EP3436681B1 - Method and device for operating an internal combustion engine with a variable injection profile - Google Patents
Method and device for operating an internal combustion engine with a variable injection profile Download PDFInfo
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- EP3436681B1 EP3436681B1 EP17710200.1A EP17710200A EP3436681B1 EP 3436681 B1 EP3436681 B1 EP 3436681B1 EP 17710200 A EP17710200 A EP 17710200A EP 3436681 B1 EP3436681 B1 EP 3436681B1
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- injection
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- injection parameters
- internal combustion
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- 238000002347 injection Methods 0.000 title claims description 188
- 239000007924 injection Substances 0.000 title claims description 188
- 238000002485 combustion reaction Methods 0.000 title claims description 134
- 238000000034 method Methods 0.000 title claims description 53
- 238000012937 correction Methods 0.000 claims description 66
- 239000007789 gas Substances 0.000 claims description 50
- 238000005457 optimization Methods 0.000 claims description 38
- 239000000446 fuel Substances 0.000 claims description 30
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 16
- 239000001301 oxygen Substances 0.000 claims description 16
- 229910052760 oxygen Inorganic materials 0.000 claims description 16
- 239000003344 environmental pollutant Substances 0.000 claims description 8
- 231100000719 pollutant Toxicity 0.000 claims description 8
- 238000010586 diagram Methods 0.000 claims description 5
- 238000004590 computer program Methods 0.000 claims 2
- 230000006870 function Effects 0.000 description 21
- 238000007906 compression Methods 0.000 description 17
- 230000006835 compression Effects 0.000 description 17
- 230000006978 adaptation Effects 0.000 description 11
- 230000000875 corresponding effect Effects 0.000 description 11
- MWUXSHHQAYIFBG-UHFFFAOYSA-N Nitric oxide Chemical compound O=[N] MWUXSHHQAYIFBG-UHFFFAOYSA-N 0.000 description 6
- 230000001419 dependent effect Effects 0.000 description 5
- 239000004071 soot Substances 0.000 description 4
- 230000001052 transient effect Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 238000012549 training Methods 0.000 description 3
- 206010053615 Thermal burn Diseases 0.000 description 2
- 238000013528 artificial neural network Methods 0.000 description 2
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- 238000005259 measurement Methods 0.000 description 2
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- 238000011144 upstream manufacturing Methods 0.000 description 2
- 108020005351 Isochores Proteins 0.000 description 1
- 238000004378 air conditioning Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
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- 238000012360 testing method Methods 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Images
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
- F02D41/2406—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using essentially read only memories
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/008—Controlling each cylinder individually
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1438—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor
- F02D41/1444—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor characterised by the characteristics of the combustion gases
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/30—Controlling fuel injection
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—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
- F02D2041/1434—Inverse model
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/04—Engine intake system parameters
- F02D2200/0406—Intake manifold pressure
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/04—Engine intake system parameters
- F02D2200/0414—Air temperature
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/06—Fuel or fuel supply system parameters
- F02D2200/0602—Fuel pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/1002—Output torque
- F02D2200/1004—Estimation of the output torque
Definitions
- the invention relates to internal combustion engines, in particular internal combustion engines, in which fuel can be operated according to a predetermined injection profile with one or more pilot injections and one or more main injections.
- the present invention relates to measures for adapting the injection profile in transient engine operation.
- the injection of fuel into the cylinder of an internal combustion engine can be carried out in one or more pilot injections and one or more main injections in accordance with a predefinable injection profile.
- the injection profile can be specified by maps depending, for example, on the current engine speed and the required load of the internal combustion engine.
- the state variables of the air system of the internal combustion engine usually only follow the corresponding setpoint values of the air system control with a delay. Since the injection profile is usually changed directly depending on the required load of the internal combustion engine, the injection profile is therefore not ideally adapted to the delayed changing air system conditions and the resulting cylinder charge. This can lead to increased pollutant emissions
- DE 10 2008 001081 A1 relates to a device for controlling an internal combustion engine with self-ignition of the air / fuel mixture and metering of fuel via a fuel injection valve, at least one injection parameter relating to fuel metering being determined as a function of at least one operating variable of the internal combustion engine assuming a steady operating state. Furthermore, when the transient operating state is present, an actual combustion chamber temperature is determined as a function of a physical model for transient operation of the internal combustion engine as a function of the target combustion chamber temperature and at least one of the operating variables of the internal combustion engine.
- a method for operating an internal combustion engine with at least one pre-injection and at least one main injection of fuel during a combustion cycle according to claim 1 and a device and an engine system according to the independent claims are provided.
- the adaptation of the injection profile for the operation of an internal combustion engine as a function of the changing state variables of the air system in dynamic operation is generally not carried out or is carried out only for individual injection parameters of an injection profile.
- One idea of the above method is to improve the behavior of the internal combustion engine in dynamic operating situations by specifying adapted injection parameters, whereby it is inherently ensured that the torque generated by the internal combustion engine or the indicated mean effective pressure or the "internal" engine torque generated by the combustion remains unchanged remains.
- the above method provides for the combustion process during a work cycle of the internal combustion engine (gas exchange, compression and combustion) to model, to determine a correction of one or more of the injection parameters of the injection profile depending on the engine output variables predicted with the model (emissions, generated engine torque, ,,,) and to adapt the injection profile assigned in the steady-state operating state according to the correction.
- the correction of the injection parameters is carried out by means of a correction injection parameter model, which can be formed by an optimization-based inversion of a combustion cycle model, taking into account the dynamic behavior of the air system.
- a torque-neutral adjustment of the injection parameters can be achieved in particular.
- the torque-neutral adaptation of the injection parameters is achieved by a secondary equation condition when formulating the optimization problem.
- the correction injection parameters are determined by inverting a predetermined combustion cycle model as the correction injection parameter model with the aid of an optimization method, wherein the combustion cycle model can correspond to a combined physical / data-based model for describing physical processes in a cylinder of the internal combustion engine.
- the combined physical / data-based model can include a crank angle-resolved description of the gas exchange and compression phase as well as a data-based approximation of the combustion, e.g. by means of a data-based non-parametric model, in particular a Gaussian process model, or a neural network.
- the optimization method for optimizing one or more pollutant emissions (soot, NOx,%) Or a fuel consumption is carried out with weightings that can be individually adapted in each case.
- the correction injection parameter model can be specified with the aid of a predetermined data-based non-parametric model learned offline, in particular a Gaussian process model, or a neural network.
- the described optimization method for optimization is solved offline in the same way for a representative variation of the input variables not linked to the injection system (air system input variables, rail pressure and engine speed).
- the result of the optimization, the correction injection parameters is stored in the above-mentioned data-based non-parametric model as a function of the previously varied input variables.
- one or more of the input variables of the correction injection parameter model can be corrected as a function of a difference between one or more actual, i.e. measured, combustion characteristics of a combustion in the cylinder of the internal combustion engine from one or more modeled combustion characteristics of a combustion in the cylinder of the internal combustion engine.
- the input variables for the correction injection parameter model can be corrected on the basis of the comparison of predicted and measured combustion features.
- the one or more modeled combustion features can be determined based on at least some of the input variables for the correction injection parameter model and additionally the adapted injection parameters according to a combustion cycle model, which in particular with the aid of a data-based non-parametric model, in particular a Gaussian process model, is specified.
- the core of the combustion cycle model for calculating the combustion characteristics can in principle be identical to that of the correction injection parameter model, i. H. physical / data-based model structure to describe the gas exchange, compression and combustion phase.
- the models of the combustion phase are inverted based on optimization with regard to the correction injection parameters on the basis of a quality function that is formed from the corresponding prediction values for emissions etc.
- the boundary conditions of this inversion by optimization are provided by the models of the gas exchange and compression phase.
- the only difference with regard to the model structure is that certain combustion characteristics are estimated and the underlying model is not inverted.
- the gas exchange and compression phase must also be calculated.
- FIG. 1 an engine system with an internal combustion engine 1 with a number of cylinders 2 (in the present exemplary embodiment four cylinders) is shown schematically.
- the internal combustion engine 1 can be designed as a diesel or Otto engine and is accordingly driven in four-stroke operation.
