CN113867131B - EGR control method and device and electronic equipment - Google Patents
EGR control method and device and electronic equipment Download PDFInfo
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
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Abstract
The application discloses an EGR control method, an EGR control device and electronic equipment. Based on the method, the system disturbance quantity is directly estimated through ESO, so that the magnitude of the system disturbance quantity can be considered when the duty ratio of the EGR valve is calculated, and the actual opening value ratio of the EGR valve is more approximate to the target opening value of the EGR valve, thereby reducing the adjustment time of a control system and improving the responsiveness of the EGR system.
Description
Technical Field
The present application relates to the field of engine control technologies, and in particular, to a method and an apparatus for controlling EGR, and an electronic device.
Background
In order to meet the increasingly strict Exhaust emission requirements of an engine, an Exhaust Gas Recirculation (EGR) system is usually arranged in cooperation with the engine, and part of Exhaust Gas discharged by the engine is returned to an air inlet pipe and then enters a cylinder again together with fresh mixed Gas, so that the oxygen content in the air inlet is reduced, the combustion temperature is lowered, and the emission pollution is reduced. However, in the exhaust gas recirculation process, if the recycled exhaust gas is too much, the oxygen content entering the cylinder cannot meet the specified value, and the power of the engine is further affected, so that the duty ratio of the EGR is controlled according to the actual working condition of the engine, the opening degree of the EGR valve is further controlled, the normal use of the engine is ensured, and the exhaust gas emission can be reduced.
In order to solve the above problems, the conventional scheme realizes closed-loop control of the EGR system by a PID controller, and controls according to the proportion (P), integral (I) and derivative (D) of the difference during the PID control. Specifically, the existing method mainly comprises the steps of calculating a difference value between an EGR valve opening reference value and an EGR valve current opening value, inputting the difference value into a PID controller, and further obtaining an output duty ratio to control an EGR system.
However, since the gains of P, I and D are difficult to adjust in the PID control and cannot be updated continuously according to feedback, it takes a lot of time to try and get it, and thus there is a problem that the responsiveness of the EGR system is delayed if the PID control method is adopted.
Disclosure of Invention
The application provides an EGR control method, an EGR control device and electronic equipment, wherein the system disturbance quantity is directly estimated through ESO, so that the magnitude of the system disturbance quantity can be considered when the duty ratio of an EGR valve is calculated, and the actual opening value ratio of the EGR valve is more approximate to the target opening value of the EGR valve, thereby reducing the adjustment time of a control system and improving the responsiveness of the EGR system.
In a first aspect, the present application provides a method of EGR control, the method comprising: and calculating the duty ratio of the EGR valve according to the current opening value of the EGR valve, the first derivative of the current opening of the EGR valve and the disturbance quantity obtained by observation of the extended observer ESO, and controlling the opening of the EGR valve according to the duty ratio.
In the method, the system disturbance quantity is directly estimated through the ESO, so that the magnitude of the system disturbance quantity can be considered when the duty ratio of the EGR valve is calculated, and the actual opening value ratio of the EGR valve is more approximate to the target opening value of the EGR valve, thereby reducing the adjustment time of the control system and improving the responsiveness of the EGR system.
In one possible design, before the current opening value of the EGR valve, the first derivative of the current opening of the EGR valve, and the disturbance amount are observed from the extended observer ESO, the method further includes: and establishing a second order differential equation of the EGR system, and constructing an extended state observer ESO based on the second order differential equation.
In one possible design, a second order differential equation for the EGR system is established, specifically by the following equation:
Wherein, Is the second derivative of the valve plate rotation angle,/>J= (J g+n2*Jm), u is the duty cycle of the H-bridge circuit,/>The valve plate angle is the first derivative of the valve plate angle, k s is the stiffness coefficient of the return spring, θ is the valve plate angle, n is the transmission gear tooth ratio, V b is the battery voltage, k m is the relation coefficient of electromotive force and angular velocity, R is the resistor, k b is the relation coefficient of current and electromagnetic torque, T 0 is the initial torque of the return spring at the static position, T f is the friction force, and T α is the airflow impact torque.
