EP2165062A1 - Method and apparatus for monitoring the function of a rotational speed regulator - Google Patents

Method and apparatus for monitoring the function of a rotational speed regulator

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Publication number
EP2165062A1
EP2165062A1 EP08774056A EP08774056A EP2165062A1 EP 2165062 A1 EP2165062 A1 EP 2165062A1 EP 08774056 A EP08774056 A EP 08774056A EP 08774056 A EP08774056 A EP 08774056A EP 2165062 A1 EP2165062 A1 EP 2165062A1
Authority
EP
European Patent Office
Prior art keywords
manipulated variable
speed
maximum
max
time
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.)
Granted
Application number
EP08774056A
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German (de)
French (fr)
Other versions
EP2165062B1 (en
Inventor
Guenter Kettenacker
Sergiy Myronov
Klaus Schwarze
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
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Robert Bosch GmbH
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Publication of EP2165062A1 publication Critical patent/EP2165062A1/en
Application granted granted Critical
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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
    • F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
    • F02D31/001—Electric control of rotation speed
    • F02D31/007—Electric control of rotation speed controlling fuel supply
    • F02D31/009—Electric control of rotation speed controlling fuel supply for maximum speed control

Definitions

  • the invention relates to a method and a device for speed controller function monitoring, in particular in a thrust monitoring function of a diesel engine control.
  • an overrun monitoring function can be activated as an error handling function if the actual rotational speed is above the setpoint rotational speed by more than a predetermined threshold value.
  • a predetermined period of time say one second, including all other retarding functions, the injection is switched off, ie. the drive duration of the injectors has been brought to zero.
  • the provided in the engine control speed controller work depending on the application, ie type of manufacturer of the motor vehicle or depending on the motor vehicle with different parameter sets that lead to different response times of the speed controller.
  • the injection upon intervention of the thrust monitor, for each parameter set, the injection must be shut off within the predetermined period of time to avoid an unjustified thrust monitor replacement response.
  • a check of each parameter set must be carried out again for each vehicle type or field of application of the internal combustion engine. The checking is carried out with the aid of suitable simulations, wherein in particular it is checked that the manipulated variable is within the predetermined period of time, ie one second, leads to a stop of the injection. This is expensive.
  • a method for monitoring a function of a speed control of an internal combustion engine includes detecting a speed overshoot when an actual speed of the engine exceeds a desired speed by more than a predetermined threshold, and, when a speed over is detected, limiting a speed control variable to a time-out maximum speed.
  • the maximum manipulated variable may depend on a predetermined period of time after which the manipulated variable must be set to 0.
  • the gradient with which the maximum manipulated variable decreases over time is constant.
  • the gradient can be determined from a maximum manipulated variable, which indicates a maximum permissible manipulated variable in normal operation, divided by the predetermined period of time.
  • the gradient may be determined from the current maximum manipulated variable divided by the predetermined period of time.
  • the maximum manipulated variable may decrease over time in accordance with a gradient profile.
  • the manipulated variable of the rotational speed control can be limited to a temporally increasing maximum manipulated variable, wherein the maximum manipulated variable increases up to a maximum manipulated variable which indicates a maximum permissible manipulated variable in normal operation.
  • the maximum control variable when the setpoint speed is undershot by the actual speed, can be set directly to the maximum control variable, wherein the maximum control variable indicates a maximum permissible control variable during normal operation.
  • a motor control for operating an internal combustion engine is provided with a control unit for providing a manipulated variable as a function of a desired rotational speed and an actual rotational speed; and a limiting unit for detecting a speed exceeding when the actual speed of the internal combustion engine exceeds the target speed by more than a predetermined threshold, and for limiting a control variable of the speed control to a time-decreasing maximum control variable when a speed overshoot is detected.
  • control unit may comprise a P-controller part and an I-controller part, wherein the limiting unit has a common one of the P-controller part and the I-controller part.
  • the control unit may include a P-controller part and an I-controller part, wherein the limitation unit is coupled to the I-controller part such that the limitation unit updates an integration output value of an integrator of the I-regulator part when limiting with a limit integrator value in each control cycle.
  • Fig. 1 is a block diagram of a speed controller for a motor controller according to a first embodiment of the invention
  • FIG. 2 is a block diagram of a speed controller for a motor controller according to another embodiment of the invention
  • FIG. and Fig. 3 is a timing diagram illustrating the timing of the maximum torque depending on the actual engine speed.
  • an engine system 1 with an internal combustion engine 2 and a speed control is shown schematically.
  • the speed control is performed as an example as a PI controller and delivers depending on a differential speed .DELTA. ⁇ a manipulated variable S eg in the form of a set torque or an amount of fuel to be injected.
  • the speed control comprises a differential element 5 for calculating a rotational speed difference between a desired rotational speed ⁇ s o ii provided externally (eg according to a driver's desired torque in a motor vehicle) and an actual rotational speed ooi st determined in the internal combustion engine 2.
  • the differential rotational speed ⁇ becomes a proportional element 6 (P controller part) and an integrator 7 8I controller part) of the controller.
  • the proportional element 6 and the integration element 7 respectively provide partial manipulated variables Si and S 2 , which are added in a summing element 8 in order to generate the manipulated variable S.
  • a limiting member 10 is provided to which the information about the rotational speed difference ⁇ is supplied and which is activated as soon as the rotational speed difference ⁇ is greater than a threshold value SW, which is fixed. If the threshold value SW is not exceeded, the manipulated variable S is provided unchanged to the internal combustion engine 2. However, if the differential speed ⁇ is above the threshold value SW, the manipulated variable S of the speed control is limited to a maximum torque M max .
