JP4269281B2 - Air-fuel ratio control device for internal combustion engine - Google Patents

Description

  The present invention relates to an air-fuel ratio control apparatus for an internal combustion engine, and more particularly to an air-fuel ratio control apparatus that performs air-fuel ratio feedback (F / B) control based on an air-fuel ratio detected by an air-fuel ratio sensor.

  As an air-fuel ratio control device for an internal combustion engine, air-fuel ratio sensors are respectively arranged on the upstream side and the downstream side of an exhaust purification catalyst device arranged in the exhaust passage of the internal combustion engine, and the air-fuel ratio sensor uses the detection signal of each air-fuel ratio sensor. A technique for controlling the fuel ratio and obtaining good exhaust gas purification characteristics is known (see, for example, Patent Document 1). In addition, the first catalyst device and the second catalyst device are arranged side by side on the upstream side and the downstream side in the exhaust passage of the internal combustion engine, and the first air-fuel ratio sensor and the second catalyst device are respectively provided on the upstream side and the downstream side of the first catalyst device. A technique is known in which an air-fuel ratio sensor is disposed and the air-fuel ratio is controlled using the detection values of the first and second air-fuel ratio sensors to obtain good exhaust purification characteristics (see, for example, Patent Document 2). .

  However, in the technique of Patent Document 1, it is essential to increase the size of the catalyst device in order to obtain a sufficient exhaust purification effect with a single catalyst device, and the air-fuel ratio is disposed upstream and downstream with the catalyst device interposed therebetween. Since the sensor is arranged, the control response may be insufficient. Further, the technique disclosed in Patent Document 2 cannot monitor the exhaust discharged from the final catalyst device (the most downstream catalyst), and thus may deteriorate the exhaust emission.

  Further, in the configuration in which the two air-fuel ratio sensors are arranged with the catalyst device interposed as described above, it is necessary to improve the responsiveness of the feedback control using the detection signal of the downstream sensor in order to maintain high exhaust purification characteristics. There is a need to increase the control gain in the high frequency band in the feedback control. In this case, the feedback control using the detection signal of the upstream sensor originally has a high control gain in the high frequency band. Therefore, the feedback control based on the detection signal of the upstream sensor and the feedback control based on the detection signal of the downstream sensor interfere with each other, and as a result, there is a possibility that inconveniences such as deterioration of exhaust emission may occur.

  Furthermore, the first catalytic device and the second catalytic device are arranged side by side on the upstream side and the downstream side in the exhaust passage of the internal combustion engine, and the upstream side of the first catalytic device, between the first and second catalytic devices, The first, second and third air-fuel ratio sensors are respectively arranged downstream of the two catalyst devices, and the F / B control is performed so that the air-fuel ratio of the air-fuel mixture becomes the target air-fuel ratio based on the output of the first air-fuel ratio sensor. First F / B control means to be implemented, second F / B control means for calculating the first F / B control constant based on the output of the second air-fuel ratio sensor, and the output of the third air-fuel ratio sensor There is known a technique including a third F / B control means for calculating a second F / B control constant based on (see, for example, Patent Document 3). As a result, the final exhaust characteristics are supposed to be improved.

However, since the technique of Patent Document 3 performs triple F / B control, there is a problem that the control configuration becomes complicated. In addition, the second F / B control and the third F / B control interfere with each other due to a response delay or the like on the downstream side of the catalyst device, and the control becomes unstable. That is, for example, when the air-fuel ratio fluctuates little by little, the second air-fuel ratio sensor output may be rich and the third air-fuel ratio sensor output may be lean. Under such a state, the second, third F / B control may interfere, and control stability may be reduced. Therefore, there was still room for improvement.
JP-A-2-67443 JP-A-5-321651 JP-A-8-14088

  The main object of the present invention is to provide an air-fuel ratio control apparatus for an internal combustion engine that can simplify the control configuration and can realize responsiveness and optimization of exhaust emission.

  In the first aspect of the invention, the feedback control means calculates one control parameter based on the air-fuel ratio detected by each of the first sensor and the second sensor, and feedback control is performed based on the control parameter. The According to this configuration, in the configuration in which two sensors for air-fuel ratio detection are provided before and after the catalyst device, the detection values of the first and second sensors are handled together, so that multiple feedback control is performed. Unlike the prior art, the control configuration can be simplified. Also, the inconvenience that multiple feedback controls interfere with each other can be solved. As a result, it is possible to realize responsiveness and optimization of exhaust emission.

