WO2009059880A1 - Verfahren zur stabilisierung eines reglers und entsprechende reglervorrichtung - Google Patents
Verfahren zur stabilisierung eines reglers und entsprechende reglervorrichtung Download PDFInfo
- Publication number
- WO2009059880A1 WO2009059880A1 PCT/EP2008/064012 EP2008064012W WO2009059880A1 WO 2009059880 A1 WO2009059880 A1 WO 2009059880A1 EP 2008064012 W EP2008064012 W EP 2008064012W WO 2009059880 A1 WO2009059880 A1 WO 2009059880A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- controller
- characteristic
- regulator
- standard deviation
- instability
- Prior art date
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/04—Introducing corrections for particular operating conditions
- F02D41/08—Introducing corrections for particular operating conditions for idling
- F02D41/086—Introducing corrections for particular operating conditions for idling taking into account the temperature of the engine
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
- F02D31/002—Electric control of rotation speed controlling air supply
- F02D31/003—Electric control of rotation speed controlling air supply for idle speed control
- F02D31/004—Electric control of rotation speed controlling air supply for idle speed control by controlling a throttle stop
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D41/1402—Adaptive control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
- F02D41/2406—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using essentially read only memories
- F02D41/2425—Particular ways of programming the data
- F02D41/2429—Methods of calibrating or learning
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/1409—Introducing closed-loop corrections characterised by the control or regulation method using at least a proportional, integral or derivative controller
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/1413—Controller structures or design
- F02D2041/1422—Variable gain or coefficients
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/1413—Controller structures or design
- F02D2041/1426—Controller structures or design taking into account control stability
Definitions
- the invention relates to a method for stabilizing a regulator and to the use of this method for stabilizing a regulator population in an internal combustion engine, and to a regulator device for carrying out the method.
- controllers that change proportional to a change in the controlled variable compared to a setpoint a control value to compensate for the external disturbance using the control value. These are so-called P-members.
- controllers are also known that increase their control value proportional to the actual value (I-term), and those that change the manipulated variable in proportion to the time change of the controlled variable (D-element). Controllers, which combine all three strategies, are called PID controllers and are characterized by a particularly fast control of the controlled variable, without causing a control oscillation.
- the individual control variables can be controlled independently and thus control oscillations can occur because sometimes more than two controllers work against each other. Therefore, in everyday use stability problems of idling in internal combustion engines occur, these instabilities can lead to increased noise and vehicle shakes, which is heard or felt by the driver.
- the causes are not necessarily due to insufficient coordination of the control circuits with each other, but may also be caused by an aging-related change in the machine itself, such as changes caused by wear and / or wear in the powertrain of a vehicle or because of an unfavorable combination of different engine elements, which operate in their function near the limit of an acceptable tolerance range.
- Unstable control states in an internal combustion engine can cause harmless or unnoticeable engine maladjustments, but also come to the fore in such a way that a vehicle user perceives the instability as disturbing and therefore objects to the entire vehicle.
- the invention provides a control loop having at least one step for detecting an instability of the regulator, at least one step for changing the characteristic of the regulator and at least one step for detecting the change in the control behavior of the regulator, and a regulator device for carrying out the method.
- the instability of a regulator is detected.
- the instability of a controller can be made for example by a statistical evaluation of the control behavior.
- this first step consists of the calculation of the standard deviation of the controller output variable. The standard deviation determined is compared with a predefined maximum standard deviation, and when the maximum standard deviation is exceeded, the instability is determined. posed.
- the characteristic of the controller is changed.
- the change of the characteristic can be made in the simplest case by changing the output value of the regulator, for example multiplied by a factor or divided by a divisor.
- the manipulated variable with respect to the disturbance is amplified or attenuated, which leads to a change in the characteristics of the controller.
- the change in the characteristic follows according to the invention a detection of the change in the control behavior. This detection can be carried out in the simplest case by a new statistical analysis of the control behavior. If, for example, the standard deviation of the output variable of the controller is again determined, the control loop can start again at the first step and again determine whether the characteristic of the controller, here the standard deviation of the output variable of the controller, now in a predetermined
- Interval of the standard deviation lies.
