CN101532441B - Control method of idling speed double closed-loop of gaseous propellant engine - Google Patents
Control method of idling speed double closed-loop of gaseous propellant engine Download PDFInfo
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Abstract
The invention relates to a control method of idling speed stability of a gaseous propellant engine for automobiles, belonging to the field of internal-combustion engine electronic control. The gaseous propellant engine needs to operate under relatively stable rotating speed in case of idling operation and the idling speed is as low as possible so as to reduce fuel consumption; however, much too low idling speed is prone to facilitate the engine to tremendously wobble. In the invention, idling speed of the gaseous propellant engine is taken as a control objective, a double closed-loop control algorithm is adopted, that is, closed-loop control is carried out on natural gas injection pulse width and bypass air input respectively by PID algorithm; an idling speed double closed-loop test snoopware is adopted to carry out real-time monitoring on the natural gas engine, so as to seek the optimal PID parameter matching and obtain stable idling speed, as a result, automobiles powered by natural gas can be provided with comfortable driving environment in case of idling operation.
Description
Technical field
The present invention relates to a kind of controlling method of gaseous propellant engine idling speed; Be mainly used in the stability of the idling operation of control vehicular gaseous propellant engine; Thereby reduce the idling speed undulate quantity of gaseous propellant engine, thereby obtain more stable idling speed.Belong to the internal-combustion engine field of electric control.
Background technique
The idling operation of motor is meant that gas pedal is decontroled fully, external inactivity is exported and can keep minimum stable engine speed, keep the steady running condition that motor does not stop working.Idling operation is one of most important operating conditions of motor, and especially along with the continuous increase of automobile pollution, urban traffic conditions can not get timely improvement, and the working time that motor is under the idling operation is more and more.Therefore, the control to idling operation seems particularly important.
The operation of engine idling condition is very complicated, has characteristics such as non-linear significantly, time variation and uncertainty.When motor was worked under idling operation, its rotating speed mainly received the influence of ignition advance angle, bypath air air inflow and fuel feed.In traditional idle speed control process, mainly adopt single closed loop control algorithm, promptly only the bypath air air inflow is controlled in real time.The size of the air ventilation sectional area through regulating the bypass air flue, and then change the charge flow rate of bypath air, thus accomplish closed loop control process to idling speed.Adopt this kind control algorithm; Make the delivery volume of fuel not change along with the variation of idling operation, therefore under the situation of idling operation sudden change, the fluctuation of speed amount of motor can increase; Even make motor that more violent shake take place, influence the travelling comfort of automobile.
So-called PID (Proportion-Integral-Derivative) control algorithm is that a kind of very widely control algorithm of application is gone up in industry at present; And the increment type PID control algorithm is to be under the jurisdiction of a kind of in numerous pid algorithms, because of advantages such as its algorithm is simple, reliable, amount of calculation is little have obtained using widely.The calculating formula of increment type PID control algorithm is as follows:
ΔH
p＝K
p×[e
n-e
n-1]
ΔH
i＝K
i×e
n
ΔH
d＝K
d×[e
n-2×e
n-1+e
n-2]
ΔH＝ΔH
p+ΔH
i+ΔH
d
E wherein
n=m-n
Annotate: m is the idling rotating speed of target
N is an actual engine speed
K
pBe the proportional coefficient
K
iBe integral item coefficient
K
dBe the differential term coefficient
e
nDeviation for this rotating speed of target and actual speed
e
N-1Deviation for last time rotating speed of target and actual speed
e
N-2Deviation for rotating speed of target and actual speed of last last time
In the formula, Δ H is a total variation; Δ H
p, Δ H
i, Δ H
dBe respectively the caused variable quantity of proportional, integral and differential term.
Summary of the invention
The invention provides a kind of idling speed controlling method of new gaseous propellant engine; Promptly two closed loop control methods; This method can reduce the fluctuation of speed amount of gaseous propellant engine under idling operation; Thereby make gaseous propellant engine obtain to make gaseous fuel automobile under idling operation, can have travelling comfort preferably simultaneously than stable rotating speed output.
The control method of idling speed double closed-loop of the gaseous propellant engine among the present invention is based on to be realized on the basis of classical pid control algorithm.So-called pair of closed loop control method adopts two cover increment type PID control algorithms exactly, and the injection pulse width and the bypath air air inflow of the gaseous fuel under the idling operation are carried out PID closed loop control, both mutual noninterferences, separate coming respectively.