In particular, based on the air-fuel ratios detected by the first sensor and the second sensor, the virtual air-fuel ratio between the sensors is calculated as the control parameter, and feedback control is performed so that the virtual air-fuel ratio becomes the target air-fuel ratio. To be implemented. In this case, even if the configuration uses two sensors for detecting the air-fuel ratio, the feedback control system can be integrated into one. Since the catalyst device is disposed between the first and second sensors, it can be said that the virtual air-fuel ratio is the catalyst internal air-fuel ratio.

In a second aspect of the invention, the control parameter is calculated by performing predetermined weighting on the air-fuel ratio detected by the first sensor and the air-fuel ratio detected by the second sensor. For example, when exhaust gas purification by the catalyst device is sufficient, the control parameter is calculated mainly based on the detection value of the first sensor. When exhaust gas purification by the catalyst device is not sufficient, the detection value of the second sensor is mainly used. It is conceivable to calculate the control parameter based on the above. This can be dealt with by appropriately changing the weights for the detection values of the first and second sensors, and it becomes possible to manage the exhaust emission satisfactorily while maintaining appropriate responsiveness.

In the invention according to claim 3 , weighting is set for the air-fuel ratio detected by the first sensor and the air-fuel ratio detected by the second sensor based on the operating condition of the internal combustion engine detected by the operating condition detecting means. Is done. That is, although the purification characteristic (reaction characteristic) of the catalyst device changes depending on the operating state of the internal combustion engine, according to the third aspect of the invention, good air-fuel ratio control corresponding to such change can be realized. The operating state of the internal combustion engine mentioned here includes rotational speed, intake air amount, load, exhaust temperature, exhaust flow rate, catalyst temperature, and air-fuel ratio.

Here, it is conceivable that the purification characteristics of the upstream side catalyst device change according to the exhaust gas flow rate. Therefore, as described in claim 4 , weighting is set for the air-fuel ratio detected by the first sensor and the air-fuel ratio detected by the second sensor based on the exhaust flow rate detected by the exhaust flow rate detecting means. And good. More specifically, as described in claim 5 , the larger the exhaust gas flow rate, the smaller the weighting for the air-fuel ratio detected by the first sensor and the larger the weighting for the air-fuel ratio detected by the second sensor. good.

In the sixth aspect of the invention, weighting is set for the air-fuel ratio detected by the first sensor and the air-fuel ratio detected by the second sensor based on the degree of deterioration of the catalyst device detected by the deterioration detecting means. . That is, as the deterioration of the catalyst device proceeds, the purification function of the catalyst device decreases. However, according to the sixth aspect , even if the deterioration of the catalyst device progresses, good air-fuel ratio control corresponding to the deterioration can be realized.

Specifically, as described in claim 7 , the greater the degree of deterioration of the catalyst device, the smaller the weighting for the air-fuel ratio detected by the first sensor and the weighting for the air-fuel ratio detected by the second sensor. It is good to enlarge.

In the invention according to claim 8 , a model is used in which the air-fuel ratio detected by the first sensor is input, and the air-fuel ratio detected by the second sensor is output, and the state estimator of the model determines the interval between input and output. And the virtual air-fuel ratio as the control parameter is calculated. In this case, control accuracy can be improved by using a model.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. In the present embodiment, an engine control system is constructed for an in-vehicle four-cylinder gasoline engine that is a multi-cylinder internal combustion engine, and the fuel injection amount is centered on an engine control electronic control unit (hereinafter referred to as engine ECU) in the control system. Control and ignition timing control are performed. First, the main configuration of the present control system will be described with reference to FIG.

  In FIG. 1, an electromagnetically driven fuel injection valve 11 is attached to each cylinder near the intake port of the engine 10. When fuel is injected and supplied from the fuel injection valve 11 to each cylinder of the engine 10, the intake air and the fuel injected by the fuel injection valve 11 are mixed at the intake port of each cylinder to form an air-fuel mixture. As the intake valve (not shown) is opened, it is introduced into the combustion chamber of each cylinder for combustion.