- the one-time change in the characteristic of the regulator leads to an increased instability of the regulator, for example because the standard deviation becomes larger.
- the actual output value of the controller is used, not the value modified by the factor or divisor, to avoid multiplication or division distortion.
- this type of stabilization of a regulator When used in an internal combustion engine, this type of stabilization of a regulator has the advantage that, for example, the idling is stabilized and does not fluctuate erratic or periodically by a value. Due to the improved idling behavior, which is caused by the method according to the invention for stabilizing a controller, considerable costs can be saved in the quality control in the production plant, because it can be dispensed with a quality control with respect to the crizstabili- fact still emissions of the vehicle and cabin noise minimized and the driving behavior of the engine can be optimized.
- the external parameters atmospheric pressure, engine temperature and the fuel temperature can be used, wherein in each case a stabilization parameter is assigned to a combination of the above-mentioned external conditions. It has been found to be advantageous that if all of the above-mentioned external parameters are above a preselected threshold and at the same time the idling lasts a preselected time, then the function for stabilizing the controller is executed. This avoids overcompensation which, in addition to a constant change in the controller parameters, also avoids the development of control oscillations that arise as a result of overcompensation due to excessive regulation. According to the invention, it is provided that the function for stabilizing the controller is then inhibited if one of the parameters atmospheric pressure, engine and fuel temperature and idle duration falls below a preselected value.
- a predetermined sequence for stabilizing individual controllers of the internal combustion engine is made when more than one controller in an internal combustion engine is to be stabilized simultaneously.
- this type of stabilization of the controller in an internal combustion engine is provided to maintain three variables for simultaneous stabilization of various controllers.
- a first variable detects the order of the controllers to be stabilized
- a second variable detects the stability state of the controller population
- a third variable detects the last stabilized controller together with the successful stabilization measure, for example multiplication or division of the regulator output signal, thus a central unit the regulator can stabilize.
- a first stabilization of a first regulator initially led to the stabilization of the first regulator, in a further case of a detected instability of a further regulator, it can be stabilized in accordance with the invention in the order of stabilization.
- the respective controller to be stabilized is determined by the variable mentioned above by way of example in the first place.
- an order of stabilization is only to be followed if more than one controller has an unstable control behavior.
- the stability state of the controller population is also held by a variable, where the number of states of the overall system is a power of two, with each controller having two states, "stable" and “unstable", affecting the overall system.
- the last control loop is recorded in the third variable. With the help of this information, the last measure to stabilize the last controller can be recorded and possibly repeated identically or changed.
- FIG. 1 shows a flow chart of a sequence according to the invention for stabilizing a controller
- FIG. 2 shows a block diagram of a regulator device according to the invention
- FIG. 3 shows a block diagram of a stabilization device for more than one controller
- FIG. 1 shows a flow chart of a method according to the invention for stabilizing a controller.
- the detection 2 follows the standard deviation ⁇ i of the controller behavior. This is done in the simplest case, characterized in that the controller output variable, such as a voltage, a maximum current or a digital value before conversion into a control variable, detected by a corresponding input element and converted into a numerically detectable value.
- the detection 2 of the standard deviation ⁇ i is done by multiple detection of the controller output variable at fixed times or in reversal points of the controller output variable, so that the respective maximum value of the controller output variable is detected.
- the pulse / pause ratio can be detected accordingly.
- the standard deviation ⁇ i is determined by known methods for calculation and stored internally for further use in the method according to the invention.
- the detection 2 of the standard deviation ⁇ i is followed by a comparison 3 with a preselected maximum standard deviation ⁇ max . If the detected standard deviation ⁇ i falls below a predetermined value ⁇ max , ie if it is within an acceptable range, then the method follows path 3 ab and the standard deviation ⁇ i of the controller is determined again.
- step 6 in which the method for changing the control behavior is determined.