The concrete technological scheme that the present invention adopts is following: through the tach signal of speed probe output motor; And tach signal is input among the ECU ECU; Catch then and calculate; Draw current actual engine speed, actual engine speed and predefined rotating speed of target compare, and obtain the rotating speed deviation.Calculate the total variation of gaseous fuel injection pulse width and the variable quantity of the stepper motor action step-length of controlling the bypath air air inflow respectively according to closed loop control method; Thereby draw required gaseous fuel injection pulse width of next operating point and stepper motor action step-length, accomplish two closed loop controls rotating speed.
The closed loop control method of described gaseous fuel injection pulse width is following: the total variation Δ H_Gas that calculates the gaseous fuel injection pulse width earlier according to following formula:
ΔH
p_Gas＝K
p_Gas×[e
n-e
n-1]
ΔH
i_Gas＝K
i_Gas×e
n
ΔH
d_Gas＝K
d_Gas×[e
n-2×e
n-1+e
n-2]
ΔH_Gas＝ΔH
p_Gas+ΔH
i_Gas+ΔH
d_Gas
In the following formula: e
n=m-n
M is the idling rotating speed of target
N is an actual engine speed
e
nDeviation for this rotating speed of target and actual speed
e
N-1Deviation for last time rotating speed of target and actual speed
e
N-2Deviation for rotating speed of target and actual speed of last last time
K
p_ Gas is the proportional coefficient
K
i_ Gas is an integral item coefficient
K
d_ Gas is the differential term coefficient
Δ H
p_ Gas is the variable quantity of the caused gaseous fuel injection pulse width of proportional
Δ H
i_ Gas is the variable quantity of the caused gaseous fuel injection pulse width of integral
Δ H
d_ Gas is the variable quantity of the caused gaseous fuel injection pulse width of differential term
Δ H_Gas is a gaseous fuel injection pulse width total variation
Control the required gaseous fuel injection pulse width of next operating point according to gaseous fuel injection pulse width total variation Δ H_Gas again, realize closed loop control rotating speed.
The closed loop control method of described bypath air air inflow is following: calculate stepper motor action step-length total variation Δ H_Air according to following formula earlier:
ΔH
p_Air＝K
p_Air×[e
n-e
n-1]
ΔH
i_Air＝K
i_Air×e
n
ΔH
d_Air＝K
d_Air×[e
n-2×e
n-1+e
n-2]
ΔH_Air＝ΔH
p_Air+ΔH
i_Air+ΔH
d_Air
In the following formula: e
n=m-n
M is the idling rotating speed of target
N is an actual engine speed
e
nDeviation for this rotating speed of target and actual speed
e
N-1Deviation for last time rotating speed of target and actual speed
e
N-2Deviation for rotating speed of target and actual speed of last last time.
K
p_ Air is the proportional coefficient
K
i_ Air is an integral item coefficient
K
d_ Air is the differential term coefficient
Δ K
p_ Air is that the caused stepper motor action of proportional step-size amounts changes
Δ H
i_ Air is that the caused stepper motor action of integral step-size amounts changes
Δ H
d_ Air is that the caused stepper motor action of differential term step-size amounts changes
Δ H_Air is a stepper motor action step-length total variation
According to stepper motor action step-length total variation Δ H_Air control step motor action, realize closed loop control again to rotating speed.
This controlling method can be applied on the gaseous propellant engines such as natural gas engine, LPG (LPG) motor, hydrogen engine.
Controlling method among the present invention can reduce the fluctuation of speed amount of gaseous propellant engine under idling operation, thereby makes gaseous propellant engine obtain to make gaseous fuel automobile under idling operation, can have travelling comfort preferably simultaneously than stable rotating speed output.
