CN113027590A - Control method of internal combustion engine intelligent cooling system based on improved control algorithm - Google Patents
Control method of internal combustion engine intelligent cooling system based on improved control algorithm Download PDFInfo
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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
- F01P7/14—Controlling of coolant flow the coolant being liquid
- F01P7/16—Controlling of coolant flow the coolant being liquid by thermostatic control
- F01P7/165—Controlling of coolant flow the coolant being liquid by thermostatic control characterised by systems with two or more loops
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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
- F01P11/00—Component parts, details, or accessories not provided for in, or of interest apart from, groups F01P1/00 - F01P9/00
- F01P11/14—Indicating devices; Other safety devices
- F01P11/18—Indicating devices; Other safety devices concerning coolant pressure, coolant flow, or liquid-coolant level
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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
- F01P3/00—Liquid cooling
- F01P3/20—Cooling circuits not specific to a single part of engine or machine
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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
- F01P7/14—Controlling of coolant flow the coolant being liquid
- F01P7/16—Controlling of coolant flow the coolant being liquid by thermostatic control
- F01P7/162—Controlling of coolant flow the coolant being liquid by thermostatic control by cutting in and out of pumps
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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
- F01P7/14—Controlling of coolant flow the coolant being liquid
- F01P7/16—Controlling of coolant flow the coolant being liquid by thermostatic control
- F01P7/164—Controlling of coolant flow the coolant being liquid by thermostatic control by varying pump speed
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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
- F01P7/14—Controlling of coolant flow the coolant being liquid
- F01P7/16—Controlling of coolant flow the coolant being liquid by thermostatic control
- F01P7/167—Controlling of coolant flow the coolant being liquid by thermostatic control by adjusting the pre-set temperature according to engine parameters, e.g. engine load, engine speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
- F02B29/00—Engines characterised by provision for charging or scavenging not provided for in groups F02B25/00, F02B27/00 or F02B33/00 - F02B39/00; Details thereof
- F02B29/04—Cooling of air intake supply
- F02B29/0406—Layout of the intake air cooling or coolant circuit
- F02B29/0437—Liquid cooled heat exchangers
- F02B29/0443—Layout of the coolant or refrigerant circuit
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
- F02B29/00—Engines characterised by provision for charging or scavenging not provided for in groups F02B25/00, F02B27/00 or F02B33/00 - F02B39/00; Details thereof
- F02B29/04—Cooling of air intake supply
- F02B29/0493—Controlling the air charge temperature
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/12—Improving ICE efficiencies
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- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The invention relates to the field of diesel engine cooling, in particular to a control method and a device of an intelligent cooling system of an internal combustion engine based on an improved control algorithm. The method provided by the invention comprehensively considers the operation working condition and the operation environment of the diesel engine, and provides a control method of a complex system with multiple inputs and multiple outputs and non-linearity and hysteresis effects. The invention can effectively reduce the oil consumption rate, improve the effective output power and reduce the power consumption of the parts of the cooling system.
Description
Technical Field
The invention relates to the field of diesel engine cooling, in particular to a control method and a device of an intelligent cooling system of an internal combustion engine based on an improved control algorithm.
Background
At present, most of marine diesel engine cooling systems are of a traditional type, namely a sea water pump and a fresh water pump are driven by a crankshaft through a gear train, so that the flow of cooling liquid is determined by the rotating speed of a diesel engine and is irrelevant to the operating condition (rotating speed and load) and the operating environment (temperature) of the diesel engine, a thermostat in a cooling liquid circulation loop adopts a paraffin thermostat, and a temperature sensing medium paraffin is heated or cooled by the cooling liquid to generate expansion or compression deformation, so that a valve is pushed to be opened or closed, and the automatic distribution of the large and small circulation flows of the cooling liquid is realized.
The traditional marine diesel engine cooling system has simple driving mode and high reliability, but has obvious defects: firstly, the cooling intensity can only be passively adjusted, and the variable operating condition and the complex operating environment of the diesel engine cannot be sufficiently responded. Secondly, the power consumption of the cooling system is wasted. In the operation process of the diesel engine, the cooling intensity of the cooling system is matched with the working condition of the diesel engine only within 3-5% of the time, the cooling system is in an overcooling state in most of the time, and the phenomenon of power consumption and waste of the cooling system is serious. Thirdly, the paraffin wax thermostat has response delay and the 'hysteresis' characteristic of heating and cooling processes. The paraffin wax type thermostat has the defects of easy corrosion, easy clamping stagnation, low sensitivity, low precision, low valve core strength, complex valve core replacing procedure and the like.
Because the cooling system of the diesel engine is a complex system with multiple inputs and multiple outputs and non-linearity and hysteresis effects, the cooling system of the diesel engine is controlled according to a single parameter of cooling water temperature, and the accurate control of multiple parameters and multiple targets is difficult to be executed under complex and variable actual use conditions.
Disclosure of Invention
Aiming at the defects of the prior art, the invention discloses a control method of an intelligent cooling system of an internal combustion engine based on an improved control algorithm. The invention develops the electric control transformation of the traditional fresh water pump, the sea water pump and the thermostat, designs the central integrated controller and the signal acquisition and processing system of the intelligent cooling system, and builds the simulation environment test platform of the intelligent cooling system; the method comprehensively considers the operation conditions (starting warming, normal load and cooling after stopping) and the operation environment (different temperatures) of the diesel engine. The invention can effectively reduce the oil consumption rate, improve the effective output power and reduce the power consumption of the parts of the cooling system.
The technical scheme of the invention is as follows: an internal combustion engine intelligent cooling system control method based on an improved control algorithm comprises a heater control mode, a load control mode and a cooling control mode after shutdown, and is characterized in that: the thermostat aperture of warm-up initial stage is 0, the cooling fresh water circulates in little circulation loop, automatically controlled fresh water pump is at minimum stable rotational speed operation, automatically controlled sea water pump does not operate, fresh water temperature of leaving the engine rises gradually along with the increase of diesel engine warm-up time, when diesel engine temperature of leaving the engine reaches the initial opening temperature of electronic thermostat, the electronic thermostat receives to trigger the aperture and increases gradually, partly cooling fresh water carries out the major cycle through the radiator natural convection heat transfer, along with going on of warm-up, the electronic thermostat is all opened, the cooling fresh water is all carried out the natural convection heat transfer through the radiator, it rises to 97% T when fresh water temperature of leaving the engineedWhen the engine is started, the warming control mode is switched to the load control mode; the load control mode refers to a feedforward open-loop MAP control and a closed-loop integral separation PID control algorithm of the electric control fresh water pump and the electric control sea water pump; and after-cooling control only controls the electric control fresh water pump, wherein an integral separation PID control algorithm is as follows:
the integral separation PID algorithm can be expressed as:
where β is the switching coefficient of the integral term:
kp-a scaling factor; t isI-an integration time constant; t isDA differential time constant, u (k) is the control quantity output, k is the number of times the PID controller's signal is collected during the total system operation time t,
the total accumulation amount of the target value deviation after the signal acquisition is performed for k times, wherein j is the jth signal acquisition in the total signal acquisition times k; k is the open loop amplification factor and τ is the net lag time.
The control method of the intelligent cooling system of the internal combustion engine based on the improved control algorithm is characterized by comprising the following steps: the fuzzy controller of the variable universe fuzzy controller in the control mode of the heater comprises the following steps: (1) determining input and output variables; (2) input variable fuzzification includes a. b. Determining a quantization factor; (3) determining a membership function; (4) establishing a fuzzy rule base; (5) and (5) resolving the blur.
The control method of the intelligent cooling system of the internal combustion engine based on the improved control algorithm is characterized by comprising the following steps: the open-loop MAP control algorithm in the load control mode is open-loop MAP control, which does not monitor and adjust the difference between the actual parameter value and the target parameter value, but adjusts the control element only according to a preset MAP.
The control method of the intelligent cooling system of the internal combustion engine based on the improved control algorithm is characterized by comprising the following steps: the MAP is formed from experimental data and control element operating parameter data obtained by a global optimization algorithm.