- This choice is held by a variable called "flag”, which indicates either a multiplication with a value greater than 1 or a division with a value greater than 1.
- the "flag” the output of the controller to be stabilized is multiplied by a value greater than 1 or divided by a value greater than 1.
- the method follows the path 9 aa. Then, the standard deviation ⁇ 2 is stored as the standard deviation ⁇ i in step 10, and the process proceeds through the jump 10-3 to step 3 where the process jumps back to the closed loop between steps 2 and 3. However, if the new value for the standard deviation Ü 2 is larger than the standard deviation ⁇ i detected at the outset, the variable indicating the procedure for changing the controller behavior is changed, standard deviation G 2 is stored as the standard deviation ⁇ i in step 10, and then the procedure follows again the jump 10-3.
- the order of stabilization may be determined by the stability status defined in the following table or followed by another order.
- Table 1 Stability status of a controller population from controller for idle speed, rail pressure and exhaust gas recirculation
- the above stability status table upon detection of an unstable idle controller, it is first stabilized (order b). If, in another phase, the instability of two controllers is determined, for example stability status 4, 5 or 6, a sequence e, f or g preselected for this stability status is followed to stabilize the individual controllers, in which the individual controllers are stabilized, to rock to avoid the controller instability of the regulatory population.
- a table of factors / divisors as a function of the speed in a table can be stored as a characteristic.
- the factors are due to the fact that for each entry a value has been created by multiplying and / or dividing a value for the controller concerned for the present operating parameter combination, which is stored in the table. If these external operating parameters are detected, these factors / divisors are assigned to the individual controllers and the controller output variables are / divisors with these factors which avoids a stabilization cycle because it immediately has the right value for stabilization.
- a comprehensive table of controller factors / divisors can be stored as a complex set of data, for each of which a parameter set is provided for setting the controller behavior and the maximum acceptable number of stabilization attempts.
- the controllers for each engine state are then adjusted and stabilized depending on the external conditions. If the table is large enough, the distances between the individual temperatures and pressures is fine enough, so a variety of different control parameters can be adjusted so that the engine to be controlled over a wide pressure and temperature range can be stably controlled, the control parameters to the environmental parameters are adjusted.
- FIG. 2 shows a block diagram of a regulator device according to the invention which comprises a unit 100 for controlling a controlled variable 400, a unit 200 for detecting an instability of the regulator device and a unit 300 for changing the characteristic of the regulator device.
- the inventive control device operates according to the method shown in Figure 1. If the control unit 100 is stable, the unit 300 does not change the characteristic of the controller. However, if instability is detected by the unit 200, the unit 300 is caused to change the characteristics of the controller 100 according to the invention.
- FIG. 3 shows a block diagram of a group of controllers which are stabilized together by a unit 201 for detecting instability and stabilization of the controllers according to the invention.
- a unit 201 for detecting instability and stabilization of the controllers according to the invention.
- two simple units 101 and 102 for controlling a respective control variable 401 and 402 are shown, wherein the unit 201 stabilizes both units 101 and 102 according to the inventive method in which the units 301 and 302 for changing a controller characteristic, the characteristics of the controller 101 and 102 by multiplying or dividing the controller output value.