Description of drawings
The two loop control theory figure of Fig. 1 idling
The two closed test monitoring interfaces of Fig. 2 idling
The fluctuation of speed figure contrast when rotating speed of target is 1200rpm of the two closed loops of Fig. 3 idling and single closed loop
Two closed loops of Fig. 4 and the comparison of test results of single closed loop when rotating speed of target is 1200rpm
The fluctuation of speed figure contrast when rotating speed of target is 850rpm of the two closed loops of Fig. 5 idling and single closed loop
Two closed loops of Fig. 6 and the comparison of test results of single closed loop when rotating speed of target is 850rpm
Embodiment
Below in conjunction with accompanying drawing the present invention is described further:
Present embodiment adopts two cover increment type PID control algorithms, and the injection pulse width and the bypath air air inflow of the gaseous fuel under the idling operation are carried out the PID closed loop control respectively, both mutual noninterferences, and separate coming, the control principle figure of two closed loops is as shown in Figure 1.In the operation process of motor; Certainly lead to certain rotating speed deviation between rotating speed of target and the actual speed; At this moment, gaseous fuel injection pulse width and bypath air air inflow basis pid algorithm separately can draw adjustment amount separately; And control cycle also can adjust through the parameter setting, thereby accomplishes two closed loop controls.Adopt this kind controlling method can make the injection pulse width of gaseous fuel and bypath air air inflow carry out the self adaption adjustment according to the idling speed deviation separately; Under the situation of motor in idling operation sudden change; When especially load changed, this moment, the injection pulse width and the bypath air air inflow of gaseous fuel can adjust in time, and then made the fluctuation of speed variable quantity of motor as far as possible little; Thereby can export comparatively stable rotating speed, make gaseous fuel automobile obtain travelling comfort preferably.
The controlling method of gaseous fuel injection pulse width is following:
ΔH
p_Gas＝K
p_Gas×[e
n-e
n-1]
ΔH
i_Gas＝K
i_Gas×e
n
ΔH
d_Gas＝K
d_Gas×[e
n-2×e
n-1+e
n-2]
ΔH_Gas＝ΔH
p_Gas+ΔH
i_Gas+ΔH
d_Gas
The controlling method of bypath air air inflow is following:
ΔH
p_Air＝K
p_Air×[e
n-e
n-1]
ΔH
i_Air＝K
i_Air×e
n
ΔH
d_Air＝K
d_Air×[e
n-2×e
n-1+e
n-2]
ΔH_Air＝ΔH
p_Air+ΔH
i_Air+ΔH
d_Air
E wherein
n=m-n
Annotate: m is the idling rotating speed of target
N is an actual engine speed
K
p_ Gas is the proportional coefficient, and its span is 0.01～0.26
K
i_ Gas is an integral item coefficient, and its span is 0.01～0.12
K
d_ Gas is the differential term coefficient, and its span is 0～0.05
K
p_ Air is the proportional coefficient, and its span is 0.01～0.58
K
i_ Air is an integral item coefficient, and its span is 0.01～0.28
K
d_ Air is the differential term coefficient, and its span is 0～0.04
e
nDeviation for this rotating speed of target and actual speed
e
N-1Deviation for last time rotating speed of target and actual speed
e
N-2Deviation for rotating speed of target and actual speed of last last time
In the formula, Δ H_Gas and Δ H_Air are gaseous fuel injection pulse width and stepper motor action step-length total variation; Δ H
p_ Gas, Δ H
i_ Gas, Δ H
d_ Gas is respectively the variable quantity of the caused gaseous fuel injection pulse width of proportional, integral and differential term; Δ H
p_ Air, Δ H
i_ Air, Δ H
d_ Air is respectively the caused stepper motor action of proportional, integral and differential term step-size amounts to be changed.In addition, gaseous fuel injection pulse width and stepper motor move total step-size amounts all has control cycle separately, is respectively T_Gas and T_Air, its span respectively as follows:
The span of T_Gas is 16～80
The span of T_Air is 8～16
Wherein, when T_Air or T_Gas were 4, the cycle of representative was a work cycle of motor, and the rest may be inferred; Above parameter range all is to be to obtain on the JL465Q5 natural gas engine test-bed in model.
Idling double closed-loop control system in the present embodiment is to have carried out experimental study on the JL465Q5 natural gas engine in the model after the repacking, and it mainly is made up of hall-effect speed sensor, ECU ECU, natural gas injection valve, spark coil, stepper motor etc.Wherein hall-effect speed sensor is positioned at distributor, is responsible for the tach signal of output natural gas engine, and signal type is the square signal of standard; The natural gas injection valve mainly is responsible for the fuel supply of control natural gas engine; Required high-tension electricity when spark coil is responsible for producing the mixed gas ignition; Stepper motor is responsible for controlling the bypath air air inflow.