In one possible design, constructing the extended state observer ESO includes:
According to the second-order differential equation, an expansion state equation of the EGR system is obtained:
Wherein, x1＝θ，/>x3＝f，/>
Based on the above-mentioned extended state equation, an extended state observer ESO is obtained:
wherein, the estimated value of the state quantity x is The estimated value of the output y is/>Observer gain matrixThe ESO gain matrix L is such that the eigenvectors of the (a-LC) matrix are in the left half of the complex plane.
In one possible design, calculating the duty cycle of the EGR valve includes: after a first control quantity is calculated according to the EGR valve opening reference value and the EGR valve current opening value, a second control quantity is calculated based on the first control quantity and a first derivative of the EGR valve current opening, and then the duty ratio of the EGR valve is calculated according to the second control quantity, the EGR valve current opening value and the disturbance quantity.
In one possible design, the second control quantity is calculated, in particular by the following formula:
Wherein, K p(θ Setting up -θ)+Kd(θ Setting up -theta) is the first control amount, theta Setting up is the EGR valve opening reference value, theta is the EGR valve current opening value,/>, for the second control amountIs the first derivative of the current opening of the EGR valve,/>
In one possible design, the duty cycle of the EGR valve is calculated, specifically by the following formula:
Where u is the duty cycle of the EGR valve, For the second control amount, θ is the current opening value of the EGR valve, f is the disturbance amount,
In a second aspect, the present application provides an EGR control apparatus, including:
The observation module is used for observing the current opening value of the EGR valve, the first derivative of the current opening of the EGR valve and the disturbance quantity through the ESO of the extended observer;
The calculation module is used for calculating the duty ratio of the EGR valve according to the current opening value of the EGR valve, the first derivative of the current opening of the EGR valve and the disturbance quantity;
And the control module is used for controlling the opening degree of the EGR valve according to the duty ratio.
In one possible design, prior to the observation module, a second order differential equation for the EGR system is also established; based on the second order differential equation, an extended state observer ESO is constructed. .
In one possible design, before the observation module, the second differential equation of the EGR system is further established, specifically, the second differential equation is obtained by the following formula:
Wherein, Is the second derivative of the valve plate rotation angle,/>J= (J g+n2*Jm), u is the duty cycle of the H-bridge circuit,/>The valve plate angle is the first derivative of the valve plate angle, k s is the stiffness coefficient of the return spring, θ is the valve plate angle, n is the transmission gear tooth ratio, V b is the battery voltage, k m is the relation coefficient of electromotive force and angular velocity, R is the resistor, k b is the relation coefficient of current and electromagnetic torque, T 0 is the initial torque of the return spring at the static position, T f is the friction force, and T α is the airflow impact torque.
In one possible design, before the observation module, the method further includes, based on the second order differential equation, constructing an extended state observer ESO, including:
and obtaining an expansion state equation of the EGR system according to the second-order differential equation:
Wherein, x1＝θ，/>x3＝f，/>
Obtaining the extended state observer ESO according to the extended state equation:
wherein, the estimated value of the state quantity x is The estimated value of the output y is/>Observer gain matrixThe ESO gain matrix L is such that the eigenvectors of the (a-LC) matrix are in the left half of the complex plane.
In one possible design, the calculation module is specifically configured to obtain a first control amount according to an EGR valve opening reference value and the EGR valve current opening value; calculating a second control amount according to the first control amount and a first derivative of the current opening of the EGR valve; and calculating the duty ratio of the EGR valve according to the second control quantity, the current opening value of the EGR valve and the disturbance quantity.