  • the limiting member 10 In order to ensure that the manipulated variable S, with which the internal combustion engine 2 is controlled, in such an activated case, ie when the differential rotational speed ⁇ is above the threshold, brought to 0 within a predetermined period of time, which is indicated by T A is, the maximum torque M max over time is reduced linearly or according to a predetermined gradient profile (see time Tl).
  • a manipulated variable S which corresponds to a torque above the maximum torque M max , is limited to M max .
  • the reduction of the maximum torque M max over time is continued until M max either indicates 0 Nm or the differential speed ⁇ falls below the threshold value (see time T2).
  • the maximum torque M max is continuously increased again from the currently attained maximum torque M max over the time t in the direction of a predefined maximum value, which, however, is not exceeded . If during the increase of the maximum torque M max again ⁇ exceeds the threshold value (see time T3), starting from the now reached maximum torque M max , the maximum torque M max is reduced linearly or according to a gradient profile until either 0 Nm is reached or until ⁇ falls below the threshold again. If ⁇ is above the threshold value SW and the maximum torque M max is already 0 Nm (see period between T3 and T4), then M max is kept at 0 Nm and thus the manipulated variable S is limited to 0 Nm.
  • the manipulated variable delivered to the engine 2 is zero, that is, no fuel is injected into the engine 2.
  • the maximum permissible torque M max is again increased according to a gradient.
  • the gradient with which the maximum torque M max is reduced, as soon as the threshold value SW is exceeded by the differential rotational speed ⁇ , is determined by the time period in which the manipulated variable must be brought to zero, if the differential rotational speed ⁇ exceeds the threshold SW ü-.
  • This time period T A can be, for example, one second.
  • the gradient of the decrease in the maximum torque M max results, for example, from a predetermined maximum torque (corresponds to a maximum torque permissible in normal operation, shown as a solid thin horizontal line in the upper diagram of FIG. 3) divided by the predetermined time duration, so that at a prevailing maximum torque, the limit value is 0 Nm at the latest after the predetermined time period T A.
  • the maximum torque M max can also be used for the gradient calculation.
  • the amount of the gradient in the case of increasing the maximum torque M max as soon as the threshold value is again undershot by the differential speed is preferably selected to be the same as the gradient of the falling ramp of the maximum torque curve M max in the aforementioned case.
  • the maximum torque M max is immediately set to the maximum torque. A torque jump does not arise because the manipulated variable components Si and S 2 are significantly below the maximum value.
  • the limit value is usually stored in an existing EEPROM upon intervention of the limitation in a static data memory. In this way, it can be determined in a test whether the limitation had to intervene or whether the control parameters allow sufficiently fast speed control to meet the requirement for the manipulated variable reduction time.
  • Fig. 2 shows a further embodiment of an engine system according to the invention.
  • the same elements or elements of the same function are provided with the same reference numerals.
  • the embodiment of FIG. 2 differs from the embodiment of FIG. 1 in that the limiting unit is not provided in the adjusting path between the summing member 8 and the internal combustion engine 2, but on the integrating member 7.
  • the limiting unit 11 of the embodiment of FIG. like the limiting unit 10 of the embodiment of FIG. 1, receives the differential rotational speed ⁇
  • Threshold SW and the predetermined period of time T A detects on the basis of an exceeding of the threshold value SW by the differential speed ⁇ , that the maximum torque M max should be limited.
  • the value of the maximum torque M max which determines the limiting value, is determined as previously described in the example of the embodiment of FIG. 1.
  • the partial manipulated variable Si provided by the proportional element 6 is subtracted, thereby determining a limit integration value with which before each integration cycle the integration output value (integration value from which at integration in one cycle is assumed) of the integration member 7 is updated. That is, when the present integrator value (integrator value after integration) is larger than the limit integration value provided by the constraint unit 11, the integration output value is updated to the limit integration value provided by the constraint unit 11. If the integration value 7 in the integration element 7 is smaller than the limit integration value provided by the limitation unit 11, no update takes place.
  • the inventive method has the advantage that it can be ensured that the manipulated variable of the speed control reaches zero in any case after the predetermined period of time.
  • T A a time period within which the maximum controller output torque (manipulated variable) is driven linearly from the maximum torque to the neutral value (manipulated variable 0) if the rotational speed is too high.
  • the internal thrust monitoring does not respond incorrectly, which is checked for unjustified injection after a certain period of time, such as one second, thrust.
  • a user can not unintentionally trigger such a fault, so that the controller application can be completely left to the user and does not have to be additionally checked with regard to the thrust monitoring.
  • a PI D controller may be provided, but the differential component of the manipulated variable should not be acted upon by the limiting element and therefore should be added to the possibly already limited manipulated variable of the P and I component of the manipulated variable.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The invention relates to a method and an apparatus for monitoring a function of a rotational speed regulating means of an internal combustion engine (2). Here, an exceeding of the rotational speed is detected if an actual rotational speed (?Ist) of the internal combustion engine exceeds a setpoint rotational speed (?Soll) by more than a predefined threshold value (SW). If an exceeding of the rotational speed is detected, a manipulated variable (S) of the rotational speed regulating means is limited to a maximum manipulated variable (Mmax) which drops over time.

Description

Beschreibung description
Titeltitle
Verfahren und Vorrichtung zur Drehzahlregler- FunktionsüberwachungMethod and device for speed controller function monitoring
Technisches GebietTechnical area
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur Drehzahlregler- Funktionsüberwachung, insbesondere bei einer Schubüberwachungsfunktion einer Dieselmotorsteuerung.The invention relates to a method and a device for speed controller function monitoring, in particular in a thrust monitoring function of a diesel engine control.