The control method of the intelligent cooling system of the internal combustion engine based on the improved control algorithm is characterized by comprising the following steps: still include internal-combustion engine cooling control device, internal-combustion engine cooling control device includes fresh water circulation circuit, sea water circulation circuit, its characterized in that: the fresh water circulation loop comprises an electric control fresh water pump, a lubricating oil cooler, a diesel engine cylinder water jacket, a diesel engine cylinder cover water jacket, an electronic thermostat and a radiator, wherein one path of an output port of the electronic thermostat directly returns to an inlet of the fresh water pump, and the other path of the output port of the electronic thermostat returns to the inlet of the fresh water pump through a fresh water input output port of the radiator; the output port of the fresh water pump is connected with the input port of the lubricating oil cooler, and the output port of the lubricating oil cooler is connected with the electronic thermostat after passing through the water jacket of the cylinder of the diesel engine and the water jacket of the cylinder cover of the diesel engine to form a loop; the seawater circulation loop comprises an electric control seawater pump, an intercooler, a radiator and a constant-temperature seawater tank, wherein an output port of the electric control seawater pump is connected with an input port of the intercooler, an output port of the intercooler is connected with a seawater input port of the radiator, a seawater output port of the radiator is connected with an input port of the constant-temperature seawater tank, and an output port of the constant-temperature seawater tank is connected with an input port of the electric control seawater pump.
The control method of the intelligent cooling system of the internal combustion engine based on the improved control algorithm is characterized by comprising the following steps: the cooling control device of the internal combustion engine also comprises an expansion water tank, an input port of the expansion water tank is connected with a fresh water output port of the radiator, and an output port of the expansion water tank is connected with an input port of the fresh water pump.
The invention has the beneficial effects that: firstly, can effectively reduce the oil consumption rate, promote effective output power, reduce cooling system spare part power consumption. And secondly, a corresponding test method and a calibration method are provided, and the method has great significance for researching the performance of the cooling system, correcting the control strategy and improving the control algorithm. The invention provides a method and a device for controlling an intelligent cooling system of an internal combustion engine based on an improved algorithm. And thirdly, the control strategy of the intelligent cooling system can realize the effects of quickly warming up, optimizing the heat distribution of the whole machine and avoiding hot dipping after stopping according to the control mode of the engine running state switching. Fourthly, the method comprises the following steps: the comprehensive intelligent control algorithm of open-loop MAP control, closed-loop integral separation PID control and variable domain theory fuzzy control can control an intelligent cooling system to scientifically and reasonably adjust cooling intensity according to the cooling requirement of the diesel engine, ensure that the engine reaches or approaches to an optimal thermal balance state interval in different environments and different working conditions, and improve the dynamic property, the economical property, the reliability and the emission property of the engine.
Drawings
FIG. 1 is a schematic diagram of a simulation environment test bench of an intelligent cooling system of an internal combustion engine based on an improved algorithm.
FIG. 2 is a flow chart of intelligent cooling control system data transfer.
Fig. 3 is a control schematic diagram of the intelligent cooling system.
FIG. 4 is a control strategy diagram of the intelligent cooling control system.
FIG. 5 is a schematic diagram of an intelligent cooling system open loop MAP control + closed loop PID control.
FIG. 6 is a schematic diagram of closed loop feedback control.
Fig. 7 is a flow chart of the fuzzy control principle.
FIG. 8 is a schematic diagram of a variable universe fuzzy controller for an electronic thermostat.
FIG. 9 is a MAP of electronic thermostat opening control MAP with fuzzy controller inferential output.
Fig. 10 is a block diagram of the general structure of the central controller of the intelligent cooling system.
Fig. 11 is a general block diagram of a signal acquisition control system.
FIG. 12 is a block diagram of an electronically controlled fresh water pump speed control MAP.
FIG. 13 is an electric control sea water pump speed control MAP.
FIG. 14 electronic thermostat opening control MAP.
Fig. 15 optimal fresh water outlet temperature MAP.
FIG. 16 is a flow chart of an integral separation PID control algorithm.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
As shown in fig. 1 to 9, the cooling control device for an internal combustion engine of the present invention includes a fresh water circulation loop and a seawater circulation loop, wherein the fresh water circulation loop includes an electrically controlled fresh water pump, a lubricating oil cooler, a diesel engine cylinder water jacket, a diesel engine cylinder head water jacket, an electronic thermostat, and a radiator, one path of an output port of the electronic thermostat directly returns to an inlet of the fresh water pump, and the other path of the output port of the electronic thermostat returns to an inlet of the fresh water pump through a fresh water input output port of the radiator; the output port of the fresh water pump is connected with the input port of the lubricating oil cooler, and the output port of the lubricating oil cooler is connected with the electronic thermostat after passing through the water jacket of the cylinder of the diesel engine and the water jacket of the cylinder cover of the diesel engine to form a loop. As a further scheme of the invention, the expansion tank can be further included, an input port of the expansion tank is connected with a fresh water output port of the radiator, an output port of the expansion tank is connected with an input port of the fresh water pump, and the expansion tank acts as follows: when the water temperature at the second outlet of the electronic thermostat is too high and leads to too high water pressure and is higher than the water pressure of the expansion water tank, the cooling liquid automatically flows into the expansion water tank to store water; when the water pressure at the inlet of the electric control fresh water pump is lower than the water pressure of the expansion water tank, the cooling liquid automatically flows out of the expansion water tank and flows into the electric control fresh water pump for water supplement.
The seawater circulation loop comprises an electric control seawater pump, an intercooler, a radiator and a constant-temperature seawater tank. The output port of the electric control sea water pump is connected with the input port of the intercooler, the output port of the intercooler is connected with the input port of the radiator sea water, the output port of the radiator sea water is connected with the input port of the constant-temperature sea water tank, and the output port of the constant-temperature sea water tank is connected with the input port of the electric control sea water pump. The constant-temperature seawater tank provided by the invention has the functions of simulating calibration tests, calibration and verification control strategies and control methods under different environmental temperature conditions.
The invention can obtain the expert control system by changing the optimal working strategies of the electric control fresh water pump, the electric control sea water pump and the electronic thermostat under different conditions of environmental simulation of the constant-temperature sea water tank, thereby enabling the corresponding equipment to carry out operation control in actual operation according to the data of the expert system. The simulated environment test bench can simulate the diesel engine to operate under different environmental temperatures and different working conditions, provides data support for analyzing the cooling requirement of the diesel engine and calibrating the feedforward control MAP, and provides a reliable platform for making a final intelligent cooling control strategy and calibrating and verifying a control algorithm. In the actual working of the device, the constant-temperature seawater tank can be changed into seawater, namely, the electric control seawater pump directly pumps seawater from the sea.
As shown in fig. 1, the device of the present invention further includes an exhaust gas turbocharger, wherein the exhaust gas turbocharger sucks external air, the external air enters the diesel engine after being cooled by the intercooler, and the combusted air is discharged through the exhaust gas turbocharger.
The invention also comprises a sensor system, a central controller and a data acquisition and processing system, wherein the sensor system comprises a fresh water outlet temperature sensor, a diesel engine cylinder cover fire surface temperature sensor, a diesel engine rotating speed sensor, a diesel engine load sensor (an oil supply rack position sensor), a fresh water inlet pressure sensor, a lubricating oil inlet temperature sensor, a vortex front exhaust temperature sensor, a seawater outlet temperature sensor and a lubricating oil inlet pressure sensor. The data acquisition and processing system is used for sensor data acquisition and storage, parameter setting, data analysis and remote intelligent control functions. The parameter setting is carried out according to the setting of the test requirements on the operation condition, the test environment (different environment temperatures) and the like, and the storage of all the set parameters can be realized; the data acquisition and storage means that data acquisition is carried out according to the requirements of parameter setting, and the data are stored in corresponding storage positions, so that the data can be conveniently read at any time; the data analysis is to extract signal data transmitted in real time for analysis, draw a performance parameter trend graph of the diesel engine, calculate according to a set control strategy and a set control algorithm, convert a control mode and output a corresponding control signal; the remote intelligent control comprises manual control and intelligent automatic control, wherein the manual control means that the authority of an operator is highest, control parameters can be set manually according to requirements, the intelligent automatic control is that a control mode and a control signal are given according to a built-in intelligent control strategy and a built-in intelligent control algorithm through signal analysis, and the automatic control of an execution component is realized, so that the diesel engine is always kept or is close to an optimal heat balance state interval. The sensing signals comprise the rotation speed n of the diesel engine, the load phi of the diesel engine, the fresh water outlet temperature T1, the vortex front exhaust temperature T2, the cylinder cover temperature T3, the lubricant inlet temperature T4, the seawater outlet temperature T5, the fresh water inlet pressure P1 and the lubricant inlet pressure P2.