In one possible design, the calculation module is specifically configured to calculate the second control amount, and the second control amount is obtained by the following formula:
Wherein, K p(θ Setting up -θ)+Kd(θ Setting up -theta) is the first control amount, theta Setting up is the EGR valve opening reference value, theta is the EGR valve current opening value,/>, for the second control amountIs the first derivative of the current opening of the EGR valve,/>
In one possible design, the calculating module is specifically configured to calculate the duty cycle of the EGR valve, where the duty cycle is obtained by the following formula:
Where u is the duty cycle of the EGR valve, For the second control amount, θ is the current opening value of the EGR valve, f is the disturbance amount,
In a third aspect, the present application provides an electronic device, including:
A memory for storing a computer program;
And the processor is used for realizing the method steps of detecting the object with abnormal motion state when executing the computer program stored in the memory.
In a fourth aspect, the present application provides a computer-readable storage medium having stored therein a computer program which, when executed by a processor, implements the above-described method steps of detecting an object with abnormal motion state.
The technical effects of each of the second to fourth aspects and the technical effects that may be achieved by each aspect are referred to above for the technical effects that may be achieved by the first aspect or each possible aspect in the first aspect, and the detailed description is not repeated here.
Drawings
FIG. 1 is a flow chart of a method of EGR control provided by the present application;
FIG. 2 is a flow chart of a method of constructing an ESO in accordance with the present application;
FIG. 3 is a schematic diagram of a possible application scenario of EGR control provided by the present application;
FIG. 4 is a schematic diagram of an EGR control apparatus provided by the present application;
fig. 5 is a schematic diagram of a structure of an electronic device according to the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings. The specific method of operation in the method embodiment may also be applied to the device embodiment or the system embodiment. In the description of the present application, "a plurality of" means "at least two". "and/or", describes an association relationship of an association object, and indicates that there may be three relationships, for example, a and/or B, and may indicate: a exists alone, A and B exist together, and B exists alone. A is connected with B, and can be represented as follows: both cases of direct connection of A and B and connection of A and B through C. In addition, in the description of the present application, the words "first," "second," and the like are used merely for distinguishing between the descriptions and not be construed as indicating or implying a relative importance or order.
In order to facilitate a better understanding of the present application by those skilled in the art, the following description will be given with respect to the relevant terms referred to in the present application:
1. EGR: EGR is an important component in engine systems that reduces NOx emissions by introducing exhaust gas into the intake pipe, reducing the oxygen content and combustion temperature in the intake air.
2. PID control: the common control method in the classical control theory comprises a proportional link, an integral link and a differential link, and realizes closed-loop control of the system. The PID adjusts the output mainly according to the deviation of the EGR opening setting value and the EGR opening actual value.
The method provided by the embodiment of the application is further described in detail below with reference to the accompanying drawings.
Referring to fig. 1, the embodiment of the application provides a method for controlling EGR, which specifically includes the following steps:
step 101: observing through an extended observer ESO to obtain a current opening value of the EGR valve, a first derivative of the current opening of the EGR valve and disturbance quantity;
In the embodiment of the application, ESO is constructed based on a second-order differential equation of the EGR system, and through ESO, the current opening value of the EGR valve and the first derivative of the current opening of the EGR valve in the EGR system can be observed, and the disturbance quantity which cannot be directly obtained from the EGR system can also be observed.
Step 102: calculating the duty ratio of the EGR valve according to the current opening value of the EGR valve, the first derivative of the current opening of the EGR valve and the disturbance quantity;
In the embodiment of the application, in the process of calculating the duty ratio of the EGR valve, not only the current opening value of the EGR valve and the first derivative of the current opening of the EGR valve are considered, but also the disturbance quantity of the EGR system is considered, so that the calculated opening value of the EGR valve is more close to the target opening value actually required by the EGR valve.
Step 103: and controlling the opening degree of the EGR valve according to the duty ratio.
In the embodiment of the application, the specific method for controlling the opening of the EGR valve according to the duty ratio of the EGR valve comprises the following steps: and according to the duty ratio of the EGR valve, the opening degree of the EGR valve is regulated, so that the opening degree of the EGR valve is controlled, and the responsiveness of an EGR control system is improved.