Stand der TechnikState of the art
Bei einer Dieselmotorsteuerung kann als Fehlerbehandlungsfunktion eine Schubüberwachung aktiviert werden, wenn die Ist-Drehzahl um mehr als einen vorbestimmten Schwellwert über der Soll-Drehzahl liegt. Im Fall einer Aktivierung der Schubüberwachung ist es erforderlich, dass der Drehzahlregler seine entsprechende Stellgröße so schnell auf null bringt, dass nach einer vorbestimmten Zeitdauer, etwa einer Sekunde, inklusive aller weiteren verzögernden Funktionen die Einspritzung abgeschaltet ist, d.h. die Ansteuerdauer der Injektoren auf null gebracht worden ist.In a diesel engine control system, an overrun monitoring function can be activated as an error handling function if the actual rotational speed is above the setpoint rotational speed by more than a predetermined threshold value. In the case of activation of thrust monitoring, it is necessary for the speed controller to bring its corresponding manipulated variable to zero so quickly that after a predetermined period of time, say one second, including all other retarding functions, the injection is switched off, ie. the drive duration of the injectors has been brought to zero.
Die in der Motorsteuerung vorgesehenen Drehzahlregler arbeiten je nach Einsatzgebiet, d.h. Art des Herstellers des Kraftfahrzeugs bzw. abhängig vom Kraftfahrzeug mit verschiedenen Parametersätzen, die zu verschiedenen Ansprechzeiten des Drehzahlreglers führen. Beim Eingreifen der Schubüberwachung muss jedoch für jeden Parametersatz gelten, dass die Einspritzung innerhalb der vorbestimmten Zeitdauer abgeschaltet wird, um eine ungerechtfertigte Schubüberwachungsersatzreaktion zu vermeiden. Ein Überprüfen jedes Parametersatzes muss für jeden Fahrzeugtyp bzw. Einsatzgebiet des Verbrennungsmotors erneut durchgeführt werden. Das Überprüfen wird mit Hilfe geeigneter Simulationen vorgenommen, wobei insbesondere überprüft wird, dass die Stellgröße innerhalb der vorbestimmten Zeitdauer, d.h. einer Sekunde, zu einem Stoppen der Einspritzung führt. Dies ist aufwendig.The provided in the engine control speed controller work depending on the application, ie type of manufacturer of the motor vehicle or depending on the motor vehicle with different parameter sets that lead to different response times of the speed controller. However, upon intervention of the thrust monitor, for each parameter set, the injection must be shut off within the predetermined period of time to avoid an unjustified thrust monitor replacement response. A check of each parameter set must be carried out again for each vehicle type or field of application of the internal combustion engine. The checking is carried out with the aid of suitable simulations, wherein in particular it is checked that the manipulated variable is within the predetermined period of time, ie one second, leads to a stop of the injection. This is expensive.
Es ist daher Aufgabe der vorliegenden Erfindung, ein Verfahren und eine Vorrichtung zur Verfügung zu stellen, bei denen sichergestellt werden kann, dass bei zu hoher Drehzahlabweichung die Stellgröße des Drehzahlreglers innerhalb der einzuhaltenden Zeit auf null abgebaut ist, ohne die Reglerparameter, die für die Endanwendung festgelegt worden sind, individuell überprüfen zu müssen.It is therefore an object of the present invention to provide a method and an apparatus in which it can be ensured that at too high speed deviation, the manipulated variable of the speed controller within the time to be maintained is reduced to zero, without the controller parameters that for the end use have been determined to have to check individually.
Diese Aufgabe wird durch das Verfahren nach Anspruch 1 sowie durch die Vorrichtung gemäß dem nebengeordneten Anspruch gelöst.This object is achieved by the method according to claim 1 and by the device according to the independent claim.
Weitere vorteilhafte Ausgestaltungen der Erfindung sind in den abhängigen Ansprüchen angegeben.Further advantageous embodiments of the invention are specified in the dependent claims.
Gemäß einem ersten Aspekt ist ein Verfahren zum Überwachen einer Funktion einer Drehzahlregelung eines Verbrennungsmotors vorgesehen. Das Verfahren umfasst ein Detektieren einer Drehzahlüberschreitung, wenn eine Ist-Drehzahl des Verbrennungsmotors eine Soll-Drehzahl um mehr als einen vorbestimmten Schwellwert überschreitet, und, wenn eine Drehzahlüberschreitung detektiert wird, ein Begrenzen einer Stellgröße der Drehzahlregelung auf eine zeitlich abfallende maximale Stellgröße.According to a first aspect, a method for monitoring a function of a speed control of an internal combustion engine is provided. The method includes detecting a speed overshoot when an actual speed of the engine exceeds a desired speed by more than a predetermined threshold, and, when a speed over is detected, limiting a speed control variable to a time-out maximum speed.
Weiterhin kann die maximale Stellgröße von einer vorbestimmten Zeitdauer abhängen, nach der die Stellgröße auf 0 festgelegt sein muss.Furthermore, the maximum manipulated variable may depend on a predetermined period of time after which the manipulated variable must be set to 0.
Gemäß einer Ausführungsform ist der Gradient mit dem die maximale Stellgröße über der Zeit abfällt, konstant. Dabei kann der Gradient aus einer Maximalstellgröße, die eine im Normalbetrieb maximal zulässige Stellgröße angibt, dividiert durch die vorbestimmte Zeitdauer ermittelt werden. Alternativ kann der Gradient aus der momentanen maximalen Stellgröße dividiert durch die vorbestimmte Zeitdauer ermittelt werden.According to one embodiment, the gradient with which the maximum manipulated variable decreases over time is constant. In this case, the gradient can be determined from a maximum manipulated variable, which indicates a maximum permissible manipulated variable in normal operation, divided by the predetermined period of time. Alternatively, the gradient may be determined from the current maximum manipulated variable divided by the predetermined period of time.
