CN114991976A - Vehicle idle speed control method and device, electronic equipment and storage medium - Google Patents
Vehicle idle speed control method and device, electronic equipment and storage medium Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/04—Introducing corrections for particular operating conditions
- F02D41/08—Introducing corrections for particular operating conditions for idling
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D37/00—Non-electrical conjoint control of two or more functions of engines, not otherwise provided for
- F02D37/02—Non-electrical conjoint control of two or more functions of engines, not otherwise provided for one of the functions being ignition
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/0002—Controlling intake air
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/04—Introducing corrections for particular operating conditions
- F02D41/08—Introducing corrections for particular operating conditions for idling
- F02D41/086—Introducing corrections for particular operating conditions for idling taking into account the temperature of the engine
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/0002—Controlling intake air
- F02D2041/0022—Controlling intake air for diesel engines by throttle control
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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
- Y02T10/40—Engine management systems
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- Combustion & Propulsion (AREA)
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- General Engineering & Computer Science (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
The embodiment of the invention discloses a vehicle idle speed control method and device, electronic equipment and a storage medium. Wherein, the method comprises the following steps: if the vehicle is in an idle state, determining a temperature mode according to the current state parameters of the vehicle; wherein the temperature pattern is divided according to a system response of the engine; determining a compensation torque according to the temperature mode and the current state parameters of the vehicle; wherein the compensation torque comprises a proportional differential compensation torque and an integral differential compensation torque; determining an idle speed control parameter according to the compensation torque so as to carry out idle speed control on the vehicle through the idle speed control parameter; wherein the idle speed control parameters include a throttle opening degree and an ignition angle. According to the technical scheme, the most appropriate control parameters can be selected under different idle speed working conditions through proportional differential regulation and integral differential regulation, the idle speed jitter problem is effectively solved, and the idle speed stability and the riding experience of a user are improved.
Description
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a method and an apparatus for controlling idle speed of a vehicle, an electronic device, and a storage medium.
Background
With the development of vehicle technology, the quantity of automobile reserves is continuously increased. Traffic congestion is often encountered during vehicle operation, particularly during peak periods of vehicle operation, so that the operating time of the vehicle in idle conditions is increased. However, when the vehicle is in an idling condition, the vehicle is prone to shaking and the like, so that idling stability is reduced, and riding experience of a user is seriously affected. Therefore, how to improve idle stability is a concern for idle conditions.
The current main scheme is that a PID (proportion-integral-derivative) controller is used for respectively carrying out torque compensation on a P term, an I term and a D term according to a set of PID control parameters so as to keep the torque balance of the engine rotating speed around a target rotating speed.
However, the above solutions share a set of PID control parameters under different conditions, and thus cannot cover all idle conditions. In addition, three closed-loop controls of P/I/D are relatively independent, which brings great difficulty to matching calibration of the whole vehicle, and the problem of speed jitter cannot be effectively solved, resulting in poor idle speed stability.
Disclosure of Invention
The invention provides a vehicle idle speed control method, a vehicle idle speed control device, electronic equipment and a storage medium, which can select the most appropriate control parameters under different idle speed working conditions through proportional differential regulation and integral differential regulation, effectively solve the problem of idle speed jitter, and improve idle speed stability and riding experience of a user.
According to an aspect of the present invention, there is provided a vehicle idle speed control method, the method including:
if the vehicle is in an idle state, determining a temperature mode according to the current state parameters of the vehicle; wherein the temperature pattern is divided according to a system response of the engine;
determining a compensation torque according to the temperature mode and the current state parameters of the vehicle; wherein the compensation torque comprises a proportional differential compensation torque and an integral differential compensation torque;
determining an idle speed control parameter according to the compensation torque so as to carry out idle speed control on the vehicle through the idle speed control parameter; wherein the idle speed control parameters include a throttle opening degree and an ignition angle.
Optionally, the current state parameter of the vehicle comprises an engine coolant temperature;
determining a temperature mode according to the current state parameters of the vehicle, comprising:
if the temperature of the engine coolant is smaller than a first temperature threshold value, determining that the temperature mode is a first mode;
if the temperature of the engine coolant is greater than a second temperature threshold, determining that the temperature mode is a second mode;
determining the temperature mode as a third mode if the engine coolant temperature is between the first temperature threshold and the second temperature threshold.
Optionally, the current state parameters of the vehicle include the current rotating speed of the engine, the water temperature of the engine and the altitude;
determining a compensation torque based on the temperature mode and the current state parameters of the vehicle, including:
determining the target rotating speed of the engine according to the water temperature and the altitude of the engine;
determining a rotation speed difference and a rotation speed change rate according to the target rotation speed of the engine and the current rotation speed of the engine;
determining a compensation torque based on the temperature mode, the speed differential, and the speed rate of change.