According to the EGR control method provided by the embodiment of the application, the ESO is utilized to estimate the system disturbance quantity, and the system disturbance quantity is compensated to the input end, so that the magnitude of the system disturbance quantity can be considered when the duty ratio of the EGR valve is calculated, and the calculated EGR valve opening value is more approximate to the target opening value of the EGR valve, thereby improving the responsiveness of the EGR control system.
In the above control method, the disturbance quantity of the EGR system may be obtained through ESO, as shown in fig. 2, and the method flow for constructing the ESO includes the following steps:
Step 201: establishing a second-order differential equation of the EGR system;
first, a direct current motor is modeled:
In formula 1, V m is the input voltage of the dc motor, i is the current in the circuit, R is the resistance, E m is the electromotive force generated by the rotation of the dc motor, E m is the electromotive force generated by the rotation of the dc motor, k m is the coefficient of relationship between the electromotive force and the angular velocity, w m is the angular velocity of the rotation of the dc motor, For angular speed of rotation of the DC motor, i.e./>Is the first derivative of the position.
Modeling a DC motor torque relationship:
In the formula 2, T m is the electromagnetic torque output by the direct current motor, T L is the load torque of the direct current motor, J m is the rotational inertia of the rotor of the direct current motor, Angular acceleration for rotation of DC motor, i.e./>Is the second derivative of the position.
Further, in equation 2, T m is proportional to the current: t m＝i*kb, in the above equation, k b is a coefficient of relationship between the current and the electromagnetic torque.
For the H bridge circuit, if the duty ratio is u, the following formula is corresponding:
Vm＝u*Vb
In formula 3, V b is a battery voltage.
Considering the internal rotation structure of the EGR valve, the gear tooth ratio of the transmission gear corresponds to the following formula:
In formula 4, n is the gear tooth ratio, and T g is the torque converted to the EGR valve plate shaft.
Further, the spring force is modeled in a default fully open state also considering the return spring inside the EGR valve:
T s＝ks*θ+T0 (equation 5)
In equation 5, T s is the spring force of the return spring in the fully open state, k s is the stiffness coefficient of the return spring, θ is the valve plate rotation angle, and T 0 is the initial torque of the return spring in the static position.
Further, on the basis of considering the spring force, factors such as airflow impact, friction force and the like are also considered, and the EGR valve plate is taken as an object, so that the following formula is established:
In equation 6, T f is the friction, and T α is the airflow impact torque.
In the embodiment of the present application, the following formula can be obtained by combining the above formula 1 to formula 6:
Further simplifying the above formula:
for equation 7, let (J g+n2*Jm) =j, Then the second order differential equation for the EGR system can be derived:
that is, equation 8 is a second order differential equation established by taking an H-bridge type EGR system as an example.
Step 202: based on the second order differential equation, an extended state observer ESO is constructed.
In the embodiment of the application, based on the formula 8, the expansion state equation of the EGR system can be obtained by inference:
In the case of the formula 9 of the present invention, x1＝θ，/>x3＝f，/>
Obtaining a mathematical model of the extended state observer ESO according to equation 9:
wherein, the estimated value of the state quantity x is The estimated value of the output y is/>Observer gain matrixThe ESO gain matrix L is such that the eigenvectors of the (a-LC) matrix are in the left half of the complex plane.
Based on the above method, the second order differential equation of the EGR system is first constructed, and then the ESO is constructed based on the constructed second order differential equation.
Further, the disturbance quantity is obtained through ESO observation, and the duty ratio of the EGR valve is calculated according to the current opening value of the EGR valve, the first derivative of the current opening of the EGR valve and the disturbance quantity, wherein the specific calculation method is as follows:
inputting a difference value between an EGR valve opening reference value and an EGR valve current opening value into a proportional controller, and calculating to obtain a first control quantity, wherein a specific calculation formula is as follows:
K p(θ Setting up -θ)+Kd(θ Setting up - θ) (equation 11)
In formula 11, K p(θ Setting up -θ)+Kd(θ Setting up - θ) is a first control amount, θ Setting up is an EGR valve opening reference value, and θ is the EGR valve current opening value.
