CN107387249A - A kind of method for the control of high power gas engine transient air-fuel ratio - Google Patents
A kind of method for the control of high power gas engine transient air-fuel ratio Download PDFInfo
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- CN107387249A CN107387249A CN201710468406.6A CN201710468406A CN107387249A CN 107387249 A CN107387249 A CN 107387249A CN 201710468406 A CN201710468406 A CN 201710468406A CN 107387249 A CN107387249 A CN 107387249A
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
-
- 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
- F02D41/0025—Controlling engines characterised by use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures
- F02D41/0027—Controlling engines characterised by use of non-liquid fuels, pluralities of fuels, or non-fuel substances added to the combustible mixtures the fuel being gaseous
-
- 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
- F02D2041/141—Introducing closed-loop corrections characterised by the control or regulation method using a feed-forward control element
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
The present invention relates to a kind of method for the control of high power gas engine transient air-fuel ratio, comprise the following steps：1) high power gas engine transient auxiliary fuel supply-system is built；2) feedforward compensation controller output gas compensation amount；3) using target air-fuel ratio and per cylinder, every return air quantity as input, exports basic gas quantity to basic gas quantity acquisition module；4) the self-adaptive PID feedback controller based on broad domain oxygen sensor, using actual mixing ratio and target air-fuel ratio as input, is calculated by Set scale gain, storage gain and the differential gain and exports PID controller amendment gas quantity；5) actual gas quantity output module, the actual gas quantity of final output are output to by limiter after the output of feedforward compensation controller, basic gas quantity acquisition module described in and the self-adaptive PID feedback controller based on broad domain oxygen sensor is cumulative.Compared with prior art, the present invention has the advantages that quick response, practicality be good, efficiency high.
Description
Technical field
The present invention relates to engine closed-loop air-fuel ratio control field, is used for high power gas engine more particularly, to one kind
The method of transient detecting control.
Background technology
In recent years, increasing environmental pollution, the discharge of vehicle exhaust is also as one of arch-criminal of environmental pollution, natural gas
Consequently also approved and used by people as a kind of energy of cleaning, gas engine has also obtained extensive popularization and hair
Exhibition.As engine efficiency and emission control regulations are increasingly strict, before natural gas engine dynamic property and economy is ensured
Put, it is one of main direction of studying of natural gas engine exploitation to reduce noxious gas emission.In view of the emission performance of engine
Can be reacted by the real-time air-fuel ratio of engine；Therefore, the real-time accurate control to air-fuel ratio is particularly important.
In engine operation process, because natural gas mixes with air, waste gas discharge and sensor signal feedback waited
Journey is, it is necessary to take some time.Therefore air-fuel ratio control is a process with time delay.Engine
In transient condition, if controller can not obtain dense dilute state of current gaseous mixture as soon as possible, engine cannot be carried out
Normal operation.Current gas engine is mainly used for some low power automobiles or high-power using single point injection
Generator, its main cause be gas engine under transient condition, air-fuel ratio Closed-loop Control Strategy imperfection so that mixing
The dense dilute situation of gas is unstable, causes engine to be unable to steady operation.
The content of the invention
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of quick response, practicality
Property it is good, efficiency high for high power gas engine transient air-fuel ratio control method.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of method for the control of high power gas engine transient air-fuel ratio, comprise the following steps：
1) high power gas engine transient auxiliary fuel supply-system is built, the system includes feedforward compensation controller, base
This gas quantity acquisition module, the self-adaptive PID feedback controller based on broad domain oxygen sensor and actual gas quantity output module；
2) feedforward compensation controller using the variation delta rpm of throttle opening variation delta TPS and rotating speed as input into
Row de-fuzzy weighted average, export gas compensation amount；
3) using target air-fuel ratio and per cylinder, every return air quantity as input, exports basic combustion gas to basic gas quantity acquisition module
Amount；
4) the self-adaptive PID feedback controller based on broad domain oxygen sensor passes through Set scale gain, storage gain and micro-
Divide gain, using actual mixing ratio and target air-fuel ratio as input, calculate and export PID controller amendment gas quantity；
5) feedforward compensation controller, basic gas quantity acquisition module described in and based on the adaptive of broad domain oxygen sensor
After the output of PID/feedback controller is cumulative actual gas quantity output module, the actual combustion gas of final output are output to by limiter
Amount.
