EP0953754B1 - Procédé d'annulation des variations de richesse du mélange gazeux issu des cylindres d'un moteur à combustion interne - Google Patents
Procédé d'annulation des variations de richesse du mélange gazeux issu des cylindres d'un moteur à combustion interne Download PDFInfo
- Publication number
- EP0953754B1 EP0953754B1 EP99400985A EP99400985A EP0953754B1 EP 0953754 B1 EP0953754 B1 EP 0953754B1 EP 99400985 A EP99400985 A EP 99400985A EP 99400985 A EP99400985 A EP 99400985A EP 0953754 B1 EP0953754 B1 EP 0953754B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- signal
- richness
- injectors
- cylinders
- engine
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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Classifications
-
- 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
- F02D41/008—Controlling each cylinder individually
-
- 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
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
-
- 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
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/1413—Controller structures or design
- F02D2041/1431—Controller structures or design the system including an input-output delay
-
- 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
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
- F02D2041/1433—Introducing closed-loop corrections characterised by the control or regulation method using a model or simulation of the system
-
- 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
- F02D41/008—Controlling each cylinder individually
- F02D41/0085—Balancing of cylinder outputs, e.g. speed, torque or air-fuel ratio
Definitions
- the invention relates to internal combustion engines and more particularly in such engines, a process to cancel variations in wealth of gas mixtures from the cylinders of a internal combustion of the injection type.
- the composition of the exhaust gas mixture depends especially the ratio between the fuel mass and the mass of air in each of the engine cylinders. This ratio is called the richness of the fuel / air mixture and this richness is measured using a oxygen placed in the exhaust pipe of cylinders before the catalytic converter.
- an engine cycle breaks down into four U-turns and the ignition is so that there is, at each half-turn, a fuel / air mixture intake, compression of mixing, triggering and exhausting gases.
- the compensation for the variation in gas richness exhaust requires precise regulation within half a turn.
- One of the peculiarities of the compound physical system engine cylinders, exhaust pipe and oxygen sensor is the presence of a variable delay between the wealth setpoint at the entrance of the cylinders and the richness of the exhaust gases measured by the oxygen sensor.
- this delay corresponds to the flow time gases towards the probe and as this flow depends on the gas flow and therefore the engine load, the delay varies from one operating point to another. So, if this variation in delay is not taken into account in the regulator, the closed loop may break destabilizing.
- the determination of this delay corresponds to synchronize the regulator with the four stroke of the engine so that the first problem to solve is synchronization wealth regulator.
- a second problem to be solved is the formalization of the effect of each cylinder.
- this problem is solved by estimating wealth individual cylinders from the signal of richness provided by the oxygen sensor and by associating each cylinder has its own regulation.
- the method implements an exhaust model associated with an estimate and a regulation of the individual wealth of the cylinders.
- the exhaust model chosen implies that the richness exhaust gas, measured by a so-called probe proportional (known by the acronym Anglo-Saxon UEGO), is the weighted average wealth individual cylinders.
- This model does not provide of dynamic process in the mixture of gases and assumes gas transport times exhaust from the cylinders to the UEGO probe are all equal.
- European patent application EP670420 which is considered to represent the state of the art on closer, teaches a process for evaluating relationships air / fuel in the cylinders of an internal combustion engine from a single sensor installed at engine exhaust.
- a mathematical model is first designed to describe behavior of the exhaust that accepts the output of the air / fuel ratio sensor.
- An observer is designed to observe the internal state of the mathematical model and calculate the air / fuel ratios in each engine cylinders.
- the object of the invention is therefore to implement a gas richness regulation process exhaust from an internal combustion engine which takes account of periodic phenomena and effects of each cylinder on the exhaust gases.
- This goal is achieved by providing for synchronization of the signal supplied by the probe and regulation of the wealth by rejection of disturbances according to a model of disturbance.
- Synchronization is obtained by the introduction of a adaptive delay between a proportional probe and a regulator of individual cylinder wealth according to a gradient optimization method and a variable delay in the wealth signal provided by the probe.
- the regulation of wealth by rejection of disturbance is based on an internal model consisting in including in the regulator a model dynamics of the expected disturbance so as to create a periodic signal canceling the disturbance expected.