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Feedback Control In General (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/740,958 US8515651B2 (en) | 2007-11-07 | 2008-10-17 | Method for stabilizing a controller and corresponding controller device |
CN200880115231.XA CN101855436B (zh) | 2007-11-07 | 2008-10-17 | 用于稳定控制器的方法和相应的控制装置 |
JP2010532535A JP5054823B2 (ja) | 2007-11-07 | 2008-10-17 | 制御器を安定化させる方法および相応する制御装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007053085A DE102007053085A1 (de) | 2007-11-07 | 2007-11-07 | Verfahren zur Stabilisierung eines Reglers und entsprechende Reglervorrichtung |
DE102007053085.6 | 2007-11-07 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2009059880A1 true WO2009059880A1 (de) | 2009-05-14 |
Family
ID=40256999
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2008/064012 WO2009059880A1 (de) | 2007-11-07 | 2008-10-17 | Verfahren zur stabilisierung eines reglers und entsprechende reglervorrichtung |
Country Status (5)
Country | Link |
---|---|
US (1) | US8515651B2 (de) |
JP (1) | JP5054823B2 (de) |
CN (1) | CN101855436B (de) |
DE (1) | DE102007053085A1 (de) |
WO (1) | WO2009059880A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11086310B2 (en) * | 2015-05-27 | 2021-08-10 | Honeywell International Inc. | Method and apparatus for real time model predictive control operator support in industrial process control and automation systems |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0279375A2 (de) * | 1987-02-18 | 1988-08-24 | Hitachi, Ltd. | Elektronisches Steuersystem für Brennkraftmaschinen |
DE4304779A1 (de) * | 1992-06-20 | 1993-12-23 | Bosch Gmbh Robert | Vorrichtung zur Steuerung des von einer Antriebseinheit eines Fahrzeugs abzugebenden Drehmoments |
DE19612455A1 (de) * | 1996-03-28 | 1997-10-02 | Siemens Ag | Verfahren zum Ermitteln eines Solldrehmoments an der Kupplung eines Kraftfahrzeugs |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3117442B2 (ja) * | 1988-07-07 | 2000-12-11 | 株式会社日立製作所 | 車両制御装置 |
JPH094492A (ja) * | 1995-04-19 | 1997-01-07 | Nissan Motor Co Ltd | エンジンの制御装置 |
JP3529680B2 (ja) * | 1999-10-13 | 2004-05-24 | 本田技研工業株式会社 | ハイブリッド車両のモータ制御装置 |
KR100904778B1 (ko) * | 2001-08-24 | 2009-06-25 | 루크 라멜렌 운트 쿠플룽스바우베타일리궁스 카게 | 자동차의 엔진과 변속기 사이에 배치된 자동 마찰클러치의제어방법 및 제어시스템 |
JP4061467B2 (ja) * | 2002-03-15 | 2008-03-19 | 三菱自動車工業株式会社 | 内燃機関の排気浄化装置 |
JP4242299B2 (ja) * | 2004-01-23 | 2009-03-25 | 株式会社デンソー | 可変バルブ装置の異常診断装置 |
JP2007092747A (ja) * | 2005-08-30 | 2007-04-12 | Yamaha Motor Co Ltd | 自動二輪車用エンジン制御装置および自動二輪車 |
JP4315192B2 (ja) * | 2006-12-13 | 2009-08-19 | 株式会社日立製作所 | 内燃機関の絞り弁制御装置 |
-
2007
- 2007-11-07 DE DE102007053085A patent/DE102007053085A1/de not_active Withdrawn
-
2008
- 2008-10-17 WO PCT/EP2008/064012 patent/WO2009059880A1/de active Application Filing
- 2008-10-17 CN CN200880115231.XA patent/CN101855436B/zh not_active Expired - Fee Related
- 2008-10-17 US US12/740,958 patent/US8515651B2/en not_active Expired - Fee Related
- 2008-10-17 JP JP2010532535A patent/JP5054823B2/ja not_active Expired - Fee Related
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0279375A2 (de) * | 1987-02-18 | 1988-08-24 | Hitachi, Ltd. | Elektronisches Steuersystem für Brennkraftmaschinen |
DE4304779A1 (de) * | 1992-06-20 | 1993-12-23 | Bosch Gmbh Robert | Vorrichtung zur Steuerung des von einer Antriebseinheit eines Fahrzeugs abzugebenden Drehmoments |
DE19612455A1 (de) * | 1996-03-28 | 1997-10-02 | Siemens Ag | Verfahren zum Ermitteln eines Solldrehmoments an der Kupplung eines Kraftfahrzeugs |
