Modeling and validation of turbocharged diesel engine airpath and combustion systems

The ultimate aim of this study is the development of an engine modeling approach that would facilitate the design of model-based control techniques for diesel engines. This will allow for the development of more generalized, modular control strategies for different engine types and sizes as opposed to the commonly practiced map-based engine control strategies that depend on maps and feedforward control and require lengthy modifications every time a change is made. Also, most engine modeling studies focus on either airpath or combustion systems, treating these models and their validation individually, and not as an integrated system as is actually the case. To address the need for more realistic models suitable for model-based control design, this study develops a combined airpath and combustion model for the engine, using analytical models wherever possible and derives a model with appropriate control inputs and outputs that could be used in a control scheme. The inclusion of the actuator dynamics of the Exhaust gas recirculation (EGR), variable geometry turbine (VGT), and Throttle (THR) valves in the airpath model and the consideration of nonlinearities in the combustion model allow for the development of a more thorough engine model, as well as the validation of subsystems and the whole integrated engine model using a complete World Harmonized Transient Cycle (WHTC). This test cycle finds limited use due to its challenging transients, and yet, is the demanded test cycle for emission regulations nowadays. These are unique aspects of this modeling study, the results of which indicate that the developed engine model could be used in control design and hardware-in-the-loop simulation (HILS) based engine control prototyping.     

Idle speed controller based on active disturbance rejection control in diesel engines

This study proposes a design for an idle speed controller to compensate for varying engine load and friction torque in passenger car diesel engines. An active disturbance rejection control (ADRC) framework, comprised of a disturbance compensator and a feedback controller, is applied to an idle speed controller to compensate for disturbances such as engine load and friction torque. In addition, a feedforward compensator is designed into the ADRC framework to improve disturbance rejection performance. The proposed controller is validated by engine and vehicle experiments and the experiment results are compared with a commercial controller.     

面向HIL应用的大功率柴油机半物理建模方法

为实现控制器硬件在环(Hardware-in-the-loop,HIL)测试,根据半物理建模方法,基于Matlab/Simulink建立了大功率高压共轨柴油机实时仿真模型。介绍了柴油机关键部件的建模原理,并进行了起动、怠速工况和测功机工况下的仿真试验,通过对比分析发现,仿真结果与试验数据误差小于6%,表明所建柴油机模型能够完成控制器控制功能的验证,可以应用于发动机控制策略的前期开发和控制器的HIL测试,模型具有较高的可靠性和通用性。     

Iterative Learning Control Algorithm for Feedforward Controller of EGR and VGT Systems in a CRDI Diesel Engine

The modern diesel engines equip the exhaust gas recirculation (EGR) system to suppress the NOx emissions. In addition, the variable geometric turbocharger (VGT) system is installed to improve the drivability and fuel efficiency. These EGR and VGT systems have cross-coupled behavior because they interact with the intake and the exhaust manifolds. Furthermore, the turbocharger time delay, gas flow dynamics through EGR pipe cause the nonlinearity characteristics. These nonlinear multi-input-multi-output characteristics cause the degradation of control accuracy, especially during the transient condition. In order to improve the control accuracy, this study proposes an iterative learning control (ILC) algorithm for feedforward controller of EGR and VGT systems. The feedforward controller obtains the values about EGR and VGT actuators using the previous control results in predefined transient states. The ILC algorithm consists of a PD-type learning function and a low-pass filter. The control gains of learning function are determined to guarantee the convergence of learning results. In addition, the low-pass filter is designed for robustness against plant disturbance. The proposed control algorithm was validated by engine experiment which repeated predefined transient states. The error was reduced by 15 % according to the gain. As a result, the proposed algorithm is affordable for improving the transient control performance.     

Fueling Control of Spark Ignition Engines

Presented in this paper is an adaptive, model based, fueling control system for spark ignition-internal combustion engines. Since the fueling control system is model based, the engine maps currently used in engine fueling control are eliminated. This proposed fueling control system is modular and can therefore accommodate changes in the engine sensor set such as replacing the mass-air flow sensor with a manifold air pressure sensor. The fueling algorithm can operate with either a switching type O 2 sensor or a linear O 2 sensor. The fueling control system is also parceled into steady state fueling compensation and transient fueling compensation. This feature provides the distinction between fueling control adaptation for transient fueling and steady state fueling. The steady state fueling compensation utilizes a feedforward controller which determines the necessary fuel pulsewidth after a throttle transient to achieve stoichiometry. This feedforward controller is comprised of two nonlinear models capturing the steady state characteristics of the fueling process. These models are identified from an input-output testing procedure where the inputs are fuel pulsewidth and mass-air flow signal and the output is a lambda signal. These models are adapted via a recursive least squares method to accommodate product variability, engine aging, and changes in the operating environment. The transient fueling compensation also utilizes a feedforward controller that captures the essential dynamic characteristics of the transient fueling operation. This controller is measured using a frequency domain system identification approach. This proposed fueling control system is demonstrated on a Ford 4.6L V-8 fuel injected engine.     