- an internal combustion engine 10 of the injection type produced by an injection device 26 comprises, for example, four cylinders of which the exhaust gases, materialized by the four arrows 10 1 , 10 2 , 10 3 and 10 4 , are collected in a collector 12 to be directed to a catalytic exhaust 24 preceded by a proportional probe 16.
- the element 14 materializes, functionally, a delay time e introduced by the length of the manifold 12 and corresponding to the transport time of the exhaust gases.
- the proportional type probe 16 provides a signal y (t), representing the richness of the exhaust gases, which is applied to a synchronization circuit 20 introducing a variable delay.
- the signal y (k) of output of synchronization circuit 20 is applied to a regulating device 22 which processes the signals of control of the injectors of the injection device 26 to from signal y (k) and a setpoint yc supplied by an injection computer 28 known by elsewhere.
- the signal y (t) is sampled (circuit 30) at a frequency fe plus higher than the engine's U-turn, for example ten times, to create a signal y ( ⁇ ).
- This last signal is applied, on the one hand, to a device estimating delay 32 and, on the other hand, to a delay device variable 34 under the control of the estimating device delay which provides an estimated delay ê.
- T c is the duration of a motor cycle
- ê is the delay estimated by the device 32.
- the corrected signal is then resampled at the frequency of a half-turn of the motor (reference 36) to create the signal y (k).
- the estimator device 32 calculates the estimated delay ê between the measured signal y ( ⁇ ) and a model signal s ( ⁇ ).
- the model signal s ( ⁇ ) is a signal which is determined during the calibration of the synchronization device for a determined distribution of the wealth and for a known delay. It is in the form of a sample at the frequency fe, the values of which are recorded in a memory 38.
- the signal y ( ⁇ ) must correspond to the same distribution of the wealth as for s ( ⁇ ) and, for this purpose, the regulating device 22 is provided for introducing this distribution at times determined by a signal Sy.
- the estimated delay is calculated, at each appearance of the signal Sy, using a synchronization algorithm seeking to minimize the area ⁇ (FIG. 2) between the measured signal y ( ⁇ ) and the model signal s ( ⁇ ) by shifting the signal s ( ⁇ ) by a value (T c -ê) which is then expressed by the formula: s (tT vs + ê).
- the determination of the minimum value of the area ⁇ is obtained by a gradient method.
- a gradient method is for example described in the book “SYSTEM IDENTIFICATION THEORY FOR THE USER “by Lennart Ljung published by PRENTICE-HALL Inc in 1987.
- This synchronization algorithm can be used from two different ways:
- the gradient is calculated after each engine cycle and it is used for the calculation of the next cycle. For converge, this way of doing things requires that the distribution profile and average wealth be constant over several cycles: this is the average of e over several cycles which is calculated.
- the signal y (k) is applied to the regulator 22.
- This regulator is of the rejection type disturbances, that is, it cancels the disturbances or variations in gas richness exhaust due to a distribution of wealth individual cylinders.
- Figures 3a, 3b, 3c and 3d show a model of perturbation P (q) (figure 4) with three modes (q being the shift operator), two real modes and one mode complex.
- the three modes are located on the circle unit in order to be periodic.
- Real mode at 1 Figure 3b
- the second real mode -1 figure 3d
- the complex mode (+ i, -i) Figure 3c
- the three modes initialize with four initial conditions, which allows to have four different values on a cycle.
- the perturbation model is used for the synthesis of the disturbance rejection regulator.
- Point of start of the synthesis is figure 4 which shows the combination of the perturbation model P (q) (reference 40) with a model S (q) (reference 42) of mixing gas in the calculator and the application of a regulator R (q) (reference 44) to the combined model P (q) .S (q).
- a noise signal ⁇ (k) is applied to the input of the perturbation model P (q) and describes the modification of the periodic disturbance w (k) at over time.
- the periodic disturbance signal w (k) is applied to a comparator 46 which receives by elsewhere the output signal ⁇ u (k) of regulator 44.
- the difference signal provided by comparator 46 is applied to the gas mixture model S (q) which provides a deviation signal ⁇ y (k). This deviation signal constitutes the regulator input signal R (q).
- R1 (q), R2 (q) and P2 (q) are polynomials whose shift operator is q.
- the polynomial P2 (q) is the characteristic equation of the perturbation model.