Non-Patent Citations (1)
Title |
---|
WENDEKER M ET AL: "ADAPTIVE CONTROL OF THE IDLE SPEED USING BY PASS VALVE", SAE TECHNICAL PAPER SERIES, SOCIETY OF AUTOMOTIVE ENGINEERS, WARRENDALE, PA, US, 1 January 2003 (2003-01-01), pages 6, XP001155415, ISSN: 0148-7191 * |
Also Published As
Publication number | Publication date |
---|---|
US20100312452A1 (en) | 2010-12-09 |
JP5054823B2 (ja) | 2012-10-24 |
JP2011503415A (ja) | 2011-01-27 |
CN101855436B (zh) | 2013-01-23 |
US8515651B2 (en) | 2013-08-20 |
CN101855436A (zh) | 2010-10-06 |
DE102007053085A1 (de) | 2009-05-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
DE2532817C2 (de) | Elektronische Brennstoffsteuereinrichtung für ein Gasturbinentriebwerk | |
EP2579112B1 (de) | Regeleinrichtung | |
EP2941675B1 (de) | Verfahren zur rechnergestützten steuerung und/oder regelung eines technischen systems | |
EP1222385A1 (de) | Vorrichtung und verfahren zur zündung einer brennkraftmaschine | |
DE112019002092T5 (de) | Magnetventilantriebsvorrichtung | |
EP1880096B1 (de) | VERFAHREN UND EINRICHTUNG ZUR ELEKTRISCHEN ANSTEUERUNG EINES VENTILS MIT EINEM MECHANISCHEN SCHLIEßELEMENT | |
EP0629775A1 (de) | Verfahren und Vorrichtung zur Regelung der Laufruhe einer Brennkraftmaschine | |
WO2014154375A1 (de) | Verfahren zur rechnergestützten steuerung und/oder regelung eines technischen systems | |
EP1478986B1 (de) | Verfahren und vorrichtung zur regelung der drehzahl einer brennkraftmaschine | |
DE102006057523A1 (de) | Regelverfahren für eine Volumenstromregelung | |
WO2009059880A1 (de) | Verfahren zur stabilisierung eines reglers und entsprechende reglervorrichtung | |
DE2142787A1 (de) | Verfahren und Einrichtung zum Regulieren des Kraftstofflusses einer Gasturbinenmaschine | |
DE10221341A1 (de) | Verfahren und Vorrichtung zur Steuerung der Antriebseinheit eines Fahrzeuges | |
DE4303560B4 (de) | Verfahren und Vorrichtung zur Steuerung einer Verstelleinrichtung | |
DE3312409C2 (de) | ||
EP0134466A2 (de) | Verfahren und Vorrichtung zur lambda-Regelung des Kraftstoffgemisches für eine Brennkraftmaschine | |
EP4111044A1 (de) | Verfahren zur modellbasierten steuerung und regelung einer brennkraftmaschine | |
EP1309784B1 (de) | Verfahren und vorrichtung zur regelung einer betriebsgrösse einer brennkraftmaschine | |
DE3921329A1 (de) | Verfahren und vorrichtung zur feststellung einer fehlfunktion einer einen stromregelkreis aufweisenden endstufe in einer leerlaufdrehzahlregelungsanordnung einer brennkraftmaschine | |
DE3149096A1 (de) | Verfahren zur lambda-regelung bei einer brennkraftmaschine sowie entsprechendes regelsystem | |
DE102013003570B4 (de) | Elektronische Regelvorrichtung | |
EP0297217A2 (de) | Verfahren zur Verbesserung des Abgasverhaltens von Ottomotoren | |
DE3910869A1 (de) | Reglereinheit fuer gasturbinen | |
EP0590181A1 (de) | Verfahren zur Ermittlung der Schliessdauer des Primärkreises in einer Zündanlage einer Brennkraftmaschine | |
EP4045851B1 (de) | Verfahren zur steuerung einer verbrennungseinrichtung |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 200880115231.X Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 08847890 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2010532535 Country of ref document: JP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 4044/DELNP/2010 Country of ref document: IN |
|
WWE | Wipo information: entry into national phase |
Ref document number: 12740958 Country of ref document: US |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 08847890 Country of ref document: EP Kind code of ref document: A1 |