The central controller of the invention transforms the machine-mounted fresh water pump, the machine-mounted sea water pump and the wax thermostat of the diesel engine into the electric control fresh water pump, the electric control sea water pump and the electronic thermostat, according to the operating parameter signals of the diesel engine, a signal acquisition and processing system makes control decisions and outputs control signals, the control signals are transmitted to the central controller, the central controller converts digital quantity signals into analog quantity signals, and then adjusts the operating parameters of main parts of a cooling system, therefore, the central controller has the functions of bearing the instructions of an upper computer and issuing the control commands of the parts, and simultaneously has the standby function, and can receive sensing signals and independently control the cooling system.
The invention discloses a control method of an intelligent cooling system of an internal combustion engine based on an improved control algorithm, which comprises a heater control mode, a load control mode and a cooling control mode after shutdown.
Mode one, warm-up control mode: the warm-up control mode refers to variable universe fuzzy control of the electronic thermostat. In the warming-up process after starting, the intelligent cooling system adopts a control mode of the heater, and the fresh water pump works at the lowest stable rotating speed ndminThe opening of the electronic thermostat is controlled by adopting a variable universe fuzzy control algorithm so as to control the large and small circulation flow of the fresh water loop, the opening of the thermostat is 0 at the initial stage of warming, the cooling fresh water circulates in the small circulation loop, and the electronic control fresh water pump is controlled at the lowest stable rotating speed ndminWhen the electric control seawater pump does not operate, the fresh water outlet temperature gradually rises along with the increase of the warm-up time of the diesel engine, and when the outlet water temperature of the diesel engine reaches the initial opening temperature of the electronic thermostat (95 percent T)ed，TedIs the target temperature), the electronic thermostat is triggered to gradually increase in opening degree, partial cooling fresh water carries out the major cycle through the natural convection heat transfer of the radiator, along with the continuous proceeding of the warming-up, the electronic thermostat is completely opened, the cooling fresh water carries out the natural convection heat transfer through the radiator, when the temperature of the fresh water after the temperature of the engine is increased to 97 percent TedAt this time, the warm-up control mode is shifted to the load control mode.
Mode two, load control mode: the load control mode refers to a feedforward open-loop MAP control and a closed-loop integral separation PID control algorithm of the electric control fresh water pump and the electric control sea water pump. After the electronic thermostat is switched to a load control mode, the opening of the electronic thermostat is kept at the maximum, the whole cooling fresh water is in large circulation, the variable universe fuzzy control algorithm of the electronic thermostat does not participate in control, and the electric control sea water pump and the electric control fresh water pump are controlled by a feedforward open-loop MAP and a closed-loop integral separation PID control algorithmThe system comprises a rotating speed sensor, an oil supply rack bar position sensor, a signal acquisition and processing system, a central controller, a frequency converter, an electric control water pump, a rotating speed sensor, an oil supply rack bar position sensor, an environment temperature sensor, a regulating circuit, a central controller and a control system, wherein the rotating speed sensor acquires a rotating speed signal of the diesel engine, the environment temperature sensor acquires an environment temperature signal and transmits the signal to the signal acquisition and processing system through the regulating circuit, the signal acquisition and processing system reads a preset MAP (MAP) diagram between the rotating speed of a fresh water pump and the rotating speed of a sea water pump and the working condition of the diesel engine and outputs a digital quantity control signal to the central controller, the central controller converts the digital quantity signal into an analog quantity signal (voltage signal), the analog quantity control signal controls the output frequency of the frequency converter and rapidly and accurately regulates the rotating speed of the electric control water pump, the algorithm can eliminate static difference, improve control precision, perform closed-loop automatic correction on the outlet temperature of fresh water, and the PID controller performs closed-loop automatic correction according to the actual temperature T of cooling watereWith a target temperature TedThe deviation signal is combined with a control algorithm to correct and adjust the rotating speed of the water pump until the deviation is 0 and reaches or approaches the target temperature range. Using open loop MAP control&Closed loop PID control may occur as follows: when the diesel engine runs under the working condition of low environment or low load, the rotating speed of the electric control sea water pump is reduced to 0, the rotating speed of the electric control fresh water pump reaches the lowest stable rotating speed, and the fresh water outlet temperature is still 97 percent T lower than the target control temperatureedIt is described that the natural convection heat exchange and the auxiliary radiation heat exchange between the radiator and the whole system and the environment meet and exceed the heat dissipation requirement of the cooling system at the moment, the regulation by the electric control sea water pump and the electric control fresh water pump cannot reach the control target, so the system is switched to the control of the electronic thermostat, the heat dissipation of the system is reduced by reducing the large circulation flow of the cooling liquid and increasing the small circulation flow (the variable universe fuzzy control of the electronic thermostat is introduced above), and after the control of the electronic thermostat is switched, along with the change of the working condition of the diesel engine or the environmental temperature, when the opening of the electronic thermostat is 100%, the fresh water outlet temperature continuously rises to the target temperature of 97 percent TedThereafter, the control mode is switched to open-loop MAP control + closed-loop PID control.The signals of cylinder cover temperature, lubricating oil inlet temperature, seawater outlet temperature, vortex front exhaust temperature, fresh water outlet temperature, fresh water inlet pressure, lubricating oil inlet pressure and the like are safety signals, when the signals exceed a limit value, the signal acquisition and processing system immediately sends out control signals to the central control system, the rotating speed of the electric control fresh water pump and the rotating speed of the sea water pump are adjusted and properly increased, and when the adjustment is invalid, the load of the diesel engine is reduced or the diesel engine is stopped. And the signal acquisition and processing system receives the shutdown signal of the diesel engine and then converts the shutdown signal into a cooling control mode after shutdown.
Mode three, cooling control mode after shutdown: and the post-cooling control only controls the electric control fresh water pump. After the diesel engine is shut down, if the fresh water pump stops working immediately, the temperature in the cooling water jacket of the engine body and the cylinder cover can be rapidly increased to cause the phenomenon of 'hot dipping', whether the fresh water pump needs to be operated for post cooling is judged according to the fresh water outlet temperature signal and the cylinder cover temperature signal, and if the fresh water outlet temperature reaches 95 percent T after the diesel engine is shut downboil(TboilFresh water boiling temperature under the pressure of an expansion tank) or the temperature of a fire surface of a cylinder cover reaches 95 percent Trb(TrbThe theoretical creep temperature range lower limit value of a cylinder cover material), the electric control seawater pump does not operate, the electric control fresh water pump continuously operates for 180s at the lowest stable rotating speed, if the two temperature indexes both meet the safety standard, the electric control fresh water pump stops operating, otherwise, the electric control fresh water pump continuously operates for 180s until the thermal load safety index is met.
The control algorithm of the invention is as follows: in the control algorithm, open-loop MAP control, closed-loop integral separation PID control and variable universe fuzzy control are applied to an intelligent control strategy of an electric control sea water pump, an electric control fresh water pump and an electronic thermostat, so that the diesel engine is always kept or is close to an optimal thermal balance state interval, and the specific algorithm analysis and control process is as follows.
The fuzzy controller is a core part of the fuzzy control system, and the performance of the fuzzy controller directly influences the performance of the control system. The basic structure of the fuzzy controller can be divided into 5 parts, namely a variable parameter fuzzification module, a membership function module, a fuzzy rule base module, a fuzzy inference module and a fuzzy module, which form a control mechanism and an algorithm structure of the fuzzy controller.
