CN115306525B - Urea injection control method and device, diesel vehicle and storage medium - Google Patents
Urea injection control method and device, diesel vehicle and storage medium Download PDFInfo
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- CN115306525B CN115306525B CN202211067217.5A CN202211067217A CN115306525B CN 115306525 B CN115306525 B CN 115306525B CN 202211067217 A CN202211067217 A CN 202211067217A CN 115306525 B CN115306525 B CN 115306525B
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- XSQUKJJJFZCRTK-UHFFFAOYSA-N Urea Chemical compound NC(N)=O XSQUKJJJFZCRTK-UHFFFAOYSA-N 0.000 title claims abstract description 194
- 239000004202 carbamide Substances 0.000 title claims abstract description 194
- 238000002347 injection Methods 0.000 title claims abstract description 172
- 239000007924 injection Substances 0.000 title claims abstract description 172
- 238000000034 method Methods 0.000 title claims abstract description 47
- XKMRRTOUMJRJIA-UHFFFAOYSA-N ammonia nh3 Chemical compound N.N XKMRRTOUMJRJIA-UHFFFAOYSA-N 0.000 claims abstract description 155
- 238000006243 chemical reaction Methods 0.000 claims abstract description 68
- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 claims description 78
- 229910021529 ammonia Inorganic materials 0.000 claims description 29
- 238000012937 correction Methods 0.000 claims description 25
- 238000004590 computer program Methods 0.000 claims description 16
- 208000012839 conversion disease Diseases 0.000 claims description 16
- 229910000069 nitrogen hydride Inorganic materials 0.000 claims description 10
- 238000009825 accumulation Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 9
- 238000004891 communication Methods 0.000 description 8
- 238000011144 upstream manufacturing Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 239000007789 gas Substances 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000032683 aging Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 4
- 238000010531 catalytic reduction reaction Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 239000003054 catalyst Substances 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000001914 filtration Methods 0.000 description 3
- MWUXSHHQAYIFBG-UHFFFAOYSA-N nitrogen oxide Inorganic materials O=[N] MWUXSHHQAYIFBG-UHFFFAOYSA-N 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 239000000126 substance Substances 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003647 oxidation Effects 0.000 description 2
- 238000007254 oxidation reaction Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003197 catalytic effect Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N9/00—Electrical control of exhaust gas treating apparatus
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N3/00—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust
- F01N3/08—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous
- F01N3/10—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous by thermal or catalytic conversion of noxious components of exhaust
- F01N3/18—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous by thermal or catalytic conversion of noxious components of exhaust characterised by methods of operation; Control
- F01N3/20—Exhaust or silencing apparatus having means for purifying, rendering innocuous, or otherwise treating exhaust for rendering innocuous by thermal or catalytic conversion of noxious components of exhaust characterised by methods of operation; Control specially adapted for catalytic conversion ; Methods of operation or control of catalytic converters
- F01N3/2066—Selective catalytic reduction [SCR]
- F01N3/208—Control of selective catalytic reduction [SCR], e.g. dosing of reducing agent
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01N—GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR MACHINES OR ENGINES IN GENERAL; GAS-FLOW SILENCERS OR EXHAUST APPARATUS FOR INTERNAL COMBUSTION ENGINES
- F01N2900/00—Details of electrical control or of the monitoring of the exhaust gas treating apparatus
- F01N2900/04—Methods of control or diagnosing
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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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/20—Air quality improvement or preservation, e.g. vehicle emission control or emission reduction by using catalytic converters
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/12—Improving ICE efficiencies
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Health & Medical Sciences (AREA)
- Toxicology (AREA)
- Exhaust Gas After Treatment (AREA)
Abstract
The invention discloses a urea injection control method and device, a diesel vehicle and a storage medium. The urea injection control method comprises the following steps: acquiring basic NOx conversion efficiency of a first SCR, and determining a first urea injection amount of the first SCR according to the basic NOx conversion efficiency; acquiring a feedforward ammonia nitrogen ratio and a closed-loop ammonia nitrogen ratio of a second SCR, and determining a second urea injection amount of the second SCR according to the feedforward ammonia nitrogen ratio and the closed-loop ammonia nitrogen ratio; and controlling the first SCR to perform urea injection according to the first urea injection amount, and controlling the second SCR to perform urea injection according to the second urea injection amount. The invention realizes the accurate control of urea injection, ensures emission and reduces oil consumption.
Description
Technical Field
The present invention relates to the field of urea injection control technologies, and in particular, to a urea injection control method and apparatus, a diesel vehicle, and a storage medium.
Background
The selective catalytic reduction technology (SCR, selective Catalytic Reduction) is a treatment technology for NOx in exhaust gas emission of diesel vehicles, that is, ammonia or urea serving as a reducing agent is injected under the action of a catalyst to reduce NOx in the exhaust gas into N2 and H2O.