And combining the formula 11, and calculating to obtain a second control quantity according to the first derivative of the current opening of the EGR valve, wherein the specific calculation formula is as follows:
In the case of the formula 12 of the present invention, Is the first derivative of the current opening of the EGR valve,/>
Based on formula 12, the duty ratio of the EGR valve is calculated by considering the disturbance quantity, and the specific calculation formula is as follows:
in equation 13, u is the duty cycle of the EGR valve.
By the method, the duty ratio of the EGR valve is calculated, and the duty ratio of the EGR valve further considers the disturbance quantity of the EGR system, so that the calculated duty ratio of the EGR valve is closer to the target duty ratio actually required by the EGR valve.
And finally, controlling the opening of the EGR valve based on the calculated duty ratio of the EGR valve.
Based on the method, the embodiment of the application directly estimates the system disturbance quantity through ESO, so that the magnitude of the system disturbance quantity can be considered when the duty ratio of the EGR valve is calculated, and the actual opening value ratio of the EGR valve is more approximate to the target opening value of the EGR valve, thereby reducing the adjustment time of a control system and improving the responsiveness of the system.
In addition, most of parameters in the ERG control method are system inherent parameters and can be directly obtained, so that the calibration workload can be reduced.
Further, in order to more specifically describe the EGR control method provided by the present application, the method provided by the present application is described in detail below through a specific application scenario.
As shown in fig. 3, a schematic diagram of a possible application scenario based on the above EGR control method is also provided in the embodiment of the present application.
In fig. 3, the difference between the EGR valve opening reference value (position setting value) θ Setting up and the EGR valve current opening value (position actual value) θ is input to the proportional controller, resulting in the first control amount K p(θ Setting up -θ)+Kd(θ Setting up - θ.
The current opening value x 1 of the EGR valve, the first derivative x 2 of the current opening of the EGR valve, and the disturbance quantity f are obtained in ESO of fig. 3.
According to a first control amount K p(θ Setting up -θ)+Kd(θ Setting up -theta),The first derivative x 2 of the current opening of the EGR valve is calculated to obtain a second control quantity/>
In combination with a second control quantityStiffness coefficient k s of return spring, current opening value x 1 of EGR valve, disturbance quantity f,/>By/> And (5) calculating a formula to obtain the duty ratio u of the EGR valve.
And finally, adjusting the opening degree of the EGR valve of the EGR system according to the calculated duty ratio of the EGR valve.
In the above process, the disturbance amount f for calculating the opening degree of the EGR valve is obtained by the expanded state controller ESO, and a specific method for constructing the expanded state controller ESO may refer to the flow of the method shown in fig. 2.
Based on the EGR control method, the system disturbance quantity is directly estimated through ESO, so that the magnitude of the system disturbance quantity can be considered when the duty ratio of the EGR valve is calculated, and the actual opening value ratio of the EGR valve is more close to the target opening value of the EGR valve, thereby reducing the adjustment time of the control system and improving the responsiveness of the EGR system.
In addition, most of parameters in the ERG control method are system inherent parameters and can be directly obtained, so that the calibration workload can be reduced.
Based on the same conception, the application also provides an EGR control device, wherein the system disturbance quantity is directly estimated through ESO, so that the magnitude of the system disturbance quantity can be considered when the duty ratio of an EGR valve is calculated, and the actual opening value ratio of the EGR valve is more close to the target opening value of the EGR valve, thereby reducing the adjustment time of a control system and improving the responsiveness of the EGR system. Referring to fig. 4, the apparatus includes:
the observation module 401 is used for observing the current opening value of the EGR valve, the first derivative of the current opening of the EGR valve and the disturbance quantity through the ESO;
a calculation module 402, configured to calculate a duty cycle of the EGR valve according to the current opening value of the EGR valve, a first derivative of the current opening value of the EGR valve, and the disturbance variable;
the control module 403 controls the opening of the EGR valve according to the duty ratio.