The fuzzy controller of the variable universe fuzzy controller in the first mode and the heating machine control mode of the invention is usually designed according to the following steps:
(1) determining input and output variables
The input variables of the invention are the difference value (deviation e) and the difference value change rate (derivative ec of the deviation e) of the fresh water outlet temperature and the target temperature, the opening degree of an electronic thermostat of control parameters, and the control target is the optimal fresh water outlet temperature, thus the system is a two-dimensional fuzzy controller.
(2) Input variable obfuscation
a. And (3) fuzzy domain division:
according to the actual situation of the controlled system, the element number of the fuzzy domain is 2n +1, and the relation between the element number and the grading number m of the linguistic variable is as follows:
2n+1＝m
wherein n is a positive integer and m is an odd number of 5 or 7.
Generally, m selects 7 expression degree vocabularies, namely, negative large (NB), "Negative Medium (NM)," Negative Small (NS), "Zero (ZO)," Positive Small (PS), "Positive Medium (PM)," and "positive large (PB), but 3, 5 or 9 degree vocabularies can be selected according to actual conditions.
b. Determining a quantization factor
The deviation, the deviation change rate and the change range of the output control quantity are called the real domains thereof. The real discourse domain of the fresh water outlet temperature difference e is [ -8, 8 [ -8 [ ]]The true domain of the rate of change ec of the temperature difference is [ -5, 5 [ ]]The real discourse domain of the opening of the output thermostat is [0, 10 ]]. Because the real domains of the temperature difference e and the temperature difference change rate ec are different, the complexity is increased in the fuzzy domain division, membership function design, fuzzy rule design and control process, so that the variables need to be fuzzified and become standard input and output quantities required by the fuzzy controller. Truthfulness theory of temperature deviation signal e and temperature deviation change rate signal ecThe domain is [ -e, e [ -E]And [ -ec, ec]The fuzzified discrete domain is [ -n, -n +1, -n + 2 …, 0, …, n-2, n-1, n]Thus the quantization factor k of the temperature deviation e and the rate of change of the temperature deviation eceAnd kecComprises the following steps:
ke＝n/8
kec＝n/5
the output quantity of the fuzzy controller is the opening degree of the thermostat, and the real discourse domain is [0, theta ]]And thus the quantization factor k of the thermostat opening thetaθComprises the following steps:
kθ＝n/θ
according to the definition of the quantization factor, the formula of the temperature deviation and the temperature deviation change rate discourse domain transformation is as follows:
E＝<ke·e+0.5>
EC＝<kec·ec+0.5>
Θ＝<kθ·θ+0.5>
where E and EC are the bias and bias rate of change over the ambiguity domain, respectively, and < > represents the rounding-down operation.
To ensure that E and EC are within the domain of concern, a clipping process is required.
If | E | > n, then:
E＝n·sign(e)
if | EC | > n, then:
EC＝n·sign(ec)
where sign () represents the sign of the actual value.
The discourse domain transformation formula of the output control quantity is as follows:
Θ＝kθ·θ
(3) determining membership functions
The membership function is usually distributed in a triangular, bell-shaped or trapezoid shape, and different control characteristics are caused by different shapes of the membership function curves. The fuzzy subset with the sharper curve shape of the membership function has higher resolution and higher and opposite control sensitivity, the curve shape of the membership function is slower, the control characteristic is also slower, and the system stability is also relatively better. Therefore, when selecting the membership function of the fuzzy subset, the fuzzy subset is usually made to have a low resolution in the region with a large error, a higher resolution in the region with a small error, and a high resolution when the error is close to zero.
The invention comprehensively considers the influence of the deviation and the deviation change rate on the control object when designing the fuzzy control system, and when setting each fuzzy subset of a certain fuzzy variable, the fuzzy variables are reasonably distributed on the domain of discourse and better cover the whole domain of discourse. According to the temperature control test of the diesel engine cooling system, the selected membership function is shown in the following table.
Membership function of fuzzy controller of intelligent cooling system
As can be seen from the table, the present invention covers fuzzy subset distributive heterogeneity across the variable universe of discourse: the slope of the membership function of the two fuzzy subsets near the balance point is the maximum, the function curve is very steep, and the 'kernels' of the two fuzzy subsets are almost two points and are quite close to the zero point; the fuzzy subsets that are far from the equilibrium point are not much the same, their "kernels" are similar to the platform, and are far from each other. The design has the advantages that the control precision near the balance point can be improved, and the system can be quickly adjusted to the balance point when being far away from the balance point, so that the response reaction is accelerated while the control precision is improved.
(4) Establishing a fuzzy rule base
A common method for establishing fuzzy control rules is empirical induction. Fuzzy control rules mainly reflect the experience knowledge of operators and related experts, and the control experience knowledge of people is formed in continuous learning, practice and thinking, so the fuzzy control rules are a language description of the control behaviors of people. When designing a rule base, establishing scientific control rules according to linguistic variable series, summarizing all fuzzy control rules into a table to obtain a fuzzy control rule table, generally, in the process of establishing the fuzzy control rule table, a basic principle is followed, when the deviation is large or large, a control quantity is selected to eliminate the deviation as soon as possible, when the deviation is small, the control quantity is selected to pay attention to prevent overshoot, and the stability of a system is ensured as a main starting point. The fuzzy rule design criteria are: "the opening degree of the electronic thermostat increases more (θ is larger) as the temperature of the coolant is higher than the target temperature (e is larger) and the temperature increase speed is faster (ec is larger)"; if the temperature of the cooling liquid is close to the target temperature and the temperature change is not large, the opening degree of the electronic thermostat is basically kept unchanged; "the greater the coolant temperature is lower than the target temperature and the faster the temperature decrease speed is, the greater the electronic thermostat opening degree decrease is". The invention summarizes 25 fuzzy control rules, adopts a weighting function type reasoning method recommended in an MATLAB fuzzy controller toolbox to carry out fuzzy reasoning, and obtains a fuzzy set MAP graph (legend 10) of the controlled quantity theta according to a membership function of the water temperature deviation e and the water temperature deviation change rate ec and a fuzzy control rule table.
(5) Deblurring
The deblurring processing is a process of performing sharpening processing on the fuzzy quantity output by the controller into a real parameter value, namely calculating an accurate numerical value according to the output fuzzy subset. There are many methods for resolving the ambiguity, and the common methods include a maximum membership method, a median method gravity center method, and a weighted average method. The invention uses the gravity center method to solve the fuzzy control rule, and can obtain the corresponding relation between the opening of the electronic thermostat and the difference value of the fresh water outlet temperature and the change rate of the water temperature difference value, and the MAP of the opening control of the electronic thermostat is shown in a legend 10.
6.3.2 fuzzy control idea of variable universe of discourse
The basic fuzzy controller has the advantages of simple design and good control characteristics, but also has the defect of non-exquisite control action. The number of fuzzy subsets in a fuzzy domain of a basic fuzzy controller is limited, so that the number of a fuzzy rule base is limited, and meanwhile, the interval of each fuzzy subset is fixed, and along with the fact that a control target continuously approaches a preset target from far to near, the control effect of the controller is not fine and smooth enough and the precision is not high, the control precision can be improved to a certain extent by increasing the number of the fuzzy subsets in the fuzzy domain, but the fuzzy rule base is also huge in size, and the bad performances of slow response and long operation time in the control process are caused; meanwhile, a huge fuzzy rule base needs a large amount of professional expertise or test data, and once the test data has errors or the expert experience is careless, the control deviation is large; because the quantization factor is a set constant, when the input variable changes continuously, the basic fuzzy controller still performs reasoning according to the setting of the original rule base, which results in low control effect precision. Therefore, it can be seen from the overview that the adaptive capability of the basic fuzzy controller is insufficient.