Alternativ kann die maximale Stellgröße gemäß einem Gradientenprofil über der Zeit abfallen. Weiterhin kann bei Unterschreiten des Schwellwerts durch die Ist-Drehzahl die Stellgröße der Drehzahlregelung auf eine zeitlich ansteigende maximale Stellgröße begrenzt werden, wobei die maximale Stellgröße bis zu einer Maximalstellgröße, die eine im Normalbetrieb maximal zulässige Stellgröße angibt, ansteigt.Alternatively, the maximum manipulated variable may decrease over time in accordance with a gradient profile. Furthermore, when the threshold value is undershot by the actual rotational speed, the manipulated variable of the rotational speed control can be limited to a temporally increasing maximum manipulated variable, wherein the maximum manipulated variable increases up to a maximum manipulated variable which indicates a maximum permissible manipulated variable in normal operation.
Gemäß einer Ausführungsform kann bei Unterschreiten der Soll-Drehzahl durch die Ist- Drehzahl die maximale Stellgröße unmittelbar auf die Maximalstellgröße eingestellt werden, wobei die Maximalstellgröße eine im Normalbetrieb maximal zulässige Stellgröße angibt.According to one embodiment, when the setpoint speed is undershot by the actual speed, the maximum control variable can be set directly to the maximum control variable, wherein the maximum control variable indicates a maximum permissible control variable during normal operation.
Gemäß einem Aspekt ist eine Motorregelung zum Betreiben eines Verbrennungsmotors vorgesehen mit einer Regelungseinheit zum Bereitstellen einer Stellgröße abhängig von einem Soll-Drehzahl und einer Ist-Drehzahl; und einer Begrenzungseinheit zum Detektie- ren einer Drehzahlüberschreitung, wenn die Ist-Drehzahl des Verbrennungsmotors die Soll-Drehzahl um mehr als einen vorbestimmten Schwellwert überschreitet, und zum Begrenzen einer Stellgröße der Drehzahlregelung auf eine zeitlich abfallende maximale Stellgröße, wenn eine Drehzahlüberschreitung detektiert wird.According to one aspect, a motor control for operating an internal combustion engine is provided with a control unit for providing a manipulated variable as a function of a desired rotational speed and an actual rotational speed; and a limiting unit for detecting a speed exceeding when the actual speed of the internal combustion engine exceeds the target speed by more than a predetermined threshold, and for limiting a control variable of the speed control to a time-decreasing maximum control variable when a speed overshoot is detected.
Weiterhin kann die Regelungseinheit einen P-Reglerteil und einen I-Reglerteil umfassen, wobei die Begrenzungseinheit eine gemeinsame von dem P-Reglerteil und dem I-Furthermore, the control unit may comprise a P-controller part and an I-controller part, wherein the limiting unit has a common one of the P-controller part and the I-controller part.
Reglerteil bereitgestellte Stellgröße begrenzt. Alternativ kann die Regelungseinheit einen P-Reglerteil und einen I-Reglerteil umfassen, wobei die Begrenzungseinheit so mit dem I- Reglerteil gekoppelt ist, dass die Begrenzungseinheit einen Integrationsausgangswert eines Integrators des I-Reglerteils beim Begrenzen mit einem Grenzintegratorwert in je- dem Regelungszyklus aktualisiert.Regulator part provided manipulated variable limited. Alternatively, the control unit may include a P-controller part and an I-controller part, wherein the limitation unit is coupled to the I-controller part such that the limitation unit updates an integration output value of an integrator of the I-regulator part when limiting with a limit integrator value in each control cycle.
Bevorzugte Ausführungsformen der Erfindung werden nachfolgend anhand der beigefügten Zeichnungen näher erläutert. Es zeigen:Preferred embodiments of the invention are explained below with reference to the accompanying drawings. Show it:
Fig. 1 ein Blockschaltbild eines Drehzahlreglers für eine Motorsteuerung gemäß einer ersten Ausführungsform der Erfindung;Fig. 1 is a block diagram of a speed controller for a motor controller according to a first embodiment of the invention;
Fig. 2 ein Blockschaltbild eines Drehzahlreglers für eine Motorsteuerung gemäß einer weiteren Ausführungsform der Erfindung; und Fig. 3 ein Zeitverlaufsdiagramm zur Darstellung des zeitlichen Verlaufs des maximalen Drehmoments abhängig von der Ist-Motordrehzahl.FIG. 2 is a block diagram of a speed controller for a motor controller according to another embodiment of the invention; FIG. and Fig. 3 is a timing diagram illustrating the timing of the maximum torque depending on the actual engine speed.
In Fig. 1 ist ein Motorsystem 1 mit einem Verbrennungsmotor 2 und einer Drehzahlrege- lung schematisch dargestellt. Die Drehzahlregelung ist beispielhaft als PI- Regler ausgeführt und liefert abhängig von einer Differenzdrehzahl Δω eine Stellgröße S z.B. in Form eines Stelldrehmoments bzw. einer einzuspritzenden Kraftstoffmenge. Die Drehzahlregelung umfasst ein Differenzelement 5 zum Berechnen einer Drehzahldifferenz zwischen einer von extern (z.B. gemäß eines Fahrerwunschmoments bei einem Kraftfahrzeug) be- reitgestellten Soll-Drehzahl ωsoii und einer im Verbrennungsmotor 2 ermittelten Ist- Drehzahl ooist- Die Differenzdrehzahl Δω wird einem Proportionalglied 6 (P- Reglerteil) und einem Integrationsglied 7 8I-Reglerteil) des Reglers zugeführt. Das Proportionalglied 6 sowie das Integrationsglied 7 stellen jeweils Teilstellgrößen Si bzw. S2 zur Verfügung, die in einem Summierglied 8 addiert werden, um die Stellgröße S zu erzeugen.In Fig. 1, an engine system 1 with an internal combustion engine 2 and a speed control is shown schematically. The speed control is performed as an example as a PI controller and delivers depending on a differential speed .DELTA.ω a manipulated variable S eg in the form of a set torque or an amount of fuel to be injected. The speed control comprises a differential element 5 for calculating a rotational speed difference between a desired rotational speed ωs o ii provided externally (eg according to a driver's desired torque in a motor vehicle) and an actual rotational speed ooi st determined in the internal combustion engine 2. The differential rotational speed Δω becomes a proportional element 6 (P controller part) and an integrator 7 8I controller part) of the controller. The proportional element 6 and the integration element 7 respectively provide partial manipulated variables Si and S 2 , which are added in a summing element 8 in order to generate the manipulated variable S.
