CN106368790B - A kind of cooling fan of engine speed regulating method based on pid algorithm - Google Patents
A kind of cooling fan of engine speed regulating method based on pid algorithm Download PDFInfo
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- CN106368790B CN106368790B CN201610872666.5A CN201610872666A CN106368790B CN 106368790 B CN106368790 B CN 106368790B CN 201610872666 A CN201610872666 A CN 201610872666A CN 106368790 B CN106368790 B CN 106368790B
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- cooling fan
- engine
- control unit
- pid controller
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Classifications
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- 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 present invention relates to a kind of cooling fan of engine speed regulating method based on pid algorithm, cooling fan rotation speed is controlled by Engine ECU control unit, with steps are as follows: step 1: when running car, the temperature signal of engine coolant is passed to Engine ECU control unit by Engine Coolant Temperature Sensor；Step 2: temperature signal passes to PID controller by Engine ECU control unit output control signal；Step 3:PID controller regulates and controls the revolving speed of driving motor according to the control signal received, and driving motor changes the revolving speed of cooling fan, and the rotary speed information of cooling fan sensor acquisition cooling fan feeds back to Engine ECU control unit.The present invention may be implemented to adjust the speed cooling fan automatically.
Description
Technical field
The present invention relates to automobile cooling technology fields, more particularly to a kind of engine cool wind based on pid algorithm
Fan speed regulating method.
Background technique
Kart especially fill air-conditioned kart generally use electric fan water tank or condenser are carried out it is strong
System ventilation.Currently, generally stopping two formula switch control modes using one controls electric fan.When temperature control of the utilization on water tank
Switch is controlled, and temperature switch is connected when water temperature is higher than upper threshold value, fan full-speed operation；When water temperature is lower than lower threshold value, temperature
Switch disconnects, fan stalling.This control mode the problem is that: (1) coolant temperature is always in fluctuation by a relatively large margin
State is without being able to maintain stabilization；(2) fan motor is constantly opened, is stopped, and can shorten its service life, increasing energy consumption.
Summary of the invention
The technical problem to be solved by the present invention is a kind of cooling fan of engine speed regulating method based on pid algorithm is provided,
Cooling fan is adjusted the speed automatically.
The technical solution adopted by the present invention to solve the technical problems is: a kind of engine cool wind based on pid algorithm
Speed regulating method is fanned, cooling fan rotation speed is controlled by Engine ECU control unit, with steps are as follows:
Step 1: when running car, Engine Coolant Temperature Sensor passes to the temperature signal of engine coolant
Engine ECU control unit；
Step 2: temperature signal passes to PID controller by Engine ECU control unit output control signal；
Step 3:PID controller regulates and controls the revolving speed of driving motor according to the control signal received, and driving motor changes
The rotary speed information of the revolving speed of cooling fan, cooling fan sensor acquisition cooling fan feeds back to Engine ECU control unit.
The temperature value for the engine coolant that Engine Coolant Temperature Sensor measures and the coolant temperature value of setting
It is compared, obtains coolant temperature error E, while calculating error rate Ec, coolant temperature error E and error change
By Engine ECU control unit, the output control signal after FUZZY ALGORITHMS FOR CONTROL, genetic algorithm processing passes to PID control to rate Ec
Device；
Parameter selection is as follows:
(1) three basic parameters of PID controller:
Setting value, value range Kp are taken to three basic parameters of PID controller1=[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 are as follows: 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 are as follows: 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 as follows: Kp=Kp1+ΔK1*K1, Ki=Ki2+ΔK2*K2, Kd=Kd3+ΔK3*
K3, wherein Kp1、Ki1、Kd1For the preset value of three parameters of the PID controller, Δ K1、ΔK2、ΔK3After fuzzy control
Output quantity, K1、K2、K3For three scale parameters being calculated by genetic algorithm；
(5) scale parameter:
The value range of three scale parameters is K1=[0.6,6], K2=[0.6,2], K3=[0.6,2]；
(6) objective function:
Objective function isWherein, e (t) is systematic error, u
It (t) is the output of PID controller, tuFor rise time, w1、w2、w3For weight；
(7) fitness function:
Fitness function is the inverse of objective function, fitness function
Wherein, when finding optimal solution with genetic algorithm, in the following ways: assuming that A1For the optimum individual of parent, A2
For the optimum individual of filial generation, work as A1Compare A2When good, retain A1；Otherwise retain A2。
The driving motor uses PWM pulsewidth modulation, adjusts the revolving speed of driving motor by adjusting PWM duty cycle, when
When revolving speed is lower than desired value, then increase duty ratio；It is on the contrary then reduce duty ratio.