The urea injection control of the double SCR aftertreatment is different from that of the single SCR aftertreatment, and the two SCRs are different in position in the aftertreatment system, so that the conversion efficiency of the distributed nitrogen oxides is also different, the urea injection control needs to be coordinated according to different urea injection requirements of the two SCRs, and the oil consumption is reduced as much as possible on the premise of ensuring the emission.
Disclosure of Invention
The invention provides a urea injection control method and device, a diesel vehicle and a storage medium, and aims to solve the problem that the emission is too high or too low due to the problems of aging and the like of an engine caused by drifting of an upstream NOx sensor or urea injection deviation.
According to an aspect of the present invention, there is provided a urea injection control method including:
acquiring basic NOx conversion efficiency of a first SCR, and determining a first urea injection amount of the first SCR according to the basic NOx conversion efficiency;
acquiring a feedforward ammonia nitrogen ratio and a closed-loop ammonia nitrogen ratio of a second SCR, and determining a second urea injection amount of the second SCR according to the feedforward ammonia nitrogen ratio and the closed-loop ammonia nitrogen ratio;
and controlling the first SCR to perform urea injection according to the first urea injection amount, and controlling the second SCR to perform urea injection according to the second urea injection amount.
Optionally, after obtaining the base NOx conversion efficiency of the first SCR, further comprising:
acquiring the average temperature of the second SCR and an ammonia storage value calculated according to a second SCR model, and determining an efficiency correction coefficient according to the average temperature and the ammonia storage value;
the first reaction conversion coefficient of the first SCR is obtained through the conversion of NH3 and urea by the NOx molar mass of the first SCR.
Optionally, the determining the first urea injection amount of the first SCR according to the basic NOx conversion efficiency includes:
and determining a first NOx conversion efficiency according to the basic NOx conversion efficiency and the efficiency correction coefficient, and determining a first urea injection quantity of the first SCR according to the first NOx conversion efficiency and the first reaction conversion coefficient.
Optionally, the obtaining the feed-forward ammonia nitrogen ratio of the second SCR includes:
obtaining a basic ammonia nitrogen ratio of the second SCR based on the average temperature and the airspeed of the second SCR, and determining an ammonia nitrogen ratio correction coefficient based on the ambient temperature and the ambient pressure of the engine;
and obtaining the feedforward ammonia nitrogen ratio of the second SCR according to the basic ammonia nitrogen ratio and the ammonia nitrogen ratio correction coefficient.
Optionally, the obtaining the closed-loop ammonia nitrogen ratio of the second SCR includes:
acquiring actual tail-emission window specific emission of an engine tail-emission NOx measured value, and determining target tail-emission window specific emission according to an engine aftertreatment state;
and according to the actual tail row window specific emission and the target tail row window specific emission, obtaining the closed-loop ammonia nitrogen ratio of the second SCR according to closed-loop control.
Optionally, the determining the second urea injection amount of the second SCR according to the feed-forward ammonia nitrogen ratio and the closed-loop ammonia nitrogen ratio includes:
if the difference value between the actual tail row window ratio emission and the target tail row window ratio emission exceeds a preset positive value constant, controlling the closed-loop ammonia nitrogen ratio to perform urea closed-loop control according to a fixed ammonia nitrogen ratio so as to control the feedforward ammonia nitrogen ratio according to the fixed ammonia nitrogen ratio to perform incremental accumulation of each window and then determine a second urea injection amount of the second SCR;
and if the difference value between the actual tail row window ratio emission and the target tail row window ratio emission exceeds a preset negative constant, controlling the closed-loop ammonia nitrogen ratio to perform urea closed-loop control according to the feedforward ammonia nitrogen ratio so as to determine a second urea injection amount of the second SCR after performing incremental decrementing of each window based on the feedforward ammonia nitrogen ratio.
Optionally, the urea injection control method further includes:
and when the actual tail emission window is continuously reduced from emission, judging that ammonia leakage exists in the post-treatment of the engine, and controlling the feedforward ammonia nitrogen ratio to control the feed-forward ammonia nitrogen ratio in a fixed ammonia nitrogen ratio so as to control the second urea injection amount of the second SCR according to the fixed ammonia nitrogen ratio.
According to another aspect of the present invention, there is provided a urea injection control device including:
the system comprises a first urea injection quantity determining module, a second urea injection quantity determining module and a second urea injection quantity determining module, wherein the first urea injection quantity determining module is used for executing the acquisition of the basic NOx conversion efficiency of a first SCR and determining the first urea injection quantity of the first SCR according to the basic NOx conversion efficiency;
the second urea injection quantity determining module is used for executing the acquisition of a feedforward ammonia nitrogen ratio and a closed-loop ammonia nitrogen ratio of a second SCR and determining a second urea injection quantity of the second SCR according to the feedforward ammonia nitrogen ratio and the closed-loop ammonia nitrogen ratio;
and the urea injection control module is used for executing the control of the first SCR to perform urea injection according to the first urea injection quantity and controlling the second SCR to perform urea injection according to the second urea injection quantity.