In one possible design, prior to the observation module 401, it is also used to establish a second order differential equation for the EGR system; based on the second order differential equation, an extended state observer ESO is constructed.
In one possible design, before the observation module 401, the second differential equation of the EGR system is further established, specifically, the second differential equation is obtained by the following formula:
Wherein, Is the second derivative of the valve plate rotation angle,/>J= (J g+n2*Jm), u is the duty cycle of the H-bridge circuit,/>The valve plate angle is the first derivative of the valve plate angle, k s is the stiffness coefficient of the return spring, θ is the valve plate angle, n is the transmission gear tooth ratio, V b is the battery voltage, k m is the relation coefficient of electromotive force and angular velocity, R is the resistor, k b is the relation coefficient of current and electromagnetic torque, T 0 is the initial torque of the return spring at the static position, T f is the friction force, and T α is the airflow impact torque.
In one possible design, before the observation module 401, the method further includes, based on the second order differential equation, constructing an extended state observer ESO, including:
and obtaining an expansion state equation of the EGR system according to the second-order differential equation:
Wherein, x1＝θ，/>x3＝f，/>
Obtaining the extended state observer ESO according to the extended state equation:
wherein, the estimated value of the state quantity x is The estimated value of the output y is/>Observer gain matrixThe ESO gain matrix L is such that the eigenvectors of the (a-LC) matrix are in the left half of the complex plane.
In one possible design, the calculating module 402 is specifically configured to obtain a first control amount according to an EGR valve opening reference value and the EGR valve current opening value; calculating a second control amount according to the first control amount and a first derivative of the current opening of the EGR valve; and calculating the duty ratio of the EGR valve according to the second control quantity, the current opening value of the EGR valve and the disturbance quantity.
In one possible design, the calculating module 402 is specifically configured to calculate the second control amount, where the second control amount is obtained by the following formula:
Wherein, K p(θ Setting up -θ)+Kd(θ Setting up -theta) is the first control amount, theta Setting up is the EGR valve opening reference value, theta is the EGR valve current opening value,/>, for the second control amountIs the first derivative of the current opening of the EGR valve,/>
In one possible design, the calculating module 402 is specifically configured to calculate the duty cycle of the EGR valve, where the duty cycle is obtained by the following formula:
Where u is the duty cycle of the EGR valve, For the second control amount, θ is the current opening value of the EGR valve, and f is the disturbance amount,/>
Based on the device, the system disturbance quantity is directly estimated through ESO, so that the magnitude of the system disturbance quantity can be considered when the duty ratio of the EGR valve is calculated, and the actual opening value ratio of the EGR valve is more close to the target opening value of the EGR valve, thereby reducing the adjustment time of the control system and improving the responsiveness of the EGR system.
Based on the same inventive concept, the embodiment of the present application further provides an electronic device, where the electronic device may implement the function of the foregoing EGR control apparatus, and referring to fig. 5, the electronic device includes:
the embodiment of the present application is not limited to a specific connection medium between the processor 501 and the memory 502, and the processor 501 and the memory 502 are exemplified in fig. 5 by a connection between the processor 501 and the memory 502 through the bus 500. The connection between the other components of bus 500 is shown in bold lines in fig. 5, and is merely illustrative and not limiting. Bus 500 may be divided into an address bus, a data bus, a control bus, etc., and is represented by only one thick line in fig. 5 for ease of illustration, but does not represent only one bus or one type of bus. Or processor 501 may also be referred to as a controller, without limitation on the name.
In an embodiment of the present application, the memory 502 stores instructions executable by the at least one processor 501, and the at least one processor 501 may perform the EGR control method discussed above by executing the instructions stored by the memory 502. The processor 501 may implement the functions of the various modules in the apparatus shown in fig. 5.