- Fresh air is supplied to the cylinders 2 of the internal combustion engine 1 via an air supply system 3.
- Fresh air is supplied via an intake manifold 6 to the injection valve 7 in each of the cylinders 2.
- a charging device such as a turbocharger, a throttle valve and an exhaust gas recirculation system, can optionally be provided, which in each case increases the amount of fluid flowing into the cylinder 2 Fresh air and its composition, e.g. B. the oxygen concentration can be adjusted.
- Combustion exhaust gases are discharged from the cylinders 2 with the aid of an exhaust gas discharge system 4.
- the combustion exhaust gases are fed into the cylinder 2 via an exhaust manifold 9 via corresponding exhaust valves 8
- Exhaust gas discharge system 4 discharged.
- the air supply system 3 and the exhaust gas discharge system 4 together form the so-called air system of the engine system 1.
- today's internal combustion engines also have exhaust gas recirculation and charging, for example by an exhaust gas turbocharger (not shown).
- the cylinders 2 are assigned injection valves 5, which can be controlled in a suitable manner for opening or closing in order to inject fuel into the combustion chambers of the cylinders 2.
- the operation of the internal combustion engine 2 is controlled with the aid of a control unit 10.
- the control unit 10 detects a specification of a setpoint torque which, for example, can be derived from an accelerator pedal position or the like during operation in a motor vehicle and corresponds to a requested load.
- a specification of a setpoint torque which, for example, can be derived from an accelerator pedal position or the like during operation in a motor vehicle and corresponds to a requested load.
- the operating behavior of the can be determined by setting suitable actuators, such as a throttle valve, an exhaust gas recirculation valve, a charge generator (wastegate valve, VTG actuator, etc.) or the like
- Engine system 1 can be set to achieve the predetermined target torque.
- the amount of fuel injected into a cylinder per work cycle is essential for providing the requested target torque.
- control unit 10 controls the engine system in such a way that the control interventions also achieve an engine operation that is as low-emission as possible, within both stationary and transient operating situations.
- fuel can be injected in successive one or more pilot injections, one or more main injections, which can be predetermined according to an injection profile.
- an injection profile is specified with corresponding injection parameters.
- the injection profile of the Figure 2 shows the opening and closing times or opening and closing angles of a pre-injection and a Main injection.
- the opening times or angles are specified as an injection parameter in each case by the time or angle difference to a top dead center of a piston movement in the relevant cylinder 2.
- the fuel quantities for each of the injections can be specified as further injection parameters.
- the injection valve opening time can also be used, the effective amount of injected fuel still being dependent on the injection pressure of the fuel provided, which must be taken into account when determining the correct injection valve opening time.
- u e , k ⁇ k PI m k PI ⁇ k MI m k MI in which ⁇ k PI the relative starting time or starting angle of the pilot injection (PI), ⁇ k MI the relative starting time or starting angle of the main injection (MI), m k PI the injection amount of fuel of the pilot injection and m k MI the injection quantity of fuel correspond to the main injection for the respective work cycle k.
- the starting times can, for example, be specified independently of the rotational speed in the form of a crankshaft angle, in particular relative to a fixed predetermined crankshaft angle of a crankshaft of the internal combustion engine 1, such as a top dead center of the crankshaft movement.
- Figure 2 correspond m k PI and m k MI the areas under the injection rate curve shown and thus the amount of fuel injected in each case.
- the number of preinjections and the number of main injections can, however, each be more than one and can be specified in particular as a function of the operating point, in particular indicated by the engine speed and the engine load. The number of injection parameters would increase accordingly.
- FIG. 13 is a functional diagram for a function for providing adapted injection parameters u e , k ⁇ shown in the form of a control variable for an injection valve 5 of a cylinder 2.
- the injection valve 5 assigned to the cylinder 2 is to be activated become.
- the corresponding adjusted injection parameters u e , k ⁇ are fed to the injection block 15, in which the adjusted injection parameters u e , k ⁇ be converted into timing control signals for the relevant injection valve 5 for opening and closing, in particular as a function of a crankshaft angle and an engine speed.
- the injection parameters of the control variable correspond to stationary injection parameters u e, k , which are corrected with correction injection parameters ⁇ u e , k.
- the injection parameters of the control variable of the injection profile relevant for the operating point can be adapted or corrected.
- the operating point ie dependent on an engine speed n of the internal combustion engine 1 and the setpoint torque M soll (corresponds to the individual working cycle M. should Work cycle ), ie the requested load, stationary injection parameters u e, k of a stationary injection profile in accordance with a predetermined injection profile map which is provided in a stationary injection profile block 11.
- the injection profile map is usually determined offline, for example on a test stand, and is stored in a suitable manner and made available in a manner that can be called up by specifying the engine speed n for the setpoint torque M setpoint.
- the injection profile map can be made available as a look-up table or as a functional model, such as a Gaussian process model.
- the stationary injection parameters u e, k of the stationary injection profile have the correction injection parameters ⁇ u ek applied to them, in particular added.
- the stationary injection parameters u e, k of the stationary injection profile can be multiplied by the correction injection parameters ⁇ u ek or linked in some other way.
- the correction injection parameters ⁇ u e, k are determined in an adaptation block 12.
- the correction injection parameters ⁇ u e, k can be calculated using a predefined correction injection parameter model.
- the correction injection parameter model can, for example, correspond to a cylinder model ⁇ C -1 inverted by online optimization, which is based on a combustion cycle model ⁇ C.
- the combustion cycle model ⁇ C depicts the physical processes in the cylinders.
- the result of a comparable, but offline optimization can be stored in characteristic diagrams that are described, for example, by Gaussian process regression.
- Bayesian regression is a data-based method that is based on a model.
- To create the model measurement points of training data and associated output data of an output variable to be modeled are required.
- the model is created on the basis of the use of interpolation point data which correspond in whole or in part to the training data or are generated from them.
- abstract hyperparameters are determined, which parameterize the space of the model functions and effectively weight the influence of the individual measurement points of the training data on the later model prediction.
- the correction injection parameter model supplies the correction injection parameters ⁇ u e, k as output variables.
- the injection parameters adapted for the working cycle k result from the stationary injection parameters u e, k of the injection profile and the correction injection parameters ⁇ u e, k u e , k ⁇ .
- characteristic values for correcting one or more of the above input variables that are used for the adaptation block 12 are determined.
- the one or more input variables are determined in a correction application block 19 by applying one or more correction variables K.
- correction values K for one or more input variables are selected in a simple manner, which have sufficient sensitivity to the relevant combustion feature.
- ⁇ C e.g. B. within a model block 14 or in an inverted form within an adaptation block 12 are used as boundary conditions of the air system p IN THE t T IN THE t X IN THE O 2 t p EM T T EM t X EM O 2 t , the injection pressure p r ( t ), the engine speed n and the corresponding corrected injection parameters u e , k ⁇ given.
- the output variables of the combustion cycle model ⁇ C can, in addition to the combustion features ⁇ k , as shown in the model block 14, for example also the pollutant emissions ⁇ NO x (Nitrogen oxide emissions), ⁇ PM (soot emissions) or the indicated mean effective pressure p mi , k Work cycle of the entire working cycle as used in adaptation block 12 (not in Figure 2 shown).
- a data-based approximation of the combustion phase using a Gaussian process regression can be used to describe the output variables, such as pollutant emissions ⁇ NO x , ⁇ PM and the indicated mean effective pressure p mi , k combustion , depending on the cylinder filling level x t k PI or.
- x ⁇ k PI (as a result of the model parts of the gas exchange phase and the compression phase), the injection parameters, whereby these can assume any values within the model validity range, e.g. B. the stationary
- the determination of the correction injection parameters ⁇ u e, k in adaptation block 12 can be achieved by an optimization-based inversion of the combustion cycle model ⁇ C in order to obtain the correction injection parameter model and thus to determine the correction injection parameters ⁇ u e, k.
- the combustion cycle model ⁇ C is inverted with regard to the injection parameters in order to obtain an inverted combustion cycle model ⁇ C -1 .
- the inversion of a Gaussian process model is known from the prior art and can be carried out, for example, with the aid of a Newton method.
- the part of the combustion cycle model linked to the injection parameters is described by means of one or more Gaussian process models, especially the emissions, then their forecast values can be summarized within a quality function.