According to another aspect of the present invention, there is provided a diesel vehicle 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 to enable the at least one processor to perform the urea injection control method according to any one of the embodiments 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 execute the urea injection control method according to any one of the embodiments of the present invention.
According to the technical scheme, the basic NOx conversion efficiency of the first SCR is obtained, and the first urea injection amount of the first SCR is determined according to the basic NOx conversion efficiency; acquiring a feedforward ammonia nitrogen ratio and a closed-loop ammonia nitrogen ratio of a second SCR, and determining a second urea injection amount of the second SCR according to the feedforward ammonia nitrogen ratio and the closed-loop ammonia nitrogen ratio; and controlling the first SCR to perform urea injection according to the first urea injection amount, and controlling the second SCR to perform urea injection according to the second urea injection amount. The problems of excessively high or excessively low emission caused by the problems of aging and the like of an engine due to drifting of an upstream NOx sensor or urea injection deviation are solved, so that urea injection is accurately controlled, emission is ensured, and oil consumption is reduced.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a urea injection control method according to a first embodiment of the present invention;
FIG. 2 is a schematic architecture diagram of a dual SCR aftertreatment system suitable for use in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of a urea injection control method according to a second embodiment of the present invention;
FIG. 4 is a schematic block diagram of urea injection control of a first SCR according to an embodiment of the present invention;
FIG. 5 is a schematic block diagram of urea injection control of a second SCR according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a fixed delta factor closed loop control method at steady state operating point according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of a urea injection control device according to a third embodiment of the present invention;
fig. 8 is a schematic structural diagram of a diesel vehicle implementing a urea injection control method according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise 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 1
Fig. 1 is a flowchart of a urea injection control method according to an embodiment of the present invention, where the embodiment is applicable to a case of controlling urea injection for dual SCR aftertreatment of a diesel vehicle, the urea injection control method may be performed by a urea injection control device, the urea injection control device may be implemented in hardware and/or software, and the urea injection control device may be configured in the diesel vehicle.
As shown in fig. 1, the urea injection control method includes:
s110, acquiring basic NOx conversion efficiency of a first SCR, and determining a first urea injection amount of the first SCR according to the basic NOx conversion efficiency.
The engine exhaust sequentially passes through DOC (diesel oxidation catalytic converter, diesel Oxidation Catalyst), DPF (diesel particulate filter ) and SCR (selective catalytic reduction, selective Catalytic Reduction), in this embodiment, the engine exhaust sequentially passes through first SCR, DOC, DPF and second SCR as shown in fig. 2, urea Dosing1 is a first Urea injection amount of the first SCR upstream of the first SCR, urea Dosing 2 is a second Urea injection amount of the second SCR upstream of the second SCR, NOx1 is a NOx sensor upstream of the first SCR, NOx2 is a NOx sensor upstream of the second SCR, and NOx3 is a NOx sensor downstream of the second SCR.
Wherein, NOx conversion efficiency refers to the ratio of the amount of NOx reduced in the exhaust gas after passing through the SCR catalyst to the amount of NOx in the exhaust gas before SCR, and the base NOx conversion efficiency of the first SCR is obtained based on the average temperature and the airspeed of the first SCR.
It will be appreciated that the average temperature and space velocity of the first SCR are input to a NOx conversion efficiency MAP table, the output of which is NOx conversion efficiency, which can be achieved by the prior art, and this embodiment will not be further described herein.
Because the NO proportion in the original machine is about 90%, the reaction in the basic first SCR is mainly standard reaction, the molar reaction ratio of NOx and NH3 is 1:1, and the reaction conversion coefficient of the final SCR is obtained through the conversion of NH3 and urea and the molar mass. That is, after the basic NOx conversion efficiency of the first SCR is obtained on the basis of the above, the first reaction conversion coefficient of the first SCR is obtained by the NOx molar mass of the first SCR and the conversion of NH3 and urea.
Further, an average temperature of the second SCR and an ammonia storage value calculated according to a second SCR model are obtained, and an efficiency correction coefficient is determined according to the average temperature and the ammonia storage value and an efficiency correction coefficient MAP table.
On the basis, the first NOx conversion efficiency is determined after multiplying the basic NOx conversion efficiency by the efficiency correction coefficient, and the first urea injection quantity corresponding to the first SCR is determined according to the first NOx conversion efficiency and the first reaction conversion coefficient through filtering.
S120, acquiring a feedforward ammonia nitrogen ratio and a closed-loop ammonia nitrogen ratio of a second SCR, and determining a second urea injection quantity of the second SCR according to the feedforward ammonia nitrogen ratio and the closed-loop ammonia nitrogen ratio.