For the ease of verifying the feasibility of two closed loop control methods, developed the two closed test monitoring softwares of natural gas engine idling with Visual Basic 6.0, use this software to carry out real-time two closed loop controls to the idling speed of natural gas engine.This software is through the RS-232 serial communication between PC and the ECU ECU; Can online in real time revise ignition advance angle, the idling rotating speed of target among the ECU ECU and influence the natural gas injection pulsewidth and the parameters such as two pid control parameters of bypath air air inflow, the pid parameter of being convenient to carry out is separately adjusted.
After the natural gas engine entry into service, ECU ECU according to each road sensor acquisition of motor to signal judge motor present located state.When if motor is in idling operation; The signal that then collects through cooling-water temperature sensor is confirmed the rotating speed of target of required setting under the engine idling condition, and the tach signal through Hall transducer output motor is also caught; Thereby calculate the rotating speed deviation; When the absolute value of deviation is not more than 5rpm, then think the natural gas engine running steadily, this moment, stepper motor kept the original position transfixion; Otherwise draw comparatively desirable stepper motor action step-length according to the increment type PID control algorithm, the direction of action of stepper motor also can draw through the increment type PID control algorithm.Its deterministic process is following: when the Δ H_Air that calculates is positive number; Then should improve engine speed this moment; Promptly should strengthen the air inlet circulation area of bypass air flue, so answer the valve vertebra retraction of control step motor, the step-size amounts of concrete action is the absolute value of Δ H_Air; When the Δ H_Air that calculates is negative, then should reduce engine speed this moment, promptly should reduce the air inlet circulation area of bypass air flue, so answer the valve vertebra of control step motor to stretch out, the step-size amounts of concrete action is the absolute value of Δ H_Air; When the Δ H_Air that calculates was zero, then stepper motor kept original position static.Meanwhile, the natural gas injection pulsewidth is the real time altering along with the variation of rotating speed deviation also, when the Δ H_Gas that calculates is positive number, then should improve engine speed this moment, promptly increases the natural gas injection pulsewidth; When the Δ H_Gas that calculates is negative, then should reduce engine speed this moment, promptly reduce the natural gas injection pulsewidth; When the Δ H_Gas that calculates is zero, then keep the natural gas injection pulsewidth constant.In the pid algorithm of control natural gas injection pulsewidth because the natural gas injection pulsewidth is bigger to the undulate quantity influence of idling speed, therefore its adjustment amount is limited, promptly when the Δ H_Gas that calculates greater than 20 the time, its automatic value is 20; And the control cycle of natural gas injection pulsewidth and bypath air air inflow is separate, and generally speaking, the control cycle of natural gas injection pulsewidth is the multiple of bypath air air inflow control cycle.
In the process of the test; Control through the two closed test monitoring interfaces of natural gas engine idling shown in Figure 2; It can the online in real time modification influence natural gas injection pulsewidth and bypath air air inflow pid control parameter separately; Carry out the experimental study of different condition, thereby seek out optimum pid control parameter coupling, thereby obtain good test effect.Purpose through this control is exactly to make the actual speed of natural gas engine gradually to the rotating speed of target convergence, and near rotating speed of target, fluctuates in the as far as possible little scope, thereby makes the natural gas engine running steadily.
On the basis of this control strategy, carried out comparative experimental research, and the idling rotating speed of target is set at 1200rpm and 850rpm respectively, carried out the comparative experimental research of single closed loop and two closed loops.So-called single closed loop is exactly only the bypath air air inflow to be carried out PID control; And two closed loops are on the basis of single closed loop control, have increased the PID closed loop control to the natural gas injection pulsewidth, thereby accomplish comparative trial.
The processing method of test data has adopted the computational methods of mean value and mean square deviation in the mathematical statistics.In the numerical characteristic of stochastic variable, except considering its mean value, also to consider the average departure degree of its value deviation average.Its formula is following:
Mean value:
Mean square deviation:
Wherein, mean value has reflected the information of sample data ensemble average, and mean square deviation has reflected the information of sample data population variance.The engine speed acquisition system can 900 rotary speed data points of disposable collection; It is the rotary speed information that engine crankshaft rotation 450 is changeed; When analyzing to idling speed; Filter out maximum value and minimum value in 900 data points, thereby obtained the maximum (top) speed deviation of motor in continuous operation 450 is changeed, thereby research and analyse.