Optionally, determining a compensation torque according to the temperature mode, the rotational speed difference and the rotational speed change rate includes:
determining an initial compensation torque according to the temperature mode, the rotation speed difference and the rotation speed change rate;
according to the rotating speed difference and the positive and negative of the rotating speed change rate, respectively carrying out proportional differential adjustment and integral differential adjustment on the initial compensation torque so as to determine a proportional differential compensation torque and an integral differential compensation torque;
determining a compensation torque based on a sum of the proportional-derivative compensation torque and the integral-derivative compensation torque.
Optionally, determining an initial compensation torque according to the temperature mode, the rotational speed difference, and the rotational speed change rate includes:
determining initial compensation torque according to a pre-established torque mapping table; wherein the torque mapping table comprises a temperature mode, a rotational speed difference, a rotational speed change rate and an initial compensation torque.
Optionally, respectively performing proportional differential adjustment and integral differential adjustment on the initial compensation torque according to the rotating speed difference and the positive and negative of the rotating speed change rate, including:
if the rotating speed difference is positive and the rotating speed change rate is negative, increasing the initial compensation torque to determine a proportional differential compensation torque and an integral differential compensation torque;
if the speed difference is negative and the speed change rate is positive, the initial compensation torque is reduced to determine a proportional-derivative compensation torque and an integral-derivative compensation torque.
Optionally, the performing proportional-derivative adjustment and integral-derivative adjustment on the initial compensation torque according to the rotation speed difference and the positive or negative of the rotation speed change rate respectively further includes:
if the rotating speed difference and the rotating speed change rate are both positive or if the rotating speed difference and the rotating speed change rate are both negative, judging whether the rotating speed change rate is smaller than a preset threshold value;
if so, increasing the initial compensation torque to determine a proportional differential compensation torque and an integral differential compensation torque;
if not, the initial compensation torque is reduced to determine a proportional differential compensation torque and an integral differential compensation torque.
According to another aspect of the present invention, there is provided a vehicle idle speed control apparatus including:
the temperature mode determining module is used for determining a temperature mode according to the current state parameters of the vehicle if the vehicle is in an idle state; wherein the temperature pattern is divided according to a system response of the engine;
the compensation torque determination module is used for determining compensation torque according to the temperature mode and the current state parameters of the vehicle; wherein the compensation torque comprises a proportional differential compensation torque and an integral differential compensation torque;
the idle speed control parameter determining module is used for determining an idle speed control parameter according to the compensation torque so as to carry out idle speed control on the vehicle through the idle speed control parameter; wherein the idle speed control parameters include a throttle opening degree and an ignition angle.
According to another aspect of the present invention, there is provided a vehicle idle speed control electronic device including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform a vehicle idle speed control method according to any embodiment of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement a vehicle idle speed control method according to any one of the embodiments of the present invention when executed.
According to the technical scheme of the embodiment of the invention, if the vehicle is in an idle state, the temperature mode is determined according to the current state parameters of the vehicle; wherein the temperature mode is divided according to a system response of the engine; determining a compensation torque according to the temperature mode and the current state parameters of the vehicle; wherein the compensation torque comprises a proportional differential compensation torque and an integral differential compensation torque; determining an idle speed control parameter according to the compensation torque so as to carry out idle speed control on the vehicle through the idle speed control parameter; the idle speed control parameters comprise a throttle opening degree and an ignition angle. According to the technical scheme, the most appropriate control parameters can be selected under different idle speed working conditions through proportional differential regulation and integral differential regulation, the idle speed jitter problem is effectively solved, and the idle speed stability and the riding experience of a user are improved.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart illustrating a method for controlling idle speed of a vehicle according to an embodiment of the present invention;
FIG. 2 is a flowchart of a vehicle idle speed control method according to a second embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a vehicle idle speed control device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device implementing a vehicle idle speed control method according to an embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," "target," and the like in the description and claims of the present invention and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a vehicle idle speed control method according to an embodiment of the present invention, where the embodiment is applicable to idle speed control of a vehicle under different idle speed conditions, and the method may be executed by a vehicle idle speed control device, where the vehicle idle speed control device may be implemented in a form of hardware and/or software, and the vehicle idle speed control device may be configured in an electronic device with data processing capability. As shown in fig. 1, the method includes:
s110, if the vehicle is in an idling state, determining a temperature mode according to current state parameters of the vehicle; wherein the temperature mode is divided according to a system response of the engine.