The basic ammonia nitrogen ratio of the second SCR is obtained based on an average temperature and an airspeed table of the second SCR, and an ammonia nitrogen ratio correction coefficient is determined based on an ambient temperature and an ambient pressure of the engine, it is understood that the average temperature and the airspeed of the second SCR are taken as input of an ammonia nitrogen ratio MAP table, an output result is an ammonia nitrogen ratio, and the ammonia nitrogen ratio MAP table can be realized by the prior art, and the embodiment will not be described here.
Further, the feedforward ammonia nitrogen ratio of the second SCR is obtained after multiplication according to the basic ammonia nitrogen ratio and the ammonia nitrogen ratio correction coefficient.
The closed-loop ammonia nitrogen ratio is obtained through closed-loop control of actual tail row window ratio emission and target tail row window ratio emission according to fixed increment.
The actual tail row window is calculated by adopting a window compared with the emission window, so that the effectiveness and instantaneity of tail row calculation are ensured.
And after the actual tail-emission window ratio emission of the engine tail-emission NOx measured value is obtained and the target tail-emission window ratio emission is determined according to the engine aftertreatment state, the closed-loop ammonia nitrogen ratio of the second SCR is obtained according to the actual tail-emission window ratio emission and the target tail-emission window ratio emission and the closed-loop control.
On the basis, determining a second urea injection amount of the second SCR according to the feedforward ammonia nitrogen ratio and the closed-loop ammonia nitrogen ratio, wherein the closed-loop adjustment method specifically comprises the following steps: if the difference value between the actual tail row window ratio emission and the target tail row window ratio emission exceeds a preset positive value constant, controlling the closed-loop ammonia nitrogen ratio to perform urea closed-loop control according to a fixed ammonia nitrogen ratio so as to control the feedforward ammonia nitrogen ratio according to the fixed ammonia nitrogen ratio to perform incremental accumulation of each window and then determine a second urea injection amount of the second SCR; and if the difference value between the actual tail row window ratio emission and the target tail row window ratio emission exceeds a preset negative constant, controlling the closed-loop ammonia nitrogen ratio to perform urea closed-loop control according to the feedforward ammonia nitrogen ratio so as to determine a second urea injection amount of the second SCR after performing incremental decrementing of each window based on the feedforward ammonia nitrogen ratio.
S130, controlling the first SCR to perform urea injection according to the first urea injection quantity, and controlling the second SCR to perform urea injection according to the second urea injection quantity.
With continued reference to fig. 2, after determining the first urea injection amount of the first SCR and the second urea injection amount of the second SCR, the first SCR performs urea injection according to the first urea injection amount, and the second SCR performs urea injection according to the second urea injection amount, where the actual number and time of injection are implemented by the actual working principle of the engine, which is not limited in this embodiment.
In this embodiment, in order to effectively remove the misjudgment of closed-loop control caused by ammonia leakage, thereby ensuring the consistency of the tail rows of the engine, and also realizing ammonia leakage detection on the basis of calculating the actual tail row window ratio emission passing window of the second SCR. Specifically, when the actual tail emission window is continuously reduced compared with emission, determining that ammonia leakage exists in engine aftertreatment, controlling the feedforward ammonia nitrogen ratio to be controlled in a fixed ammonia nitrogen ratio, removing redundant ammonia stored in the SCR, and further controlling the second urea injection amount of the second SCR according to the fixed ammonia nitrogen ratio. And (3) until the actual tail row window is increased compared with the emission continuous several windows, recovering the normal feed-forward ammonia nitrogen ratio, and simultaneously, carrying out the closed-loop control again.
In addition, when the second SCR performs ammonia slip detection, the first SCR needs to be controlled by controlling the fixed ammonia-nitrogen ratio, so as to avoid causing ammonia slip and simultaneously avoid interfering with the ammonia slip detection of the second SCR.
According to the technical scheme of the embodiment, basic NOx conversion efficiency of a first SCR is obtained, and a first urea injection amount of the first SCR is determined according to the basic NOx conversion efficiency; acquiring a feedforward ammonia nitrogen ratio and a closed-loop ammonia nitrogen ratio of a second SCR, and determining a second urea injection amount of the second SCR according to the feedforward ammonia nitrogen ratio and the closed-loop ammonia nitrogen ratio; and controlling the first SCR to perform urea injection according to the first urea injection amount, and controlling the second SCR to perform urea injection according to the second urea injection amount. The problems of excessively high or excessively low emission caused by the problems of aging and the like of an engine due to drifting of an upstream NOx sensor or urea injection deviation are solved, so that urea injection is accurately controlled, emission is ensured, and oil consumption is reduced.
Example two
Fig. 3 is a flowchart of a urea injection control method according to a second embodiment of the present invention, and an alternative implementation manner is provided based on the foregoing embodiment. As shown in fig. 3, the urea injection control method includes:
s311, acquiring the basic NOx conversion efficiency of the first SCR.