- a quality function Based on this quality function, according to the prior art, for example using a Newton method, an optimization-based inversion of the GPR models can be carried out, ie the determination of the correction injection parameters ⁇ u e, k which minimize the quality function (local / global). This represents the optimization-based inversion of the combustion cycle model. Other optimization-based methods can also be used.
- the aim of the optimization is on the one hand the pollutant emissions ⁇ NO through the correction injection parameters ⁇ u e, k x , ⁇ PM , to optimize fuel consumption or the like and, on the other hand, to optimize the setpoint torque desired for the work cycle M.
- should Work cycle or the correlated indicated mean effective pressure p pmi should Work cycle taking into account the gas exchange and the compression.
- the Gaussian process models valid for the combustion phase (with regard to nitrogen oxide emissions ⁇ NO x , Soot emissions ⁇ PM or the indicated mean effective pressure p mi combustion the combustion phase, ...) is inverted according to an optimization, so that depending on freely formulable optimization goals for the pollutant emissions ⁇ NO x , ⁇ PM and the indicated mean pressure to be maintained for the work cycle p pmi , should Work cycle the corresponding correction injection parameters ⁇ u le, k of the injection profile can be obtained.
- the optimization which can be carried out by minimizing a quality function taking into account given boundary conditions, can have the following mathematical structure: min ⁇ u e , k ⁇ ⁇ U e , k J ⁇ NO x , ⁇ PM , m k PI + m k MI ⁇
- General Quality function w NO x ⁇ NO x + w PM ⁇ PM + w fuel m k PI + m k MI ⁇ structure one Quality function exemplary
- the Gaussian process models taken into account for the combustion phase which are used in the described exemplary embodiment for the optimization in adaptation block 12, can also be modified in such a way that the information about the speed / load-dependent stationary injection parameters u e, k can already be taken into account or learned directly.
- the setting limits of the injection parameters that depend on the engine operating point e.g.
- the optimization limits can be formulated as simple box constraints and the result of the optimization also provides the output values from block 12 directly
- direct analytical derivation can be calculated with regard to the correction injection parameters ⁇ u e, k to be determined by the optimization.
- the boundary conditions of the optimization are determined by the cylinder model of the gas exchange phase and the cylinder model of the compression phase. This includes the cylinder filling condition x t k PI or. x ⁇ k PI at the beginning of the combustion (or the combustion cycle) and the target torque to be generated by the combustion phase M.
- V H gives ( V H - stroke volume of the cylinder).
- M should Work cycle describes the torque requirement derived from the driver's request and the requirements of the auxiliary units (air conditioning, ...), which must be generated integrally within a work cycle.
- the optimization variables are the correction injection parameters ⁇ u e, k , which represent the correction values sought for the stationary injection parameters u e, k determined by engine speed n and setpoint torque M should .
- the combustion center of gravity ⁇ 50 (describes the crankshaft angle at which 50% of the fuel introduced was chemically converted) and / or other combustion features z k (e.g. ⁇ 10 , ⁇ 90 , crank angle position and value of the cylinder peak pressure, crank angle position and value of the maximum pressure gradient etc.) can be determined based on state variables of the internal combustion engine 1.
- the center of combustion and the other combustion features can be detected directly by a cylinder pressure sensor or, alternatively, can be derived from an analysis of a course of the engine speed.
- a correction of the combustion cycle model used for the optimization can also be provided.
- the correction can be made by adapting their input variables.
- one or more combustion features ⁇ k such as a combustion center of gravity ⁇ 50 , as well as ⁇ 10 , ⁇ 90 (crank angle positions after 10% or 90% combustion of the fuel), the crank angle position and the value of the cylinder peak pressure or the crank angle position and the value of the maximum pressure gradient, the input variables being at least partially model-identical to those of the optimization in the adaptation block 12.
- the error in a certain input variable for example the error in the estimated oxygen mass after the relevant inlet valve has been closed, is then determined on the basis of a model in a correction model block 17, which describes its sensitivity to the deviation ⁇ z k of the combustion feature.
- the correction model block 17 supplies one or more correction values K for applying corresponding input variables in order to use the error of the input variable estimated in this way in the next working cycle k + 1 for the correction of the relevant input variable.
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- Combustion & Propulsion (AREA)
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- General Engineering & Computer Science (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
Description
Die Erfindung betrifft Verbrennungsmotoren, insbesondere Verbrennungsmotoren, bei denen Kraftstoff gemäß einem vorgegebenen Einspritzprofil mit einer oder mehreren Voreinspritzungen und einer oder mehreren Haupteinspritzungen betrieben werden kann. Insbesondere betrifft die vorliegende Erfindung Maßnahmen zum Anpassen des Einspritzprofils im transienten Motorbetrieb.The invention relates to internal combustion engines, in particular internal combustion engines, in which fuel can be operated according to a predetermined injection profile with one or more pilot injections and one or more main injections. In particular, the present invention relates to measures for adapting the injection profile in transient engine operation.
Die Einspritzung von Kraftstoff in den Zylinder eines Verbrennungsmotors kann in einer oder mehreren Vor- und einer oder mehreren Haupteinspritzungen entsprechend eines vorgebbaren Einspritzprofils vorgenommen werden. Das Einspritzprofil kann durch Kennfelder in Abhängigkeit von z.B. der aktuellen Motordrehzahl und der angeforderten Last des Verbrennungsmotors vorgegeben werden.The injection of fuel into the cylinder of an internal combustion engine can be carried out in one or more pilot injections and one or more main injections in accordance with a predefinable injection profile. The injection profile can be specified by maps depending, for example, on the current engine speed and the required load of the internal combustion engine.
Im dynamischen Motorbetrieb folgen die Zustandsgrößen des Luftsystems des Verbrennungsmotors in der Regel nur verzögert den entsprechenden Sollwerten der Luftsystemregelung. Da das Einspritzprofil in der Regel unmittelbar abhängig von der angeforderten Last des Verbrennungsmotors verändert wird, ist das Einspritzprofil somit nicht ideal an die sich verzögert ändernden Luftsystembedingungen und die daraus resultierende Zylinderfüllung angepasst. Dies kann zu erhöhten Schadstoffemissionen führenIn dynamic engine operation, the state variables of the air system of the internal combustion engine usually only follow the corresponding setpoint values of the air system control with a delay. Since the injection profile is usually changed directly depending on the required load of the internal combustion engine, the injection profile is therefore not ideally adapted to the delayed changing air system conditions and the resulting cylinder charge. This can lead to increased pollutant emissions
Erfindungsgemäß sind ein Verfahren zum Betreiben eines Verbrennungsmotors mit mindestens einer Vor- und mindestens einer Haupteinspritzung von Kraftstoff während eines Verbrennungstaktes gemäß Anspruch 1 sowie eine Vorrichtung und ein Motorsystem gemäß den nebengeordneten Ansprüchen vorgesehen.According to the invention, a method for operating an internal combustion engine with at least one pre-injection and at least one main injection of fuel during a combustion cycle according to
Weitere Ausgestaltungen sind in den abhängigen Ansprüchen angegeben.Further refinements are given in the dependent claims.
Gemäß einem ersten Aspekt ist ein Verfahren zum Betreiben eines Verbrennungsmotors durch Vorgabe eines Einspritzprofils vorgesehen, das durch angepasste Einspritzparameter definiert ist. Das Verfahren umfasst die folgenden Schritte:
- Ermitteln von stationären Einspritzparametern anhand eines vorgegebenen Stationär-Einspritzprofilkennfelds;
- Ermitteln von Korrektur-Einspritzparametern anhand eines vorgegebenen Korrektureinspritzparametermodells, das Korrektureinspritzparameter abhängig von einer oder mehreren Zustandsgrößen eines Luftzuführungssystems des Verbrennungsmotors bereitstellt;
- Beaufschlagen der stationären Einspritzparameter mit den Korrektureinspritzparametern, um die angepassten Einspritzparameter zu erhalten.
- Determination of stationary injection parameters on the basis of a predetermined stationary injection profile map;
- Determining corrective injection parameters on the basis of a predefined corrective injection parameter model which provides corrective injection parameters as a function of one or more state variables of an air supply system of the internal combustion engine;
- Applying the corrective injection parameters to the stationary injection parameters in order to obtain the adjusted injection parameters.