The processor 501 is a control center of the device, and various interfaces and lines can be used to connect various parts of the entire control device, and by executing or executing instructions stored in the memory 502 and invoking data stored in the memory 502, various functions of the device and processing data can be performed to monitor the device as a whole.
In one possible design, processor 501 may include one or more processing units, and processor 501 may integrate an application processor and a modem processor, where the application processor primarily processes operating systems, user interfaces, application programs, and the like, and the modem processor primarily processes wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 501. In some embodiments, processor 501 and memory 502 may be implemented on the same chip, or they may be implemented separately on separate chips in some embodiments.
The processor 501 may be a general purpose processor such as a Central Processing Unit (CPU), digital signal processor, application specific integrated circuit, field programmable gate array or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, and may implement or perform the methods, steps and logic blocks disclosed in embodiments of the present application. The general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the EGR control method disclosed in connection with the embodiments of the present application may be directly embodied as a hardware processor executing or may be executed by a combination of hardware and software modules in the processor.
The memory 502, as a non-volatile computer readable storage medium, may be used to store non-volatile software programs, non-volatile computer executable programs, and modules. The Memory 502 may include at least one type of storage medium, and may include, for example, flash Memory, hard disk, multimedia card, card Memory, random access Memory (Random Access Memory, RAM), static random access Memory (Static Random Access Memory, SRAM), programmable Read-Only Memory (Programmable Read Only Memory, PROM), read-Only Memory (ROM), charged erasable programmable Read-Only Memory (ELECTRICALLY ERASABLE PROGRAMMABLE READ-Only Memory, EEPROM), magnetic Memory, magnetic disk, optical disk, and the like. Memory 502 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to such. The memory 502 in embodiments of the present application may also be circuitry or any other device capable of performing storage functions for storing program instructions and/or data.
By programming the processor 501, the code corresponding to the EGR control method described in the foregoing embodiments may be cured into the chip, thereby enabling the chip to perform the steps of the EGR control method of the embodiment shown in fig. 1 at run-time. How to design and program the processor 501 is a technique well known to those skilled in the art, and will not be described in detail herein.
Based on the same inventive concept, embodiments of the present application also provide a storage medium storing computer instructions that, when run on a computer, cause the computer to perform the EGR control method discussed above.
In some possible embodiments, aspects of the EGR control method provided by the present application may also be implemented in the form of a program product comprising program code for causing the control apparatus to carry out the steps of the EGR control method according to the various exemplary embodiments of the present application described above in this specification, when the program product is run on the device.
It will be apparent to those skilled in the art that embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (4)
1. A method of EGR control, the method comprising:
Establishing a second-order differential equation of the EGR system, and specifically obtaining the second-order differential equation by the following formula:
Wherein, Is the second derivative of the valve plate rotation angle,/>J= (J g+n2*Jm),Jm is the rotational inertia of the rotor of the direct current motor in the EGR system, u is the duty cycle of the EGR valve,/>The valve plate angle is the first derivative of the valve plate angle, θ is the valve plate angle, n is the transmission gear tooth ratio, R is a resistor, k b is the relation coefficient of current and electromagnetic torque, T 0 is the initial torque of the return spring at the static position, T f is the friction force, and T α is the airflow impact torque;
and obtaining an expansion state equation of the EGR system according to the second-order differential equation:
Wherein, x1＝θ，/>x3＝f，/>
According to the expansion state equation, an expansion state observer ESO is obtained:
wherein, the estimated value of the state quantity x is The estimated value of the output y is/>Observer gain matrix/>The ESO gain matrix L enables the characteristic root of the (A-LC) matrix to be in the left half part of the complex plane;
the current valve plate rotation angle of the EGR, the first derivative of the current valve plate rotation angle of the EGR and the disturbance quantity are obtained through the ESO observation;
Obtaining a first control quantity according to an EGR valve plate corner reference value and the EGR current valve plate corner;
According to the formula Calculating a second control quantity and, according to the formula/>Calculating the duty cycle of the EGR valve; wherein K p(θ Setting up -θ)+Kd(θ Setting up - θ) is the first control amount,For the second control amount, θ Setting up is the EGR valve plate rotation angle reference value, K p is a first weight factor of (θ Setting up - θ), K d is a second weight factor of (θ Setting up - θ), f is the disturbance amount,K s is the stiffness coefficient of the return spring, V b is the battery voltage, k m is the relation coefficient of electromotive force and angular velocity, and k b is the relation coefficient of current and electromagnetic torque;
and controlling the current valve plate rotation angle of the EGR according to the duty ratio.