  The air-fuel mixture used for combustion in the engine 10 is discharged as exhaust through the exhaust manifold 12 and the exhaust pipe 13 when an exhaust valve (not shown) is opened. The exhaust pipe 13 is provided with two catalyst devices 15 and 16 on the upstream side and the downstream side. Each of these catalyst devices 15 and 16 is configured to have a three-way catalyst or the like that reduces CO, HC, NOx and the like in the exhaust gas. Hereinafter, the upstream catalyst device 15 is also referred to as an upstream catalyst, and the downstream catalyst device 16 is also referred to as a downstream catalyst.

  A first air-fuel ratio sensor 21, a second air-fuel ratio sensor 22, an upstream side of the upstream side catalyst 15, an upstream side catalyst 15 and a downstream side catalyst 16, and a downstream side of the downstream side catalyst 16 in the exhaust pipe 13, respectively. A third air-fuel ratio sensor 23 is provided. The first air-fuel ratio sensor 21 is configured by a so-called A / F sensor that detects the air-fuel ratio in a wide area by detecting the oxygen concentration in the exhaust gas, and the second and third air-fuel ratio sensors 22 and 23 are The so-called O2 sensor that outputs different electromotive force signals on the rich side and the lean side with the theoretical air-fuel ratio as a boundary. However, the configurations of the catalyst and the air-fuel ratio sensor are merely examples, and the configuration can be changed, for example, the first to third air-fuel ratio sensors 21 to 23 are all configured by A / F sensors or O2 sensors. It is also possible to use a composite gas sensor (NOx sensor) that can detect the NOx concentration in the exhaust gas in addition to the oxygen concentration.

  Although not shown, in this control system, in addition to the air-fuel ratio sensors 21 to 23, an air flow meter that detects the intake air amount, an intake pipe negative pressure sensor that detects the intake pipe negative pressure, and a water temperature sensor that detects the engine water temperature Various sensors such as a crank angle sensor that outputs a crank angle signal at every predetermined crank angle of the engine are provided, and the detection signals of the various sensors are appropriately input to the engine ECU 30 as well as the detection signals of the air-fuel ratio sensors 21 to 23. It has come to be.

The engine ECU 30 performs air-fuel ratio F / B control based on detection signals from the air-fuel ratio sensors 21 to 23. In the following description, the detection signal of the first air-fuel ratio sensor 21 is the first sensor output, the detection signal of the second air-fuel ratio sensor 22 is the second sensor output, and the detection signal of the third air-fuel ratio sensor 23 is the third sensor output. Also say. That is, the engine ECU 30 includes an F / B control unit 31, a sub F / B control unit 32, and a sub F / B parameter calculation unit 33. The F / B control unit 31 is based on the first sensor output. An actual air-fuel ratio is obtained, and F / B control is performed based on the deviation between the actual air-fuel ratio and the target air-fuel ratio. This corresponds to “first feedback control means”. The sub F / B control unit 32 performs so-called sub F / B control in which the target air-fuel ratio is corrected by a sub F / B parameter described later. Further, the sub F / B parameter calculation unit 33 calculates a sub F / B parameter as a correction parameter based on the second sensor output and the third sensor output. The sub F / B control unit 32 and the sub F / B parameter calculation unit 33 correspond to “second feedback control means”. In the present embodiment, a virtual sensor output corresponding to the internal air-fuel ratio of the downstream catalyst 16 is obtained and used as sub F / B parameters for sub F / B control. Specifically, weighting amounts (coefficients) k1 and k2 for the second sensor output and the third sensor output are set, and the outputs obtained by multiplying the respective outputs by the weighting amounts k1 and k2 are calculated as virtual sensor outputs. That is,
Virtual sensor output = k1 × second sensor output + k2 × third sensor output.