In described feedforward compensation controller, the average weighted calculating formula of de-fuzzy is：
Wherein, u (Zk) it is the transient state gas compensation amount obtained using input quantity Δ TPS and Δ rpm as condition, ZkIt is to obtain
Intermediate value in k-th of gas compensation amount Fuel_Compensation domain.
The calculating formula of the gas quantity gain algorithm of the described self-adaptive PID feedback controller based on broad domain oxygen sensor
For：
Wherein, PID_fuel be output amendment gas quantity, Kp、Ki、KdRespectively proportional gain, storage gain and differential
Gain, TsFor the sampling time of incremental modular, TiFor the time of integration of incremental modular, TdFor integrator and differentiator sampling when
Between, η is dense dilute state factor of blender, and Δ AFR is the difference of air-fuel ratio dynamic change.
In the described self-adaptive PID feedback controller based on broad domain oxygen sensor, differential gain KdValue is 0.
In described step 1), high power gas engine transient is built by MATLAB/Simulink software modularities
Auxiliary fuel supply-system.
Compared with prior art, the present invention has advantages below：
First, quick response：For the delay of feedback of mixture strength, the present invention proposes a kind of feedforward controller, can
The quick response of reply engine running condition is ensured according to the variation delta rpm of throttle opening change Delta T PS and rotating speed,
So as to which increase and decrease compensates gas quantity exactly so that actual mixing ratio can smoothly near fluctuate in target air-fuel ratio, therefore, make
Engine work is more stable.
2nd, practicality is good：The present invention is added based on the adaptive of broad domain oxygen sensor in air-fuel ratio closed loop control process
Learn PID/feedback controller, more quickly and accurately gas quantity can be carried out by the gain coefficient for adjusting PID
Regulation, the present invention can be very good suitable for the control process of various high power gas engines, have good practicality.
3rd, efficiency high：The present invention carries out air-fuel ratio closed loop using the design (Model-Based Design) based on model
Control strategy is developed, and MATLAB/Simulink softwares carry out the control strategy of constructing modular, readable strong, and are conveniently easy to
Rewrite, c codes and a2l files etc. can be directly generated using MATLAB/Simulink softwares, reduce the time of flow exploitation,
Improve operating efficiency.
Brief description of the drawings
Fig. 1 show the flow chart of gas combustion engine air-fuel ratio closed-loop control of the present invention.
Fig. 2 show air-fuel ratio Closed-loop Control Strategy illustraton of model of the present invention.
Fig. 3 show feedforward controller illustraton of model of the present invention.
Fig. 4 show adaptive learning PID/feedback controller model figure of the present invention.
Fig. 5 show the air-fuel ratio dynamic changing curve figure of the dense dilute state of reaction mixture gas of the present invention.
Description of symbols in figure：
1st, feedforward compensation controller, 2, the self-adaptive PID feedback controller based on broad domain oxygen sensor, 3, basic gas quantity
Acquisition module, 4, actual gas quantity, 5, engine speed rpm, 6, throttle opening TPS, 7, actual mixing ratio AFR, 8, target
Air-fuel ratio AFR_sp, 9, per cylinder per return air quantity MAF_cyl, 10, proportional gain, 11, storage gain, 12, the differential gain,
13rd, feedforward control compensation gas quantity, 14, the difference of target air-fuel ratio and actual mixing ratio, 15, dense dilute state factor of blender
η, 16, integration, the derivative sampling time, 17 basic gas quantities, 18, proportional gain algoritic module, 19, integration module, 20, module of differentials
Block, 21, PID controller amendment gas quantity, 22, limiter.
Embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
As shown in Fig. 1 air-fuel ratio closed-loop control flow charts and Fig. 2 air-fuel ratio Closed-loop Control Strategy models, the present invention provides one
Kind is used for the method for controlling high power gas engine transient air-fuel ratio, and control system corresponding to this method is by three combustion gas gauge
Calculate controller composition：
Build feedforward compensation controller 1；
Adaptive learning PID/feedback controller 2 based on broad domain oxygen sensor；
Basic gas quantity acquisition module 3；
Structure feedforward compensation controller 1 is specifically expressed as follows,
1st, building feedforward compensation controller 1 can be according to the variation delta TPS of throttle opening 6 and the variable quantity of rotating speed 5
Δ rpm come ensure tackle engine running condition quick response, so as to increase or decrease exactly feedforward control compensation combustion gas
Amount 13 so that actual mixing ratio 7 can smoothly near fluctuate in target air-fuel ratio 8.
2nd, in engine closed-loop control strategy, as shown in figure 3, figure is the feedforward control built using Simulink softwares
Strategy, compensation is modified to combustion gas.
Δ TPS and Δ rpm is the input variable of feedforward controller 1, and description is as shown in table 1, Δ TPS=TPS (t)-TPS
(t-1), Δ rpm=rpm (t)-rpm (t-1)；
The controller fuel compensation of table 1
The input variable Δ TPS of controller falls into 5 types, and represents as follows：Negative value and big Negative Large:NL, negative value
And small Negative Small:NS, zero Zero:Z, on the occasion of and small Positive Small:PS, on the occasion of and big Positive
Large:PL。
Input variable Δ rpm represents as follows：Zero:Z,Small:S,Medium:M,Large:L.
Fuel_Compensation points of the output variable of controller is seven classes, is represented as follows：Negative value and big Negative
Large:NL, the medium Negative Medium of negative value:NM, negative value and small Negative Small:NS, zero Zero:Z, on the occasion of and
Small Positive Small:PS, on the occasion of medium Positive Medium:PM, on the occasion of and big Positive Large:PL.
De-fuzzy weighted average calculation is carried out to Δ TPS and Δ rpm actual value, can obtain more accurately exporting
Gas compensation variable 13.Its formula is as follows,
Wherein, u (Zk) obtained using input quantity Δ TPS and Δ rpm as condition, ZkIt is each gas compensation obtained
Measure the intermediate value in 13 (Fuel_Compensation) domains.
Adaptive learning PID/feedback controller 2 based on broad domain oxygen sensor is specifically expressed as follows,
1st, the actual mixing ratio 7 (AFR) of broad domain oxygen sensor real-time Transmission and the difference quilt of target air-fuel ratio 8 (AFR_sp)
It is used as the input variable of PID controller.
2nd, as shown in figure 4, figure is the dense of blender in the air-fuel ratio Closed-loop Control Strategy built using Simulink softwares
Dilute state factor η 15 (Integral_factor) is partly the dynamic response of dilute state dense to gaseous mixture.
3rd, as shown in figure 5, AFR dynamic changing curve obtains clearly to observe, with | AFR | increase, it is real
The air-fuel ratio 7 (AFR) on border is changing the direction of deviation, thus deviation need by PID/feedback controller 2 to carry out proportional integration it is micro-
Sub-control system, actual mixing ratio 7 is expressed as AFR, the difference of its dynamic change is expressed as Δ AFR, AFR dynamic changing curve
It divide into tetra- kinds of different change procedures of AB, BC, CD and DE.This Four processes can draw its dynamic change state respectively such as
Under：
4th, the delta algorithm of PID controller combustion gas correction is as follows in the present invention：
Wherein, PID_fuel：The amendment gas quantity 21 of PID controller；
Kp, Ki, Kd：Proportional gain 10, storage gain 11, the differential gain 12；
Dense dilute state factor of blender
Ts：The sampling time of incremental modular 18；
Ti：The time of integration of incremental modular 18；
Td：The sampling time 16 of integrator 19, differentiator 20.
5th, derivative module 20 is added in the delta algorithm of PID controller causes gas quantity to change excessively news speed, therefore we
The part of differential control module 20 being often used without in PID controller, even Kd=0；Also the sampling time T of differentiator can be changedd
To adjust the variation speed of differentiator.
Basic gas quantity acquisition module 3, the air capacity 9 being calculated according to speed densimetry and the conduct of target air-fuel ratio 8
Input quantity, which directly calculates, obtains basic gas quantity 17.