Herein, the idle speed may refer to a minimum rotational speed at which stable operation of the engine is maintained. Specifically, the idle speed may include both parking idle speed and driving idle speed. Here, the parking idle speed may refer to a lowest rotation speed at which the engine is started in a state where the vehicle is parked so that the engine is stably operated. The driving idle speed may refer to a rotational speed at which the engine is in a neutral state during driving of the vehicle. An idle state may be understood as a vehicle state in which the engine is running at the lowest stable rotational speed without applying work to the outside. The current state parameter of the vehicle may refer to an operation state parameter of the vehicle at the current time. For example, the current state parameters of the vehicle may include an engine coolant temperature, an intake air temperature, an ambient temperature, an engine speed, a gear, a vehicle speed, an accelerator pedal opening, and the like.
In the present embodiment, the temperature mode may refer to an operation mode in which the engine temperature is. For example, the temperature mode may include a cold mode, a hot mode, a regular mode, and the like. Wherein the temperature mode may be divided according to the system response of the engine. It should be noted that there is some difference in the system response of the engine at different temperature ranges. Specifically, when the temperature of the engine coolant is low, the internal friction and other resistances of the engine are large, so the system response of the engine is slow; when the engine coolant temperature is high, the oil lubrication ability decreases, and the system response of the engine deteriorates. Thus, the temperature pattern of the engine may be divided according to the engine system response. For example, the temperature patterns can be divided according to the quality of the system response, and can also be divided according to the speed of the system response.
In this embodiment, it is first necessary to determine whether the vehicle is in an idling state. Among other things, the idle state may include a variety of different operating conditions, such as: start, catalyst warm-up, braking, external torque request, cold/hot engine park, and cold/hot engine coasting with gear, etc. Specifically, the current running state information of the vehicle can be acquired in real time through various sensors mounted on the vehicle, so that the current state parameters of the vehicle can be acquired, and whether the vehicle is in an idle state at present can be determined according to the current state parameters of the vehicle. After determining that the vehicle is in the idle state, a temperature mode may be determined based on current vehicle state parameters.
Optionally, the current state parameter of the vehicle comprises an engine coolant temperature; determining a temperature mode according to the current state parameters of the vehicle, comprising: if the temperature of the engine coolant is smaller than a first temperature threshold value, determining that the temperature mode is a first mode; if the temperature of the engine coolant is greater than a second temperature threshold, determining that the temperature mode is a second mode; and if the temperature of the engine coolant is between the first temperature threshold and the second temperature threshold, determining that the temperature mode is a third mode.
The first temperature threshold and the second temperature threshold can be used for indicating different preset temperature values, and the first temperature threshold is smaller than the second temperature threshold. The first, second and third modes may be used to indicate three different temperature modes. In the present embodiment, the temperature pattern may be determined according to the current engine coolant temperature of the vehicle. Specifically, after the current engine coolant temperature of the vehicle is obtained, the engine coolant temperature may be compared with a preset first temperature threshold and a preset second temperature threshold. If the engine coolant temperature is less than a first temperature threshold, the temperature mode may be determined as a first mode; if the engine coolant temperature is greater than a second temperature threshold, the temperature mode may be determined as a second mode; the temperature mode may be determined as the third mode if the engine coolant temperature is between a first temperature threshold and a second temperature threshold (i.e., the first temperature threshold is less than or equal to the engine coolant temperature is less than or equal to the second temperature threshold).
It should be noted that, in order to prevent the problem of frequent switching of the temperature modes due to fluctuations in the temperature of the engine coolant, a certain debounce prevention space may be reserved near the temperature threshold. For example, a 1 ℃ debounce prevention space may be reserved, that is, when the engine coolant temperature is greater than or equal to (first temperature threshold +1), the jump from the first mode to the third mode may be made, and when the engine coolant temperature is less than or equal to (second temperature threshold-1), the jump from the second mode to the third mode may be made.
Through the arrangement, the temperature mode can be determined according to the temperature of the engine coolant, so that the vehicle can be accurately controlled to idle in the corresponding temperature mode in the following process.
S120, determining a compensation torque according to the temperature mode and the current state parameters of the vehicle; wherein the compensation torque comprises a proportional differential compensation torque and an integral differential compensation torque.
The compensation torque may refer to a torque deviation for maintaining the idle speed of the vehicle stable. Specifically, the compensation torque includes a proportional differential compensation torque and an integral differential compensation torque. Here, the proportional differential compensation torque may refer to a compensation torque obtained by proportional differential adjustment. The integral-derivative compensation torque may refer to a compensation torque obtained by integral-derivative adjustment.
It should be noted that, when the vehicle is in the normal idling state, the following torque relationship should be satisfied: m c ＝M b -M i -M e . Wherein M is c For clutch torque, M b As combustion torque, M i Is internal torque (including towing loss torque, temperature correction torque, altitude correction torque, etc.), M e External torque (corresponding to accessories such as air conditioners, fans, generators, etc.). That is, when the vehicle is in the normal idling state, the clutch torque M c Should be 0, the torque produced by the engine is all used for internal friction and consumption of external accessories. When the clutch torque is not 0, a torque deviation occurs, resulting in unstable idling of the vehicle. Therefore, in order to maintain the idle speed of the vehicle stable, it is necessary to adjust the torque deviation so that the combustion torque M b And consumption torque (M) i +M e ) And balance is achieved, so that stable operation of the engine is maintained.