  For example, the characteristics shown in FIGS. 4A and 4B are used for setting the weighting amounts k1 and k2. FIG. 4A shows characteristics when k1 and k2 are calculated using the intake air amount as a parameter in each case. The smaller the intake air amount, the larger the ratio of k1 and vice versa. ing. As the amount of intake air increases, the ratio of k1 is decreased, and conversely, the ratio of k2 is increased. This takes into account that the exhaust flow rate differs depending on the intake air amount, and consequently the purification characteristics of the upstream catalyst 15 change. More specifically, when the amount of intake air is relatively small and the exhaust gas flow rate is small, the exhaust gas is sufficiently purified by the upstream catalyst 15, so that the sub F / B control mainly based on the second sensor output is performed. When the exhaust gas flow rate increases due to an increase in the intake air amount, exhaust purification cannot be sufficiently performed by the upstream catalyst 15 and unpurified exhaust gas flows to the downstream region of the upstream catalyst 15. The sub F / B control is performed by increasing the weight of the 3-sensor output. Instead of the intake air amount, the engine speed, the load, and the exhaust flow rate can be used as parameters, and the weighting amount can be set in consideration of the exhaust temperature, the catalyst temperature, and the air-fuel ratio. The point is that the exhaust flow rate can be detected directly or indirectly.

  FIG. 4B shows characteristics when k1 and k2 are set using the deterioration coefficient of the upstream catalyst 15 as a parameter. The smaller the deterioration coefficient (that is, the case where deterioration does not progress), k1. On the contrary, the ratio of k2 is decreased. As the deterioration coefficient increases (that is, as the deterioration progresses), the ratio of k1 is decreased, and conversely, the ratio of k2 is increased. That is, as the deterioration of the upstream catalyst 15 progresses, the purification function of the catalyst 15 decreases, and it is considered that unpurified exhaust gas flows to the downstream region of the upstream catalyst 15 accordingly. The sub F / B control is performed by increasing the weight.

  Although the weighting amounts k1 and k2 can be set using only one of FIGS. 4A and 4B, in this embodiment, the final weighting amount is set using both. .

  Incidentally, the deterioration coefficient of the upstream catalyst 15 may be obtained by an arbitrary deterioration determination method, and detailed description thereof is omitted here. For example, as is well known, each output of the upstream sensor and the downstream sensor of the catalyst is used. The catalyst deterioration coefficient is determined based on the frequency ratio, amplitude ratio, and the like.

  FIG. 2 is a flowchart showing a fuel injection control process for realizing the air-fuel ratio F / B control. This process is executed by the engine ECU 30 at a predetermined time period.

  In FIG. 2, first, in step S101, a basic fuel injection amount TP is calculated based on operating state parameters such as engine speed and load each time using, for example, a basic injection amount map. In the subsequent step S102, it is determined whether or not an execution condition for the air-fuel ratio F / B is satisfied. Such execution conditions include that the engine cooling water temperature is equal to or higher than a predetermined temperature, and that the engine operating state is not in a high rotation / high load region. The F / B execution condition is satisfied when all of these conditions are satisfied. . If the execution condition is not satisfied, the process proceeds to step S103, and the air-fuel ratio correction coefficient FAF is set to 1.0. In this case, the air-fuel ratio F / B correction is not performed.

  If the execution condition of the air-fuel ratio F / B is satisfied, the target air-fuel ratio λtg is calculated in step S104, and in the subsequent step S105, the actual air-fuel ratio (upstream catalyst 15 calculated based on the first sensor output) is executed. The air-fuel ratio correction coefficient FAF is calculated in accordance with the deviation between the target air-fuel ratio λtg and the exhaust air-fuel ratio flowing into the engine. An arbitrary F / B technique can be used for calculating the air-fuel ratio correction coefficient FAF. For example, the air-fuel ratio correction coefficient FAF is calculated using a known technique such as PID.

  After calculating the air-fuel ratio correction coefficient FAF, in step S106, various correction coefficients FALL other than FAF (for example, a cooling water temperature correction coefficient, a learning correction coefficient, a correction coefficient during acceleration / deceleration, etc.) are calculated, and the basic fuel injection amount TP is calculated. Then, the required fuel injection amount TAU is calculated using the air-fuel ratio correction coefficient FAF and other various correction coefficients FALL, and then this process is terminated (TAU = TP × FAF × FALL).

  Next, the calculation process of the target air-fuel ratio λtg in step S104 will be described with reference to FIG. In FIG. 3, first, in step S201, the base target air-fuel ratio λbase is calculated according to the engine speed and load each time, for example, using a base target air-fuel ratio map. In a succeeding step S202, it is determined whether or not an execution condition of the sub F / B control is satisfied. Such execution conditions include that both the second and third air-fuel ratio sensors 22 and 23 are in an active state. If the execution condition is not satisfied, the process proceeds to step S203, and the target air-fuel ratio correction coefficient ktg is set to 1.0. In this case, the target air-fuel ratio is not corrected.