S312, obtaining the average temperature of the second SCR and an ammonia storage value calculated according to a second SCR model, and determining an efficiency correction coefficient according to the average temperature and the ammonia storage value.
S313, obtaining a first reaction conversion coefficient of the first SCR through the conversion of the NH3 and the urea by the NOx molar mass of the first SCR.
S314, determining a first NOx conversion efficiency according to the basic NOx conversion efficiency and the efficiency correction coefficient, and determining a first urea injection amount of the first SCR according to the first NOx conversion efficiency and the first reaction conversion coefficient.
In this embodiment, the urea injection of the first SCR adopts open-loop emission control based on conversion efficiency, and the specific control process is shown in fig. 4, where the basic NOx conversion efficiency is obtained by looking up a table of average temperature and airspeed of the first SCR, multiplying the average temperature of the second SCR by an efficiency correction coefficient determined according to an ammonia storage value calculated according to a second SCR model to obtain the first NOx conversion efficiency, further filtering the first NOx conversion efficiency, obtaining a first reaction conversion coefficient of the first SCR through NOx molar mass of the first SCR and conversion between NH3 and urea, and determining the first urea injection amount of the first SCR.
S321, obtaining a basic ammonia nitrogen ratio of the second SCR based on the average temperature and the airspeed of the second SCR, and determining an ammonia nitrogen ratio correction coefficient based on the ambient temperature and the ambient pressure of the engine.
S322, obtaining the feedforward ammonia nitrogen ratio of the second SCR according to the basic ammonia nitrogen ratio and the ammonia nitrogen ratio correction coefficient.
In this embodiment, the urea injection of the second SCR adopts NOx optimization closed-loop emission control based on a feed-forward and tail emission power window, and the specific control process is shown in fig. 5, where the average temperature and airspeed of the second SCR are used to check an ammonia nitrogen ratio MAP table to obtain a basic ammonia nitrogen ratio, and the ammonia nitrogen ratio correction coefficient determined by the MAP table is corrected according to the environmental temperature and environmental pressure where the engine is located, so as to further obtain the feed-forward ammonia nitrogen ratio of the second SCR.
S323, acquiring actual tail-emission window specific emission of the engine tail-emission NOx measured value, and determining target tail-emission window specific emission according to the engine aftertreatment state.
S324, according to the actual tail row window ratio emission and the target tail row window ratio emission, the closed-loop ammonia nitrogen ratio of the second SCR is obtained according to closed-loop control.
The closed-loop ammonia nitrogen ratio is obtained through fixed increment closed-loop control of actual tail-row window ratio emission and target tail-row window ratio emission, and continuing to refer to fig. 5, wherein calculation of the actual tail-row window ratio emission is performed by adopting a window, so that the effectiveness and instantaneity of engine tail-row calculation are ensured. The engine original exhaust is substances such as original NOx, particulate matters and the like generated after the engine burns under the condition of no aftertreatment, and the engine tail exhaust is the exhaust substances discharged into the air after the original exhaust substances of the engine are subjected to the actions of aftertreatment conversion or adsorption and the like.
The window is used for accumulating the instantaneous power of the engine in real time, when certain power is met, the calculation of one window is completed, and meanwhile, according to various states of post-treatment of the calculated engine, such as SCR temperature, engine rotation speed, engine torque, engine original emission NOx, engine tail emission NOx and the like, the Exponential Weighted Moving Average (EWMA) of the window is carried out in the window accumulating process, so that the window ratio emission NOxAct of the real engine tail emission NOx measured value can be obtained, namely the actual tail emission window ratio emission NOxAct of the engine tail emission NOx measured value.
It can be appreciated that the exponentially weighted moving average EWMA can be seen as a low pass filter, which eliminates short term fluctuations by controlling weights, preserving long term trends.
On the basis of the above, the target tail-emission window ratio NOxTgt determined according to the state of engine aftertreatment such as SCR temperature, exhaust gas flow, engine speed, engine torque and the like is discharged, and a sufficient margin is reserved, frequent jump is avoided during adjustment, so that the target tail-emission window ratio NOxTgt adopts a proper range, the target tail-emission window ratio NOxTgt can be defined as NOxTgtLow and NOxTgthigh through the adjustment window, and once the proper range of NOxTgtLow and NOxTgthigh is exceeded, namely, when the target tail-emission window ratio NOxAct is higher than the NOxTgthigh value or the NOxAct is lower than the NOxTgtLow value, urea closed-loop control based on the NOxTgtlow ratio is performed.
S325, determining a second urea injection quantity of the second SCR according to the feedforward ammonia nitrogen ratio and the closed-loop ammonia nitrogen ratio.
After the feed-forward ammonia nitrogen ratio and the closed-loop ammonia nitrogen ratio are obtained, a second reaction conversion coefficient of the second SCR is further obtained through the NOx molar mass of the second SCR and the conversion of NH3 and urea.