In order to further improve the control precision and the fineness of the fuzzy controller, the electronic thermostat control adopts the concept of variable universe fuzzy control algorithm. The variable universe fuzzy control algorithm is characterized in that on the premise that the quantity of fuzzy subsets is not changed, the fuzzy universe expands (compresses) along with the increase (decrease) of deviation and the change rate of the deviation, which is equivalent to deriving a new rule on the basis of the original fuzzy rule base, and the control precision and the smoothness are greatly improved. The back principle is similar to the interpolation principle of a function, the more dense the distribution points of the interpolation and the more uniform the distribution, the closer the interpolation result is to the real function, the essence of the fuzzy control algorithm is also the interpolation principle, the fuzzy set of the input quantity is the basic function of the interpolation, the output quantity is the control function obtained after the interpolation, the fuzzy control algorithm of the variable universe can derive the fuzzy rule base which is more in line with the control logic according to the change of the input quantity, which is equivalent to increasing the points of the function interpolation, and the distribution is more uniform, so the control function after the interpolation has higher precision and finer and smoother control action.
6.3.2 specific application of variable universe of discourse fuzzy control
And determining the temperature difference e and the temperature change rate ec of the fresh water discharged from the machine. The fresh water outlet temperature difference e refers to the fresh water outlet temperature T in each sampling periodeAnd a target temperature value TedThe difference between them. The temperature change rate ec is the change value ec of the fresh water outlet temperature between two consecutive sampling periods, which is de/dt. The temperature difference e of fresh water outlet is Te-TedAnd de/dt is the input of the fuzzy controller, and the increment of the opening of the electronic thermostat is the output of the fuzzy controller, namely the controller determines to increase or decrease the opening of the electronic thermostat according to the temperature difference e and the temperature change rate ec, thereby controlling the flow of the large and small circulation of the cooling liquid.
Fuzzification of input and output quantities. Assuming that the target value of the fresh water outlet temperature is TedI.e. the target temperature of the fuzzy control is Ted. Initial discourse field [ -e, e [ -E]And [ -ec, ec]Multiplying by a quantization factor keAnd kecFuzzification processing is carried out, and the fuzzification processing is converted into a fuzzy domain [ -E, E ] convenient for understanding and operation]And [ -EC, EC]Dividing the output variable into 7 fuzzy subsets, expressing the increment of the opening of the electronic thermostat by theta, and talking the output variable to theta, theta]Multiplying the quantization factor to convert to [ -theta, theta [ -E [ ]]And dividing the fuzzy logic into 7 fuzzy subsets, and setting a membership function of each fuzzy subset according to section 6.3.1.
And (5) variable domain processing. In the domain of ambiguity [ -E, E]On the basis, a scale factor alpha (x) is added, and the scale factor is generally designed in an exponential form and is set to be 0<t<1, set α (x) ═ (| x |/E)tInitialize [ -E, E [)]Become [ -E.alpha (x), E.alpha (x)]The domain of discourse contracts along with the reduction of the deviation and expands along with the increase of the deviation, thereby improving the control precision.
Fuzzy control rules. The fuzzy rule design standard is that if the fresh water outlet temperature is higher than the target temperature and the temperature rising speed is higher, the opening of the electronic thermostat is increased more; if the fresh water outlet temperature is close to the target temperature and the temperature change is not large, the opening degree of the electronic thermostat is basically kept unchanged; "if the fresh water outlet temperature is lower than the target temperature and the temperature drop speed is faster, the opening degree of the electronic thermostat is reduced more". The text draws up 25 fuzzy control rules (T)eFor the current fresh water outlet temperature, TedIs the target temperature and θ is the electronic thermostat opening). The fuzzy control rule is deblurred by a gravity center method to obtain the corresponding relation between e, ec and theta, and an electronic thermostat opening degree control MAP (shown in a legend 10) is output by fuzzy reasoning.
The simulation environment test result of the intelligent cooling system shows that the variable universe fuzzy control algorithm can greatly improve the control precision, the fluctuation range of the fresh water outlet temperature curve is small, the temperature change curve is excessively smooth and fine under the external interference, the thermal load state of the diesel engine is stable, and the diesel engine is always in or close to the optimal thermal balance state interval.
The open-loop MAP control algorithm in the second mode and the load control mode is as follows: the control method of the electric control fresh water pump and the electric control seawater pump is to combine feedforward open-loop control and feedback closed-loop control. Because the cooling system of the diesel engine is a nonlinear, large-lag and delay system, the change of the cooling water temperature has obvious lag delay characteristic, after the operating condition and the environmental temperature of the diesel engine change, a feedforward open-loop MAP control algorithm is firstly adopted, the open-loop MAP control does not monitor and regulate the difference between the actual parameter value and the target parameter value, the control element is regulated only according to a preset MAP graph, the cooling system is favorable for rapidly responding to the change of the operating condition and the change of the external environment of the diesel engine in time, the cooling intensity (the rotating speed of an electric control sea water pump, the rotating speed of an electric control fresh water pump and the opening degree of an electronic thermostat) of the cooling system is regulated to deal with the change of the cooling requirement of the diesel engine, the large fluctuation of the cooling water temperature is prevented, the heat load state of the diesel engine system is stable, the diesel engine is ensured to operate in a stable and efficient heat balance state, and the dynamic property, the economical efficiency and the emission property of the diesel engine are improved.
The feedforward open-loop control MAP is a large amount of control element operation parameter data (the invention adopts a genetic algorithm for global optimization, the optimization algorithm is not in the application scope of the invention, and is not described in detail), which are obtained by carrying out global optimization calculation with dynamic indexes and economic indexes as optimization targets on the premise of meeting various limiting factors (thermal load indexes and mechanical load indexes) of the diesel engine, namely the optimal rotation speed of the electric control sea water pump and the optimal rotation speed of the electric control fresh water pump, and the optimal control parameter data are in one-to-one correspondence with the operation working conditions and the environmental temperature of the diesel engine and drawn into a three-dimensional graph form, namely the MAP graph between the operation parameters of the electric control part and the working conditions and the environmental temperature of the diesel engine. The hardware implementation method is that the signal acquisition and processing system reads the preset electric control sea and fresh water pump rotating speed MAP according to signals of the diesel engine rotating speed, the diesel engine load (oil supply rod position), the environment temperature and the like, and transmits a control signal to the central controller, the central controller converts a digital signal into an analog quantity voltage signal, and transmits the analog quantity voltage signal to the frequency converter to control the output frequency, so that the quick and accurate adjustment of the sea and fresh water pump rotating speed is realized.
6.1.2. Open loop MAP controls merit and demerits: the feedforward open loop MAP control has the advantages of simple method and quick response, can timely respond to the increase or decrease of the cooling demand of the diesel engine caused by the change of working conditions and the change of environmental temperature, reduces the drastic change of the temperature of cooling water by adjusting the flow of the cooling liquid in advance, and shortens the response time of a cooling system to the change of the working conditions and the change of the environment. However, the accuracy of open-loop MAP control completely depends on a MAP, and compensation and correction of external interference factors such as deviation, disturbance and the like cannot be performed, so that a closed-loop PID feedback control is necessary to be adopted for a diesel engine cooling system, the cooling water temperature is further automatically corrected and adjusted, the closed-loop control adopts an integral separation PID control algorithm, the basic working principle is that a signal acquisition and processing system firstly acquires the outlet temperature of cooling water through a water temperature sensor, when the actual cooling water temperature has deviation from the target temperature, a PID controller combines a control algorithm according to a deviation signal to change the PWM duty ratio, and the rotating speed of a water pump is corrected and adjusted until the deviation reaches or approaches 0 to reach or approach the target temperature.
The integral separation PID control algorithm in the second mode and the load control mode is as follows:
the integral separation PID control algorithm is obtained by improvement on the basis of the basic PID control algorithm, so the symbolic meaning in the integral separation PID control algorithm formula needs to be gradually introduced when the basic PID control algorithm principle is explained.
1. Basic PID control algorithm
A basic PID controller for controlling the output temperature T of the cooling wateredWith the actual value TeForming a control deviation e, and calculating the deviation eThe proportion (P), the integral (I) and the differential (D) are linearly combined to form a control quantity signal u, a controlled object (an electric control fresh water pump and an electric control sea water pump) is controlled, the output control signal is a voltage signal of a given frequency converter, the voltage signal is converted into frequency signals of the given electric control fresh water pump and the electric control sea water pump in the frequency converter, the rotating speeds of the two electric control water pumps are further controlled, and the purpose of controlling the flow of cooling liquid is finally achieved.