  If the sub F / B execution condition is satisfied, the second sensor output and the third sensor output are acquired in step S204, and the virtual sensor output as the sub F / B parameter is calculated in the subsequent step S205. At this time, as described above, the weighting amounts k1 and k2 for the second and third sensor outputs are set, and the virtual sensor output is calculated by multiplying and adding the weighting amounts. Thereafter, in step S206, a guard process is performed on the calculated virtual sensor output. This guard process eliminates abnormal values that deviate from a predetermined range.

  In step S207, a target air-fuel ratio correction coefficient ktg is calculated based on the deviation between the calculated virtual sensor output and the target sensor output (for example, 0.45V). At this time, the target air-fuel ratio correction coefficient ktg is calculated using a well-known F / B method such as PID. Finally, in step S208, the target air-fuel ratio λtg is calculated from the base target air-fuel ratio λbase and the target air-fuel ratio correction coefficient ktg (λtg = λbase × ktg).

  According to the embodiment described above in detail, the following excellent effects can be obtained.

  By calculating the virtual sensor output (correction parameter) based on the second and third sensor outputs and using the virtual sensor output for sub F / B control, the second and third sensor outputs can be handled together. Thus, the configuration can be simplified as compared with the configuration in which the F / B control is performed in a triple manner as in the prior art. In addition, since the air-fuel ratio control can be performed by suitably using the air-fuel ratio sensor outputs (second and third sensor outputs) before and after the downstream catalyst 16, the final exhaust emission is improved while improving the response. Can be held in a state.

  Since the weighting amounts k1 and k2 used for calculating the virtual sensor output are appropriately set based on the engine operation state and the deterioration state of the upstream catalyst 15, even if the engine operation state and the deterioration state of the upstream catalyst 15 change. Therefore, it is possible to manage the exhaust emission well while maintaining an appropriate response. In this case, the exhaust emission can be managed well over a long period.

(Second Embodiment)
In the above embodiment, the exhaust pipe 13 is provided with two catalyst devices 15 and 16 on the upstream side and the downstream side, and the first to third air-fuel ratio sensors 21 to 23 are arranged before and after each of the catalyst devices 15 and 16. Although the control system has been described, in the present embodiment, a control system in which two air-fuel ratio sensors are arranged before and after the upstream catalyst device 15 will be described.

  FIG. 5 is a configuration diagram showing a control system in the present embodiment. The configuration of FIG. 5 is a modification of part of FIG. 1, and the configuration will be briefly described. The exhaust pipe 13 is provided with an upstream catalyst 15 and a downstream catalyst 16, and a first air-fuel ratio sensor 21 and a second air-fuel ratio sensor 22 are arranged on the upstream side and the downstream side of the upstream catalyst 15, respectively. It is installed. As described above, the first air-fuel ratio sensor 21 is a so-called A / F sensor that linearly detects a wide range of air-fuel ratios, and the second air-fuel ratio sensor 22 is a rich side and a lean side with respect to the stoichiometric air-fuel ratio. This is a so-called O2 sensor that outputs different electromotive force signals.

  The engine ECU 30 performs air-fuel ratio F / B control based on detection signals (first sensor output and second sensor output) of the air-fuel ratio sensors 21 and 22. In this case, the engine ECU 30 includes a virtual sensor output calculation unit 41 and an F / B control unit 42. The virtual sensor output calculation unit 41 takes in detection signals of the air-fuel ratio sensors 21 and 22 and calculates a virtual sensor output corresponding to the internal air-fuel ratio of the upstream catalyst 15 based on these detection signals. The F / B control unit 42 performs air-fuel ratio F / B control so that the virtual sensor output calculated by the virtual sensor output calculation unit 41 matches the target air-fuel ratio.

Specifically, the virtual sensor output calculation unit 41 sets the weighting amounts (coefficients) k1 and k2 for the first sensor output and the second sensor output, and multiplies each output by the weighting amounts k1 and k2 and adds them. Calculated as sensor output. That is,
Virtual sensor output = k1 × first sensor output + k2 × first sensor output.