Weiterhin ist ein Begrenzungsglied 10 vorgesehen, dem die Angabe über die Drehzahldifferenz Δω zugeführt wird und das aktiviert wird, sobald die Drehzahldifferenz Δω größer ist als ein Schwellwert SW, der fest vorgegeben ist. Wird der Schwellwert SW nicht überschritten, so wird die Stellgröße S unverändert dem Verbrennungsmotor 2 bereitgestellt. Befindet sich jedoch die Differenzdrehzahl Δω oberhalb des Schwellwerts SW, so wird die Stellgröße S der Drehzahlregelung auf ein maximales Drehmoment Mmax begrenzt.Furthermore, a limiting member 10 is provided to which the information about the rotational speed difference Δω is supplied and which is activated as soon as the rotational speed difference Δω is greater than a threshold value SW, which is fixed. If the threshold value SW is not exceeded, the manipulated variable S is provided unchanged to the internal combustion engine 2. However, if the differential speed Δω is above the threshold value SW, the manipulated variable S of the speed control is limited to a maximum torque M max .
Die Funktionsweise des Begrenzungsgliedes 10 wird mit Bezug zu Figur 3 beschrieben. Um zu gewährleisten, dass die Stellgröße S, mit der der Verbrennungsmotor 2 angesteu- ert wird, in einem solchen aktivierten Fall, d.h. wenn die Differenzdrehzahl Δω oberhalb des Schwellwerts liegt, innerhalb einer vorbestimmten Zeitdauer, die durch TA angegeben ist, auf 0 gebracht wird, wird das maximale Drehmoment Mmax über der Zeit linear oder gemäß einem vorgegebenen Gradientenprofil reduziert (siehe Zeitpunkt Tl). Eine Stellgröße S, die einem Drehmoment oberhalb des maximalen Drehmoments Mmax entspricht, wird auf Mmax begrenzt. Die Reduktion des maximalen Drehmoments Mmax über der Zeit wird solange fortgeführt, bis Mmax entweder 0 Nm angibt oder die Differenzdrehzahl Δω den Schwellwert unterschreitet (siehe Zeitpunkt T2). Unterschreitet Δω den Schwellwert (siehe Zeitpunkt T2) bevor die Stellgröße 0 erreicht wird, so wird das maximale Drehmoment Mmax ausgehend von dem momentan erreichten maximalen Drehmoment Mmax wieder kontinuierlich über der Zeit t in Richtung eines vorgegebenen Maximalwert erhöht, der jedoch nicht überschritten wird. Wenn während der Erhöhung des maximalen Drehmoments Mmax erneut Δω den Schwellwert überschreitet (siehe Zeitpunkt T3), wird ausgehend von dem nun erreichten maximalen Drehmoment Mmax erneut das maximale Drehmoment Mmax linear oder gemäß einem Gradientenprofil reduziert, bis entweder 0 Nm erreicht sind oder bis Δω den Schwellwert wieder unterschreitet. Befindet sich Δω oberhalb des Schwellwerts SW und das maximale Drehmo- ment Mmax beträgt bereits 0 Nm (siehe Zeitraum zwischen T3 und T4), so wird Mmax bei 0 Nm gehalten und somit die Stellgröße S auf 0 Nm begrenzt. D.h., die an den Verbrennungsmotor 2 gelieferte Stellgröße entspricht null, d.h. es wird kein Kraftstoff in den Verbrennungsmotor 2 eingespritzt. Sobald die Differenzdrehzahl Δω den Schwellwert SW wieder unterschreitet (siehe Zeitpunkt T4), wird das maximal zulässige Drehmoment Mmax wieder gemäß einem Gradienten erhöht.The operation of the limiting member 10 will be described with reference to FIG. In order to ensure that the manipulated variable S, with which the internal combustion engine 2 is controlled, in such an activated case, ie when the differential rotational speed Δω is above the threshold, brought to 0 within a predetermined period of time, which is indicated by T A is, the maximum torque M max over time is reduced linearly or according to a predetermined gradient profile (see time Tl). A manipulated variable S, which corresponds to a torque above the maximum torque M max , is limited to M max . The reduction of the maximum torque M max over time is continued until M max either indicates 0 Nm or the differential speed Δω falls below the threshold value (see time T2). If Δω falls below the threshold value (see time T2) before the manipulated variable 0 is reached, then the maximum torque M max is continuously increased again from the currently attained maximum torque M max over the time t in the direction of a predefined maximum value, which, however, is not exceeded , If during the increase of the maximum torque M max again Δω exceeds the threshold value (see time T3), starting from the now reached maximum torque M max , the maximum torque M max is reduced linearly or according to a gradient profile until either 0 Nm is reached or until Δω falls below the threshold again. If Δω is above the threshold value SW and the maximum torque M max is already 0 Nm (see period between T3 and T4), then M max is kept at 0 Nm and thus the manipulated variable S is limited to 0 Nm. That is, the manipulated variable delivered to the engine 2 is zero, that is, no fuel is injected into the engine 2. As soon as the differential rotational speed Δω falls below the threshold value SW again (see time T4), the maximum permissible torque M max is again increased according to a gradient.