Fueling Control of Spark Ignition Engines

Presented in this paper is an adaptive, model based, fueling control system for spark ignition-internal combustion engines. Since the fueling control system is model based, the engine maps currently used in engine fueling control are eliminated. This proposed fueling control system is modular and can therefore accommodate changes in the engine sensor set such as replacing the mass-air flow sensor with a manifold air pressure sensor. The fueling algorithm can operate with either a switching type O 2 sensor or a linear O 2 sensor. The fueling control system is also parceled into steady state fueling compensation and transient fueling compensation. This feature provides the distinction between fueling control adaptation for transient fueling and steady state fueling. The steady state fueling compensation utilizes a feedforward controller which determines the necessary fuel pulsewidth after a throttle transient to achieve stoichiometry. This feedforward controller is comprised of two nonlinear models capturing the steady state characteristics of the fueling process. These models are identified from an input-output testing procedure where the inputs are fuel pulsewidth and mass-air flow signal and the output is a lambda signal. These models are adapted via a recursive least squares method to accommodate product variability, engine aging, and changes in the operating environment. The transient fueling compensation also utilizes a feedforward controller that captures the essential dynamic characteristics of the transient fueling operation. This controller is measured using a frequency domain system identification approach. This proposed fueling control system is demonstrated on a Ford 4.6L V-8 fuel injected engine.     

Model based burnt gas fraction controller design of diesel engine with VGT/Dual loop EGR system

-Recently, regulation of NOx and PM emission in diesel engines has become stricter and the EGR system has been expanded into a dual loop EGR system to increase EGR rate as well as to utilize exhaust gas strategically. In terms of engine combustion characteristics, burnt gas fraction is becoming an important factor of solving the NOx and PM emission reduction problem more efficiently but conventional controller focused only pressure and air flow rate targets. Unlike the previous studies, this paper describes a model based burnt gas fraction control structure for a diesel engine with a dual loop EGR and a turbocharger. Feedforward control inputs based on burnt gas fraction states aids in the precise control of diesel engines, especially in transient states by considering coupled behavior within the system. For the controller validation, a control oriented reduced order model of a diesel engine air management system is established to simplify the control input computation and its stability is proved by analysing the internal dynamics stability. Then, a sliding mode controller is designed and controller robustness at certain operating points is validated using an HiLS bench.     

Optimal launching-intention-aware control strategy for automated clutch engagement

Clutch engagement control is critical during launching process in a vehicle equipped with an automated manual transmission (AMT), which is a problem including muti-objective optimization and nonlinear control. In this paper, a optimal launching-intention-aware control strategy is proposed for clutch engagement. Firstly, a launching-intention-aware machine (LIAM) based on artificial neural network (ANN) is designed to identify the driver’s launching intentions. Then the optimal laws of clutch engagement for different launching conditions are obtained based on the dynamic programming (DP), which regard friction loss, vehicle shock, angular acceleration of engine and engine torque as the optimizing indexes. Next, a slidingmode controller (SMC) is designed for the clutch engagement. Finally, the performances of the optimal laws and the SMC are validated by the joint simulation of Simulink-AMESim, and the results show that the requirements of vehicle launching are met. The proposed clutch engagement control strategy would provide a better theoretical support for the practical-extended application of AMT.     

Decoupled self-tuning PI controller for an idling stop system applied to scooters

This paper is aimed to propose a decoupled self-tuning proportional plus integral (PI) controller with simple law for an idling stop system applied to scooters. An integrated starter generator (ISG) of the idling stop system is designed with a high efficiency permanent magnet synchronous motor (PMSM). The PMSM used as an ISG must have a high torque characteristic to ensure that the engine can be accelerated up to firing speed. A conventional and useful control algorithm named PI control is unable to handle motor current very well for dynamic load, parametric variation, and external disturbance, especially in a vehicle application. Therefore, a robust algorithm for current control in an ISG is proposed. The decoupled selftuning PI controller based on the Lyapunov stability theorem is utilized to guarantee the control performance. Numerical simulations demonstrate the effectiveness of the proposed control algorithm. Experimental results show that the engine of a 150 cm3 scooter can be cranked to reach firing speed by a ISG within 0.1?0.2 second. The proposed method is simple, robust, as well as stable for idling stop system, and can be effectively implemented.     