In this embodiment, with continued reference to FIG. 5, a second urea injection amount for the second SCR may be determined based on the feed-forward ammonia-nitrogen ratio, the closed-loop ammonia-nitrogen ratio, and the second reaction conversion factor.
Specifically, if the difference between the actual tail row window ratio emission and the target tail row window ratio emission exceeds a preset positive value constant, controlling the closed-loop ammonia nitrogen ratio to perform urea closed-loop control according to a fixed ammonia nitrogen ratio, controlling the feedforward ammonia nitrogen ratio according to the fixed ammonia nitrogen ratio, performing incremental accumulation of each window, and determining a second urea injection amount of the second SCR;
and if the difference value between the actual tail row window ratio emission and the target tail row window ratio emission exceeds a preset negative constant, controlling the closed-loop ammonia nitrogen ratio to perform urea closed-loop control according to the feedforward ammonia nitrogen ratio so as to determine a second urea injection amount of the second SCR after performing incremental decrementing of each window based on the feedforward ammonia nitrogen ratio.
When the deviation between the actual tail-emission window and the target NOxTgthigh exceeds a preset positive value, the control quantity is accumulated in an increment of the fixed ammonia nitrogen ratio on the basis of the current feed-forward ammonia nitrogen ratio, and after the deviation exceeds a preset negative value constant, the control quantity is decremented on the basis of the current feed-forward ammonia nitrogen ratio, so that the optimal closed-loop adjustment based on the emission of the engine tail-emission window ratio is realized.
S330, controlling the first SCR to perform urea injection according to the first urea injection amount, and controlling the second SCR to perform urea injection according to the second urea injection amount.
On the basis of the above, ammonia leakage detection is performed through a window, when increment factors of several continuous windows become larger or exceed a calibrated maximum limit value, and the actual tail-emission window is not increased in an anti-reflection way compared with the emission NOxAct, the active trigger increment is decreased based on the window under the current value, at this time, if the continuous tail-emission window is decreased compared with the emission NOxAct, that is, the actual tail-emission window is continuously decreased compared with the emission, the ammonia leakage is judged to exist in the aftertreatment of the current engine, and when the ammonia leakage is detected, the increment factor is reset to 0, and the feedforward ammonia nitrogen ratio is controlled at a fixed ammonia nitrogen ratio (for example, the fixed ammonia nitrogen ratio is 0.7), so that the second urea injection amount of the second SCR is controlled according to the fixed ammonia nitrogen ratio, and the surplus ammonia stored in the SCR is eliminated. And (3) continuously increasing a plurality of window values until the actual tail row window is higher than the emission NOxAct, recovering the normal feed-forward ammonia nitrogen ratio, and simultaneously carrying out closed-loop control again.
The closed loop adjustment is performed in the adjustment area, otherwise, the result calculated before is kept, and when ammonia leakage exists, the closed loop control needs to be exited, and meanwhile, the increment factor is reset.
According to the technical scheme, the actual tail row window ratio emission NOxAct ratio emission in the window is calculated more stably and accurately through window sliding index mean value filtering, when the actual tail row window ratio emission is not in a proper interval, closed-loop control based on fixed increment is performed, larger oscillation of the system caused by overlarge adjustment amplitude is avoided, and the problems of overhigh or overlow emission caused by problems of drifting of an upstream NOx sensor or urea injection offset, engine aging and the like can be solved.
Example III
Fig. 7 is a schematic structural diagram of a urea injection control device according to a third embodiment of the present invention.
As shown in fig. 7, the urea injection control device includes:
a first urea injection amount determination module 710 configured to perform obtaining a base NOx conversion efficiency of a first SCR, and determine a first urea injection amount of the first SCR according to the base NOx conversion efficiency;
the second urea injection quantity determining module 720 is configured to perform obtaining a feedforward ammonia nitrogen ratio and a closed-loop ammonia nitrogen ratio of a second SCR, and determine a second urea injection quantity of the second SCR according to the feedforward ammonia nitrogen ratio and the closed-loop ammonia nitrogen ratio;
the urea injection control module 730 is configured to perform urea injection from the first SCR according to the first urea injection amount, and control urea injection from the second SCR according to the second urea injection amount.
Optionally, after obtaining the base NOx conversion efficiency of the first SCR, further comprising:
acquiring the average temperature of the second SCR and an ammonia storage value calculated according to a second SCR model, and determining an efficiency correction coefficient according to the average temperature and the ammonia storage value;
the first reaction conversion coefficient of the first SCR is obtained through the conversion of NH3 and urea by the NOx molar mass of the first SCR.
Optionally, the determining the first urea injection amount of the first SCR according to the basic NOx conversion efficiency includes:
and determining a first NOx conversion efficiency according to the basic NOx conversion efficiency and the efficiency correction coefficient, and determining a first urea injection quantity of the first SCR according to the first NOx conversion efficiency and the first reaction conversion coefficient.