The conventional PID control algorithm is:
in the formula (1), e (t) -control deviation, namely the difference between the target value and the actual value of the fresh water outlet temperature; k is a radical ofp-a scaling factor; t isI-an integration time constant; t isD-a differential time constant.
The roles of proportion (P), integral (I) and derivative (D) in conventional PID control algorithms are:
(1) and (3) proportional links: and a proportional bias signal reflecting the control system, wherein the controller immediately generates a control action to reduce the bias once the bias is generated.
(2) And (3) an integration step: the method is mainly used for eliminating the static error and improving the non-difference of the system. The strength of the integration depends on the integration time constant TI，TIThe larger the integral, the weaker and vice versa the stronger.
(3) And (3) differentiation: reflects the variation trend (change rate) of the deviation signal and can introduce an effective early correction signal into the system before the deviation signal becomes too large, thereby accelerating the action speed of the system and reducing the regulation time.
The formula (1) is a time continuous form of a conventional PID control algorithm, the time continuous PID algorithm needs to be discretized in the control calculation process of the controller, the central controller collects fresh water outlet temperature and periodically collects the fresh water outlet temperature, the fresh water outlet temperature is not collected continuously in real time, the signal sampling period of the central controller is T, and when the sampling period T is far smaller than the signal change period, namely T is sufficiently small (the sampling period is set to be 0.01s in the invention), the discrete control system is close to the continuous control system, so the time continuous form of the conventional PID control algorithm can be discretized and transformed:
in the actual control process of the intelligent cooling system, the discrete form of the conventional PID control algorithm is:
u (k) is control quantity output, and the control quantity output value of each time corresponds to the operation parameters of the actuating mechanism one by one and belongs to a position type PID algorithm; k is the total number of times of signal acquisition of the PID controller in the total time t of system operation,
the total accumulation amount of the target value deviation after the signals are collected for k times is approximately equal to the target deviation integral value in the continuous control mode; j is the jth signal acquisition in the total times k of signal acquisition; t is the sampling period of the fresh water outlet temperature signal, and the sampling period is set to be 0.01 s.
2. Integral separation PID control algorithm
In the ordinary PID control, the purpose of introducing an integral link is mainly to eliminate static error and improve control precision. When the system has large disturbance or the given value has large change, the output of the system has large deviation in a short time to cause integral accumulation of PID operation, so that the control quantity exceeds the limited control quantity corresponding to the maximum action range possibly allowed by the executing mechanism, the system is greatly overshot, the adjusting time is prolonged, and the phenomenon is particularly serious for large-inertia objects (such as the process of slowly changing the temperature).
The integral separation PID control algorithm is introduced, so that the integral effect is kept, the overshoot is reduced, and the control performance is greatly improved. The basic idea is as follows: when the control deviation is large, the integral action is cancelled; when the controlled amount approaches the target value, integral control is introduced so as to eliminate the static error. In the specific application process, firstly, a threshold value epsilon is artificially set to be larger than 0 according to the actual situation. The integral separation PID algorithm can be expressed as:
where β is the switching coefficient of the integral term:
parameter K in integral separation PID control algorithmp、TI、TDThe method of combining numerical simulation and test is adopted for determining, the diesel engine cooling system is approximately simplified into a first-order inertia plus pure hysteresis link, and the transfer function is as follows:
in the formula (7), K is an open-loop amplification factor, T is a time constant, and tau is a pure lag time.
The simplified transfer function of the diesel engine cooling system of the present invention is:
the simplified cooling circulation model of the diesel engine is
The parameter setting empirical formula of the PID controller according to the ISTE index is calculated to obtain: kp＝1.481，TI＝36.217，TD＝7.935。
In the simulation system, K is addedp、TI、TDThe parameters are input into the controller to observe the control effect, and if the control effect is poor, the control parameters can be gradually adjusted in the process of simulation and subsequent test benches according to an empirical method based on the following principle.
a. Increasing the proportionality coefficient KpThe response speed of the system is increased, but the system is greatly overshot and even oscillated due to the overlarge response speed.
b. Increasing the integration time TIThe method is beneficial to reducing overshoot and oscillation, so that the system is more stable, but the transition process time of the system is increased.
c. Increasing the differential time constant TDThe system has the advantages of being beneficial to accelerating the response of the system, reducing overshoot and increasing stability, but the system has weak inhibition capability on disturbance and has sensitive response on the disturbance.
Finally determining PID control parameter Kp＝1.651，TI＝36.019，TD＝7.455。
When the working condition of the diesel engine changes, namely the rotating speed and the load of the diesel engine change, the signal acquisition processing system adjusts the preset rotating speed value of the electric control sea water pump and the electric control fresh water pump according to an open-loop control MAP graph so as to reduce the great change of the whole heat load caused by the change of the working condition, at the moment, the integral separation PID control algorithm does not work, when the working condition of the diesel engine and the environmental temperature are relatively stable and unchanged, and the fresh water outlet temperature does not reach the target temperature value range, the integral separation PID control algorithm starts to work, the rotating speed of the electric control fresh water pump and the electric control sea water pump is adjusted, and the fresh water outlet temperature is corrected and adjusted until the water temperature reaches the target. In the operation process of the diesel engine, in another situation, when the external environment temperature of the diesel engine changes or is influenced by interference of an electromagnetic environment, a vibration signal and the like, the integral separation PID control algorithm needs to adjust the sea water pump and the fresh water pump according to the water temperature signal acquired in real time, if the difference value between the detected water temperature and the target water temperature is suddenly increased or reduced due to an emergency or an interference signal, in order to enhance the robustness of the control system, prevent the control quantity of the control system from being overshot, ensure the water temperature change process to be smooth and fine, and the integral separation PID control algorithm can play a good control effect.
The integral separation PID control algorithm has the advantages that: the integral separation PID control algorithm keeps the function of integral control in the temperature control process of a large-lag and delay cooling system, can effectively consume static errors and reduce overshoot, so that the control performance is finer and smoother and the precision is higher; the control algorithm has stronger robustness in structure, and when the water temperature is continuously changed in a small range due to external interference factors, the control quality of the system is not influenced by sudden change of the external environment; the control process is simple, the response is rapid, the precision requirement of the intelligent cooling system can be met, the hardware technology is mature, the reliability is high, the acquisition is convenient, and the marketization popularization is facilitated; due to the characteristics of nonlinearity, large hysteresis, delay and the like of the temperature change of the cooling liquid of the diesel engine, the difficulty in establishing a clear mathematical model is high, and therefore the control effect of the conventional control method is not ideal. The fuzzy control does not need an accurate mathematical model of a controlled object, only needs to establish the relation between control output and input by using language, directly converts expert language rules into a control strategy, has simple and effective control method, has stronger robustness on parameter change of a controlled system, and is very suitable for automatic control on the temperature of the cooling liquid of the diesel engine.