In the prior art, three items P, I, D are regulated respectively by adopting PID control to achieve the torque demand, and the control law is as follows:
wherein u0 is the initial quantity, e (t) is the deviation quantity, u (t) is the output quantity, K P 、K I 、K D Respectively, a proportional coefficient, an integral coefficient, and a differential coefficient. In this instanceIn the embodiment, P, I is controlled in combination with D, respectively, to achieve torque compensation by PD (proportional differentiation) and ID (integral differentiation). The control law is as follows:
wherein, K PD And K ID Respectively representing a proportional differential coefficient and an integral differential coefficient, e PD (t) and e ID (t) is a proportional differential deviation and an integral differential deviation, respectively. In addition, the proportional-derivative adjustment can be used for eliminating torque deviation in a short time, and the adjustment speed is high; while the integral-derivative adjustment can be used to eliminate torque bias over time, the speed of adjustment is slower.
In this embodiment, the compensation torque may be determined based on the temperature mode and the current state parameters of the vehicle. For example, a mapping table containing the temperature mode, the current state parameter of the vehicle and the compensation torque may be established in advance, and the compensation torque may be determined according to the mapping table. Specifically, the consumed torque (internal torque and external torque) of the engine can be calibrated in advance, then the vehicle can be tested according to the calibrated consumed torque, and the compensation torque can be calibrated by setting different idle working conditions, so that a mapping relation table can be obtained. By querying the mapping table, the compensation torque corresponding to the temperature mode and the current state parameter of the vehicle can be found.
The internal torque calibration can be realized through a bench test, the engine is placed on a bench, and the internal torque is calibrated by changing the air inflow, the oil injection quantity and the ignition angle under the conditions that the engine is at different rotating speeds and water temperatures. The external torque can be calibrated through a finished automobile test, and can also be directly given by a manufacturer providing accessories. If the external torque is calibrated through a finished automobile test, the engine can be installed on the finished automobile firstly, the internal torque of the engine is kept unchanged at the moment, and the external torque is calibrated by adding an external accessory. When the compensation torque is calibrated, different idle working conditions can be set, and proportional differential regulation and integral differential regulation are respectively carried out under the corresponding working conditions to determine the proportional differential compensation torque and the integral differential compensation torque for maintaining the idle stability.
S130, determining an idle speed control parameter according to the compensation torque so as to carry out idle speed control on the vehicle through the idle speed control parameter; the idle speed control parameters include a throttle opening degree and an ignition angle.
Herein, the idle speed control parameter may refer to a parameter for implementing idle speed control. The idle speed control parameters include a throttle opening degree and an ignition angle. In the embodiment, after the compensation torque is determined, the idle speed control parameter can be further determined according to the compensation torque so as to realize the idle speed control of the vehicle. Specifically, the compensation torque can be converted into the gas path torque and the fire path torque through a torque model. For the gas path torque, the gas path torque can be firstly converted into load, then the load is converted into air inflow, and then the opening of the throttle valve is reversely calculated through an inflation model. For the flame path torque, the flame path torque can be firstly converted into ignition angle efficiency, and then the ignition angle can be inversely calculated according to the ignition angle efficiency. The compensation torque can be regulated and controlled by adjusting the opening degree of the throttle valve and the ignition angle.
According to the technical scheme of the embodiment of the invention, if the vehicle is in an idle state, the temperature mode is determined according to the current state parameters of the vehicle; wherein the temperature mode is divided according to a system response of the engine; determining a compensation torque according to the temperature mode and the current state parameters of the vehicle; wherein the compensation torque comprises a proportional differential compensation torque and an integral differential compensation torque; determining an idle speed control parameter according to the compensation torque so as to carry out idle speed control on the vehicle through the idle speed control parameter; the idle speed control parameters comprise a throttle opening degree and an ignition angle. According to the technical scheme, the most appropriate control parameters can be selected under different idle speed working conditions through proportional differential regulation and integral differential regulation, the idle speed jitter problem is effectively solved, and the idle speed stability and the riding experience of a user are improved.
Example two
Fig. 2 is a flowchart of a vehicle idle speed control method according to a second embodiment of the present invention, which is optimized based on the second embodiment. The concrete optimization is as follows: the current state parameters of the vehicle comprise the current rotating speed of an engine, the water temperature of the engine and the altitude; determining a compensation torque according to the temperature mode and the current state parameters of the vehicle, comprising: determining a target rotating speed of the engine according to the water temperature and the altitude of the engine; determining a rotation speed difference and a rotation speed change rate according to the target rotation speed of the engine and the current rotation speed of the engine; a compensation torque is determined based on the temperature mode, the speed differential, and the rate of change of speed.