Bei einem linearen Verlauf des maximalen Drehmoments wird der Gradient, mit dem das maximale Drehmoment Mmax reduziert wird, sobald der Schwellwert SW durch die Differenzdrehzahl Δω überschritten wird, durch die Zeitdauer bestimmt, in der die Stellgröße auf null gebracht werden muss, wenn die Differenzdrehzahl Δω den Schwellwert SW ü- bersteigt. Diese Zeitdauer TA kann beispielsweise eine Sekunde betragen. Der Gradient des Abfallens des maximalen Drehmoments Mmax ergibt sich z.B. aus einem vorgegebenen Maximalmoment (entspricht einem im Normalbetrieb maximal zulässigen Drehmoment, ,als durchgezogene dünne horizontale Linie im oberen Diagramm der Fig. 3 darge- stellt) geteilt durch die vorbestimmte Zeitdauer, so dass bei einem vorherrschenden Maximalmoment der Grenzwert sich spätestens nach der vorgegebenen Zeitdauer TA bei 0 Nm befindet. Alternativ kann anstelle des Maximalmoments auch das maximale Drehmoment Mmax für die Gradientenberechnung herangezogen werden. Der Betrag des Gradienten im Falle der Erhöhung des maximalen Drehmomentes Mmax, sobald der Schwellwert durch die Differenzdrehzahl wieder unterschritten ist, wird vorzugsweise mit dem gleichen Betrag gewählt wie der Gradient der abfallenden Rampe des Verlaufs des maximalen Drehmoments Mmax beim zuvor genannten Fall. Sobald die Ist-Drehzahl ωιst kleiner ist als die Solldrehzahl ωsoii. wird das maximale Drehmoment Mmax sofort auf das Maximalmoment festgelegt. Ein Momentensprung entsteht dabei nicht, weil die Stellgrößenanteile Si und S2 deutlich unterhalb des Maximalwerts liegen.In the case of a linear curve of the maximum torque, the gradient with which the maximum torque M max is reduced, as soon as the threshold value SW is exceeded by the differential rotational speed Δω, is determined by the time period in which the manipulated variable must be brought to zero, if the differential rotational speed Δω exceeds the threshold SW ü-. This time period T A can be, for example, one second. The gradient of the decrease in the maximum torque M max results, for example, from a predetermined maximum torque (corresponds to a maximum torque permissible in normal operation, shown as a solid thin horizontal line in the upper diagram of FIG. 3) divided by the predetermined time duration, so that at a prevailing maximum torque, the limit value is 0 Nm at the latest after the predetermined time period T A. Alternatively, instead of the maximum torque, the maximum torque M max can also be used for the gradient calculation. The amount of the gradient in the case of increasing the maximum torque M max as soon as the threshold value is again undershot by the differential speed is preferably selected to be the same as the gradient of the falling ramp of the maximum torque curve M max in the aforementioned case. As soon as the actual rotational speed ωι s t is smaller than the target rotational speed ωsoii. the maximum torque M max is immediately set to the maximum torque. A torque jump does not arise because the manipulated variable components Si and S 2 are significantly below the maximum value.
Um eine Information über ein notwendiges Ansprechen der Begrenzungseinheit 10 verfügbar zu haben, z.B. für eine Auswertung, wird der Begrenzungswert bei Eingreifen der Begrenzung in einen statischen Datenspeicher üblicherweise in einen bereits vorhandenen EEPROM gespeichert. Damit kann bei einer Erprobung festgestellt werden, ob die Begrenzung eingreifen musste, oder ob die Regelungsparameter eine ausreichend schnelle Drehzahlregelung ermöglichen, um die Anforderung an die Stellgrößenabbauzeit zu erfüllen.In order to have information about a necessary response of the limiting unit 10 available, e.g. for an evaluation, the limit value is usually stored in an existing EEPROM upon intervention of the limitation in a static data memory. In this way, it can be determined in a test whether the limitation had to intervene or whether the control parameters allow sufficiently fast speed control to meet the requirement for the manipulated variable reduction time.
Fig. 2 zeigt eine weitere Ausführungsform eines erfindungsgemäßen Motorsystems. Glei- che Elemente bzw. Elemente gleicher Funktion sind mit den gleichen Bezugszeichen versehen. Die Ausführungsform der Fig. 2 unterscheidet sich von der Ausführungsform der Fig. 1 darin, dass die Begrenzungseinheit nicht in dem Stellpfad zwischen dem Summierglied 8 und dem Verbrennungsmotor 2, sondern an dem Integrationsglied 7 vorgesehen ist. Die Begrenzungseinheit 11 der Ausführungsform der Fig. 2 erhält ebenso wie die Be- grenzungseinheit 10 der Ausführungsform der Fig. 1 die Differenzdrehzahl Δω denFig. 2 shows a further embodiment of an engine system according to the invention. The same elements or elements of the same function are provided with the same reference numerals. The embodiment of FIG. 2 differs from the embodiment of FIG. 1 in that the limiting unit is not provided in the adjusting path between the summing member 8 and the internal combustion engine 2, but on the integrating member 7. The limiting unit 11 of the embodiment of FIG. 2, like the limiting unit 10 of the embodiment of FIG. 1, receives the differential rotational speed Δω
Schwellwert SW sowie die vorbestimmte Zeitdauer TA und erkennt anhand eines Überschreitens des Schwellwertes SW durch die Differenzdrehzahl Δω, dass das maximale Drehmoment Mmax begrenzt werden soll. Der Wert des maximalen Drehmoments Mmax, das den Begrenzungswert bestimmt, wird wie zuvor im Beispiel der Ausführungsform der Fig. 1 beschrieben, ermittelt.Threshold SW and the predetermined period of time T A and detects on the basis of an exceeding of the threshold value SW by the differential speed Δω, that the maximum torque M max should be limited. The value of the maximum torque M max , which determines the limiting value, is determined as previously described in the example of the embodiment of FIG. 1.