(1) rotating speed of target is 1200rpm
Carrying out rotating speed of target when being the single closed loop control test of the idling of 1200rpm, can learn by test result in the past, when the proportional COEFFICIENT K of control bypath air air inflow
p_ Air is 0.09, integral item coefficient K
i_ Air is 0.03, the differential term COEFFICIENT K
d_ Air is 0.01, control cycle T_Air is two work cycle of motor, and the natural gas injection pulsewidth is 130/4.16ms, and when ignition advance angle was 28 ℃ of A, the idling speed of the natural gas engine that obtains was more stable.Therefore, on the basis of pid control parameter that does not change the bypath air air inflow and ignition advance angle, increase PID control, thereby obtain a series of test result the natural gas injection pulsewidth, concrete like Fig. 3 and shown in Figure 4.
From Fig. 4, can learn; Get fixed value and only the bypath air air inflow is carried out PID when control in the natural gas injection pulsewidth; Continuous acquisition to 900 mean square deviations that rotary speed data point drew be 13.53rpm, the maximum (top) speed difference is 85rpm, this moment engine cooling water temperature be 51.3 ℃; Oil temperature is 51.1 ℃, and fluctuation of speed situation is shown in the figure of the D among Fig. 3.On the basis of the single closed loop control parameter constant of the idling of adhering to the bypath air air inflow, increased PID control, thereby carried out the control test of the two closed loops of idling to the natural gas injection pulsewidth.Proportional COEFFICIENT K when control natural gas injection pulsewidth
p_ Gas is 0.14, integral item coefficient K
i_ Gas is 0.10, the differential term COEFFICIENT K
d_ Gas is 0.02; When control cycle T_Gas is 16 work cycle of motor; This moment continuous acquisition to the mean square deviation of 900 rotary speed data points be 8.41rpm, and the maximum (top) speed difference is 47rpm, engine cooling water temperature at this moment is 69.8 ℃; Oil temperature is 67.1 ℃, specifically shown in the figure of the A among Fig. 3; Proportional COEFFICIENT K when control natural gas injection pulsewidth
p_ Gas is 0.20, integral item coefficient K
i_ Gas is 0.10, the differential term COEFFICIENT K
d_ Gas is 0; When control cycle T_Gas is 16 work cycle of motor; This moment continuous acquisition to the mean square deviation of 900 rotary speed data points be 8.08rpm, and the maximum (top) speed difference is 47rpm, engine cooling water temperature at this moment is 67.1 ℃; Oil temperature is 65.7 ℃, specifically shown in the figure of the C among Fig. 3; Proportional COEFFICIENT K when control natural gas injection pulsewidth
p_ Gas is 0.14, integral item coefficient K
i_ Gas is 0.10, the differential term COEFFICIENT K
d_ Gas is 0.01; When control cycle T_Gas is 16 work cycle of motor; This moment continuous acquisition to the mean square deviation of 900 rotary speed data points be merely 7.47rpm, and the maximum (top) speed difference is merely 45rpm, engine cooling water temperature at this moment is 46.3 ℃; Oil temperature is 44.1 ℃, specifically shown in the figure of the B among Fig. 3.
Can draw from test result; When rotating speed of target is 1200rpm; The control effect that is superior to the single closed loop of idling based on the two closed loop control test effects of the idling of natural gas injection pulsewidth and bypath air air inflow; The fluctuation of speed amount that obtains is littler, can obviously draw this conclusion in the idling speed variation diagram from Fig. 3.Passable thus draws, and the two closed loop controls of idling can reduce the idling speed undulate quantity of natural gas engine during for 1200rpm effectively at rotating speed of target, make its working state more stable.