As shown in fig. 2, the method of this embodiment specifically includes the following steps:
s210, if the vehicle is in an idling state, determining a temperature mode according to current state parameters of the vehicle; wherein the temperature mode is divided according to a system response of the engine; the current state parameters of the vehicle include the current engine speed, the engine water temperature and the altitude.
And S220, determining the target rotating speed of the engine according to the water temperature and the altitude of the engine.
The target engine speed may be an engine speed at which the vehicle maintains idle stability. In this embodiment, after the engine water temperature and the altitude are obtained, the engine target rotational speed may be determined according to the engine water temperature and the altitude.
And S230, determining a rotation speed difference and a rotation speed change rate according to the target rotation speed of the engine and the current rotation speed of the engine.
The current engine speed may refer to the current engine speed of the vehicle. The rotational speed difference may refer to a difference between a target rotational speed of the engine and a current rotational speed of the engine (target rotational speed — current rotational speed). The rate of change of the rotational speed may refer to a difference in rotational speed per unit step time. The unit step time may be 10ms or 100ms, which is not limited in this embodiment and may be set according to the actual application requirement. For example, if the rotational speed difference is represented by Δ n and the unit step time is represented by dt, the rate of change of the rotational speed may be represented by Δ n/dt.
In this embodiment, after the target rotational speed of the engine and the current rotational speed of the engine are determined, the difference between the target rotational speed and the current rotational speed may be directly used as the rotational speed difference, and then the ratio of the rotational speed difference to the unit step time is used as the rotational speed change rate.
S240, determining a compensation torque according to the temperature mode, the rotating speed difference and the rotating speed change rate; wherein the compensation torque comprises a proportional differential compensation torque and an integral differential compensation torque.
In the present embodiment, the compensation torque may be determined according to the temperature pattern, the rotational speed difference, and the rotational speed change rate. It should be noted that, in different temperature modes, there are different laws of influence between the rotation speed difference, the rotation speed change rate and the compensation torque. Therefore, a relational mapping table among the rotation speed difference, the rotation speed change rate and the compensation torque can be respectively established in each temperature mode, and the compensation torque corresponding to the temperature mode, the rotation speed difference and the rotation speed change rate can be determined by inquiring the relational mapping table.
S250, determining an idle speed control parameter according to the compensation torque so as to carry out idle speed control on the vehicle through the idle speed control parameter; the idle speed control parameters include a throttle opening degree and an ignition angle.
In this embodiment, optionally, determining the compensation torque according to the temperature mode, the rotational speed difference and the rotational speed change rate includes: determining an initial compensation torque according to the temperature mode, the rotation speed difference and the rotation speed change rate; according to the positive and negative of the rotating speed difference and the rotating speed change rate, respectively carrying out proportional differential adjustment and integral differential adjustment on the initial compensation torque so as to determine a proportional differential compensation torque and an integral differential compensation torque; the compensation torque is determined based on the sum of the proportional-derivative compensation torque and the integral-derivative compensation torque.
Here, the initial compensation torque may refer to a compensation torque determined for the first time. In the present embodiment, the compensation torque may be determined by first determining the initial compensation torque according to the temperature pattern, the rotational speed difference, and the rotational speed change rate, and then performing proportional-derivative adjustment and integral-derivative adjustment on the initial compensation torque, respectively. Optionally, determining an initial compensation torque according to the temperature mode, the rotational speed difference and the rotational speed change rate includes: determining initial compensation torque according to a pre-established torque mapping table; wherein the torque map includes a temperature pattern, a speed differential, a speed change rate, and an initial compensation torque.
The torque map may refer to a table containing a torque map relationship. Specifically, the torque map includes a temperature pattern, a speed differential, a speed change rate, and an initial compensation torque. That is, when the temperature pattern, the rotational speed difference, and the rotational speed change rate are known, the initial compensation torque may be correspondingly determined through the torque map. In this embodiment, a torque mapping table may be pre-established, and the initial compensation torque corresponding to the temperature mode, the rotational speed difference, and the rotational speed change rate may be obtained by querying the torque mapping table.
In this embodiment, after the initial compensation torque is determined, the proportional-derivative compensation torque and the integral-derivative compensation torque may be determined by performing proportional-derivative adjustment and integral-derivative adjustment on the initial compensation torque according to the positive and negative of the rotational speed difference and the rotational speed change rate. Optionally, the performing proportional-derivative adjustment and integral-derivative adjustment on the initial compensation torque according to the positive and negative of the rotation speed difference and the rotation speed change rate respectively includes: if the rotating speed difference is positive and the rotating speed change rate is negative, increasing the initial compensation torque to determine a proportional differential compensation torque and an integral differential compensation torque; if the rotational speed difference is negative and the rotational speed change rate is positive, the initial compensation torque is reduced to determine a proportional-derivative compensation torque and an integral-derivative compensation torque.