Von dem maximalen Drehmoment Mmax wird in der Begrenzungseinheit 11 die Teilstellgröße Si , die von dem Proportionalglied 6 bereitgestellt wird, subtrahiert und dadurch ein Grenzintegrationswert ermittelt, mit dem vor jedem Integrationszyklus der Integrations- ausgangswert (Integrationswert, von dem bei der Integration in einem Zyklus ausgegangen wird) des Integrationsgliedes 7 aktualisiert wird. D.h., ist der momentane Integratorwert (Integratorwert nach der Integration) größer als der von der Begrenzungseinheit 11 bereitgestellte Grenzintegrationswert, so wird der Integrationsausgangswert auf den Grenzintegrationswert, der von der Begrenzungseinheit 11 bereitgestellt wird, aktualisiert. Ist der Integrationswert 7 in dem Integrationsglied 7 kleiner als der von der Begrenzungseinheit 11 bereitgestellte Grenzintegrationswert, so erfolgt keine Aktualisierung.From the maximum torque M max , in the limiting unit 11, the partial manipulated variable Si provided by the proportional element 6 is subtracted, thereby determining a limit integration value with which before each integration cycle the integration output value (integration value from which at integration in one cycle is assumed) of the integration member 7 is updated. That is, when the present integrator value (integrator value after integration) is larger than the limit integration value provided by the constraint unit 11, the integration output value is updated to the limit integration value provided by the constraint unit 11. If the integration value 7 in the integration element 7 is smaller than the limit integration value provided by the limitation unit 11, no update takes place.
Das erfindungsgemäße Verfahren hat den Vorteil, dass sichergestellt werden kann, dass die Stellgröße der Drehzahlregelung nach der vorbestimmten Zeitdauer in jedem Fall null erreicht. Hierzu wird nur eine Zeitdauer TA vorgegeben, innerhalb der das maximale Reglerausgangsmoment (Stellgröße) bei zu hoher Drehzahl vom Maximalmoment linear auf den Neutralwert (Stellgröße 0) gefahren wird. Dadurch ist selbst bei extrem langsamen oder falsch applizierten Reglerparametern sichergestellt, dass nicht fehlerhaft die interne Schubüberwachung anspricht, die auf ungerechtfertigte Einspritzung nach einer bestimmten Zeitdauer, wie z.B. einer Sekunde, Schub geprüft wird. Dadurch kann seitens eines Anwenders nicht unbeabsichtigt ein solcher Fehlerfall ausgelöst werden, so dass die Reglerapplikation vollständig dem Anwender überlassen werden kann und nicht hinsichtlich der Schubüberwachung zusätzlich überprüft werden muss.The inventive method has the advantage that it can be ensured that the manipulated variable of the speed control reaches zero in any case after the predetermined period of time. For this purpose, only a time period T A is specified within which the maximum controller output torque (manipulated variable) is driven linearly from the maximum torque to the neutral value (manipulated variable 0) if the rotational speed is too high. As a result, even with extremely slow or incorrectly applied controller parameters, it is ensured that the internal thrust monitoring does not respond incorrectly, which is checked for unjustified injection after a certain period of time, such as one second, thrust. As a result, a user can not unintentionally trigger such a fault, so that the controller application can be completely left to the user and does not have to be additionally checked with regard to the thrust monitoring.
Selbstverständlich kann als Drehzahlregler auch ein PI D- Regler vorgesehen sein, wobei jedoch der Differentialanteil der Stellgröße nicht durch das Begrenzungsglied beaufschlagt werden sollte und daher der eventuell bereits begrenzten Stellgröße des P- und I- Anteils der Stellgröße hinzuaddiert werden sollte. Of course, as a speed controller, a PI D controller may be provided, but the differential component of the manipulated variable should not be acted upon by the limiting element and therefore should be added to the possibly already limited manipulated variable of the P and I component of the manipulated variable.

Claims

Ansprüche claims
1. Verfahren zum Überwachen einer Funktion einer Drehzahlregelung eines Verbrennungsmotors (2), mit folgenden Schritten:1. A method for monitoring a function of a speed control of an internal combustion engine (2), comprising the following steps:
Detektieren einer Drehzahlüberschreitung, wenn eine Ist-Drehzahl (ωιst) des Verbrennungsmotors eine Soll-Drehzahl (ωSθιι) um mehr als einen vorbestimmtenDetecting a speed overshoot when an actual speed (ωι st ) of the engine, a target speed (ω Sθ ιι) by more than a predetermined
Schwellwert (SW) überschreitet; wenn eine Drehzahlüberschreitung detektiert wird, Begrenzen einer Stellgröße (S) der Drehzahlregelung auf eine zeitlich abfallende maximale Stellgröße (Mmax).Threshold (SW) exceeds; if a speed overshoot is detected, limiting a manipulated variable (S) of the speed control to a time-decreasing maximum manipulated variable (M max ).
2. Verfahren nach Anspruch 1, wobei die maximale Stellgröße (Mmax) von einer vorbestimmten Zeitdauer abhängt, nach der die Stellgröße (S) auf 0 festgelegt sein muss.2. The method of claim 1, wherein the maximum manipulated variable (M max ) depends on a predetermined period of time, after which the manipulated variable (S) must be set to 0.
3. Verfahren nach Anspruch 2, wobei der Gradient mit dem die maximale Stellgröße (Mmaχ) über der Zeit abfällt, konstant ist.3. The method of claim 2, wherein the gradient with which the maximum manipulated variable (M ma χ) over time, is constant.