- the modes of a dynamic model correspond to roots of its characteristic equation which determines its stability.
- a dynamic model is stable if its modes, represented in the complex plane, are at inside the complex unit circle.
- the regulator R (q) stabilizes the closed loop and cancels periodic disturbances if all modes controllable dynamic model corresponding to the closed loop are inside the unit circle.
- the controllable modes of the closed loop are those that can be modified by the choice of R (q).
- the trends uncontrollable closed loop are the ones that are invariants with respect to the choice of R (q). In the occurrence, they correspond to the modes of the model of disturbance included in the regulator.
- the diagram in Figure 6 shows part of the regulator 22 ( Figure 1) including a comparator 50 to compare the output signal y (k) of the synchronization 20 at setpoint signal yc. He gives the deviation signal ⁇ y (k) which is applied to the regulator 44 whose output signal ⁇ u (k) is added in an adder circuit 52 to the setpoint signal yc to give the signal u (k) for controlling the injectors.
- the four injector commands u1 (k), u2 (k), u3 (k) and u4 (k) are obtained by a device demultiplexing 60 of the signal u (k) as shown in the Figure 7. the demultiplexing device 60 ensures the update of the four injector controls at the motor cycle frequency.
- the commands u1 (k), u2 (k), u3 (k) and u4 (k) are applied respectively to the injectors 26 1 , 26 2 , 26 3 and 26 4 each associated with a cylinder of the engine 10.
- the summary calculations such regulators can be driven according to the LQG method (acronym for Linear Quadratic Gaussian) and Control Robust.
- LQG The first method called LQG is for example described in the book “COMPUTER CONTROLLED SYSTEMS” by Karl J. Aström and Björn Wittenmark edited by PRENTICE-HALL International Inc. in 1984.
- the second method is by example described in the book “ROBUST PROCESS CONTROL” by Manfred Morari and Evanghelos Zafiriou edited by PRENTICE-HALL Inc in 1989.
- Regulation of individual wealth of the mixture inlet in each of the engine cylinders in the called "regulation of individual wealth", is possible as long as the engine remains at the point of operation for which the delay ê has been identified. Each transition between two operating points requires a new identification of the delay ê, so ensure good synchronization of the regulator.
- Dispersions of injectors are manifested by the fact that an injector command applied to two injectors different provides two individual riches of different cylinder.
- the injector gain is quotient between individual cylinder richness and the injector control.
- the injector gains are identified during the regulation of individual wealth on the signal u (k).
- the identification procedure is illustrated in Figure 8.
- An example of the input signal u (k) of the gain identification device is shown in Figure 9.
- the demultiplexing of u (k) gives four different signals u1 ( k), u2 (k), u3 (k) and u4 (k) corresponding to the injector commands.
- Each of the signals u1 (k) to u4 (k) is then multiplied (multiplications 62 1 , 62 2 , 62 3 , 62 4 ) by 1 / u m , u m being the average over u1 (k) to u4 (k) and then filtered by a low-pass filter (64 1 , 64 2 , 64 3 , 64 4 ).
- the four constants G1 to G4 correspond respectively to the inverses of the injector gains of cylinders 1 to 4.
- the u1 (k), u2 (k), u3 (k) and u4 (k) commands ensure that the periodic gas richness disturbances engine exhaust are canceled.
- the signal u (k) supplied by the regulator is applied as shown in figure 7.
- a signal, Ug (k) provided by a wealth regulation medium is applied to the demultiplexer 60 as shown in FIG. 11.
- the signal Ug (k) is demultiplexed for generate four injector commands Ug1 (k), Ug2 (k), Ug3 (k) and Ug4 (k). Before they are applied to injectors, they are respectively multiplied by the constants G1, G2, G3 and G4 in order to compensate for the injector gains.
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Description
- la figure 1 est un schéma fonctionnel d'un système mettant en oeuvre le procédé selon l'invention,
- la figure 2 est un diagramme illustrant un aspect du procédé selon l'invention,
- les figures 3a, 3b, 3c et 3d sont des diagrammes illustrant un modèle de perturbation utilisé dans le procédé selon l'invention,
- la figure 4 est un schéma fonctionnel illustrant la formalisation du problème de contrôle pour la synthèse du régulateur de rejet de perturbation selon l'invention.