In this embodiment, if the speed difference is positive and the speed change rate is negative, it may be indicated that the current speed of the engine is lower than the target speed of the engine, and the speed tends to decrease continuously, which may gradually leave the steady idle condition. At this time, if the current rotation speed of the engine is controlled to approach the target rotation speed, the initial compensation torque needs to be adjusted in an increasing direction. Specifically, the proportional differential compensation torque and the integral differential compensation torque can be set to be both greater than 0, and the proportional differential adjustment and the integral differential adjustment are respectively performed on the original compensation torque according to the torque mapping table, so that the rotation speed difference and the rotation speed change rate are both 0, that is, the current rotation speed of the engine is equal to the target rotation speed, and the rotation speed is kept stable in a period of time.
In this embodiment, if the speed difference is negative and the speed change rate is positive, it may be indicated that the current speed of the engine is higher than the target speed of the engine, and the speed tends to increase continuously, which may also gradually depart from the steady idle condition. At this time, if the current rotation speed of the engine is controlled to approach the target rotation speed, the initial compensation torque needs to be adjusted in a decreasing direction. Specifically, it may be set that both the proportional differential compensation torque and the integral differential compensation torque are smaller than 0, and the proportional differential adjustment and the integral differential adjustment are performed on the original compensation torque according to the torque mapping table, so that the rotation speed difference and the rotation speed change rate are both 0, that is, the current rotation speed of the engine is equal to the target rotation speed, and the rotation speed is kept stable for a period of time.
In this embodiment, optionally, the performing proportional-derivative adjustment and integral-derivative adjustment on the initial compensation torque according to the positive and negative of the rotation speed difference and the rotation speed change rate respectively further includes: if the rotating speed difference and the rotating speed change rate are both positive or negative, judging whether the rotating speed change rate is smaller than a preset threshold value; if so, increasing the initial compensation torque to determine a proportional differential compensation torque and an integral differential compensation torque; if not, the initial compensation torque is reduced to determine a proportional-derivative compensation torque and an integral-derivative compensation torque.
The preset threshold may refer to a preset critical change rate. In this embodiment, if the speed difference and the speed change rate are both positive, it can be shown that the current speed of the engine is lower than the target speed of the engine, and the speed tends to increase continuously, in which case the current speed gradually approaches the steady idle condition. If the rotating speed difference and the rotating speed change rate are both negative, the current rotating speed of the engine can be indicated to be higher than the target rotating speed of the engine, and the rotating speed tends to continuously decrease, so that the situation can be gradually close to the stable idling working condition.
In this embodiment, if the rotation speed difference and the rotation speed change rate are both positive or if the rotation speed difference and the rotation speed change rate are both negative, it is necessary to determine whether the rotation speed change rate is smaller than a preset threshold. If so, the change rate of the rotating speed is low, namely the change speed of the rotating speed is low; otherwise, it can indicate that the rotation speed change rate is large, i.e. the rotation speed change speed is fast. When the rotating speed difference and the rotating speed change rate are both positive and the rotating speed change rate is smaller than a preset threshold value, if the current rotating speed of the engine is controlled to be close to the target rotating speed, the initial compensation torque needs to be adjusted towards the increasing direction so as to determine the proportional differential compensation torque and the integral differential compensation torque. When the rotating speed difference and the rotating speed change rate are both positive and the rotating speed change rate is greater than a preset threshold value, if the current rotating speed of the engine is controlled to be close to the target rotating speed and the phenomenon that the rotating speed of the engine is greatly overshot is avoided, the initial compensation torque needs to be adjusted in the reducing direction to determine the proportional differential compensation torque and the integral differential compensation torque.
In this embodiment, when the difference and the rate of change of the rotational speed are both negative and the rate of change of the rotational speed is smaller than the preset threshold, if it is desired to control the current rotational speed of the engine to approach the target rotational speed and avoid the problem of drop or flameout caused by an excessively high rotational speed of the engine, the initial compensation torque needs to be adjusted in the direction of increasing, so as to determine the proportional-derivative compensation torque and the integral-derivative compensation torque. When the rotating speed difference and the rotating speed change rate are both negative and the rotating speed change rate is greater than a preset threshold value, if the current rotating speed of the engine is controlled to be close to the target rotating speed, the initial compensation torque needs to be adjusted in the direction of reduction so as to determine the proportional differential compensation torque and the integral differential compensation torque.
In the present embodiment, after determining the compensation torque according to the proportional-derivative and the integral-derivative, the proportional-derivative and integral-derivative compensation torques may be directly added, and the added torque may be determined as the compensation torque.