Die Anpassung des Einspritzprofils für den Betrieb eines Verbrennungsmotors in Abhängigkeit von den sich ändernden Zustandsgrößen des Luftsystems im dynamischen Betrieb wird in der Regel nicht oder nur für einzelne Einspritzparameter eines Einspritzprofils durchgeführt. Eine Idee des obigen Verfahrens besteht darin, das Verhalten des Verbrennungsmotors in dynamischen Betriebssituationen durch Vorgabe von angepassten Einspritzparametern zu verbessern, wobei inhärent beachtet wird, dass das vom Verbrennungsmotor generierte Moment oder der indizierte Mitteldruck oder das durch die Verbrennung generierte "innere" Motormoment jeweils unverändert bleibt.The adaptation of the injection profile for the operation of an internal combustion engine as a function of the changing state variables of the air system in dynamic operation is generally not carried out or is carried out only for individual injection parameters of an injection profile. One idea of the above method is to improve the behavior of the internal combustion engine in dynamic operating situations by specifying adapted injection parameters, whereby it is inherently ensured that the torque generated by the internal combustion engine or the indicated mean effective pressure or the "internal" engine torque generated by the combustion remains unchanged remains.
Insgesamt sieht das obige Verfahren vor, den Verbrennungsprozess während eines Arbeitstaktes des Verbrennungsmotors (Gaswechsel, Kompression und Verbrennung) zu modellieren, abhängig von den mit dem Modell vorhergesagten Motorausgangsgrößen (Emissionen, generiertes Motormoment, ,,,) eine Korrektur eines oder mehrerer der Einspritzparameter des Einspritzprofils zu bestimmen und das im stationären Betriebszustand zugeordnete Einspritzprofil entsprechend der Korrektur anzupassen. Dadurch kann auch im dynamischen Betrieb des Verbrennungsmotors der Einfluss der Trägheit des Luftsystems auf die Verbrennung berücksichtigt werden. Die Korrektur der Einspritzparameter wird mittels eines Korrektureinspritzparametermodells, das durch eine optimierungsbasierte Inversion eines Verbrennungszyklusmodells unter Berücksichtigung des dynamischen Verhaltens des Luftsystems gebildet werden kann, vorgenommen. Durch die explizite Modellierung des Beitrags, den die einzelnen Verbrennungszyklusphasen (Gaswechsel, Kompression und Verbrennung) zum indizierten Mitteldruck bzw. dem generierten Motormoment des gesamten Arbeitsspiels beisteuern, kann insbesondere eine momentenneutrale Anpassung der Einspritzparameter erreicht werden. Die momentenneutrale Anpassung der Einspritzparameter wird durch eine Gleichungsnebenbedingung bei der Formulierung des Optimierungsproblems erreicht.Overall, the above method provides for the combustion process during a work cycle of the internal combustion engine (gas exchange, compression and combustion) to model, to determine a correction of one or more of the injection parameters of the injection profile depending on the engine output variables predicted with the model (emissions, generated engine torque, ,,,) and to adapt the injection profile assigned in the steady-state operating state according to the correction. As a result, the influence of the inertia of the air system on the combustion can also be taken into account in dynamic operation of the internal combustion engine. The correction of the injection parameters is carried out by means of a correction injection parameter model, which can be formed by an optimization-based inversion of a combustion cycle model, taking into account the dynamic behavior of the air system. By explicitly modeling the contribution made by the individual combustion cycle phases (gas exchange, compression and combustion) to the indicated mean effective pressure or the generated engine torque of the entire work cycle, a torque-neutral adjustment of the injection parameters can be achieved in particular. The torque-neutral adaptation of the injection parameters is achieved by a secondary equation condition when formulating the optimization problem.
Weiterhin werden die Korrektur-Einspritzparameter durch Invertieren eines vorgegeben Verbrennungszyklusmodell als das Korrektureinspritzparametermodell mithilfe eines Optimierungsverfahrens bestimmt, wobei das Verbrennungszyklusmodell einem kombiniert physikalisch / datenbasierten Modell zur Beschreibung von physikalischen Vorgängen in einem Zylinder des Verbrennungsmotors entsprechen kann. Insbesondere kann das kombiniert physikalisch / datenbasierte Modell eine kurbelwinkelaufgelöste Beschreibung der Gaswechsel- und Kompressionsphase sowie eine datenbasierte Approximation der Verbrennung, z.B. mittels eines datenbasierten nicht-parametrischen Modells, insbesondere eines Gauß-Prozess-Modells, oder eines neuronalen Netzes, umfassen.Furthermore, the correction injection parameters are determined by inverting a predetermined combustion cycle model as the correction injection parameter model with the aid of an optimization method, wherein the combustion cycle model can correspond to a combined physical / data-based model for describing physical processes in a cylinder of the internal combustion engine. In particular, the combined physical / data-based model can include a crank angle-resolved description of the gas exchange and compression phase as well as a data-based approximation of the combustion, e.g. by means of a data-based non-parametric model, in particular a Gaussian process model, or a neural network.
Erfindungsgemäß wird das Optimierungsverfahren zur Optimierung einer oder mehrerer Schadstoffemissionen (Ruß, NOx, ...) oder eines Kraftstoffverbrauchs mit jeweils individuell anpassbaren Gewichtungen durchgeführt. Durch die Wahl der Randbedingung des Optimierungsverfahrens zur Optimierung kann gewährleistet werden, dass das generierte Motormoment bzw. der indizierte Mitteldruck des Arbeitsspiels konstant bleibt.According to the invention, the optimization method for optimizing one or more pollutant emissions (soot, NOx,...) Or a fuel consumption is carried out with weightings that can be individually adapted in each case. By choosing the boundary conditions of the optimization method for optimization, it can be ensured that the generated engine torque or the indicated mean effective pressure of the work cycle remains constant.
Alternativ kann das Korrektureinspritzparametermodell mithilfe eines offline gelernten vorgegebenen datenbasierten nicht-parametrischen Modells, insbesondere eines Gauß-Prozess-Modells, oder einem neuronalen Netz vorgegeben werden. Das beschriebene Optimierungsverfahren zur Optimierung wird dabei in gleicher Weise offline für eine repräsentative Variation der nicht mit dem Einspritzsystem verknüpften Eingangsgrößen (Luftsystemeingangsgrößen, Raildruck und Motordrehzahl) gelöst. Das Ergebnis der Optimierung, die Korrektur-Einspritzparameter, wird in Abhängigkeit der zuvor variierten Eingangsgrößen in dem oben erwähnten datenbasierten nicht-parametrischen Modell abgelegt.Alternatively, the correction injection parameter model can be specified with the aid of a predetermined data-based non-parametric model learned offline, in particular a Gaussian process model, or a neural network. The described optimization method for optimization is solved offline in the same way for a representative variation of the input variables not linked to the injection system (air system input variables, rail pressure and engine speed). The result of the optimization, the correction injection parameters, is stored in the above-mentioned data-based non-parametric model as a function of the previously varied input variables.
Es kann vorgesehen sein, dass für das Korrektureinspritzparametermodell relevante Eingangsgrößen eine oder mehrere der folgenden Größen umfassen:
- einen Gasdruck, eine Gastemperatur und eine Sauerstoffkonzentration in einem Einlasskrümmer des Verbrennungsmotors,
- einen Gasdruck, eine Gastemperatur und eine Sauerstoffkonzentration in einem Auslasskrümmer des Verbrennungsmotors,
- einen Kraftstoffdruck,
- eine Motordrehzahl,
- ein Sollmoment oder einen Soll-Mitteldruck (indiziert) IMEP des Arbeitsspiels.
- a gas pressure, a gas temperature and an oxygen concentration in an intake manifold of the internal combustion engine,
- a gas pressure, a gas temperature and an oxygen concentration in an exhaust manifold of the internal combustion engine,
- a fuel pressure,
- an engine speed,
- a target torque or a target mean effective pressure (indexed) IMEP of the work cycle.