  For example, the characteristics shown in FIGS. 4A and 4B described above can be used to set the weighting amounts k1 and k2. As described above, FIG. 4A shows characteristics when k1 and k2 are calculated using the intake air amount as a parameter. The smaller the intake air amount, the larger the ratio of k1, and vice versa. The ratio is reduced. As the amount of intake air increases, the ratio of k1 is decreased, and conversely, the ratio of k2 is increased. In place of the intake air amount, the engine speed, the load, and the exhaust flow rate can be used as parameters, and the weighting amount can be set in consideration of the exhaust temperature, the catalyst temperature, and the air-fuel ratio. . The point is that the exhaust flow rate can be detected directly or indirectly.

  FIG. 4B shows characteristics when k1 and k2 are set using the deterioration coefficient of the upstream catalyst 15 as a parameter. The smaller the deterioration coefficient (that is, the case where deterioration does not progress), k1. On the contrary, the ratio of k2 is decreased. As the deterioration coefficient increases (that is, as the deterioration progresses), the ratio of k1 is decreased, and conversely, the ratio of k2 is increased. Although the weighting amounts k1 and k2 can be set using only one of FIGS. 4A and 4B, in this embodiment, the final weighting amount is set using both. .

  FIG. 6 is a flowchart showing a fuel injection control process for realizing the air-fuel ratio F / B control. This process is executed by the engine ECU 30 at a predetermined time period.

  In FIG. 6, first, in step S301, for example, a basic injection amount map is used, and a basic fuel injection amount TP is calculated based on operation state parameters such as engine speed and load each time. In the subsequent step S302, it is determined whether or not an execution condition for the air-fuel ratio F / B is satisfied. If the execution condition is not satisfied, the process proceeds to step S303, and the air-fuel ratio correction coefficient FAF is set to 1.0. In this case, the air-fuel ratio F / B correction is not performed.

  If the execution condition of the air-fuel ratio F / B is satisfied, in step S304, the target air-fuel ratio λtg is calculated according to the engine speed and load each time using a target air-fuel ratio map or the like. In subsequent step S305, the first sensor output and the second sensor output are acquired. At this time, the first sensor output is an A / F sensor output (voltage output that changes proportionally with respect to the air-fuel ratio), and the second sensor output is an O2 sensor output (electromotive force output that changes suddenly at the stoichiometric boundary). Since these are different sensor outputs, at least one (here, the second sensor output) is converted so that both sensor outputs can be directly compared.

  Thereafter, in step S306, as described above, the weighting amounts k1 and k2 for the first and second sensor outputs are set, and the virtual sensor output is calculated by multiplying and adding the weighting amounts. In step S307, a guard process is performed on the calculated virtual sensor output. This guard process eliminates abnormal values that deviate from a predetermined range.

  In step S308, an air-fuel ratio correction coefficient FAF is calculated according to the deviation between the virtual air-fuel ratio (the internal air-fuel ratio of the upstream catalyst 15) calculated based on the calculated virtual sensor output and the target air-fuel ratio λtg. After calculating the FAF, in step S309, various correction coefficients FALL (for example, a cooling water temperature correction coefficient, a learning correction coefficient, a correction coefficient during acceleration / deceleration, etc.) other than the FAF are calculated, and the basic fuel injection amount TP and the air-fuel ratio correction coefficient are calculated. The required fuel injection amount TAU is calculated using the FAF and other various correction coefficients FALL, and then this processing is terminated (TAU = TP × FAF × FALL).

  As described above, according to the second embodiment, the virtual sensor output is calculated based on the first and second sensor outputs, and the air-fuel ratio F / B control is performed using the virtual sensor output. In other words, the two sensor outputs are handled together. Thereby, unlike the prior art which implements multiple F / B control, the control configuration can be simplified. Also, the inconvenience that multiple feedback controls interfere with each other can be solved. As a result, it is possible to realize responsiveness and optimization of exhaust emission.

  In addition, this invention is not limited to the content of description of the said embodiment, For example, you may implement as follows.

  In the first embodiment, the active state of the upstream catalyst 15 may be detected, and the weights k1 and k2 for the second and third sensor outputs may be set according to the active state each time. In this case, good air-fuel ratio F / B control can be performed even when catalyst activation is not completed (while warming up). The same applies to the second embodiment, and the weights k1 and k2 for the first and second sensor outputs may be set according to the active state of the upstream catalyst 15.