Through the arrangement, four idle speed adjusting working conditions can be set according to the rotating speed difference and the rotating speed change rate in each temperature mode, so that idle speed accurate adjustment under different working conditions is realized.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a vehicle idle speed control device according to a third embodiment of the present invention, which is capable of executing a vehicle idle speed control method according to any embodiment of the present invention, and has corresponding functional modules and beneficial effects. As shown in fig. 3, the apparatus includes:
the temperature mode determining module 310 is configured to determine a temperature mode according to current state parameters of the vehicle if the vehicle is in an idle state; wherein the temperature pattern is divided according to a system response of the engine;
a compensation torque determination module 320 for determining a compensation torque based on the temperature mode and the current state parameter of the vehicle; wherein the compensation torque comprises a proportional differential compensation torque and an integral differential compensation torque;
an idle speed control parameter determining module 330, configured to determine an idle speed control parameter according to the compensation torque, so as to perform idle speed control on the vehicle through the idle speed control parameter; wherein the idle speed control parameters include a throttle opening degree and an ignition angle.
Optionally, the current state parameter of the vehicle comprises an engine coolant temperature;
the temperature mode determination module 310 is specifically configured to:
if the temperature of the engine coolant is smaller than a first temperature threshold value, determining that the temperature mode is a first mode;
if the temperature of the engine coolant is greater than a second temperature threshold, determining that the temperature mode is a second mode;
determining the temperature mode as a third mode if the engine coolant temperature is between the first temperature threshold and the second temperature threshold.
Optionally, the current state parameters of the vehicle include the current rotating speed of the engine, the water temperature of the engine and the altitude;
the compensation torque determination module 320 includes:
a target rotation speed determination unit for determining a target rotation speed of the engine according to the engine water temperature and the altitude;
the rotating speed change determining unit is used for determining a rotating speed difference and a rotating speed change rate according to the target rotating speed of the engine and the current rotating speed of the engine;
a compensation torque determination unit for determining a compensation torque according to the temperature pattern, the rotational speed difference, and the rotational speed change rate.
Optionally, the compensation torque determining unit includes:
an initial compensation torque determining subunit, configured to determine an initial compensation torque according to the temperature mode, the rotational speed difference, and the rotational speed change rate;
the torque adjusting subunit is used for respectively carrying out proportional differential adjustment and integral differential adjustment on the initial compensation torque according to the rotating speed difference and the positive and negative of the rotating speed change rate so as to determine a proportional differential compensation torque and an integral differential compensation torque;
a compensation torque determination subunit for determining a compensation torque based on a sum of the proportional-derivative compensation torque and the integral-derivative compensation torque.
Optionally, the initial compensation torque determining subunit is specifically configured to:
determining initial compensation torque according to a pre-established torque mapping table; wherein the torque map includes a temperature pattern, a rotational speed difference, a rotational speed change rate, and an initial compensation torque.
Optionally, the torque adjusting subunit is configured to:
if the rotating speed difference is positive and the rotating speed change rate is negative, increasing the initial compensation torque to determine a proportional differential compensation torque and an integral differential compensation torque;
if the speed difference is negative and the speed change rate is positive, the initial compensation torque is reduced to determine a proportional-derivative compensation torque and an integral-derivative compensation torque.
Optionally, the torque adjusting subunit is further configured to:
if the rotating speed difference and the rotating speed change rate are both positive or if the rotating speed difference and the rotating speed change rate are both negative, judging whether the rotating speed change rate is smaller than a preset threshold value;
if so, increasing the initial compensation torque to determine a proportional differential compensation torque and an integral differential compensation torque;
if not, the initial compensation torque is reduced to determine a proportional differential compensation torque and an integral differential compensation torque.
The vehicle idle speed control device provided by the embodiment of the invention can execute the vehicle idle speed control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
FIG. 4 shows a schematic block diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM)12, a Random Access Memory (RAM)13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM)12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. The processor 11 performs the various methods and processes described above, such as a vehicle idle speed control method.
In some embodiments, the vehicle idle speed control method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle idle speed control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the vehicle idle speed control method by any other suitable means (e.g., by way of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A vehicle idle speed control method, characterized in that the method comprises:
if the vehicle is in an idle state, determining a temperature mode according to the current state parameters of the vehicle; wherein the temperature pattern is divided according to a system response of the engine;
determining a compensation torque according to the temperature mode and the current state parameters of the vehicle; wherein the compensation torque comprises a proportional differential compensation torque and an integral differential compensation torque;
determining an idle speed control parameter according to the compensation torque so as to carry out idle speed control on the vehicle through the idle speed control parameter; wherein the idle speed control parameters include a throttle opening degree and an ignition angle.