Weiterhin können eine oder mehrere der Eingangsgrößen des Korrektureinspritzparametermodells abhängig von einem Unterschied eines oder mehrerer tatsächlicher, d.h. gemessener Verbrennungsmerkmale einer Verbrennung in dem Zylinder des Verbrennungsmotors von einem oder mehreren modellierten Verbrennungsmerkmalen einer Verbrennung in dem Zylinder des Verbrennungsmotors korrigiert werden. Insbesondere kann die Korrektur der Eingangsgrößen für das Korrektureinspritzparametermodell anhand des Vergleichs vorhergesagter und gemessener Verbrennungsmerkmale vorgenommen werden.Furthermore, one or more of the input variables of the correction injection parameter model can be corrected as a function of a difference between one or more actual, i.e. measured, combustion characteristics of a combustion in the cylinder of the internal combustion engine from one or more modeled combustion characteristics of a combustion in the cylinder of the internal combustion engine. In particular, the input variables for the correction injection parameter model can be corrected on the basis of the comparison of predicted and measured combustion features.
Insbesondere können das eine oder die mehreren modellierten Verbrennungsmerkmale basierend auf mindestens einem Teil der Eingangsgrößen für das Korrektureinspritzparametermodell und zusätzlich den angepassten Einspritzparametern gemäß einem Verbrennungszyklusmodell ermittelt werden, das insbesondere mithilfe eines datenbasierten nicht-parametrischen Modells, insbesondere eines Gauß-Prozess-Modells, vorgegeben ist.In particular, the one or more modeled combustion features can be determined based on at least some of the input variables for the correction injection parameter model and additionally the adapted injection parameters according to a combustion cycle model, which in particular with the aid of a data-based non-parametric model, in particular a Gaussian process model, is specified.
Der Kern des Verbrennungszyklusmodells zur Berechnung der Verbrennungsmerkmale kann prinzipiell identisch mit dem des Korrektureinspritzparametermodells sein, d. h. physikalisch/datenbasierte Modellstruktur zur Beschreibung der Gaswechsel-, Kompressions- und Verbrennungsphase. Innerhalb des Korrektureinspritzparametermodells werden die Modelle der Verbrennungsphase anhand einer Gütefunktion, die aus den entsprechenden Vorhersagewerten für Emissionen usw. gebildet wird, hinsichtlich der Korrektureinspritzparameter optimierungsbasiert invertiert. Die Randbedingungen dieser Inversion per Optimierung werden dabei von den Modellen der Gaswechsel- und Kompressionsphase geliefert. Für die Vorhersage der Verbrennungsmerkmale besteht der Unterschied hinsichtlich der Modellstruktur lediglich darin, dass bestimmte Verbrennungsmerkmale geschätzt werden und das zugrundeliegende Modell nicht invertiert wird. Zur Berechnung der Verbrennungsmerkmale muss somit ebenfalls die Gaswechsel- und Kompressionsphase berechnet werden.The core of the combustion cycle model for calculating the combustion characteristics can in principle be identical to that of the correction injection parameter model, i. H. physical / data-based model structure to describe the gas exchange, compression and combustion phase. Within the correction injection parameter model, the models of the combustion phase are inverted based on optimization with regard to the correction injection parameters on the basis of a quality function that is formed from the corresponding prediction values for emissions etc. The boundary conditions of this inversion by optimization are provided by the models of the gas exchange and compression phase. For the prediction of the combustion characteristics, the only difference with regard to the model structure is that certain combustion characteristics are estimated and the underlying model is not inverted. To calculate the combustion characteristics, the gas exchange and compression phase must also be calculated.
Gemäß einem weiteren Aspekt ist eine Vorrichtung, insbesondere Steuereinheit, zum Betreiben eines Verbrennungsmotors in einem Motorsystem durch Vorgabe eines Einspritzprofils, das durch angepasste Einspritzparameter definiert ist, vorgesehen, wobei die Vorrichtung ausgebildet ist, um:
- stationäre Einspritzparameter anhand eines vorgegebenen Stationär-Einspritzprofilkennfelds zu ermitteln;
- Korrektur-Einspritzparameter anhand eines vorgegebenen Korrektureinspritzparametermodells, das Korrektur-Einspritzparameter abhängig von einer oder mehreren Zustandsgrößen eines Luftzuführungs- und/oder Abgasabführungssystems des Verbrennungsmotors bereitstellt, zu ermitteln; und
- die stationären Einspritzparameter mit den Korrektureinspritzparametern zu beaufschlagen, um die angepassten Einspritzparameter zu erhalten.
- determine stationary injection parameters on the basis of a predetermined stationary injection profile map;
- To determine correction injection parameters on the basis of a predefined correction injection parameter model which provides correction injection parameters as a function of one or more state variables of an air supply and / or exhaust gas discharge system of the internal combustion engine; and
- to apply the corrective injection parameters to the stationary injection parameters in order to obtain the adjusted injection parameters.
Ausführungsformen werden nachfolgend anhand der beigefügten Zeichnungen näher erläutert. Es zeigen:
Figur 1- eine schematische Darstellung eines Motorsystems mit einem Verbrennungsmotor;
Figur 2- ein beispielhaftes Einspritzprofil mit einer Vor- und einer Haupteinspritzung; und
Figur 3- ein Blockdiagramm zur Veranschaulichung eines Verfahrens zum Anpassen des Einspritzprofils abhängig von einem Betriebszustand des Motorsystems.
- Figure 1
- a schematic representation of an engine system with an internal combustion engine;
- Figure 2
- an exemplary injection profile with a pilot and a main injection; and
- Figure 3
- a block diagram to illustrate a method for adapting the injection profile depending on an operating state of the engine system.
In
Über ein Luftzuführungssystem 3 wird den Zylindern 2 des Verbrennungsmotors 1 Frischluft zugeführt. Die Zuführung von Frischluft erfolgt über einen Einlasskrümmer 6 zu den Einspritzventil 7 in jedem der Zylinder 2. Im Luftzuführungssystem 3 können optional eine Aufladeeinrichtung, wie beispielsweise ein Turbolader, eine Drosselklappe und eine Abgasrückführung vorgesehen sein, womit jeweils die Menge von in die Zylinder 2 strömender Frischluft sowie deren Zusammensetzung, z. B. die Sauerstoffkonzentration, eingestellt werden kann.Fresh air is supplied to the
Verbrennungsabgase werden aus den Zylindern 2 mit Hilfe eines Abgasabführungssystems 4 abgeführt. Die Verbrennungsabgase werden dazu über entsprechende Auslassventile 8 in den Zylindern 2 über einen Auslasskrümmer 9 in das Abgasabführungssystem 4 abgeführt. Das Luftzuführungssystem 3 und das Abgasabführungssystem 4 bilden gemeinsam das sogenannte Luftsystem des Motorsystems 1. In der Regel weisen heutige Verbrennungsmotoren auch eine Abgasrückführung und eine Aufladung, z.B. durch einen Abgasturbolader, auf (nicht gezeigt).Combustion exhaust gases are discharged from the
Zur Einbringung von Kraftstoff sind den Zylindern 2 Einspritzventile 5 zugeordnet, die in geeigneter Weise zum Öffnen oder Schließen angesteuert werden können, um Kraftstoff in die Brennräume der Zylinder 2 einzuspritzen.In order to introduce fuel, the
Der Betrieb des Verbrennungsmotors 2 wird mit Hilfe einer Steuereinheit 10 gesteuert. Die Steuereinheit 10 erfasst dazu eine Vorgabe eines Sollmoments, die beispielsweise bei einem Betrieb in einem Kraftfahrzeug aus einer Fahrpedalstellung oder dergleichen abgeleitet werden kann und einer angeforderten Last entspricht. Basierend auf dem vorgegebenen Sollmoment und sensorisch oder über ein Modell erhaltenen momentanen Zustandsgrößen des Motorsystems 1 kann durch Stellen von geeigneten Stellgebern, wie beispielsweise einer Drosselklappe, eines Abgasrückführungsventils, eines Laderstellers (Wastegate-Ventil, VTG-Steller usw.) oder dergleichen das Betriebsverhalten des Motorsystems 1 zum Erreichen des vorgegebenen Sollmoments eingestellt werden. Wesentlich für die Bereitstellung des angeforderten Sollmoments ist die pro Arbeitstakt in einem Zylinder eingespritzte Kraftstoffmenge. Diese wird in der Regel durch eine Öffnungszeitdauer der Einspritzventile 5 und die Anzahl von Einspritzvorgängen pro Arbeitstakt vorgegeben. Neben der Generierung des gewünschten Sollmoments steuert die Steuereinheit 10 das Motorsystem so, dass durch die Stelleingriffe zusätzlich ein möglichst emissionsarmer Motorbetrieb realisiert wird, innerhalb stationärer wie auch transienter Betriebssituationen.The operation of the
Zur Optimierung des Motorverhaltens kann die Einspritzung von Kraftstoff in aufeinanderfolgenden ein oder mehreren Voreinspritzungen ein oder mehreren Haupteinspritzungen erfolgen, die gemäß einem Einspritzprofil vorgegeben sein können. Beispielsweise ist in
Dadurch ergibt sich ein stationärer Parametervektor u e,k für das Einspritzprofil mit jeweils einer Voreinspritzung und einer Haupteinspritzung wie folgt:
In
Die Einspritzparameter der Ansteuergröße entsprechen stationären Einspritzparameter ue,k , die mit Korrektur-Einspritzparametern Δu e,k korrigiert sind. Damit können insbesondere für einen dynamischen Betriebsfall des Verbrennungsmotors 1 die Einspritzparameter der Ansteuergröße des für den Betriebspunkt relevanten Einspritzprofils angepasst bzw. korrigiert werden.The injection parameters of the control variable correspond to stationary injection parameters u e, k , which are corrected with correction injection parameters Δ u e , k. In this way, in particular for a dynamic operating case of the
Dazu wird betriebspunktabhängig, d.h. abhängig von einer Motordrehzahl n des Verbrennungsmotors 1 und dem Sollmoment Msoll (entspricht arbeitsspielindividuelles
Das Einspritzprofilkennfeld kann als Look-up-Tabelle oder als Funktionsmodell, wie z.B. einem Gaußprozessmodell zur Verfügung gestellt werden.The injection profile map can be made available as a look-up table or as a functional model, such as a Gaussian process model.
