is slow, and the vibration continues continuously even in the non-combustion period. Therefore, for a plurality of spectra obtained by a plurality of discrete Fourier transforms, when the magnitude exceeds THTV, which is a torsional vibration determination value, and its variance is smaller than a predetermined value SGMTV, this frequency component is By specifying torsional vibrations, accidental vibration components that occur suddenly can be excluded from the determination of torsional vibrations. For this reason, the extraction accuracy of the torsional vibration component can be improved, the influence of the torsional vibration component that is a disturbance element can be appropriately suppressed, and the combustion state can be accurately estimated.

Embodiment 4 FIG.
Next, a description will be given of an internal combustion engine control apparatus according to Embodiment 4 of the present invention. In the control apparatus for an internal combustion engine according to the first embodiment described above, the frequency component of the torsional vibration of the crankshaft is specified based on the frequency component related to the movement of the crankshaft during the non-combustion period, and the internal combustion engine burns. As a method of correcting the angular acceleration of the crank angle including a certain period, it has been shown that the frequency component is zero. However, even when the change in the time data series of the crank angle caused by combustion includes a frequency band that is the same as or close to the torsional vibration, all signal components in this frequency band are removed. As a result, the estimation accuracy of the in-cylinder pressure decreases, and the estimation accuracy of the combustion state decreases.

  The control apparatus for an internal combustion engine according to the fourth embodiment solves the above-described problems in the control apparatus for the internal combustion engine according to the first embodiment. Hereinafter, an internal combustion engine control apparatus according to Embodiment 4 will be described. Since the components other than the frequency component adjusting unit 18 are the same as those described in the control device for the internal combustion engine according to the first embodiment, the description thereof is omitted.

FIG. 12 is a block diagram showing a basic configuration of a combustion state estimation processing unit 9A in the control apparatus for an internal combustion engine according to the fourth embodiment of the present invention. In the control apparatus for an internal combustion engine according to the fourth embodiment, the configuration of the frequency component adjusting means 18 in FIG. 2 in the case of the control apparatus for an internal combustion engine according to the first embodiment is changed. In FIG. 12, the frequency component adjusting means 18 has a component adjustment amount determining means 25.

  The component adjustment amount determining means 25 is configured to detect the spectrum | Xu (Ωtv) | obtained by the discrete Fourier transform in the non-combustion period, the spectrum of which exceeds THTV which is a torsional vibration determination value. The absolute value of the frequency function Xb (Ωtv) of the time data series of the crank angle in the period including combustion is reduced according to the magnitude of the quantity. For example, when | Xu (Ωtv) |> THTV, assuming that the component-adjusted function is Xbm (Ωtv), correction is performed as shown in the following equation (16).

このようにすることで、燃焼を含む期間のクランク角の時刻データ系列から、捩り振動成分に対応する周波数成分を適正に減少させることができる。

By doing so, it is possible to appropriately reduce the frequency component corresponding to the torsional vibration component from the time data series of the crank angle in the period including combustion.

  As described above, according to the control apparatus for an internal combustion engine according to the fourth embodiment, the same effect as in the first embodiment can be obtained, and further, the crank in the period including combustion according to the magnitude of the spectrum of the torsional vibration component can be obtained. By reducing the frequency function of the time data series of corners, the torsional vibration component can be properly removed from the time data series of crank angles during the period including combustion. Even when the frequency band that is the same as or close to the vibration is included, the combustion state can be accurately estimated.

  In the scope of the present invention, the embodiments can be freely combined, or the embodiments can be appropriately modified or omitted.

14 Crank angle detection means, 15 Crank angle time storage means, 16 Frequency domain conversion means, 17 Torsional vibration component identification means, 18 Frequency component adjustment means, 19 Angular velocity and angular acceleration calculation means, 20 In-cylinder pressure estimation means, 21 External force torque Estimation means, 22 combustion parameter calculation means, 23 non-combustion period setting means, 24 vibration continuation component extraction means, 25 component adjustment amount determination means

Claims (4)

A control device for an internal combustion engine having a plurality of cylinders coupled to a crankshaft,
Crank angle detecting means for detecting a crank angle in the internal combustion engine and a time at the crank angle;
Crank angle time storage means for storing the crank angle detected by the crank angle detection means and the time;
The crank angle and the time corresponding to a period including combustion of the internal combustion engine are obtained from the crank angle time storage means, the function of the time with respect to the crank angle is converted into a form that can be regarded as a periodic function, and the periodic function is converted into a frequency. A frequency domain conversion means for converting into a domain;
The crank angle and the time corresponding to a period in which the internal combustion engine is not combusting are obtained from the crank angle time storage means, and the function of the time with respect to the crank angle in this period is converted into a form that can be regarded as a periodic function. A torsional vibration component specifying means for converting the periodic function into a frequency domain and specifying a component derived from the torsional vibration of the crankshaft based on the magnitude of the frequency component;
A frequency component for selecting the component corresponding to the frequency component specified by the torsional vibration component specifying means from the frequency components of the periodic function converted into the frequency domain by the frequency domain converting means, and adjusting the amount of this component Adjusting means;
For the frequency component adjusted by the frequency component adjusting means, using an algebraic differentiation in frequency space, an angular velocity and angular acceleration calculating means for calculating the angular velocity and angular acceleration of the crank with the crank angle as an argument,
At a singular crank angle where the equation of motion of the system including the piston, connecting rod and the crank of the internal combustion engine can be regarded as a relational expression of moment of inertia, angular acceleration and external force torque, the torque calculated by the equation of motion is external force. External force torque estimating means for estimating torque;
In-cylinder pressure estimating means for estimating the in-cylinder pressure of the internal combustion engine by applying the external force torque, angular velocity and angular acceleration estimated by the external force torque estimating means to the equation of motion,
A control apparatus for an internal combustion engine, comprising combustion parameter calculation means for calculating a parameter indicating a combustion state of the internal combustion engine based on the in-cylinder pressure.   The torsional vibration component specifying means includes a non-combustion period setting means, and the non-combustion period setting means determines the crank angle and the detection time that the torsional vibration component specifying means reads from the crank angle time storage means according to the ignition timing. 2. The control apparatus for an internal combustion engine according to claim 1, wherein a range is set.   The torsional vibration component specifying means is configured such that, in a period when the internal combustion engine is not combusting, time functions for a plurality of crank angle periods generated by shifting the combination of start and end in this period can be regarded as periodic functions. And converting these periodic functions into the frequency domain, and further including vibration continuation component extraction means, wherein the vibration continuation component extraction means includes a plurality of the periodic functions converted into the frequency domain. A frequency component having a spectrum whose spectral magnitude exceeds a predetermined value and whose variance is smaller than a predetermined value is regarded as a torsional vibration component. Item 2. A control device for an internal combustion engine according to Item 1.   The frequency component adjustment unit includes a component adjustment amount determination unit, and the component adjustment amount determination unit determines the frequency by the frequency domain conversion unit according to the spectrum size of the frequency component specified by the torsional vibration component specification unit. 2. The control apparatus for an internal combustion engine according to claim 1, wherein an adjustment amount of a frequency component of the periodic function converted into the region is determined.

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