The present invention passes through to the gas compensation amount 13 of feedforward controller 1, the combustion gas correction 21 of PID/feedback controller 2 and basic
Adding up for gas quantity 17, draws actual gas quantity 4.
The present invention carries out air-fuel ratio Closed-loop Control Strategy using the design (Model-Based Design) based on model and opened
Hair, air-fuel ratio Closed-loop Control Strategy of the present invention carry out modularization using MATLAB/Simulink softwares and built,
Modular control strategy directly can be generated c codes and a2l files etc., then by Simulink softwares in compilation process
Code is downloaded into Engine ECU by special-purpose software, this invention easily can carry out convenient to engine closed-loop air-fuel ratio
Control, the invention can apply the transient control operating mode with high power gas engine, and it is accurate that the gas quantity under the operating mode is carried out
Adjustment control.
Claims (5)
- A kind of 1. method for the control of high power gas engine transient air-fuel ratio, it is characterised in that comprise the following steps：1) high power gas engine transient auxiliary fuel supply-system is built, the system includes feedforward compensation controller (1), basic Gas quantity acquisition module (3), the self-adaptive PID feedback controller (2) based on broad domain oxygen sensor and the output of actual gas quantity Module (4)；2) feedforward compensation controller (1) is carried out using the variation delta rpm of throttle opening variation delta TPS and rotating speed as input De-fuzzy weighted average, export gas compensation amount；3) using target air-fuel ratio and per cylinder, every return air quantity as input, exports basic combustion gas to basic gas quantity acquisition module (3) Amount；4) the self-adaptive PID feedback controller (2) based on broad domain oxygen sensor passes through Set scale gain, storage gain and differential Gain, using actual mixing ratio and target air-fuel ratio as input, calculate and export PID controller amendment gas quantity；5) feedforward compensation controller (1), basic gas quantity acquisition module (3) described in and based on the adaptive of broad domain oxygen sensor Actual gas quantity output module (4) is output to by limiter (22) after the output of PID/feedback controller (2) is cumulative, it is final defeated Go out actual gas quantity.
- 2. a kind of method for the control of high power gas engine transient air-fuel ratio according to claim 1, its feature It is, in described feedforward compensation controller (1), the average weighted calculating formula of de-fuzzy is：<mrow> <mi>F</mi> <mi>u</mi> <mi>e</mi> <mi>l</mi> <mo>_</mo> <mi>C</mi> <mi>o</mi> <mi>m</mi> <mi>p</mi> <mi>e</mi> <mi>n</mi> <mi>s</mi> <mi>a</mi> <mi>t</mi> <mi>i</mi> <mi>o</mi> <mi>n</mi> <mo>=</mo> <mfrac> <mrow> <msub> <mi>&Sigma;</mi> <mi>k</mi> </msub> <mi>u</mi> <mrow> <mo>(</mo> <msub> <mi>Z</mi> <mi>k</mi> </msub> <mo>)</mo> </mrow> <mo>&times;</mo> <msub> <mi>Z</mi> <mi>k</mi> </msub> </mrow> <mrow> <msub> <mi>&Sigma;</mi> <mi>k</mi> </msub> <mi>u</mi> <mrow> <mo>(</mo> <msub> <mi>Z</mi> <mi>k</mi> </msub> <mo>)</mo> </mrow> </mrow> </mfrac> </mrow>Wherein, u (Zk) it is the transient state gas compensation amount obtained using input quantity Δ TPS and Δ rpm as condition, ZkIt is k-th obtained Intermediate value in gas compensation amount Fuel_Compensation domains.
