CN106368790A - Speed regulation method based on PID algorithm for engine cooling fan - Google Patents
Speed regulation method based on PID algorithm for engine cooling fan Download PDFInfo
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- CN106368790A CN106368790A CN201610872666.5A CN201610872666A CN106368790A CN 106368790 A CN106368790 A CN 106368790A CN 201610872666 A CN201610872666 A CN 201610872666A CN 106368790 A CN106368790 A CN 106368790A
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- Prior art keywords
- cooling fan
- engine
- parameters
- pid
- pid controller
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01P—COOLING OF MACHINES OR ENGINES IN GENERAL; COOLING OF INTERNAL-COMBUSTION ENGINES
- F01P7/00—Controlling of coolant flow
- F01P7/02—Controlling of coolant flow the coolant being cooling-air
- F01P7/04—Controlling of coolant flow the coolant being cooling-air by varying pump speed, e.g. by changing pump-drive gear ratio
- F01P7/048—Controlling of coolant flow the coolant being cooling-air by varying pump speed, e.g. by changing pump-drive gear ratio using electrical drives
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01P—COOLING OF MACHINES OR ENGINES IN GENERAL; COOLING OF INTERNAL-COMBUSTION ENGINES
- F01P7/00—Controlling of coolant flow
- F01P7/02—Controlling of coolant flow the coolant being cooling-air
- F01P7/10—Controlling of coolant flow the coolant being cooling-air by throttling amount of air flowing through liquid-to-air heat exchangers
- F01P7/12—Controlling of coolant flow the coolant being cooling-air by throttling amount of air flowing through liquid-to-air heat exchangers by thermostatic control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04D—NON-POSITIVE-DISPLACEMENT PUMPS
- F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
- F04D27/004—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids by varying driving speed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Feedback Control In General (AREA)
Abstract
The invention relates to a speed regulation method based on the PID algorithm for an engine cooling fan. An electronic control unit (ECU) of an engine controls the rotation speed of the cooling fan. The method includes the steps that 1, in the running process of an automobile, a temperature sensor of engine coolants transmits temperature signals of the engine coolants to the ECU of the engine; 2, the temperature signals are processed by the ECU of the engine, and the ECU of the engine outputs control signals to a PID controller; and 3, the PID controller regulates the rotation speed of a drive motor according to the received control signals, the drive motor changes the rotation speed of the cooling fan, and a cooling fan sensor collects the rotation speed information of the cooling fan and feeds back the rotation speed information of the cooling fan to the ECU of the engine. According to the method, the speed of the cooling fan can be automatically regulated.
Description
Technical field
The present invention relates to automobile cooling technology field, more particularly to a kind of engine cool wind based on pid algorithm
Fan speed regulating method.
Background technology
Kart especially fills air-conditioned kart commonly used electric fan and water tank or condenser is carried out by force
System ventilation.At present, typically stop two formula on-off control modes using one and control electric fan.When using the temperature control being contained on water tank
Switch is controlled, and when water temperature is higher than upper threshold value, temperature switch is connected, fan full-speed operation；When water temperature is less than lower threshold value, temperature
Switch off, fan stall.This control mode is there is the problem that (1) coolant temperature is always in fluctuation by a relatively large margin
State and can not keep stable；(2) fan electromotor is constantly opened, is stopped, and can shorten its service life, increasing energy consumption.
Content of the invention
The technical problem to be solved in the present invention is: a kind of cooling fan of engine speed regulating method based on pid algorithm is provided,
Automatic speed regulation is carried out to cooling fan.
The technical solution adopted for the present invention to solve the technical problems is: a kind of engine cool wind based on pid algorithm
Fan speed regulating method, is controlled to cooling fan rotation speed by electromotor ecu control unit, has step as follows:
Step 1: during running car, the temperature signal of engine coolant is passed to by ECTS
Electromotor ecu control unit；
Step 2: temperature signal passes to pid controller through electromotor ecu control unit output control signal；
Step 3:pid controller regulates and controls the rotating speed of motor according to the control signal receiving, and motor changes
The rotating speed of cooling fan, the rotary speed information of cooling fan sensor acquisition cooling fan feeds back to electromotor ecu control unit.