2. An EGR control apparatus, characterized in that the apparatus includes:
the observation module is used for establishing a second-order differential equation of the EGR system, and the second-order differential equation is obtained specifically through the following formula:
Wherein, Is the second derivative of the valve plate rotation angle,/>J= (J g+n2*Jm),Jm is the rotational inertia of the rotor of the direct current motor in the EGR system, u is the duty cycle of the EGR valve,/>The valve plate angle is the first derivative of the valve plate angle, θ is the valve plate angle, n is the transmission gear tooth ratio, R is a resistor, k b is the relation coefficient of current and electromagnetic torque, T 0 is the initial torque of the return spring at the static position, T f is the friction force, and T α is the airflow impact torque;
and obtaining an expansion state equation of the EGR system according to the second-order differential equation:
Wherein, x1＝θ，/>x3＝f，/>
According to the expansion state equation, an expansion state observer ESO is obtained:
wherein, the estimated value of the state quantity x is The estimated value of the output y is/>Observer gain matrix/>The ESO gain matrix L enables the characteristic root of the (A-LC) matrix to be in the left half part of the complex plane;
the current valve plate rotation angle of the EGR, the first derivative of the current valve plate rotation angle of the EGR and the disturbance quantity are obtained through the ESO observation;
the calculation module is used for obtaining a first control quantity according to the EGR valve plate corner reference value and the EGR current valve plate corner;
According to the formula Calculating a second control quantity and, according to the formula/>Calculating the duty cycle of the EGR valve; wherein K p(θ Setting up -θ)+Kd(θ Setting up - θ) is the first control amount,For the second control amount, θ Setting up is the EGR valve plate rotation angle reference value, K p is a first weight factor of (θ Setting up - θ), K d is a second weight factor of (θ Setting up - θ), f is the disturbance amount,K s is the stiffness coefficient of the return spring, V b is the battery voltage, k m is the relation coefficient of electromotive force and angular velocity, and k b is the relation coefficient of current and electromagnetic torque;
and the control module is used for controlling the current valve plate rotation angle of the EGR according to the duty ratio.
3. An electronic device, comprising:
A memory for storing a computer program;
A processor for carrying out the method steps of claim 1 when executing the computer program stored on the memory.
4. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein a computer program which, when executed by a processor, implements the method steps of claim 1.
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| CN103696862A (en) * | 2013-12-23 | 2014-04-02 | 潍柴动力股份有限公司 | Method for realizing opening control of EGR (Exhaust Gas Recirculation) valve, device and system |
| CN104265472A (en) * | 2014-07-28 | 2015-01-07 | 天津大学 | Decoupling control method based on composite disturbance-rejection diesel engine VGT-EGR system |
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| AT512910B1 (en) * | 2012-04-02 | 2013-12-15 | Man Truck & Bus Oesterreich Ag | Method and device for controlling engine braking operation on internal combustion engines |
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| CN103696862A (en) * | 2013-12-23 | 2014-04-02 | 潍柴动力股份有限公司 | Method for realizing opening control of EGR (Exhaust Gas Recirculation) valve, device and system |
| CN104265472A (en) * | 2014-07-28 | 2015-01-07 | 天津大学 | Decoupling control method based on composite disturbance-rejection diesel engine VGT-EGR system |
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