4. Verfahren nach Anspruch 3, wobei der Gradient aus einer Maximalstellgröße, die eine im Normalbetrieb maximal zulässige Stellgröße angibt, dividiert durch die vorbestimmte Zeitdauer ermittelt wird.4. The method of claim 3, wherein the gradient of a maximum manipulated variable, which indicates a maximum permissible manipulated variable in normal operation, divided by the predetermined period of time is determined.
5. Verfahren nach Anspruch 3, wobei der Gradient aus der momentanen maximalen Stellgröße (Mmax) dividiert durch die vorbestimmte Zeitdauer ermittelt wird.5. The method of claim 3, wherein the gradient is determined from the current maximum manipulated variable (M max ) divided by the predetermined period of time.
6. Verfahren nach Anspruch 1 oder 2, wobei die maximale Stellgröße (Mmax) gemäß einem Gradientenprofil über der Zeit abfällt.6. The method of claim 1 or 2, wherein the maximum manipulated variable (M max ) decreases over time according to a gradient profile.
7. Verfahren nach Anspruch 1 oder 2, wobei bei Unterschreiten des Schwellwerts (SW) durch die Ist-Drehzahl (ωιst) die Stellgröße der Drehzahlregelung auf eine zeitlich ansteigende maximale Stellgröße (Mmax) begrenzt wird, wobei die maximale Stellgröße (Mmax) bis zu einer Maximalstellgröße, die eine im Normalbetrieb maximal zulässige Stellgröße angibt, ansteigt.7. The method of claim 1 or 2, wherein when falling below the threshold value (SW) by the actual speed (ωι st ) the manipulated variable of the speed control is limited to a temporally increasing maximum manipulated variable (M max ), wherein the maximum Manipulated variable (M max ) up to a maximum manipulated variable, which indicates a maximum permissible manipulated variable in normal operation, increases.
8. Verfahren nach Anspruch 1 oder 2, wobei bei Unterschreiten der Soll-Drehzahl (ωsoii) durch die Ist-Drehzahl (ωιst) die maximale Stellgröße (Mmax) unmittelbar auf die Maximalstellgröße eingestellt wird, wobei die Maximalstellgröße eine im Normalbetrieb maximal zulässige Stellgröße angibt.8. The method of claim 1 or 2, wherein falls below the target speed (ωsoii) by the actual speed (ωι s t), the maximum manipulated variable (M max ) is set directly to the maximum manipulated variable, wherein the maximum manipulated variable maximum in normal operation indicates permissible manipulated variable.
9. Motorregelungseinheit zum Betreiben eines Verbrennungsmotors (2) umfassend: - eine Regelungseinheit (5, 6, 7) zum Bereitstellen einer Stellgröße (S) abhängig von einem Soll-Drehzahl (ωsoii) und einer Ist-Drehzahl (ωιst) und einer Begrenzungseinheit (10, 11) zum Detektieren einer Drehzahlüberschreitung, wenn die Ist-Drehzahl (ωιst ) des Verbrennungsmotors (2) die Soll-Drehzahl (ωsoii) um mehr als einen vorbestimmten Schwellwert (SW) überschreitet; und zum Be- grenzen einer Stellgröße (S) der Drehzahlregelung auf eine zeitlich abfallende maximale Stellgröße, wenn eine Drehzahlüberschreitung detektiert wird.9. engine control unit for operating an internal combustion engine (2) comprising: - a control unit (5, 6, 7) for providing a manipulated variable (S) depending on a target speed (ωsoii) and an actual speed (ωι s t) and a Limiting unit (10, 11) for detecting a speed overshoot when the actual speed (ωι s t) of the internal combustion engine (2) exceeds the target speed (ωsoii) by more than a predetermined threshold (SW); and for limiting a manipulated variable (S) of the speed control to a time-decreasing maximum manipulated variable when a speed overshoot is detected.
10. Motorregelungseinheit nach Anspruch 9, wobei die Regelungseinheit einen P- Reglerteil und einen I-Reglerteil umfasst, wobei die Begrenzungseinheit (10) eine gemeinsame von dem P- Reglerteil (6) und dem I-Reglerteil (7) bereitgestellte Stellgröße begrenzt.10. Motor control unit according to claim 9, wherein the control unit comprises a P controller part and an I controller part, wherein the limiting unit (10) limits a common control variable provided by the P controller part (6) and the I controller part (7).
11. Motorregelungseinheit nach Anspruch 9, wobei die Regelungseinheit einen P- Reglerteil (6) und einen I-Reglerteil (7) umfasst, wobei die Begrenzungseinheit (11) so mit dem I-Reglerteil (7) gekoppelt ist, dass die Begrenzungseinheit (11) einen Integrationsausgangswert eines Integrator des I-Reglerteils (7) beim Begrenzen mit einem Grenzintegratorwert in jedem Regelungszyklus aktualisiert. 11. The engine control unit according to claim 9, wherein the control unit comprises a P regulator part and an I regulator part, wherein the limiting unit is coupled to the I regulator part such that the limiting unit (11 ) updates an integration output value of an integrator of the I-regulator part (7) when limiting with a limit integrator value in each control cycle.
EP08774056A 2007-07-11 2008-06-09 Method and apparatus for monitoring the function of a rotational speed regulator Active EP2165062B1 (en)

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US5429089A (en) * 1994-04-12 1995-07-04 United Technologies Corporation Automatic engine speed hold control system
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DE10302263B3 (en) * 2003-01-22 2004-03-18 Mtu Friedrichshafen Gmbh Internal combustion engine revolution rate regulation involves using different characteristics for input parameter in different engine modes, changing between characteristics when condition fulfilled
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