- 3. a kind of method for the control of high power gas engine transient air-fuel ratio according to claim 1, its feature It is, the calculating formula of the gas quantity gain algorithm of the self-adaptive PID feedback controller (2) based on broad domain oxygen sensor For：<mrow> <mi>P</mi> <mi>I</mi> <mi>D</mi> <mo>_</mo> <mi>f</mi> <mi>u</mi> <mi>e</mi> <mi>l</mi> <mo>=</mo> <msub> <mi>K</mi> <mi>p</mi> </msub> <mrow> <mo>(</mo> <mn>1</mn> <mo>+</mo> <mi>&eta;</mi> <mo>*</mo> <mfrac> <msub> <mi>T</mi> <mi>S</mi> </msub> <msub> <mi>T</mi> <mi>i</mi> </msub> </mfrac> <mo>)</mo> </mrow> <mo>*</mo> <mi>&Delta;</mi> <mi>A</mi> <mi>F</mi> <mi>R</mi> <mo>+</mo> <msub> <mi>K</mi> <mi>i</mi> </msub> <mo>&Integral;</mo> <mi>&Delta;</mi> <mi>A</mi> <mi>F</mi> <mi>R</mi> <mi>d</mi> <mi>t</mi> <mo>+</mo> <msub> <mi>K</mi> <mi>d</mi> </msub> <mfrac> <mrow> <mi>&Delta;</mi> <mi>A</mi> <mi>F</mi> <mi>R</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>)</mo> </mrow> <mo>-</mo> <mi>&Delta;</mi> <mi>A</mi> <mi>F</mi> <mi>R</mi> <mrow> <mo>(</mo> <mi>t</mi> <mo>-</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> <mrow> <msub> <mi>dT</mi> <mi>d</mi> </msub> </mrow> </mfrac> </mrow>Wherein, PID_fuel be output amendment gas quantity, Kp、Ki、KdRespectively proportional gain, storage gain and the differential gain, TsFor the sampling time of incremental modular, TiFor the time of integration of incremental modular, TdFor the sampling time of integrator and differentiator, η For dense dilute state factor of blender, Δ AFR is the difference of air-fuel ratio dynamic change.
- 4. a kind of method for the control of high power gas engine transient air-fuel ratio according to claim 3, its feature It is, in the self-adaptive PID feedback controller (2) based on broad domain oxygen sensor, differential gain KdValue is 0.
- 5. a kind of method for the control of high power gas engine transient air-fuel ratio according to claim 3, its feature It is, in described step 1), high power gas engine transient air-fuel is built by MATLAB/Simulink software modularities Compare control system.
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| CN109268159A (en) * | 2018-09-18 | 2019-01-25 | 吉林大学 | Lean-Burn Gasoline Engine fuel air ratio system control method |
| CN109896026A (en) * | 2019-03-21 | 2019-06-18 | 南京航空航天大学 | Variable rotor speed helicopter-turboshaft engine integrated control method and device |
| CN110748425A (en) * | 2019-09-30 | 2020-02-04 | 同济大学 | Natural gas engine transient air-fuel ratio control method |
| CN112761803A (en) * | 2021-01-04 | 2021-05-07 | 潍柴动力股份有限公司 | Gas injection transient compensation method and device, vehicle and storage medium |
| CN115030829A (en) * | 2022-06-16 | 2022-09-09 | 东风汽车集团股份有限公司 | Short-term fuel correction control method for engine |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109268159A (en) * | 2018-09-18 | 2019-01-25 | 吉林大学 | Lean-Burn Gasoline Engine fuel air ratio system control method |
| CN109268159B (en) * | 2018-09-18 | 2020-08-18 | 吉林大学 | Control method of fuel-air ratio system of lean-burn gasoline engine |
| CN109896026A (en) * | 2019-03-21 | 2019-06-18 | 南京航空航天大学 | Variable rotor speed helicopter-turboshaft engine integrated control method and device |
| CN109896026B (en) * | 2019-03-21 | 2020-08-07 | 南京航空航天大学 | Helicopter-turboshaft engine comprehensive control method and device with variable rotor rotation speed |
| CN110748425A (en) * | 2019-09-30 | 2020-02-04 | 同济大学 | Natural gas engine transient air-fuel ratio control method |
| CN112761803A (en) * | 2021-01-04 | 2021-05-07 | 潍柴动力股份有限公司 | Gas injection transient compensation method and device, vehicle and storage medium |
| CN115030829A (en) * | 2022-06-16 | 2022-09-09 | 东风汽车集团股份有限公司 | Short-term fuel correction control method for engine |
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| CN107387249B (en) | 2020-05-05 |
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