The temperature value of the engine coolant that ECTS records and the coolant temperature value setting
It is compared, obtains coolant temperature error e, calculate error rate ec, coolant temperature error e and error change simultaneously
By electromotor ecu control unit, output control signal after FUZZY ALGORITHMS FOR CONTROL, genetic algorithm process passes to pid control to rate ec
Device；
Parameter selects as follows:
(1) three basic parameters of pid controller:
Setting value is taken to three basic parameters of pid controller, span is kp1=[0,10], ki1=[0,1], kd1
=[0,2]；
(2) error e and error rate ec:
The domain grade of error e and error rate ec is: e, ec=-6, -5, -4, -3, -2, -1,0,1,2,3,4,5,
6}；
(3) three parameters of fuzzy control:
The domain of three parameters of fuzzy control is: kp, ki, kd=-6, -5, -4, -3, -2, -1,0,1,2,3,4,5,
6}；
(4) parameter after genetic algorithm optimization:
Three parameters after genetic algorithm optimization are: kp=kp1+δk1*k1, ki=ki2+δk2*k2, kd=kd3+δk3*
k3, wherein, kp1、ki1、kd1For the preset value of three parameters of this pid controller, δ k1、δk2、δk3After fuzzy control
Output, k1、k2、k3It is three scale parameters being calculated by genetic algorithm；
(5) scale parameter:
The span of three scale parameters is k1=[0.6,6], k2=[0.6,2], k3=[0.6,2]；
(6) object function:
Object function isWherein, e (t) is systematic error, u
T () is the output of pid controller, tuFor rise time, w1、w2、w3For weights；
(7) fitness function:
Fitness function is the inverse of object function, fitness function
Wherein, when finding optimal solution with genetic algorithm, in the following ways: assume a1For the optimum individual of parent, a2
For the optimum individual of filial generation, work as a1Compare a2When good, retain a1；Otherwise retain a2.
Described motor adopts pwm pulsewidth modulation, adjusts the rotating speed of motor by adjusting pwm dutycycle, when
When rotating speed is less than expected value, then increase dutycycle；Otherwise then reduce dutycycle.
The invention has the beneficial effects as follows: during running car, temperature signal is passed to by ECTS
Electromotor ecu control unit, temperature signal through electromotor ecu control unit process after by signal transmission to pid controller,
Pid controller regulates and controls the rotating speed of motor according to the signal receiving, thus changing the rotating speed of cooling fan.Meanwhile, cold
But fan rotating speed signals are fed back to electromotor ecu control unit and control it by rotation speed of the fan sensor, realize to cooling
Fan carries out automatic speed regulation.
Brief description
The present invention is further described below in conjunction with the accompanying drawings.
Fig. 1 is the control principle block diagram of the present invention；
Fig. 2 is the control flow chart of the present invention；
Fig. 3 is the control strategy block diagram of the present invention；
Specific embodiment
Presently in connection with accompanying drawing, the present invention is further illustrated.These accompanying drawings are the schematic diagram of simplification only with signal side
Formula illustrates the basic structure of the present invention, and therefore it only shows the composition relevant with the present invention.
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of cooling fan of engine speed regulating method based on pid algorithm it is characterised in that:
By electromotor ecu control unit, cooling fan rotation speed is controlled, there is step as follows:
Step 1: during running car, the temperature signal of engine coolant is passed to by ECTS
Electromotor ecu control unit；
Step 2: temperature signal passes to pid controller through electromotor ecu control unit output control signal；
Step 3:pid controller regulates and controls the rotating speed of motor according to the control signal receiving, and motor changes
The rotating speed of cooling fan, the rotary speed information of cooling fan sensor acquisition cooling fan feeds back to electromotor ecu control unit.