Optionally, the obtaining the feed-forward ammonia nitrogen ratio of the second SCR includes:
obtaining a basic ammonia nitrogen ratio of the second SCR based on the average temperature and the airspeed of the second SCR, and determining an ammonia nitrogen ratio correction coefficient based on the ambient temperature and the ambient pressure of the engine;
and obtaining the feedforward ammonia nitrogen ratio of the second SCR according to the basic ammonia nitrogen ratio and the ammonia nitrogen ratio correction coefficient.
Optionally, the obtaining the closed-loop ammonia nitrogen ratio of the second SCR includes:
acquiring actual tail-emission window specific emission of an engine tail-emission NOx measured value, and determining target tail-emission window specific emission according to an engine aftertreatment state;
and according to the actual tail row window specific emission and the target tail row window specific emission, obtaining the closed-loop ammonia nitrogen ratio of the second SCR according to closed-loop control.
Optionally, the determining the second urea injection amount of the second SCR according to the feed-forward ammonia nitrogen ratio and the closed-loop ammonia nitrogen ratio includes:
if the difference value between the actual tail row window ratio emission and the target tail row window ratio emission exceeds a preset positive value constant, controlling the closed-loop ammonia nitrogen ratio to perform urea closed-loop control according to a fixed ammonia nitrogen ratio so as to control the feedforward ammonia nitrogen ratio according to the fixed ammonia nitrogen ratio to perform incremental accumulation of each window and then determine a second urea injection amount of the second SCR;
and if the difference value between the actual tail row window ratio emission and the target tail row window ratio emission exceeds a preset negative constant, controlling the closed-loop ammonia nitrogen ratio to perform urea closed-loop control according to the feedforward ammonia nitrogen ratio so as to determine a second urea injection amount of the second SCR after performing incremental decrementing of each window based on the feedforward ammonia nitrogen ratio.
Optionally, the urea injection control device further includes:
and when the actual tail emission window is continuously reduced from emission, judging that ammonia leakage exists in the post-treatment of the engine, and controlling the feedforward ammonia nitrogen ratio to control the feed-forward ammonia nitrogen ratio in a fixed ammonia nitrogen ratio so as to control the second urea injection amount of the second SCR according to the fixed ammonia nitrogen ratio.
The urea injection control device provided by the embodiment of the invention can execute the urea injection control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the urea injection control method.
Example IV
Fig. 8 shows a schematic structural diagram of a diesel vehicle 810 that may be used to implement an embodiment of the invention. Diesel vehicles include digital computers representing various forms such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other suitable computers. Diesel vehicles may also represent various forms of mobile devices such as personal digital assistants, cellular telephones, 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. 8, the diesel vehicle 810 includes at least one processor 811, and a memory such as a Read Only Memory (ROM) 812, a Random Access Memory (RAM) 813, etc., communicatively connected to the at least one processor 811, wherein the memory stores a computer program executable by the at least one processor, and the processor 811 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 812 or the computer program loaded from the storage unit 818 into the Random Access Memory (RAM) 813. In the RAM 813, various programs and data required for the operation of the diesel vehicle 810 can also be stored. The processor 811, the ROM 812 and the RAM 813 are connected to each other through a bus 814. An input/output (I/O) interface 815 is also coupled to bus 814.
Various components in the diesel vehicle 810 are connected to the I/O interface 815, including: an input unit 816 such as a keyboard, mouse, etc.; an output 817 such as various types of displays, speakers, etc.; a storage unit 818, such as a magnetic disk, optical disk, etc.; and communication units 819 such as network cards, modems, wireless communication transceivers, and the like. The communication unit 819 allows the diesel vehicle 810 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The processor 811 can be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of processor 811 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, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 811 performs the various methods and processes described above, such as urea injection control.
In some embodiments, the urea injection control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 818. In some embodiments, part or all of the computer program may be loaded and/or installed onto the diesel vehicle 810 via the ROM 812 and/or the communication unit 819. When a computer program is loaded into RAM 813 and executed by processor 811, one or more steps of the urea injection control method described above may be performed. Alternatively, in other embodiments, processor 811 may be configured to execute the urea injection control method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On 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, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out 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 implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the 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. The 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 a diesel vehicle 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 pointing device (e.g., a mouse or a trackball) through which a user can provide input to the diesel vehicle. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may 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 input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background 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 background, 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. The client and server are typically 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 hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (8)
1. A urea injection control method, characterized by comprising:
acquiring basic NOx conversion efficiency of a first SCR, and determining a first urea injection amount of the first SCR according to the basic NOx conversion efficiency;
acquiring a feedforward ammonia nitrogen ratio and a closed-loop ammonia nitrogen ratio of a second SCR, and determining a second urea injection amount of the second SCR according to the feedforward ammonia nitrogen ratio and the closed-loop ammonia nitrogen ratio;
controlling the first SCR to perform urea injection according to the first urea injection amount, and controlling the second SCR to perform urea injection according to the second urea injection amount;
wherein after obtaining the base NOx conversion efficiency of the first SCR, further comprising: acquiring the average temperature of the second SCR and an ammonia storage value calculated according to a second SCR model, and determining an efficiency correction coefficient according to the average temperature and the ammonia storage value; obtaining a first reaction conversion coefficient of a first SCR through the conversion of NH3 and urea by the NOx molar mass of the first SCR;
determining a first urea injection amount for the first SCR based on the base NOx conversion efficiency, comprising: and determining a first NOx conversion efficiency according to the basic NOx conversion efficiency and the efficiency correction coefficient, and determining a first urea injection quantity of the first SCR according to the first NOx conversion efficiency and the first reaction conversion coefficient.