Den stationären Einspritzparametern ue,k des Stationär-Einspritzprofils werden mit den Korrektur-Einspritzparametern Δue.k beaufschlagt, insbesondere hinzuaddiert. Alternativ können die stationären Einspritzparameter ue,k des Stationär-Einspritzprofils mit den Korrektur-Einspritzparametern Δue.k multipliziert oder in sonstiger Weise verknüpft werden.The stationary injection parameters u e, k of the stationary injection profile have the correction injection parameters Δ u ek applied to them, in particular added. Alternatively, the stationary injection parameters u e, k of the stationary injection profile can be multiplied by the correction injection parameters Δ u ek or linked in some other way.
Die Korrektur-Einspritzparameter Δue,k werden in einem Anpassungsblock 12 ermittelt. Im Anpassungsblock 12 können die Korrektur-Einspritzparameter Δue,k durch ein vorgegebenes Korrektureinspritzparametermodell berechnet werden.The correction injection parameters Δ u e, k are determined in an
Das Korrektureinspritzparametermodell kann z.B. einem durch ein per Online-Optimierung invertiertes Zylindermodell ΣC -1 entsprechen, das auf einem Verbrennungszyklusmodell ΣC basiert. Das Verbrennungszyklusmodell ΣC bildet die physikalischen Vorgänge in den Zylindern ab.The correction injection parameter model can, for example, correspond to a cylinder model Σ C -1 inverted by online optimization, which is based on a combustion cycle model Σ C. The combustion cycle model Σ C depicts the physical processes in the cylinders.
Alternativ kann in dem Anpassungsblock 12 das Ergebnis einer vergleichbaren, jedoch offline durchgeführten Optimierung in Kennfeldern abgelegt werden, die z.B. per Gauß-Prozess-Regression beschrieben sind.Alternatively, in the
Die Verwendung von nicht parametrischen, datenbasierten Funktionsmodellen wie z.B. der Gauß-Prozess-Regression, basiert auf einem Bayes-Regressionsverfahren. Die Grundlagen der Bayes-Regression sind beispielsweise in
Die für das Korrektureinspritzparametermodell relevanten Eingangsgrößen können eine oder mehrere der folgenden Größen umfassen:
- gemessene und/oder modellierte Bedingungen innerhalb des
Einlasskrümmers 6 desLuftzuführungssystems 3 unmittelbar vorden Einlassventilen 7, z.B. einen Gasdruck pIM (t), eine Gastemperatur TIM (t) und eine Sauerstoffkonzentration - gemessene und/oder modellierte Bedingungen innerhalb des
Auslasskrümmers 9 desAbgasabführungssystems 4 unmittelbar nachden Auslassventilen 8 umfassen, z.B. einen Gasdruck pEM (t), eine Gastemperatur TEM (t) und eine Sauerstoffkonzentration - einen Kraftstoffdruck pr (t),
- eine Motordrehzahl n,
- ein Sollmoment
- measured and / or modeled conditions within the
intake manifold 6 of theair supply system 3 immediately in front of theintake valves 7, for example a gas pressure p IM ( t ), a gas temperature T IM ( t ) and an oxygen concentration - measured and / or modeled conditions within the
exhaust manifold 9 of the exhaustgas discharge system 4 immediately after theexhaust valves 8, for example a gas pressure p EM ( t ), a gas temperature T EM ( t ) and an oxygen concentration - a fuel pressure p r ( t ) ,
- an engine speed n,
- a target torque
Zur Reduktion der Modellkomplexität ist es möglich, auch nur eine Auswahl dieser Eingangsgrößen zu berücksichtigen.To reduce the complexity of the model, it is also possible to consider just a selection of these input variables.
Das Korrektureinspritzparametermodell liefert als Ausgangsgrößen die Korrektur-Einspritzparameter Δue,k. Aus den stationären Einspritzparametern ue,k des Einspritzprofils und den Korrektur-Einspritzparametern Δue,k resultieren die für das Arbeitsspiel k angepassten Einspritzparameter
In dem Formungsblock 13 werden anhand einer Abweichung zwischen den modellierten Verbrennungsmerkmalen ẑk und gemessenen Verbrennungsmerkmalen zk für einen Zylinder 2 Kennwerte zur Korrektur einer oder mehrerer der obigen Eingangsgrößen, die für den Anpassungsblock 12 verwendet werden, ermittelt. Die eine oder die mehreren Eingangsgrößen werden in einem Korrekturanwendungsblock 19 durch Beaufschlagung mit einer oder mehreren Korrekturgrößen K ermittelt. Insbesondere werden Korrekturwerte K für eine oder mehrere Eingangsgrößen in einfacher Weise ausgewählt, die eine ausreichende Sensitivität zu dem betreffenden Verbrennungsmerkmal aufweisen.In the
Zur Berechnung des Verbrennungszyklusmodells ΣC, z. B. innerhalb eines Modellblocks 14 bzw. in invertierter Form innerhalb eines Anpassungsblocks 12, werden als Randbedingungen des Luftsystems
Das Verbrennungszyklusmodell ΣC umfasst mehrere Modellteile, die Teilphasen des Arbeitsspiels in einem Zylinder 2 entsprechen. Die Teilphasen umfassen z. B. die Gaswechselphase, die Kompressionsphase und die Verbrennungsphase. Die Teilphasen sind durch entsprechende thermodynamische Zustände
- Während der Gaswechselphase kann ein physikalisches, konzentriert parametrisches Zylindermodell mit Drosselgleichungen für die Einlass- und Auslassventile verwendet werden,
- Gesamtmassenbilanzgleichung
- ṁ AV : Massenstrom durch das Auslassventil
- ṁ EV : Massenstrom durch das Einlassventil
- Sauerstoffmassenbilanzgleichung
-
- Drosselgleichung zur Beschreibung des Massenstroms durch das Einlass- bzw. Auslassventil
- αv : Durchflusskoeffizient
- Av : effektive Querschnittsfläche
- R : spezifische Gaskonstante
- T u : Temperatur in Strömungsrichtung vor dem Ventil
- p u : Druck in Strömungsrichtung vor dem Ventil
- pd : Druck in Strömungsrichtung nach dem Ventil
- κ : Isentropenexponent
- v : Laufvariable für die Ventile (Einlass und Auslass) mit v ∈ {AV,EV}
- Druckdifferentialgleichung (hergeleitet aus der Energiebilanzgleichung)
- R : spezifische Gaskonstante
- V : aktuelles Zylindervolumen
- V̇ : zeitliche Änderung des Zylindervolumens
- c v : spezifische isochore Wärmekapazität
- c p : spezifische isobare Wärmekapazität
- hf : spezifische Enthalpie des Fluids f
- T : aktuelle Zylindertemperatur
- Rf : spezifische Gaskonstante der Gaskomponente f
- R : spezifische Gaskonstante des Gasgemisches
- v : Laufvariable für die Ventile (Einlass und Auslass) mit v ∈ {AV,EV}
- f : Laufvariable für die betrachteten Gaskomponenten mit f e {O 2,...}
- Berechnungsgleichung des indizierten Mitteldrucks
- Gesamtmassenbilanzgleichung
- During the gas exchange phase, a physical, concentrated parametric cylinder model with throttle equations for the inlet and outlet valves can be used,
- Total mass balance equation
- ṁ AV : mass flow through the outlet valve
- ṁ EV : mass flow through the inlet valve
- Oxygen mass balance equation
-
- Throttle equation to describe the mass flow through the inlet or outlet valve
- α v : flow coefficient
- A v : effective cross-sectional area
- R : specific gas constant
- T u : temperature in the direction of flow upstream of the valve
- p u : Pressure in the direction of flow upstream of the valve
- p d : pressure in the direction of flow after the valve
- κ : isentropic exponent
- v : Run variable for the valves (inlet and outlet) with v ∈ {AV, EV}
- Pressure differential equation (derived from the energy balance equation)
- R : specific gas constant
- V : current cylinder volume
- V̇: change in cylinder volume over time
- c v : specific isochoric heat capacity
- c p : specific isobaric heat capacity
- h f : specific enthalpy of the fluid f
- T : current cylinder temperature
- R f : specific gas constant of the gas component f
- R : specific gas constant of the gas mixture
- v : Run variable for the valves (inlet and outlet) with v ∈ {AV, EV}
- f : running variable for the considered gas components with f e { O 2 , ...}
- Calculation equation for the indicated mean effective pressure
- Total mass balance equation
Während der Kompressionsphase kann ein physikalisches konzentriert parametrisches Zylindermodell verwendet werden.