The beneficial effects of the present invention are: Engine Coolant Temperature Sensor passes to temperature signal when running car
Signal is passed to PID controller after the processing of Engine ECU control unit by Engine ECU control unit, temperature signal,
PID controller regulates and controls the revolving speed of driving motor according to the signal received, to change the revolving speed of cooling fan.Meanwhile it is cold
But fan rotating speed signals are fed back to Engine ECU control unit and controlled it by rotation speed of the fan sensor, are realized to cooling
Fan is adjusted the speed automatically.
Detailed description of the invention
The following further describes the present invention with reference to the drawings.
Fig. 1 is control principle block diagram of the invention；
Fig. 2 is control flow chart of the invention；
Fig. 3 is control strategy block diagram of the invention；
Specific embodiment
Presently in connection with attached drawing, the present invention is further illustrated.These attached drawings are simplified schematic diagram only with signal side
Formula illustrates basic structure of the invention, therefore it only shows the composition relevant to the 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:
Cooling fan rotation speed is controlled by Engine ECU control unit, with steps are as follows:
Step 1: when running car, Engine Coolant Temperature Sensor passes to the temperature signal of engine coolant
Engine ECU control unit；
Step 2: temperature signal passes to PID controller by Engine ECU control unit output control signal；
Step 3:PID controller regulates and controls the revolving speed of driving motor according to the control signal received, and driving motor changes
The rotary speed information of the revolving speed of cooling fan, cooling fan sensor acquisition cooling fan feeds back to Engine ECU control unit.
The temperature value for the engine coolant that Engine Coolant Temperature Sensor measures and the coolant temperature value of setting
It is compared, obtains coolant temperature error E, while calculating error rate Ec, coolant temperature error E and error change
By Engine ECU control unit, the output control signal after FUZZY ALGORITHMS FOR CONTROL, genetic algorithm processing passes to PID control to rate Ec
Device；
Parameter selection is as follows:
(1) three basic parameters of PID controller:
Setting value, value range Kp are taken to three basic parameters of PID controller1=[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 are as follows: 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 are as follows: 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 as follows: Kp=Kp1+ΔK1*K1, Ki=Ki2+ΔK2*K2, Kd=Kd3+ΔK3*
K3, wherein Kp1、Ki1、Kd1For the preset value of three parameters of the PID controller, Δ K1、ΔK2、ΔK3After fuzzy control
Output quantity, K1、K2、K3For three scale parameters being calculated by genetic algorithm；
(5) scale parameter:
The value range of three scale parameters is K1=[0.6,6], K2=[0.6,2], K3=[0.6,2]；
(6) objective function:
Objective function isWherein, e (t) is systematic error, u
It (t) is the output of PID controller, tuFor rise time, w1、w2、w3For weight；
(7) fitness function:
Fitness function is the inverse of objective function, fitness function
When finding optimal solution with genetic algorithm, in the following ways: assuming that A1For the optimum individual of parent, A2For son
The optimum individual in generation, works as A1Compare A2When good, retain A1；Otherwise retain A2。
The driving motor uses PWM pulsewidth modulation, adjusts the revolving speed of driving motor by adjusting PWM duty cycle, when
When revolving speed is lower than desired value, then increase duty ratio；It is on the contrary then reduce duty ratio.
Using method of the invention, in running car, PID is controlled in the way of fuzzy control and PID control linkage
Three parameters of device processed carry out on-line tuning, while being optimized using output quantity of the genetic algorithm to fuzzy control, so that hair
Motivation ECU control unit automatically controls cooling fan rotation speed, improves the precision of control.