(2) rotating speed of target is 850rpm
When the single closed loop control of the idling of carrying out 850rpm is tested, can learn from test result in the past, when the proportional COEFFICIENT K of control bypath air air inflow
p_ Air is 0.09, integral item coefficient K
i_ Air is 0.03, the differential term COEFFICIENT K
d_ Air is 0.01, control cycle T_Air is two work cycle of motor, and the natural gas injection pulsewidth is 110/3.52ms, and when ignition advance angle was 28 ℃ of A, the engine idle rotating speed that obtains was more stable.Therefore, on the basis of pid control parameter that does not change the bypath air air inflow and ignition advance angle, increase PID control, thereby obtain a series of test result the natural gas injection pulsewidth, concrete like Fig. 5 and shown in Figure 6.From Fig. 6, can learn, get fixed value and only the bypath air air inflow is carried out PID when control, carry out the collection of two groups of rotary speed datas in the natural gas injection pulsewidth.Wherein the battery of tests result for continuous acquisition to 900 mean square deviations that rotary speed data point drew be 8.16rpm; The maximum (top) speed difference is respectively 47rpm; The engine cooling water temperature of this moment is 71.4 ℃, and oil temperature is 65.2 ℃, and fluctuation of speed situation is shown in the figure of the E among Fig. 5; Other one group of resulting rotating speed mean square deviation is 8.63rpm; The maximum (top) speed difference is 50rpm, and the engine cooling water temperature of this moment is 75 ℃, and oil temperature is 67.7 ℃; Fluctuation of speed situation is shown in the figure of the F among Fig. 5; Can learn that from these two groups of test datas this moment, the idling speed undulate quantity of motor was less, the control effect is more satisfactory.On the basis of the single closed loop control parameter constant of the idling of adhering to the bypath air air inflow, increased PID control, thereby carried out the control test of the two closed loops of idling to the natural gas injection pulsewidth.The proportional COEFFICIENT K of control natural gas injection pulsewidth
p_ Gas is 0.15, integral item coefficient K
i_ Gas is 0.08, the differential term COEFFICIENT K
d_ Gas is 0, when control cycle T_Gas is 16 work cycle of motor, has gathered a series of test data, selects four groups of data for analysis.First group of data continuous acquisition to the mean square deviation of 900 rotary speed data points be 7.69rpm, and the maximum (top) speed difference is merely 40rpm, the engine cooling water temperature of this moment is 75.4 ℃, oil temperature is 68.9 ℃, specifically shown in the figure of the A among Fig. 5; Second group of data capture to the rotary speed data mean square deviation be 8.17rpm, the maximum (top) speed difference is 43rpm, the engine cooling water temperature of this moment is 77.1 ℃, oil temperature is 70.1 ℃, specifically shown in the figure of the B among Fig. 5; The 3rd group of data capture to the rotary speed data mean square deviation be 8.29rpm, the maximum (top) speed difference is 44rpm, the engine cooling water temperature of this moment is 79.9 ℃, oil temperature is 71.4 ℃, specifically shown in the figure of the C among Fig. 5; The 4th group of data capture to the rotary speed data mean square deviation be 7.91rpm, the maximum (top) speed difference is 42rpm, the engine cooling water temperature of this moment is 81.1 ℃, oil temperature is 78.6 ℃, specifically shown in the figure of the D among Fig. 5.The comparison object rotating speed is that single closed loop of 850rpm can draw with two closed test results; Generally speaking the control effect of the idling speed of two closed loops slightly is superior to the control effect of single closed loop; The fluctuation of speed amount of natural gas engine is less, and it is more smooth-going to turn round, and operating noise is less.
In sum, when rotating speed of target when value is 1200rpm and 850rpm respectively, can draw from test result, the two closed loop control methods of idling can make natural gas engine obtain better idling speed stability, and the more single closed loop of this controlling method is more excellent.