2. The method of claim 1, wherein the vehicle current state parameters include an engine coolant temperature;
determining a temperature mode according to the current state parameters of the vehicle, comprising:
if the temperature of the engine coolant is smaller than a first temperature threshold value, determining that the temperature mode is a first mode;
if the temperature of the engine coolant is greater than a second temperature threshold, determining that the temperature mode is a second mode;
determining the temperature mode as a third mode if the engine coolant temperature is between the first temperature threshold and the second temperature threshold.
3. The method of claim 1, wherein the vehicle current state parameters include engine current speed, engine water temperature, and altitude;
determining a compensation torque based on the temperature mode and the current state parameters of the vehicle, including:
determining the target rotating speed of the engine according to the water temperature and the altitude of the engine;
determining a rotation speed difference and a rotation speed change rate according to the target rotation speed of the engine and the current rotation speed of the engine;
and determining a compensation torque according to the temperature mode, the rotation speed difference and the rotation speed change rate.
4. The method of claim 3, wherein determining a compensation torque based on the temperature pattern, the speed differential, and the speed change rate comprises:
determining an initial compensation torque according to the temperature mode, the rotational speed difference and the rotational speed change rate;
according to the rotating speed difference and the positive and negative of the rotating speed change rate, respectively carrying out proportional differential adjustment and integral differential adjustment on the initial compensation torque so as to determine a proportional differential compensation torque and an integral differential compensation torque;
a compensation torque is determined based on a sum of the proportional-derivative compensation torque and the integral-derivative compensation torque.
5. The method of claim 4, wherein determining an initial compensation torque based on the temperature pattern, the speed differential, and the speed change rate comprises:
determining initial compensation torque according to a pre-established torque mapping table; wherein the torque map includes a temperature pattern, a rotational speed difference, a rotational speed change rate, and an initial compensation torque.
6. The method of claim 4, wherein performing a proportional-derivative adjustment and an integral-derivative adjustment of the initial compensation torque based on the difference in rotational speed and the rate of change in rotational speed, respectively, comprises:
if the rotating speed difference is positive and the rotating speed change rate is negative, increasing the initial compensation torque to determine a proportional differential compensation torque and an integral differential compensation torque;
if the speed difference is negative and the speed change rate is positive, the initial compensation torque is reduced to determine a proportional-derivative compensation torque and an integral-derivative compensation torque.
7. The method of claim 4, wherein the proportional-derivative and integral-derivative adjustments are made to the initial compensation torque based on the difference in rotational speed and the rate of change of rotational speed, respectively, further comprising:
if the rotating speed difference and the rotating speed change rate are both positive or if the rotating speed difference and the rotating speed change rate are both negative, judging whether the rotating speed change rate is smaller than a preset threshold value;
if so, increasing the initial compensation torque to determine a proportional differential compensation torque and an integral differential compensation torque;
if not, the initial compensation torque is reduced to determine a proportional differential compensation torque and an integral differential compensation torque.
8. A vehicle idle speed control apparatus, characterized by comprising:
the temperature mode determining module is used for determining a temperature mode according to the current state parameters of the vehicle if the vehicle is in an idle state; wherein the temperature pattern is divided according to a system response of the engine;
the compensation torque determining module is used for determining compensation torque according to the temperature mode and the current state parameter of the vehicle; wherein the compensation torque comprises a proportional differential compensation torque and an integral differential compensation torque;
the idle speed control parameter determining module is used for determining an idle speed control parameter according to the compensation torque so as to carry out idle speed control on the vehicle through the idle speed control parameter; wherein the idle speed control parameters include a throttle opening and an ignition angle.
9. An electronic device for controlling idle speed of a vehicle, the electronic device comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle idle speed control method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to implement the vehicle idle speed control method of any one of claims 1-7 when executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210796598.4A CN114991976A (en) | 2022-07-06 | 2022-07-06 | Vehicle idle speed control method and device, electronic equipment and storage medium |
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| CN202210796598.4A CN114991976A (en) | 2022-07-06 | 2022-07-06 | Vehicle idle speed control method and device, electronic equipment and storage medium |
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| CN114991976A true CN114991976A (en) | 2022-09-02 |
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| CN202210796598.4A Pending CN114991976A (en) | 2022-07-06 | 2022-07-06 | Vehicle idle speed control method and device, electronic equipment and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116470773A (en) * | 2023-05-16 | 2023-07-21 | 江苏科曜能源科技有限公司 | Proportional-integral parameter calculation method and system of converter |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116470773A (en) * | 2023-05-16 | 2023-07-21 | 江苏科曜能源科技有限公司 | Proportional-integral parameter calculation method and system of converter |
| CN116470773B (en) * | 2023-05-16 | 2023-11-24 | 江苏科曜能源科技有限公司 | Proportional-integral parameter calculation method and system of converter |
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Application publication date: 20220902 |