- la figure 5 est un schéma fonctionnel mettant en oeuvre le dispositif de synchronisation du signal y(t) selon l'invention.
- la figure 6 est un schéma fonctionnel mettant en oeuvre le dispositif de régulation selon l'invention.
- la figure 7 est un schéma fonctionnel illustrant un aspect du procédé selon l'invention,
- la figure 8 est un schéma fonctionnel illustrant un autre aspect du procédé selon l'invention,
- la figure 9 est un diagramme illustrant l'évolution du signal u(k) dans le temps,
- la figure 10 est un diagramme illustrant l'évolution des signaux g1(k) à g4(k) dans le temps, et
- la figure 11 est un schéma fonctionnel illustrant un aspect du procédé selon l'invention.
- la perturbation de la richesse des gaz d'échappement due à une répartition des richesses individuelles est périodique sur un cycle,
- les fréquences dominantes de la perturbation sont celles d'un cycle et d'un demi-cycle, et
- le signal de perturbation peut avoir quatre valeurs différentes sur un cycle.
Claims (4)
- Procédé d'annulation des variations de richesse du mélange gazeux issu des cylindres d'un moteur à combustion interne (10), ledit moteur comprenant au moins un injecteur (26) par cylindre, un collecteur (12) de transport du mélange gazeux disposé à la sortie des cylindres et une sonde (16) dite proportionnelle disposée dans ledit collecteur (12) et fournissant un signal y(t) représentatif de la richesse du mélange gazeux, ledit signal y(t) étant appliqué à un régulateur (22),
ce procédé comprenant l'étape consistant (a) à synchroniser le signal y(t), pour tenir compte du temps de transport du mélange gazeux dans le collecteur,
le procédé étant d'autre part caractérisé en ce qu'il comprend les étapes suivantes consistant à :(b) réguler la richesse individuelle du mélange d'entrée dans chacun des cylindres du moteur pour des points de fonctionnements stables en introduisant dans le régulateur (22) un modèle de perturbation de manière à créer un signal périodique u(k) annulant la perturbation attendue.(c) identifier des gains d'injecteurs sur le signal u(k) pendant la régulation pour des points de fonctionnement stables, et(d) réguler la richesse individuelle du mélange. d'entrée dans chacun des cylindres du moteur pendant les transitoires entre deux points de fonctionnement en multipliant les commandes des injecteurs par ces gains.(a0) créer un signal y(τ) en échantillonnant le signal y(t) à une fréquence d'échantillonnage (fe) plus élevée que celle du demi-tour du moteur,(a1) estimer un retard (ê) entre le signal échantillonné y(τ) et un signal modèle s(τ),(a2) introduire ce retard estimé (ê) dans le signal échantillonné y(τ) pour créer un signal corrigé z(τ) selon des critères déterminés, et(a3) créer un signal y(k) en rééchantillonnant le signal z(τ) à la fréquence du demi-tour du moteur. - Procédé selon la revendication 1, caractérisé en ce que l'étape (b) comprend les étapes intermédiaires suivantes consistant à :(b1) choisir un modèle de perturbation P(q) selon des critères déterminés,(b2) combiner P(q) avec un modèle S(q) de mélange de gaz de telle manière qu'un signal de perturbation w(k), correspondant au signal de sortie de P(q), s'ajoute au signal d'entrée S(q),(b3) choisir un régulateur R(q) pour le modèle combiné P(q).S(q) selon des critères déterminés,(b4) comparer le signal échantillonné y(k) à un signal de consigne (yc) fourni par le calculateur d'injection pour créer un signal de différence δy(k) sous la forme (y(k) - yc),(b5) appliquer le signal différence δy(k) au régulateur R(q) qui fournit un signal δu(k),(b6) additionner le signal δu(k) au signal de consigne yc afin de créer le signal u(k),(b7) démultiplexer la commande u(k) selon des critères déterminés pour générer quatre commandes indépendantes (u1(k), u2(k) u3(k) et u4(k)) des injecteurs, et(b8) appliquer les quatre commandes aux injecteurs.