柴油机喷油压力的智能开关型模糊PID复合控制

以车用柴油机电控高压共轨燃油喷射系统为对象 ,提出了智能开关型模糊PID复合控制 ,开发了仿真软件 ,进行了PID控制、模糊控制、模糊PID复合控制的仿真 ,说明智能开关型模糊PID复合控制更适合于柴油机的燃油喷射压力控制     

高压共轨柴油机智能判缸策略

对比分析了传统判缸控制策略与高压共轨柴油机判缸控制策略的差异,提出发动机在传感器故障模式下的判缸控制策略,以及在处理传感器信号时减少相位误差所采用的控制技术.采用的ASCET软件对传感器信号故障模式下的控制策略进行了仿真,结果表明,高压共轨柴油机智能判缸策略有助于提高发动机运行可靠性.     

确定模糊控制最少推理规则数量的原则

提出在柴油机控制系统模糊规则的设计中 ,确定最少模糊推理规则的原则 ,指出在论域为正负偏差时 ,最小隶属函数个数是 3时仍可满足控制精度要求 ;并建立了柴油机模糊PID控制器的三维模糊数学模型 ,该模型被用于一个 4输入 3输出 (4I3O)柴油机模糊控制器的设计中。     

Gain-scheduled EGR control algorithm for light-duty diesel engines with static-gain parameter modeling

This paper presents a model-based gain scheduling algorithm of a PI-based EGR controller for light-duty diesel engines. In order to capture nonlinear characteristic of the EGR system, we have proposed a new scheduling variable to illustrate the static-gain of the plant model as a linear function. The proposed scheduling variable is composed of the air-tofuel ratio of the exhaust gas and the pressure ratio between the exhaust and intake manifolds. Using the scheduling variable, a static-gain model achieved 0.94 of the R-squared value with 810 of steady-state measurements which include key engine operating conditions. Based on the model of the static-gain parameter, the gains of the PI controller are decided by Skogestad internal model control (SIMC) tuning rule in real-time. Through various scenarios of engine experiments, the proposed gain scheduling algorithm represented that the PI gains were successfully adapted according to the changes of the engine operating conditions.     

Pressure model based coordinated control of VGT and dual-loop EGR in a diesel engine air-path system

This paper describes a pressure-model-based coordinated control method of a variable geometry turbine (VGT) and dual-loop exhaust gas recirculation (EGR) in a diesel engine air-path system. Conventionally, air fraction or burnt gas fraction states are controlled for the control of dual-loop EGR systems, but fraction control is not practical since sensors for fractions are not available on production engines. In fact, there is still great controversy over how best to select control outputs for dual-loop EGR systems. In this paper, pressure and mass flow states are chosen as control outputs without fraction states considering the availability and reliability of sensors. A coordinated controller based on the simple control-oriented model is designed with practical aspects, which is applicable for simultaneous operations of high pressure (HP) EGR, low pressure (LP) EGR, and VGT. In addition, the controller adopts the method of input-output linearization using back-stepping to solve the chronic problems of conventional pressure-based controllers such as coupling effects between operations of HP EGR, and VGT. The control performance is verified by simulation based on the proven GT-POWER model of a heavy-duty 6000cc diesel engine air-path.     

基于滑模理论的车用EGR系统混沌控制

基于高阶滑模混沌控制的快速稳定和高效鲁棒特点,建立了柴油机EGR系统动态数学模型;设计了柴油机EGR系统的误差评估滑模面、滑模控制率与混沌控制器;针对EGR阀动态控制规律与响应迟滞机理,制订了柴油机EGR阀的控制、修正与优化策略。利用Control Core软件,对EGR阀的响应特性、占空比和EGR率进行了仿真,实现了高阶滑模混沌控制器对EGR系统精确修正、优化与控制。依据柴油机瞬态测试循环法规,进行了增压柴油机EGR系统的动态响应特性和排放测试等试验。试验结果表明,该高阶滑模混沌控制器性能可靠、处理能力强、控制精度高,满足柴油机EGR系统的控制要求。     

控制电路故障导致康明斯柴油机无法启动的分析与排除

康明斯柴油机的控制电路出现问题经常会引起柴油机不能启动,在分析柴油机控制电路基础上,结合启动机运转情况给出柴油机不能启动故障诊断流程图,依次对直流供电系统、转速传感器、执行器和转速控制器进行检查,查找故障点,通过调整和更换相关元件排除柴油机无法启动的故障。     