  In the first embodiment, the weighting amounts k1 and k2 for the second and third sensor outputs are set, and the virtual sensor output as the sub F / B parameter (correction parameter) is calculated using the weighting amounts. The configuration is changed as follows. The internal air-fuel ratio of the downstream catalyst 16 is estimated based on the second and third sensor outputs, and this is used as the sub F / B parameter for the sub F / B control. That is, in the model in which the second sensor output and the third sensor output are associated with each other, an observer having the internal air-fuel ratio of the downstream catalyst 16 (catalyst internal air-fuel ratio) as a state variable is constructed, and the catalyst internal air is determined from the observation result of the observer. Estimate the fuel ratio. FIG. 7 shows a block diagram of a Kalman filter type observer.

  In this case, if the second sensor output is u, the third sensor output is y, and the catalyst internal air-fuel ratio as the state quantity is X, the following model is obtained. In the following equation, A, B, and C are constant matrices, and v and w are noises.

また、触媒内部空燃比の推定値をＸ＾（エックスハット）とすると、推定誤差ｅは、

Also, assuming that the estimated value of the catalyst internal air-fuel ratio is X ^ (Xhat), the estimation error e is

となり、第２センサ出力ｕ、第３センサ出力ｙから触媒内部空燃比Ｘを推定する推定器は、

The estimator for estimating the catalyst internal air-fuel ratio X from the second sensor output u and the third sensor output y is

となる。ここで、Ｋは、

It becomes. Where K is

である。Ｐは以下のリカッチ方程式の解であり、Ｒ及び以下の式のＱは設計者が与える重み行列である。

It is. P is a solution of the following Riccati equation, and R and Q in the following equation are weight matrices given by the designer.

以上により触媒内部空燃比の推定値Ｘ＾が求められ、この推定値Ｘ＾をサブＦ／Ｂ制御に用いることで高精度なサブＦ／Ｂ制御が実現できる。

Thus, the estimated value X ^ of the catalyst internal air-fuel ratio is obtained, and by using this estimated value X ^ for the sub F / B control, the highly accurate sub F / B control can be realized.

  Also in the second embodiment, a virtual air-fuel ratio between the sensors may be estimated using a model in which the first sensor output and the second sensor output are associated with each other. In other words, a model in which the air-fuel ratio detected by the first air-fuel ratio sensor 21 is input and the air-fuel ratio detected by the second air-fuel ratio sensor 22 is output is used, and the state estimator of the model determines between the input and the output. The state quantity is estimated and a virtual air-fuel ratio (internal air-fuel ratio of the upstream catalyst 15) is calculated as a control parameter. In this case, control accuracy can be improved by using a model.

  In the first embodiment, the target air-fuel ratio λtg is corrected using the correction parameter (sub F / B parameter) calculated based on the second and third sensor outputs. The air-fuel ratio correction coefficient FAF may be corrected by the above.

  Further, the control parameters such as the target air-fuel ratio λtg and the air-fuel ratio correction coefficient FAF may be corrected based on the second and third sensor outputs without calculating the correction parameter (sub F / B parameter).

  In the above embodiment, the two catalyst devices 15 and 16 are installed on the upstream side and the downstream side of the engine exhaust pipe, and the first to third air-fuel ratio sensors 21 to 23 are arranged before and after each catalyst device 15 and 16. However, this configuration is changed as follows. Three or more catalyst devices are installed side by side in the engine exhaust pipe, and air-fuel ratio sensors are respectively arranged before and after each catalyst device. That is, at least three catalyst devices and at least four air-fuel ratio sensors are provided. In this configuration, assuming that the most upstream catalyst device is an “upstream catalyst device” and two or more catalyst devices (catalyst group) on the downstream side are “downstream catalyst devices”, the same as in the above embodiment. The first feedback control means and the second feedback control means can be realized. That is, in realizing the second feedback control means, the correction parameter (sub F / B) is based on the output values of the second and subsequent air-fuel ratio sensors (corresponding to the second and third air-fuel ratio sensors) as viewed from the upstream. Parameter) and the correction parameter is used for the sub F / B control. In this case, a weighting amount is set for each of the second and subsequent air-fuel ratio sensor outputs, and each sensor output multiplied by the weighting amount is added as a correction parameter. For example, when there are three second and subsequent air-fuel ratio sensors (that is, when a total of four air-fuel ratio sensors are provided), three weighting amounts ka1, ka2, and ka3 are set corresponding to each sensor output. At this time, each weighting amount may be set according to the purification status of the upstream side catalyst device.