The advantages of the comprehensive intelligent control algorithm are as follows: the invention applies open-loop MAP control, closed-loop integral separation PID control and variable universe fuzzy control to the intelligent control strategy of the electric control sea water pump, the electric control fresh water pump and the electronic thermostat in the control algorithm, and aims to keep the diesel engine in or close to the optimal heat balance state interval all the time. Aiming at the characteristics of nonlinearity, hysteresis and the like of a cooling system of a marine diesel engine, the invention combines three different control algorithms by combining an intelligent cooling control strategy, the control strategies stimulate the three control algorithms to respectively exert advantages according to the characteristics of the three control algorithms along with the change of a control mode in the running process of the diesel engine, and the algorithms in the control process are independent and supplement each other. For example, the feedforward open-loop MAP control has the outstanding advantages that the response is timely, when the working condition of the diesel engine changes, the signal acquisition and processing system receives signals, the preset MAP of the electric control sea and fresh water pumps is immediately read, the rotating speeds of the sea and fresh water pumps are quickly adjusted, the cooling strength of the cooling system is adjusted, the heat load state of the diesel engine system is stable, and the feedback closed-loop integral separation PID control algorithm has the outstanding advantages of good robustness and high control precision, the PID controller carries out proportional, integral and differential operation according to the difference value between the fresh water outlet temperature and the target temperature to control the continuous reduction of the fresh water outlet temperature difference, and meanwhile, the integral separation strategy avoids control overshoot caused by signal interference and improves the robustness of the control system; the variable-domain fuzzy control algorithm has the outstanding advantages that a modern intelligent control algorithm cannot obtain a high-precision mathematical model due to the characteristics of nonlinearity and easiness in interference of a diesel engine cooling system, the fuzzy control does not need the precise mathematical model of a controlled object, only the relation between control output and control input is established by using an expert language, the expert language rule is directly converted into a control strategy, the control method is simple and effective, the fuzzy control algorithm is very suitable for automatically controlling the temperature of the diesel engine cooling liquid, the control experience and knowledge of the expert are expressed into the language control rule by taking the fuzzy control as a way for realizing the intelligent control, and then the rule is used for controlling the controlled object, so that the variable-domain fuzzy control algorithm has strong robustness on parameter change of an adjusting object. The invention is improved on the basis of the conventional fuzzy control algorithm, introduces variable theory domain thought, makes the fuzzy rule base richer and the control logic stronger, and the inferred opening degree control MAP of the electronic thermostat is smoother and finer, and the test result shows that the control effect is greatly improved.
The technical difficulty is as follows: the invention applies feedforward open-loop MAP control and integral separation PID control algorithms to the control of an electric control fresh water pump and an electric control seawater pump (applied in a load control mode), applies variable-discourse-domain fuzzy control to the control of an electronic thermostat (applied in a warming control mode and a load control mode), and has the difficulty of integrating intelligent control algorithms, namely how to carry out cooperative control among different control algorithms according to a control strategy. The triggering conditions of fuzzy control of the electronic thermostat are as follows: the diesel engine is started, and the fresh water outlet temperature is less than 97 percent of the target temperature. The conversion triggering conditions of the fuzzy control of the electronic thermostat to open-loop MAP control and closed-loop integral separation PID control of the sea and fresh water pump are as follows: the thermostat is fully opened, and the outlet temperature of the fresh water reaches 97 percent of the target temperature. The triggering conditions of the conversion from sea and fresh water pump open loop MAP control and closed loop integral separation PID control to electronic thermostat fuzzy control are as follows: the rotating speed of the sea water pump and the fresh water pump reaches the lowest rotating speed under the limiting condition, and the fresh water outlet temperature is less than 97 percent of the target temperature. The trigger conditions for cooling control after shutdown are: the diesel engine is shut down, and the fresh water outlet temperature is higher than 95% of the target temperature or the temperature of the cylinder cover is higher than 95% of the material creep temperature. In addition, after the rotating speeds of the two water pumps reach the lowest value due to the limiting factors, the fresh water outlet temperature is still lower than the 97% target temperature, and the variable universe fuzzy control of the electronic thermostat participates in auxiliary control, so that the precision of the control system is improved.
The advantages and difficulties of the control algorithm are also elaborated in the control strategy.
The embodiment of the invention provides a control method and a device of an intelligent cooling system, and relates to the figures 1 and 3, a control strategy is shown in figure 4, a control algorithm is shown in figures 5-8, and a diesel engine intelligent cooling system simulation environment test bench is set up and mainly comprises a diesel engine body, the intelligent cooling system and accessories thereof (an electric control fresh water pump, an electric control sea water pump, an electronic thermostat, an expansion water tank and a constant temperature sea water tank), sensors (a rotating speed sensor, a temperature sensor and a pressure sensor), a data acquisition and processing system, a central controller, a hydraulic dynamometer, a combustion analyzer and the like.
Example 1. an intelligent cooling verification and calibration test with a simulated ambient temperature of 20 ℃ was carried out over the full operating range of the universal characteristic and the typical operating point of the propulsion characteristic. The rotating speed of the diesel engine is from 1500r/min to 900r/min, one group is carried out every 100r/min, the test is carried out according to ten points of 0.1, 0.2 and 0.3 … … 1 of the maximum power under each rotating speed, and the test working condition points are shown in table 1.
TABLE 1 all characteristic full test conditions
Preparation before starting: the fuel, the lubricating oil, the air inlet and the running part of the diesel engine are checked, the standby vehicle check is carried out, the fault phenomena of oil leakage, water leakage, clamping stagnation and the like do not exist, and the preparation work before starting is finished.
A heating machine control mode: the diesel engine is started by supplying oil and gas, and the signal acquisition and processing system receives the starting signal of the diesel engine and outputs the temperature T according to the fresh watereJudging whether it is less than 97% Ted(target temperature), according to the example case, Te＜97％TedThe signal acquisition and processing system transmits a warming-up control mode signal to the central controller, the central controller transmits a control signal to the electronic thermostat, the electronic fresh water pump and the electronic sea water pump, the electronic thermostat adopts variable universe fuzzy control at the moment, the opening of the electronic thermostat is 0, the electronic fresh water pump is maintained at the lowest stable rotating speed, the electronic sea water pump does not run, a cooling water circulation system completely passes through a small circulation and is continuously heated, the warming-up time of the diesel engine is increased, at the T1 moment, the fresh water outlet temperature T is higher than the warming-up temperature of the diesel engineeIncrease to 95% TedAt the moment, the electronic thermostat starts to act, the opening of the thermostat is gradually increased, part of cooling water enters the radiator through a large circulation, and natural convection heat exchange is carried out between the cooling water and the environment in the radiator to control the outlet temperature of fresh water to be maintained at 95 percent Ted(ii) a At the time T2, the opening of the thermostat is increased to 100%, and the cooling water is subjected to natural convection heat exchange with the environment completely in the radiator after passing through the large circulation, and the fresh water outlet temperature TeContinuously increasing; at the time T3, the fresh water outlet temperature TeIncrease to 97% TedAnd the signal acquisition and processing system receives the signal and controls the central controller to be converted into a load control mode.
And (3) load control mode: after the load control mode is switched, the central controller transmits a control voltage signal to the electronic thermostat, the electric control seawater pump and the electric control fresh water pump, at the moment, variable universe fuzzy control of the electronic thermostat does not work, the opening of the electronic thermostat is kept at 100%, and the electric control fresh water pump are controlled by the electronic thermostatThe frequency signal transmitted by the frequency converter controls the rotating speed, the control algorithm adopts a feedforward open loop MAP and feedback closed loop integral separation PID intelligent control algorithm, the signal acquisition and processing system reads the rotating speed MAP of an electric control fresh water pump, the rotating speed MAP of an electric control sea water pump and the fresh water outlet temperature control MAP preset in a program according to the rotating speed signal of a diesel engine, the load signal (the position of an oil supply rack) of the diesel engine and an environment temperature sensor, the central controller rapidly transmits a voltage control signal to the frequency converters of the two water pumps according to the two water pumps MAP, the rotating speeds of the two water pumps are controlled to reach a preset rotating speed value, and then the fresh water outlet temperature T iseAnd a target temperature TedAnd comparing, and finely adjusting the rotating speed of the electric control fresh water pump and the rotation of the electric control sea water pump by adopting an integral separation PID controller to keep the fresh water outlet temperature at or close to the optimal fresh water outlet temperature range under the working condition and enable the diesel engine to reach or close to the optimal heat balance state interval. In the load control mode, the following 2 cases may occur: firstly, when the diesel engine runs under the working condition that the environment is low or the load is low, the rotating speed of the electric control sea water pump is reduced to 0, the rotating speed of the electric control fresh water pump reaches the lowest stable rotating speed, and the temperature of the fresh water discharged from the engine is thrown away to be lower than the target control temperature of 97 percent Ted, which shows that the natural convection heat exchange and the auxiliary radiation heat dissipation of the radiator and the whole system and the environment reach and exceed the heat dissipation requirement of the cooling system at the moment, so the control target can not be reached through the regulation of the electric control sea water pump and the electric control fresh water pump, the electronic thermostat is switched to control, and the heat dissipation is reduced by reducing the large circulation flow of the cooling. Variable universe fuzzy control of electronic thermostats is described above. After the control of the electronic thermostat is switched, along with the change of the working condition or the environmental temperature of the diesel engine, when the opening of the electronic thermostat is 100 percent, the outlet temperature of fresh water continuously rises to a target temperature of 97 percent TedControl mode conversion to open-loop MAP control&And (4) closed-loop PID control. Secondly, the signals of the cylinder cover temperature, the pressure of the fresh water inlet machine, the temperature of the lubricating oil inlet machine, the vortex front exhaust temperature and the temperature of the seawater outlet machine are limiting factors of the electric control fresh water pump and the electric control seawater pump at the lowest rotating speed, when the signals exceed the limit value, the signal acquisition and processing system immediately sends out a control signal to the central control system, and the electric control fresh water pump is adjusted to be properly added to rotateThe speed and the rotating speed of the seawater pump, at the moment, the electronic thermostat controls and participates in control to adjust the fresh water outlet temperature, and when the adjustment is invalid, the load of the diesel engine is reduced or the engine is stopped. And the signal acquisition and processing system receives the shutdown signal of the diesel engine and then converts the shutdown signal into a cooling control mode after shutdown.