When running car, temperature signal is passed to Engine ECU control unit by Engine Coolant Temperature Sensor, temperature
Signal is passed to PID controller after the processing of Engine ECU control unit by degree signal, and PID controller is according to receiving
Signal regulate and control the revolving speed of driving motor, to change the revolving speed of cooling fan.Meanwhile cooling fan rotation speed sensor is by wind
Fan speed feedback signal is controlled it to Engine ECU control unit.
Preferably, pid control algorithm of the Engine ECU control unit to the control selections optimization of cooling fan rotation speed, tool
Body mode is as follows:
1, by fuzzy control and PID control link in the way of engine coolant temperature is controlled, while it is online
Three parameters of dynamic generation PID controller.The exact value of coolant temperature is obtained according to Engine Coolant Temperature Sensor,
And be compared with the coolant temperature value of setting, coolant temperature error E is obtained, while calculating error rate Ec, so
Just coolant temperature error E and error rate Ec are quantified afterwards to obscure into fuzzy quantity respectively, then fuzzy quantity is pushed away by fuzzy
It manages principle and carries out fuzzy decision, obtain fuzzy control quantity U as controlled device.
2, genetic algorithm is recycled to select suitable fitness function to three parameters of PID controller in Optimizing Search
Fitness value scan for, increase the convergence rate of genetic algorithm, calculate optimal solution, optimum control is realized with this.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (3)
1. a kind of cooling fan of engine speed regulating method based on pid algorithm, it is characterised in that: by Engine ECU control unit
Cooling fan rotation speed is controlled, with steps are as follows:
Step 1: when running car, Engine Coolant Temperature Sensor, which passes to the temperature signal of engine coolant, starts
Machine ECU control unit；
Step 2: temperature signal passes to PID controller by Engine ECU control unit output control signal；
Step 3:PID controller regulates and controls the revolving speed of driving motor according to the control signal received, and driving motor changes cooling
The rotary speed information of the revolving speed of fan, cooling fan sensor acquisition cooling fan feeds back to Engine ECU control unit；
The temperature value for the engine coolant that Engine Coolant Temperature Sensor measures and the coolant temperature value of setting carry out
Compare, obtain coolant temperature error E, while calculating error rate Ec, coolant temperature error E and error rate Ec
By Engine ECU control unit, output control signal passes to PID controller after FUZZY ALGORITHMS FOR CONTROL, genetic algorithm processing；
Parameter selection is as follows:
(1) three basic parameters of PID controller:
Setting value, value range Kp are taken to three basic parameters of PID controller1=[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 are as follows: 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 are as follows: 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 as follows: Kp=Kp1+△K1*K1, Ki=Ki2+△K2*K2, Kd=Kd3+△K3*K3,
Wherein, Kp1、Ki1、Kd1For the preset value of three parameters of the PID controller, △ K1、△K2、△K3It is defeated after fuzzy control
Output, K1、K2、K3For three scale parameters being calculated by genetic algorithm；
(5) scale parameter:
The value range of three scale parameters is K1=[0.6,6], K2=[0.6,2], K3=[0.6,2]；
(6) objective function:
Objective function isWherein, e (t) is systematic error, and u (t) is
The output of PID controller, tuFor rise time, w1、w2、w3For weight；
(7) fitness function:
Fitness function is the inverse of objective function, fitness function
2. the cooling fan of engine speed regulating method according to claim 1 based on pid algorithm, it is characterised in that: wherein,
When finding optimal solution with genetic algorithm, in the following ways: assuming that A1For the optimum individual of parent, A2For the optimal of filial generation
Individual works as A1Compare A2When good, retain A1；Otherwise retain A2。
3. the cooling fan of engine speed regulating method according to claim 1 based on pid algorithm, it is characterised in that: described
Driving motor uses PWM pulsewidth modulation, adjusts the revolving speed of driving motor by adjusting PWM duty cycle, when revolving speed is lower than expectation
When value, then increase duty ratio；It is on the contrary then reduce duty ratio.
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| CN113568395A (en) * | 2021-07-19 | 2021-10-29 | 武汉理工大学 | Temperature control method and module for new-energy commercial vehicle cooling system |
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