PID plus fuzzy logic method for torque control in traction control system

A Traction Control System (TCS) is used to control the driving force of an engine to prevent excessive slip when a vehicle starts suddenly or accelerates. The torque control strategy determines the driving performance of the vehicle under various drive-slip conditions. This paper presents a new torque control method for various drive-slip conditions involving abrupt changes in the road friction. This method is based on a PID plus fuzzy logic controller for driving torque regulation, which consists of a PID controller and a fuzzy logic controller. The PID controller is the fundamental component that calculates the elementary torque for traction control. In addition, the fuzzy logic controller is the compensating component that compensates for the abrupt change in the road friction. The simulation results and the experimental vehicle tests have validated that the proposed controller is effective and robust. Compared with conventional PID controllers, the driving performance under the proposed controller is greatly improved.     

Design and Evaluation of Robust Cooperative Adaptive Cruise Control Systems in Parameter Space

This paper is on the design of cooperative adaptive cruise control systems for automated driving of platoons of vehicles in the longitudinal direction. Longitudinal models of vehicles with simple dynamics, an uncertain first order time constant and vehicle to vehicle communication with a communication delay are used in the vehicle modeling. A robust parameter space approach is developed and applied to the design of the cooperative adaptive cruise control system. D-stability is chosen as the robust performance goal and the feedback PD controller is designed in controller parameter space to achieve this D-stability goal for a range of possible longitudinal dynamics time constants and different values of time gap. Preceding vehicle acceleration is sent to the ego vehicle using vehicle to vehicle communication and a feedforward controller is used in this inter-vehicle loop to improve performance. Simulation results of an eight vehicle platoon of heterogeneous vehicles are presented and evaluated to demonstrate the efficiency of the proposed design method. Also, the proposed method is compared with a benchmark controller and the feedback only controller. Time gap regulation and string stability are used to assess performance and the effect of the vehicle to vehicle communication frequency on control system performance is also investigated.     

Model-based design of a variable nozzle turbocharger controller

Variable Nozzle Turbocharger (VNT) was invented to solve the problem of matching an ordinary turbocharger with an engine. VNT can harness exhaust energy more efficiently, enhance intake airflow response and reduce engine emissions, especially during transient operating conditions. The difficulty of VNT control lies in how to regulate the position of the nozzle at different engine working conditions. The control strategy designed in this study is a combination of a closed-loop feedback controller and an open-loop feed-forward controller. The gain-scheduled proportional-integral-derivative (PID) controller was implemented as the feedback controller to overcome the nonlinear characteristic. As it is difficult to tune the parameters of the gain-scheduled PID controller on an engine test bench, system identification was used to identify the plant model properties at different working points for a WP10 diesel engine on the test bench. The PID controller parameters were calculated based on the identified first-order-plus-dead-time (FOPDT) plant model. The joint simulation of the controller and the plant model was performed in Matlab/Simulink. The time-domain and frequency-domain performances of the entire system were evaluated. The designed VNT control system was verified with engine tests. The results indicated that the real boosting pressure traced the target boosting pressure well at different working conditions.     

Adaptation Strategy for Exhaust Gas Recirculation and Common Rail Pressure to Improve Transient Torque Response in Diesel Engines

Fuel injection limitation algorithms are widely used to reduce particulate matter (PM) emissions under transient states in diesel engines. However, the limited injection quantity leads to a decrease in the engine torque response under transient states. To overcome this issue, this study proposes an adaptation strategy for exhaust gas recirculation (EGR) and common rail pressure combined with a fuel injection limitation algorithm. The proposed control algorithm consists of three parts: fuel injection limitation, EGR adaptation, and rail pressure adaptation. The fuel injection quantity is limited by adjusting the exhaust burned gas rate, which is predicted based on various intake air states like air mass flow and EGR mass flow. The control algorithm for EGR and rail pressure was designed to manipulate the set-points of the EGR and rail pressure when the fuel injection limitation is activated. The EGR controller decreases the EGR gas flow rate to rapidly supply fresh air under transient states. The rail pressure controller increases the rail pressure set-point to generate a well-mixed air-fuel mixture, resulting in an enhancement in engine torque under transient states. The proposed adaptation strategy was validated through engine experiments. These experiments showed that PM emissions were reduced by up to 11.2 %, and the engine torque was enhanced by 5.4 % under transient states compared to the injection limitation strategy without adaptation.