It is a block diagram which shows the outline of the engine control system in embodiment of invention. It is a flowchart which shows a fuel-injection control process. It is a flowchart which shows the calculation process of target air fuel ratio (lambda) tg. It is a characteristic view for setting the weighting amount with respect to the 2nd, 3rd sensor output. It is a block diagram which shows the outline of the engine control system in 2nd Embodiment. It is a flowchart which shows the fuel-injection control process in 2nd Embodiment. It is a block diagram which shows a Kalman filter type observer.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ... Engine, 13 ... Exhaust pipe, 15 ... Upstream catalyst, 16 ... Downstream catalyst, 21 ... 1st air fuel ratio sensor, 22 ... 2nd air fuel ratio sensor, 23 ... 3rd air fuel ratio sensor, 30 ... Engine ECU, DESCRIPTION OF SYMBOLS 31 ... F / B control part, 32 ... Sub F / B control part, 33 ... Sub F / B parameter calculation part, 41 ... Virtual sensor output calculation part, 42 ... F / B control part.

Claims (8)

A catalyst device disposed in an exhaust passage of the internal combustion engine;
A first sensor that is disposed upstream of the catalyst device in the exhaust passage and detects an air-fuel ratio of the exhaust;
A second sensor that is disposed downstream of the catalyst device in the exhaust passage and detects an air-fuel ratio of the exhaust;
Feedback control means for calculating one control parameter based on the air-fuel ratio detected by each of the first sensor and the second sensor and performing feedback control based on the control parameter;
Equipped with a,
The feedback control means calculates a virtual air-fuel ratio between the sensors as the control parameter based on the air-fuel ratio detected by the first sensor and the second sensor, and the virtual air-fuel ratio is calculated as a target air-fuel ratio. An air-fuel ratio control apparatus for an internal combustion engine , wherein feedback control is performed as described above . 2. The control parameter is calculated according to claim 1 , wherein the feedback control unit calculates the control parameter by performing predetermined weighting on an air-fuel ratio detected by the first sensor and an air-fuel ratio detected by the second sensor. An air-fuel ratio control apparatus for an internal combustion engine. Comprising an operating state detecting means for detecting the operating state of the internal combustion engine;
The feedback control means sets weights for the air-fuel ratio detected by the first sensor and the air-fuel ratio detected by the second sensor based on the operating condition detected by the operating condition detecting means. The air-fuel ratio control apparatus for an internal combustion engine according to claim 2 . The operating state detecting means includes an exhaust flow rate detecting means for detecting an exhaust flow rate,
The feedback control means sets weights for the air-fuel ratio detected by the first sensor and the air-fuel ratio detected by the second sensor based on the exhaust flow rate detected by the exhaust flow rate detection means. The air-fuel ratio control apparatus for an internal combustion engine according to claim 3 . The feedback control means reduces the weighting for the air-fuel ratio detected by the first sensor and increases the weighting for the air-fuel ratio detected by the second sensor as the exhaust flow rate increases. 4. An air-fuel ratio control apparatus for an internal combustion engine according to 4 . The operating state detecting means includes deterioration detecting means for detecting the degree of deterioration of the catalyst device,
The feedback control means sets weights for the air-fuel ratio detected by the first sensor and the air-fuel ratio detected by the second sensor based on the degree of deterioration of the catalyst device detected by the deterioration detection means. The air-fuel ratio control apparatus for an internal combustion engine according to any one of claims 2 to 5, wherein The feedback control means decreases the weighting for the air-fuel ratio detected by the first sensor and increases the weighting for the air-fuel ratio detected by the second sensor as the degree of deterioration of the catalyst device increases. The air-fuel ratio control apparatus for an internal combustion engine according to claim 6 . The feedback control means uses a model in which the air-fuel ratio detected by the first sensor is input, and the air-fuel ratio detected by the second sensor is an output. 2. The air-fuel ratio control apparatus for an internal combustion engine according to claim 1, wherein a virtual air-fuel ratio as the control parameter is calculated by estimating a state quantity .

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