2. The urea injection control method according to claim 1, wherein the obtaining the feed-forward ammonia-nitrogen ratio of the second SCR comprises:
obtaining a basic ammonia nitrogen ratio of the second SCR based on the average temperature and the airspeed of the second SCR, and determining an ammonia nitrogen ratio correction coefficient based on the ambient temperature and the ambient pressure of the engine;
and obtaining the feedforward ammonia nitrogen ratio of the second SCR according to the basic ammonia nitrogen ratio and the ammonia nitrogen ratio correction coefficient.
3. The urea injection control method according to claim 1, wherein the obtaining the closed-loop ammonia-nitrogen ratio of the second SCR comprises:
acquiring actual tail-emission window specific emission of an engine tail-emission NOx measured value, and determining target tail-emission window specific emission according to an engine aftertreatment state;
and according to the actual tail row window specific emission and the target tail row window specific emission, obtaining the closed-loop ammonia nitrogen ratio of the second SCR according to closed-loop control.
4. The urea injection control method according to claim 3, characterized in that the determining the second urea injection amount of the second SCR according to the feed-forward ammonia-nitrogen ratio and the closed-loop ammonia-nitrogen ratio includes:
if the difference value between the actual tail row window ratio emission and the target tail row window ratio emission exceeds a preset positive value constant, controlling the closed-loop ammonia nitrogen ratio to perform urea closed-loop control according to a fixed ammonia nitrogen ratio so as to control the feedforward ammonia nitrogen ratio according to the fixed ammonia nitrogen ratio to perform incremental accumulation of each window and then determine a second urea injection amount of the second SCR;
and if the difference value between the actual tail row window ratio emission and the target tail row window ratio emission exceeds a preset negative constant, controlling the closed-loop ammonia nitrogen ratio to perform urea closed-loop control according to the feedforward ammonia nitrogen ratio so as to determine a second urea injection amount of the second SCR after performing incremental decrementing of each window based on the feedforward ammonia nitrogen ratio.
5. The urea injection control method according to claim 3, characterized in that the urea injection control method further comprises:
and when the actual tail emission window is continuously reduced from emission, judging that ammonia leakage exists in the post-treatment of the engine, and controlling the feedforward ammonia nitrogen ratio to control the feed-forward ammonia nitrogen ratio in a fixed ammonia nitrogen ratio so as to control the second urea injection amount of the second SCR according to the fixed ammonia nitrogen ratio.
6. A urea injection control device, characterized by comprising:
the system comprises a first urea injection quantity determining module, a second urea injection quantity determining module and a second urea injection quantity determining module, wherein the first urea injection quantity determining module is used for executing the acquisition of the basic NOx conversion efficiency of a first SCR and determining the first urea injection quantity of the first SCR according to the basic NOx conversion efficiency;
the second urea injection quantity determining module is used for executing the acquisition of a feedforward ammonia nitrogen ratio and a closed-loop ammonia nitrogen ratio of a second SCR and determining a second urea injection quantity of the second SCR according to the feedforward ammonia nitrogen ratio and the closed-loop ammonia nitrogen ratio;
the urea injection control module is used for executing the control of the first SCR to perform urea injection according to the first urea injection quantity and controlling the second SCR to perform urea injection according to the second urea injection quantity;
wherein after obtaining the base NOx conversion efficiency of the first SCR, further comprising: acquiring the average temperature of the second SCR and an ammonia storage value calculated according to a second SCR model, and determining an efficiency correction coefficient according to the average temperature and the ammonia storage value; obtaining a first reaction conversion coefficient of a first SCR through the conversion of NH3 and urea by the NOx molar mass of the first SCR;
determining a first urea injection amount of the first SCR according to the basic NOx conversion efficiency, specifically for: and determining a first NOx conversion efficiency according to the basic NOx conversion efficiency and the efficiency correction coefficient, and determining a first urea injection quantity of the first SCR according to the first NOx conversion efficiency and the first reaction conversion coefficient.
7. A diesel vehicle, the diesel vehicle 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 urea injection control method of any one of claims 1-5.
8. A computer readable storage medium storing computer instructions for causing a processor to execute the urea injection control method according to any one of claims 1-5.
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