Claims (2)
1. control method of idling speed double closed-loop of gaseous propellant engine; Tach signal through speed probe output engine; And tach signal is input among the ECU ECU; Catch then and calculate; Draw current actual engine speed; Actual engine speed and predefined rotating speed of target compare, and obtain the rotating speed deviation; It is characterized in that: calculate the total variation of gaseous fuel injection pulse width and the variable quantity of the stepper motor action step-length of controlling the bypath air air inflow respectively based on closed loop control method; Thereby draw required gaseous fuel injection pulse width of next operating point and stepper motor action step-length, accomplish two closed-loop controls rotating speed;
Gaseous fuel injection pulse width and stepper motor move total step-size amounts all has control cycle separately, is respectively T_Gas and T_Air, its span respectively as follows:
The span of T_Gas is 16～80;
The span of T_Air is 8～16;
Wherein, the control cycle of gaseous fuel injection pulse width is the multiple of bypath air air inflow control cycle; When T_Air or T_Gas were 4, the cycle of representative was a work cycle of motor;
The closed loop control method of described gaseous fuel injection pulse width is following:
Earlier calculate gaseous fuel injection pulse width total variation Δ H_Gas according to following formula:
ΔH
p_Gas＝K
p_Gas×[e
n-e
n-1]
ΔH
i_Gas＝K
i_Gas×e
n
ΔH
d_Gas＝K
d_Gas×[e
n-2×e
n-1+e
n-2]
ΔH_Gas＝ΔH
p_Gas+ΔH
i_Gas+ΔH
d_Gas
In the following formula: e
n=m-n
M is the idling rotating speed of target
N is an actual engine speed
e
nDeviation for this rotating speed of target and actual speed
e
N-1Deviation for last time rotating speed of target and actual speed
e
N-2Deviation for rotating speed of target and actual speed of last last time
K
p_ Gas is the proportional coefficient
K
i_ Gas is an integral item coefficient
K
d_ Gas is the differential term coefficient
Δ H
p_ Gas is the variable quantity of the caused gaseous fuel injection pulse width of proportional
Δ H
i_ Gas is the variable quantity of the caused gaseous fuel injection pulse width of integral
Δ H
d_ Gas is the variable quantity of the caused gaseous fuel injection pulse width of differential term
Δ H_Gas is a gaseous fuel injection pulse width total variation
Control the required gaseous fuel injection pulse width of next operating point according to gaseous fuel injection pulse width total variation Δ H_Gas again, realize closed loop control rotating speed;
The closed loop control method of described bypath air air inflow is following:
Calculate stepper motor action step-length total variation Δ H_Air according to following formula earlier:
ΔH
p_Air＝K
p_Air×[e
n-e
n-1]
ΔH
i_Air＝K
i_Air×e
n
ΔH
d_Air＝K
d_Air×[e
n-2×e
n-1+e
n-2]
ΔH_Air＝ΔH
p_Air+ΔH
i_Air+ΔH
d_Air
In the following formula: e
n=m-n
M is the idling rotating speed of target
N is an actual engine speed
e
nDeviation for this rotating speed of target and actual speed
e
N-1Deviation for last time rotating speed of target and actual speed
e
N-2Deviation for rotating speed of target and actual speed of last last time
K
p_ Air is the proportional coefficient
K
i_ Air is an integral item coefficient
K
d_ Air is the differential term coefficient
Δ H
p_ Air is that the caused stepper motor action of proportional step-size amounts changes
Δ H
i_ Air is that the caused stepper motor action of integral step-size amounts changes
Δ H
d_ Air is that the caused stepper motor action of differential term step-size amounts changes
Δ H_Air is a stepper motor action step-length total variation
According to stepper motor action step-length total variation Δ H_Air control step motor action, realize closed loop control again to rotating speed.
2. control method of idling speed double closed-loop of gaseous propellant engine according to claim 1 is characterized in that: described gaseous fuel is rock gas or LPG or hydrogen.
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| CN101532441B true CN101532441B (en) | 2012-06-27 |
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| CN103615332A (en) * | 2013-09-18 | 2014-03-05 | 东风南充汽车有限公司 | Gas coach vehicle idling electric control system |
| CN105114188B (en) * | 2015-07-31 | 2018-07-13 | 株洲南车时代电气股份有限公司 | A kind of adaptive diesel engine step speed-adjusting method |
| CN108556835B (en) * | 2018-04-26 | 2019-09-27 | 潍柴西港新能源动力有限公司 | A kind of natural gas engine matching hybrid power system method for controlling number of revolution |
| CN108625998B (en) * | 2018-05-11 | 2020-09-01 | 温州大学 | Natural gas-hydrogen dual-fuel engine jet control device and method |
| CN113062820A (en) * | 2021-04-20 | 2021-07-02 | 金华市浩志电子科技有限公司 | Automobile idle speed anti-shaking device and control method |
| CN114934852A (en) * | 2022-04-29 | 2022-08-23 | 潍柴动力股份有限公司 | Filter element cleanliness estimation method and device based on exhaust oxygen concentration |
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