Cooling control mode after shutdown: stopping after the test is finished, receiving a stop signal by the signal acquisition and processing system, and acquiring the outlet temperature T of the fresh watereTemperature T of fire surface of cylinder coverheadWhen the fresh water outlet temperature reaches 95 percent TboilOr the temperature of the fire surface of the cylinder cover reaches 95 percent Trb(TrbThe lower limit of creep temperature range of cylinder cover materials), the central controller converts the control mode into a post-cooling control mode according to the instruction of the signal acquisition and processing system, the intelligent cooling system performs the post-cooling control mode according to the example test condition, at the moment, the electric control sea water pump stops running, the electric control fresh water pump runs at the lowest stable rotating speed of 180s, and when the outlet temperature of fresh water is lower than 95 percent TboilThe temperature of the fire surface of the cylinder cover is lower than 95 percent TrbThen, the fresh water pump stops operating, and the after-cooling control is ended. And if any temperature value of the two temperature indexes does not accord with the safety standard, the electric control fresh water pump continues to operate for 180s until the heat load safety index is met.
Example test results case: as shown in table 2, the comparison of the fuel consumption, the effective output power, and the power consumption of the cooling system components of the diesel engine before and after the intelligent control of the cooling system of the diesel engine under the full operating condition range with all characteristics is performed. Test data show that after the diesel engine adopts the intelligent cooling system, the operation constraint of the rotating speed of the diesel engine on the fresh water pump, the sea water pump and the thermostat is removed, the diesel engine is intensively designed from the angle of the cooling system, the effective output power of the diesel engine in the whole working condition range under all characteristics is averagely improved by 2.23%, the oil consumption rate is saved by 5.33g/kW.h, the shaft power of the fresh water pump is saved by 52.35%, the consumed power of the fresh water pump is saved by 43.94%, the shaft power of the sea water pump is saved by 56.28%, and the consumed power of the sea water pump is saved by 50%. The electric control fresh water pump, the electric control sea water pump, the electric control thermostat and the fresh water outlet temperature control MAP are shown in legend 13 to figure 15.
TABLE 2 operating parameters of diesel engine under intelligent control cooling condition in full operating mode range
Example 2 verification test of Intelligent Cooling control System at typical operating Point
And selecting 10%, 50% and 100% rated load points with the rotation speed of the diesel engine being 1500r/min, and 25% and 100% load points under the propelling characteristic to verify the effectiveness of the control strategy of the intelligent cooling control system. The results are shown in the following table 7.5, the intelligent control cooling system can effectively reduce the oil consumption rate (the oil consumption rate is averagely saved by more than 6 g/kW.h), improve the effective output power (the effective output power is averagely improved by more than 2%), reduce the power consumption of parts of the cooling system (the power consumption is saved by more than 45%), and all meet the requirements of project indexes.
TABLE 3 verification test of typical operating points
Claims (6)
1. An internal combustion engine intelligent cooling system control method based on an improved control algorithm comprises a heater control mode, a load control mode and a cooling control mode after shutdown, and is characterized in that: the thermostat aperture of warm-up initial stage is 0, the cooling fresh water circulates in little circulation loop, automatically controlled fresh water pump is at minimum stable rotational speed operation, automatically controlled sea water pump does not operate, fresh water temperature of leaving the engine rises gradually along with the increase of diesel engine warm-up time, when diesel engine temperature of leaving the water reaches the initial opening temperature of electron thermostat, the electron thermostat receives and triggers the aperture and increases gradually, the natural convection heat transfer of part cooling fresh water process radiator carries out the major cycle, along with going on of warm-up, the whole electronic thermostat that circulateOpening, cooling fresh water to pass through radiator for natural convection heat exchange, and raising the temperature of fresh water to 97% TedWhen the engine is started, the warming control mode is switched to the load control mode; the load control mode refers to a feedforward open-loop MAP control and a closed-loop integral separation PID control algorithm of the electric control fresh water pump and the electric control sea water pump; and after-cooling control only controls the electric control fresh water pump, wherein an integral separation PID control algorithm is as follows:
the integral separation PID algorithm can be expressed as:
where β is the switching coefficient of the integral term:
kp-a scaling factor; t isI-an integration time constant; t isDA differential time constant, u (k) is the control quantity output, k is the number of times the PID controller's signal is collected during the total system operation time t,
the total accumulation amount of the target value deviation after the signal acquisition is performed for k times, wherein j is the jth signal acquisition in the total signal acquisition times k; k is the open loop amplification factor and τ is the net lag time.
2. The intelligent cooling system control method based on the improved control algorithm for the internal combustion engine as claimed in claim 1, wherein: the fuzzy controller of the variable universe fuzzy controller in the control mode of the heater comprises the following steps: (1) determining input and output variables; (2) input variable fuzzification includes a. b. Determining a quantization factor; (3) determining a membership function; (4) establishing a fuzzy rule base; (5) and (5) resolving the blur.
3. The intelligent cooling system control method based on the improved control algorithm for the internal combustion engine as claimed in claim 1, wherein: the open-loop MAP control algorithm in the load control mode is open-loop MAP control, which does not monitor and adjust the difference between the actual parameter value and the target parameter value, but adjusts the control element only according to a preset MAP.
4. The intelligent cooling system control method of the internal combustion engine based on the improved control algorithm is characterized in that: the MAP is formed from experimental data and control element operating parameter data obtained by a global optimization algorithm.
5. The intelligent cooling system control method based on the improved control algorithm for the internal combustion engine as claimed in claim 1, wherein: still include internal-combustion engine cooling control device, internal-combustion engine cooling control device includes fresh water circulation circuit, sea water circulation circuit, its characterized in that: the fresh water circulation loop comprises an electric control fresh water pump, a lubricating oil cooler, a diesel engine cylinder water jacket, a diesel engine cylinder cover water jacket, an electronic thermostat and a radiator, wherein one path of an output port of the electronic thermostat directly returns to an inlet of the fresh water pump, and the other path of the output port of the electronic thermostat returns to the inlet of the fresh water pump through a fresh water input output port of the radiator; the output port of the fresh water pump is connected with the input port of the lubricating oil cooler, and the output port of the lubricating oil cooler is connected with the electronic thermostat after passing through the water jacket of the cylinder of the diesel engine and the water jacket of the cylinder cover of the diesel engine to form a loop; the seawater circulation loop comprises an electric control seawater pump, an intercooler, a radiator and a constant-temperature seawater tank, wherein an output port of the electric control seawater pump is connected with an input port of the intercooler, an output port of the intercooler is connected with a seawater input port of the radiator, a seawater output port of the radiator is connected with an input port of the constant-temperature seawater tank, and an output port of the constant-temperature seawater tank is connected with an input port of the electric control seawater pump.
6. The intelligent cooling system control method based on the improved control algorithm for the internal combustion engine as claimed in claim 5, wherein: the cooling control device of the internal combustion engine also comprises an expansion water tank, an input port of the expansion water tank is connected with a fresh water output port of the radiator, and an output port of the expansion water tank is connected with an input port of the fresh water pump.
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