The temperature value of the engine coolant that ECTS records and the coolant temperature value setting
It is compared, obtains coolant temperature error e, calculate error rate ec, coolant temperature error e and error change simultaneously
By electromotor ecu control unit, output control signal after FUZZY ALGORITHMS FOR CONTROL, genetic algorithm process passes to pid control to rate ec
Device；
Parameter selects as follows:
(1) three basic parameters of pid controller:
Setting value is taken to three basic parameters of pid controller, span is kp1=[0,10], ki1=[0,1], kd1
=[0,2]；
(2) error e and error rate ec:
The domain grade of error e and error rate ec is: e, ec=-6, -5, -4, -3, -2, -1,0,1,2,3,4,5,
6}；
(3) three parameters of fuzzy control:
The domain of three parameters of fuzzy control is: kp, ki, kd=-6, -5, -4, -3, -2, -1,0,1,2,3,4,5,
6}；
(4) parameter after genetic algorithm optimization:
Three parameters after genetic algorithm optimization are: kp=kp1+δk1*k1, ki=ki2+δk2*k2, kd=kd3+δk3*
k3, wherein, kp1、ki1、kd1For the preset value of three parameters of this pid controller, δ k1、δk2、δk3After fuzzy control
Output, k1、k2、k3It is three scale parameters being calculated by genetic algorithm；
(5) scale parameter:
The span of three scale parameters is k1=[0.6,6], k2=[0.6,2], k3=[0.6,2]；
(6) object function:
Object function isWherein, e (t) is systematic error, u
T () is the output of pid controller, tuFor rise time, w1、w2、w3For weights；
(7) fitness function:
Fitness function is the inverse of object function, fitness function
When finding optimal solution with genetic algorithm, in the following ways: assume a1For the optimum individual of parent, a2For son
The optimum individual in generation, works as a1Compare a2When good, retain a1；Otherwise retain a2.
Described motor adopts pwm pulsewidth modulation, adjusts the rotating speed of motor by adjusting pwm dutycycle, when
When rotating speed is less than expected value, then increase dutycycle；Otherwise then reduce dutycycle.
Using the method for the present invention, in running car, using the mode that fuzzy control controls linkage with pid, pid is controlled
Three parameters of device processed carry out on-line tuning, using genetic algorithm, the output of fuzzy control are optimized so that sending out simultaneously
Motivation ecu control unit automatically controls cooling fan rotation speed, improves the precision controlling.
During running car, temperature signal is passed to electromotor ecu control unit by ECTS, temperature
Degree signal after the process of electromotor ecu control unit by signal transmission to pid controller, pid controller is according to receiving
The rotating speed to regulate and control motor for the signal, thus changing the rotating speed of cooling fan.Meanwhile, cooling fan rotation speed sensor is by wind
Fan speed feedback signal controls it to electromotor ecu control unit.
Preferably, the pid control algolithm that electromotor ecu control unit optimizes to the control selections of cooling fan rotation speed, tool
Body mode is as follows:
1st, control the mode of linkage that ECT is controlled using fuzzy control and pid, online simultaneously
Dynamic three parameters generating pid controller.Obtain the exact value of coolant temperature according to ECTS,
And be compared with the coolant temperature value setting, obtain coolant temperature error e, calculate error rate ec, so simultaneously
Just coolant temperature error e is quantified to obscure into fuzzy quantity with error rate ec respectively afterwards, then fuzzy quantity is passed through fuzzy pushing away
Reason principle carries out fuzzy decision, obtains fuzzy control quantity u as controlled device.
2nd, genetic algorithm is recycled to select three parameters to pid controller for the suitable fitness function in Optimizing Search
Fitness value scan for, increase genetic algorithm convergence rate, calculate optimal solution, optimum control realized with this.
With the above-mentioned desirable embodiment according to the present invention for enlightenment, by above-mentioned description, relevant staff is complete
Entirely various change and modification can be carried out in the range of without departing from this invention technological thought.The technology of this invention
The content that property scope is not limited in description it is necessary to determine its technical scope according to right.
Claims (5)
1. a kind of cooling fan of engine speed regulating method based on pid algorithm it is characterised in that: by electromotor ecu control unit
Cooling fan rotation speed is controlled, there is step as follows:
Step 1: during running car, the temperature signal of engine coolant is passed to and starts by ECTS
Machine ecu control unit；
Step 2: temperature signal passes to pid controller through electromotor ecu control unit output control signal；
Step 3:pid controller regulates and controls the rotating speed of motor according to the control signal receiving, and motor changes cooling
The rotating speed of fan, the rotary speed information of cooling fan sensor acquisition cooling fan feeds back to electromotor ecu control unit.