- Procédé selon l'une quelconque des revendications précédentes 1 à 2, caractérisé en ce que l'étape (b) comprend les étapes intermédiaires suivantes consistant à :(c1) démultiplexer la commande u(k) selon des critères déterminés pour générer quatre commandes indépendantes (u1(k), u2(k) u3(k) et u4(k)) d'injecteurs,(c2) créer quatre signaux g1(k), g2(k) g3(k) et g4(k) en divisant chacun des quatre signaux u1(k), u2 (k) u3(k) et u4(k) par la moyenne sur u1(k) à u4(k),(c3) filtrer les signaux g1(k) à g4(k) par un filtre passe-bas, et(c4) remplacer les gains G1, G2, G3 et G4 respectivement par les valeurs g1(k), g2(k), g3(k) et g4(k) lorsque la régulation selon l'étape (b) n'est plus possible.
- Procédé selon l'une quelconque des revendications précédentes 1 à 3, caractérisé en ce que l'étape (d) comprend les étapes intermédiaires suivantes consistant à :(d1) calculer la commande globale Ug(k) des injecteurs par une régulation de la richesse moyenne classique,(d2) créer quatre commandes d'injecteurs différentes en multipliant la commande de la richesse moyenne um respectivement par les gains G1, G2, G3 et G4, et(d3) appliquer les quatre commandes aux injecteurs.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9805507A FR2778210B1 (fr) | 1998-04-30 | 1998-04-30 | Procede d'annulation des variations de richesse du melange gazeux issu des cylindres d'un moteur a combustion interne |
FR9805507 | 1998-04-30 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0953754A1 EP0953754A1 (fr) | 1999-11-03 |
EP0953754B1 true EP0953754B1 (fr) | 2003-11-19 |
Family
ID=9525916
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP99400985A Expired - Lifetime EP0953754B1 (fr) | 1998-04-30 | 1999-04-22 | Procédé d'annulation des variations de richesse du mélange gazeux issu des cylindres d'un moteur à combustion interne |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP0953754B1 (fr) |
DE (1) | DE69912875T2 (fr) |
FR (1) | FR2778210B1 (fr) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6314952B1 (en) * | 2000-03-23 | 2001-11-13 | General Motors Corporation | Individual cylinder fuel control method |
FR2817294B1 (fr) | 2000-11-27 | 2003-04-11 | Renault | Procede d'annulation des variations de richesse pour un moteur a allumage commande |
FR2867230B1 (fr) * | 2004-03-05 | 2006-06-16 | Peugeot Citroen Automobiles Sa | Procede de controle d'un moteur a combustion interne |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0330934A2 (fr) * | 1988-02-24 | 1989-09-06 | Hitachi, Ltd. | Méthode de régulation à contre-réaction du rapport air-carburant du mélange alimentant un moteur à combustion |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4962741A (en) | 1989-07-14 | 1990-10-16 | Ford Motor Company | Individual cylinder air/fuel ratio feedback control system |
DE69225212T2 (de) | 1991-12-27 | 1998-08-13 | Honda Motor Co Ltd | Verfahren zum Feststellen und Steuern des Luft/Kraftstoffverhältnisses in einer Brennkraftmaschine |
EP0670420B1 (fr) * | 1994-02-04 | 1999-01-07 | Honda Giken Kogyo Kabushiki Kaisha | Système d'estimation du rapport air/carburant pour un moteur à combustion interne |
CN1082617C (zh) * | 1994-12-30 | 2002-04-10 | 本田技研工业株式会社 | 内燃机的燃料喷射控制装置 |
-
1998
- 1998-04-30 FR FR9805507A patent/FR2778210B1/fr not_active Expired - Fee Related
-
1999
- 1999-04-22 DE DE1999612875 patent/DE69912875T2/de not_active Expired - Lifetime
- 1999-04-22 EP EP99400985A patent/EP0953754B1/fr not_active Expired - Lifetime
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0330934A2 (fr) * | 1988-02-24 | 1989-09-06 | Hitachi, Ltd. | Méthode de régulation à contre-réaction du rapport air-carburant du mélange alimentant un moteur à combustion |
Also Published As
Publication number | Publication date |
---|---|
DE69912875D1 (de) | 2003-12-24 |
FR2778210A1 (fr) | 1999-11-05 |
EP0953754A1 (fr) | 1999-11-03 |
DE69912875T2 (de) | 2004-11-11 |
FR2778210B1 (fr) | 2000-12-15 |
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