- Gesamtmassenbilanzgleichung
- Sauerstoffmassenbilanzgleichung
- Druckdifferentialgleichung (hergeleitet aus der Energiebilanzgleichung)
- Berechnungsgleichung des indizierten Mitteldrucks während der Kompressionsphase
- Total mass balance equation
- Oxygen mass balance equation
- Pressure differential equation (derived from the energy balance equation)
- Calculation equation for the indicated mean effective pressure during the compression phase
Während der Verbrennungsphase kann eine datenbasierte Approximation der Verbrennungsphase durch eine Gauß-Prozess-Regression zur Beschreibung der Ausgangsgrößen, wie beispielsweise von Schadstoffemissionen εNO
Einspritzparameter ue,k oder die angepassten Einspritzparameter
- Physikalisch motivierte Approximation der Gesamtmassenbilanzgleichung (Beschreibung der Zylindermasse zum Zeitpunkt - Auslassventil öffnet)
- Physikalisch motivierte Approximation der Sauerstoffmassenbilanzgleichung (Beschreibung der Sauerstoffmasse innerhalb des Zylinders zum Zeitpunkt - Auslassventil öffnet)
- Datenbasierte Approximation der Druckdifferentialgleichung (basierend auf dem mathematischen Fluss der Differentialgleichung) z. B. per Gauß-Prozess-Regression
- Datenbasierte Approximation der NOx und Ruß Emissionen sowie des indizierten Mitteldrucks
- Physically motivated approximation of the total mass balance equation (description of the cylinder mass at the point in time - exhaust valve opens)
- Physically motivated approximation of the oxygen mass balance equation (description of the oxygen mass within the cylinder at the point in time - exhaust valve opens)
- Data-based approximation of the pressure differential equation (based on the mathematical flow of the differential equation) e.g. B. by Gaussian process regression
- Data-based approximation of the NOx and soot emissions as well as the indicated mean effective pressure
Die Berechnung des indizierten Mitteldrucks des gesamten Arbeitsspiels
Die Bestimmung der Korrektureinspritzparameter Δue,k in Anpassungsblock 12 kann durch eine optimierungsbasierte Inversion des Verbrennungszyklusmodells ΣC erreicht werden, um das Korrektureinspritzparametermodell zu erhalten und um damit die Korrektureinspritzparameter Δue,k zu bestimmen. Dazu wird das Verbrennungszyklusmodell ΣC hinsichtlich der Einspritzparameter invertiert, um ein invertiertes Verbrennungszyklusmodell ΣC -1 zu erhalten. Die Invertierung eines Gaußprozessmodells ist aus dem Stand der Technik bekannt und kann beispielsweise mithilfe eines Newton-Verfahrens vorgenommen werden.The determination of the correction injection parameters Δ u e, k in
Ist der mit den Einspritzparametern verknüpfte Teil des Verbrennungszyklusmodells mittels einem oder mehreren Gaußprozess-Modellen beschrieben, speziell die Emissionen, so können deren Vorhersagewerte innerhalb einer Gütefunktion zusammengefasst werden. Anhand dieser Gütefunktion kann gemäß dem Stand der Technik, z.B. mithilfe eines Newton-Verfahrens, eine optimierungsbasierte Inversion der GPR-Modelle durchgeführt werden, d. h. die Bestimmung der Korrektureinspritzparameter Δue,k , die die Gütefunktion (lokal / global) minimieren. Dies stellt die optimierungsbasierte Inversion des Verbrennungszyklusmodells dar. Es können auch andere optimierungsbasierte Verfahren zum Einsatz kommen. Ziel der Optimierung ist einerseits durch die Korrektur-Einspritzparameter Δue,k die Schadstoffemissionen εNO
Für die Bestimmung der Korrektureinspritzparameter Δue,k werden die für die Verbrennungsphase gültigen Gauß-Prozess-Modelle (bezüglich Stickoxidemissionen εNO
Die Optimierung, die durch eine Minimierung einer Gütefunktion unter Beachtung von vorgegebenen Randbedingungen erfolgen kann, kann die folgende mathematische Struktur aufweisen:
Nebenbedingung der Optimierung:
Dies entspricht einem physikalisch / datenbasierten Modell der Gaswechsel-,Kompressions- und Verbrennungsphase entsprechend des Verbrennungszyklusmodells ΣC mit Δue,k als zulässigen Wertebereich der Korrektur-Einspritzparameter Δ ue,k, w ... den Gewichtungsfaktoren der jeweiligen Gütefunktionselemente und der Gesamteinspritzmenge
Die für die Verbrennungsphase berücksichtigten Gauß-Prozess-Modelle, die im beschriebenen Ausführungsbeispiel für die Optimierung in Anpassungsblock 12 zum Einsatz kommen, können des Weiteren so modifiziert sein, dass bei deren Modellbildung die Information über die drehzahl-/lastabhängigen stationären Einspritzparameter ue,k bereits direkt berücksichtigt bzw. mitgelernt werden. Durch diese Maßnahme werden die mit der Kraftstoffeinspritzung verknüpften Eingangsgrößen der Gauß-Prozess-Modelle von Einspritzparametern mit "absoluten" Bezug z. B. u e,k in Einspritzparameter mit relativem Bezug Δue,k transformiert. Da somit die vom Motorbetriebspunkt abhängigen Einstellgrenzen der Einspritzparameter, z.B. hinsichtlich der Einspritzzeitpunkte, implizit innerhalb der Gauß-Prozess-Modelle berücksichtigt sind, können die Optimierungsgrenzen als einfache Box Constraints formuliert werden und das Ergebnis der Optimierung liefert zusätzlich direkt die Ausgangswerte von Block 12. Des Weiteren können durch die Transformation der Variablen direkt analytische Ableitung hinsichtlich der durch die Optimierung zu bestimmenden Korrektur-Einspritzparameter Δue,k berechnet werden.The Gaussian process models taken into account for the combustion phase, which are used in the described exemplary embodiment for the optimization in
Als Optimierungsverfahren zur Bestimmung der Korrektureinspritzparameter Δue,k kommen herkömmliche Optimierungsverfahren wie Gradientenabstiegsverfahren oder dergleichen in Betracht.Conventional optimization methods such as gradient descent methods or the like come into consideration as optimization methods for determining the correction injection parameters Δ u e, k.