2. the cooling fan of engine speed regulating method based on pid algorithm according to claim 1 it is characterised in that: start
The temperature value of the engine coolant that machine cooling-water temperature transmitter records is compared with the coolant temperature value setting, and obtains
Coolant temperature error e, calculates error rate ec, coolant temperature error e and error rate ec are by electromotor simultaneously
After ecu control unit is through FUZZY ALGORITHMS FOR CONTROL, genetic algorithm is processed, output control signal passes to pid controller.
3. the cooling fan of engine speed regulating method based on pid algorithm according to claim 2 it is characterised in that: parameter
Select as follows:
(1) three basic parameters of pid controller:
Setting value is taken to three basic parameters of pid controller, span is kp1=[0,10], ki1=[0,1], kd1=
[0,2]；
(2) error e and error rate ec:
The domain grade of error e and error rate ec is: e, ec={ -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6 }；
(3) three parameters of fuzzy control:
The domain of three parameters of fuzzy control is: kp, ki, kd={ -6, -5, -4, -3, -2, -1,0,1,2,3,4,5,6 }；
(4) parameter after genetic algorithm optimization:
Three parameters after genetic algorithm optimization are: kp=kp1+δk1*k1, ki=ki2+δk2*k2, kd=kd3+δk3*k3,
Wherein, kp1、ki1、kd1For the preset value of three parameters of this pid controller, δ k1、δk2、δk3For defeated after fuzzy control
Output, k1、k2、k3It is three scale parameters being calculated by genetic algorithm；
(5) scale parameter:
The span of three scale parameters is k1=[0.6,6], k2=[0.6,2], k3=[0.6,2]；
(6) object function:
Object function isWherein, e (t) is systematic error, and u (t) is
The output of pid controller, tuFor rise time, w1、w2、w3For weights；
(7) fitness function:
Fitness function is the inverse of object function, fitness function
4. the cooling fan of engine speed regulating method based on pid algorithm according to claim 2 it is characterised in that: wherein,
When finding optimal solution with genetic algorithm, in the following ways: assume a1For the optimum individual of parent, a2Optimum for filial generation
Individuality, works as a1Compare a2When good, retain a1；Otherwise retain a2.
5. the cooling fan of engine speed regulating method based on pid algorithm according to claim 1 it is characterised in that: described
Motor adopts pwm pulsewidth modulation, adjusts the rotating speed of motor by adjusting pwm dutycycle, when rotating speed is less than expectation
During value, then increase dutycycle；Otherwise then reduce dutycycle.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107762617A (en) * | 2017-11-10 | 2018-03-06 | 哈尔滨东安汽车发动机制造有限公司 | A kind of electromic thermostat control method and device |
| CN108415543A (en) * | 2018-05-29 | 2018-08-17 | 长春理工大学光电信息学院 | A kind of computer case radiating device and its control method |
| CN108518268A (en) * | 2018-04-27 | 2018-09-11 | 东风贝洱热***有限公司 | A kind of electric control silicone oil fan control method and controller |
| CN108583473A (en) * | 2018-04-13 | 2018-09-28 | 桂林航天工业学院 | Intelligent mixed power automobile, fan cooling system and method |
| CN109080503A (en) * | 2018-08-24 | 2018-12-25 | 江西江铃集团新能源汽车有限公司 | Method for controlling driving speed, system, readable storage medium storing program for executing and electric car |
| CN110403436A (en) * | 2019-09-03 | 2019-11-05 | 沈阳堆途科技股份有限公司 | A kind of prayer wheel and its control method |