Durch das Zylindermodell der Gaswechselphase und das Zylindermodell der Kompressionsphase werden die Randbedingungen der Optimierung ermittelt. Dies umfasst den Zylinderfüllungszustand
Die Optimierungsvariablen sind die Korrektureinspritzparameter Δue,k , die die gesuchten Korrekturwerte der durch Motordrehzahl n und Soll-Moment M soll bestimmten stationären Einspritzparameter ue,k darstellen.The optimization variables are the correction injection parameters Δ u e, k , which represent the correction values sought for the stationary injection parameters u e, k determined by engine speed n and setpoint torque M should .
Die Verbrennungsschwerpunktlage ϕ 50 (beschreibt den Kurbelwellenwinkel, an dem 50% des eingebrachten Kraftstoffs chemisch umgesetzt wurden) und/oder andere Verbrennungsmerkmale zk (z. B. ϕ 10 , ϕ 90, Kurbelwinkelposition und Wert des Zylinderspitzendrucks, Kurbelwinkelposition und Wert des maximalen Druckgradients usw.) können basierend auf Zustandsgrößen des Verbrennungsmotors 1 ermittelt werden. Insbesondere kann die Verbrennungsschwerpunktlage sowie die übrigen Verbrennungsmerkmale durch einen Zylinderdrucksensor direkt erfasst oder alternativ aus einer Analyse eines Verlaufs der Motordrehzahl abgeleitet werden.The combustion center of gravity ϕ 50 (describes the crankshaft angle at which 50% of the fuel introduced was chemically converted) and / or other combustion features z k (e.g. ϕ 10 , ϕ 90 , crank angle position and value of the cylinder peak pressure, crank angle position and value of the maximum pressure gradient etc.) can be determined based on state variables of the
Man kann zusätzliche eine Korrektur des für die Optimierung verwendeten Verbrennungszyklusmodells vorsehen. Die Korrektur kann durch Anpassung von deren Eingangsgrößen erfolgen.A correction of the combustion cycle model used for the optimization can also be provided. The correction can be made by adapting their input variables.
Für diesen Zweck werden in einem Modellblock 14 von mindestens einem separaten Anpassungsmodell, z.B. mithilfe eines Gauß-Prozess-Modells, das einem Modellteil des Verbrennungszyklusmodells entsprechen kann, ein oder mehrere Verbrennungsmerkmale ẑk , wie z.B. eine Verbrennungsschwerpunktlage ϕ 50, sowie ϕ 10,ϕ 90 (Kurbelwinkelpositionen nach 10%iger oder 90%iger Verbrennung des Kraftstoffs), die Kurbelwinkelposition und der Wert des Zylinderspitzendrucks oder die Kurbelwinkelposition und der Wert des maximalen Druckgradients, vorhergesagt, wobei die Eingangsgrößen zumindest teilweise modellidentisch zu denen der Optimierung im Anpassungsblock 12 sind. Durch Vergleich bzw. Differenzbildung in einem Differenzblock 16 mit Verbrennungsmerkmalen ẑk , die anhand von Zustandsgrößen des Verbrennungsmotors 1 in einem Verbrennungsmerkmalblock 18 bestimmten werden, ergibt sich dabei eine Abweichung mit einem Fehler Δ zk .For this purpose, one or more combustion features ẑ k , such as a combustion center of gravity ϕ 50 , as well as ϕ 10 , ϕ 90 (crank angle positions after 10% or 90% combustion of the fuel), the crank angle position and the value of the cylinder peak pressure or the crank angle position and the value of the maximum pressure gradient, the input variables being at least partially model-identical to those of the optimization in the
Der Fehler in einer bestimmten Eingangsgröße, z.B. der Fehler der geschätzten Sauerstoffmasse nach dem Schließen des betreffenden Einlassventils, wird dann anhand eines Modells in einem Korrekturmodellblock 17 bestimmt, das deren Sensitivität zur Abweichung Δzk des Verbrennungsmerkmals beschreibt. Der Korrekturmodellblock 17 liefert dazu einen oder mehrere Korrekturwerte K zur Beaufschlagung von entsprechenden Eingangsgrößen, um den so geschätzten Fehler der Eingangsgröße im nächsten Arbeitsspiel k+1 für die Korrektur der betreffenden Eingangsgröße zu verwenden.The error in a certain input variable, for example the error in the estimated oxygen mass after the relevant inlet valve has been closed, is then determined on the basis of a model in a
Claims (10)
- Method for operating an internal combustion engine (1) by specifying an injection profile which is defined by adapted injection parameters- determining steady-state injection parameters (ue,k ) on the basis of a specified steady-state injection profile characteristic diagram;- determining correction injection parameters (Δue,k ) on the basis of a specified correction injection parameter model which makes available correction injection parameters (Δue,k ) as a function of one or more state variables of an air feed system (3) and/or exhaust gas discharge system (4) of the internal combustion engine (1);wherein the correction injection parameters (Δue,k ) are determined by inverting a specified combustion cycle model as the correction injection parameter model using an optimization method, wherein the combustion cycle model corresponds to a combined physical/data-based model for describing physical processes in a cylinder (2) of the internal combustion engine (1), wherein the optimization method is carried out to optimize one or more pollutant emissions or a fuel consumption value with a respectively individually adaptable weighting.
- Method according to Claim 1, wherein the correction injection parameter model is specified using a specified, data-based, non-parametric model, in particular a Gaussian process model, which is learnt offline.
- Method according to one of Claims 1 to 3, wherein input variables which are relevant for the correction injection parameter model comprise one or more of the following variables:- a gas pressure (ρIM (t)), a gas temperature (TIM (t)) and an oxygen concentration- a gas pressure (ρEM (t)), a gas temperature (TEM (t)) and an oxygen concentration- a fuel pressure (ρr (t)),- an engine speed (n),
- Method according to one of Claims 1 to 4, wherein one or more of the input variables of the correction injection parameter model are corrected as a function of a difference between one or more actual combustion features of a combustion in the cylinder (2) of the internal combustion engine (1) and one or more modelled combustion features of the combustion in the cylinder (2) of the internal combustion engine (1).
- Method according to Claim 5, wherein the one or more modelled combustion features are determined on the basis of at least some of the input variables for the correction injection parameter model and the adapted injection parameters (ue,k ) according to a combustion cycle model which is specified, in particular, using a data-based, non-parametric model, in particular a Gaussian process model.
- Device, in particular control unit (10), for operating an internal combustion engine (1) in an engine system by specifying an injection profile which is defined by adapted injection parameters- to determine steady-state injection parameters (ue,k ) on the basis of a specified steady-state injection profile characteristic diagram;- to determine correction injection parameters (Δue,k ) on the basis of a specified correction injection parameter model, which makes available correction injection parameters (Δue,k ) as a function of one or more state variables of an air feed system and/or exhaust gas discharge system (3, 4) of the internal combustion engine (1); andwherein the correction injection parameters (Δue.k ) are determined by inverting a specified combustion cycle model as the correction injection parameter model using an optimization method, wherein the combustion cycle model corresponds to a combined physical/data-based model for describing physical processes in a cylinder (2) of the internal combustion engine (1), wherein the optimization method is carried out to optimize one or more pollutant emissions or a fuel consumption value with a respectively individually adaptable weighting.
- Engine system comprising:- an internal combustion engine (1); and- a device according to Claim 7.
- Computer program which is configured to carry out all the steps of a method according to one of Claims 1 to 6, on a device according to Claim 7.
- Machine-readable storage medium in which a computer program according to Claim 9 is stored.
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PCT/EP2017/055515 WO2017167561A1 (en) | 2016-03-30 | 2017-03-09 | Method and device for operating an internal combustion engine with a variable injection profile |
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