| CN111042904A (en) * | 2019-11-28 | 2020-04-21 | 中国航空工业集团公司西安航空计算技术研究所 | Method for controlling clutch of electric control silicone oil fan |
| CN111196145A (en) * | 2018-11-16 | 2020-05-26 | 郑州宇通客车股份有限公司 | Method and device for controlling rotating speed of cooling fan and vehicle |
| CN111852639A (en) * | 2020-07-24 | 2020-10-30 | 重庆金之川动力机械有限公司 | Environment-friendly intelligent control system for refrigeration generator set of cold-chain logistics vehicle |
| CN111963471A (en) * | 2020-08-14 | 2020-11-20 | 苏州浪潮智能科技有限公司 | Fan rotating speed control method and device |
| CN112431662A (en) * | 2019-08-26 | 2021-03-02 | 通用汽车环球科技运作有限责任公司 | Active thermal management system and flow control method |
| CN113311697A (en) * | 2021-05-10 | 2021-08-27 | 武汉天富海科技发展有限公司 | Genetic algorithm-based PID (proportion integration differentiation) rotating speed control gas turbine set modeling method |
| WO2023000366A1 (en) * | 2021-07-19 | 2023-01-26 | 武汉理工大学 | Temperature control method and module for heat dissipation system of new energy commercial vehicle |
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| CN107762617A (en) * | 2017-11-10 | 2018-03-06 | 哈尔滨东安汽车发动机制造有限公司 | A kind of electromic thermostat control method and device |
| CN108583473B (en) * | 2018-04-13 | 2022-02-01 | 桂林航天工业学院 | Intelligent hybrid electric vehicle, fan cooling system and method |
| CN108583473A (en) * | 2018-04-13 | 2018-09-28 | 桂林航天工业学院 | Intelligent mixed power automobile, fan cooling system and method |
| CN108518268A (en) * | 2018-04-27 | 2018-09-11 | 东风贝洱热***有限公司 | A kind of electric control silicone oil fan control method and controller |
| CN108415543B (en) * | 2018-05-29 | 2024-02-09 | 长春理工大学光电信息学院 | Computer case heat dissipation device and control method thereof |
| CN108415543A (en) * | 2018-05-29 | 2018-08-17 | 长春理工大学光电信息学院 | A kind of computer case radiating device and its control method |
| CN109080503A (en) * | 2018-08-24 | 2018-12-25 | 江西江铃集团新能源汽车有限公司 | Method for controlling driving speed, system, readable storage medium storing program for executing and electric car |
| CN111196145A (en) * | 2018-11-16 | 2020-05-26 | 郑州宇通客车股份有限公司 | Method and device for controlling rotating speed of cooling fan and vehicle |
| CN111196145B (en) * | 2018-11-16 | 2021-09-03 | 郑州宇通客车股份有限公司 | Method and device for controlling rotating speed of cooling fan and vehicle |
| CN112431662A (en) * | 2019-08-26 | 2021-03-02 | 通用汽车环球科技运作有限责任公司 | Active thermal management system and flow control method |
| CN110403436A (en) * | 2019-09-03 | 2019-11-05 | 沈阳堆途科技股份有限公司 | A kind of prayer wheel and its control method |
| CN111042904A (en) * | 2019-11-28 | 2020-04-21 | 中国航空工业集团公司西安航空计算技术研究所 | Method for controlling clutch of electric control silicone oil fan |
| CN111042904B (en) * | 2019-11-28 | 2020-12-08 | 中国航空工业集团公司西安航空计算技术研究所 | Method for controlling clutch of electric control silicone oil fan |
| CN111852639A (en) * | 2020-07-24 | 2020-10-30 | 重庆金之川动力机械有限公司 | Environment-friendly intelligent control system for refrigeration generator set of cold-chain logistics vehicle |
| CN111963471A (en) * | 2020-08-14 | 2020-11-20 | 苏州浪潮智能科技有限公司 | Fan rotating speed control method and device |
| CN113311697A (en) * | 2021-05-10 | 2021-08-27 | 武汉天富海科技发展有限公司 | Genetic algorithm-based PID (proportion integration differentiation) rotating speed control gas turbine set modeling method |
| WO2023000366A1 (en) * | 2021-07-19 | 2023-01-26 | 武汉理工大学 | Temperature control method and module for heat dissipation system of new energy commercial vehicle |
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