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.     

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.     

Gaussian Process Regression Feedforward Controller for Diesel Engine Airpath

Gaussian Process Regression (GPR) provides emerging modeling opportunities for diesel engine control. Recent serial production hardwares increase online calculation capabilities of the engine control units. This paper presents a GPR modeling for feedforward part of the diesel engine airpath controller. A variable geotmetry turbine (VGT) and an exhaust gas recirculation (EGR) valve outer loop controllers are developed. The GPR feedforward models are trained with a series of mapping data with physically related inputs instead of speed and torque utilized in conventional control schemes. A physical model-free and calibratable controller structure is proposed for hardware flexibility. Furthermore, a discrete time sliding mode controller (SMC) is utilized as a feedback controller. Feedforward modeling and the subsequent airpath controller (SMC+GPR) are implemented on the physical diesel engine model and the performance of the proposed controller is compared with a conventional PID controller with table based feedforward.     

Nonlinear sliding mode observer for exhaust manifold pressure estimation in a light-duty diesel engine

In this paper, a sliding mode observer is proposed to estimate exhaust pressure for a diesel engine equipped with variable geometry turbocharger (VGT) and exhaust gas recirculation (EGR) systems. Since the exhaust pressure directly affects generation of the VGT power and the EGR rate in the cylinder, the exhaust pressure information is important for precise control of the VGT and EGR systems. In order to estimate the exhaust pressure accurately, a dynamic model of intake and exhaust pressure was derived. Furthermore, the mass flow rate and temperature of the air system in the diesel engines were modeled by consideration of physical phenomena and the thermodynamic law. Based on the developed models, a nonlinear sliding mode observer was designed to estimate the exhaust pressure. Convergence of the proposed observer was verified by the Lyapunov stability criterion. The proposed observer was implemented on a real-time embedded system and validated with the engine experiments. The experimental results show that the observer estimates the exhaust pressure accurately in both steady and transient engine operating conditions. Moreover, as a case study, the estimation results of the proposed observer could be applied for detecting a fault of the EGR system. The fault of the EGR system was detected precisely using the estimation result and the limited sensor information in mass-produced engines.     

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.     

Numerical study of a light-duty diesel engine with a dual-loop EGR system under frequent engine operating conditions using the doe method

Exhaust gas recirculation (EGR) is an emission control technology that allows for a significant reduction in NOx emissions from light- and heavy-duty diesel engines. The primary effects of EGR are a lower flame temperature and a lower oxygen concentration of the working fluid in the combustion chamber. A high pressure loop (HPL) EGR is characterized by a fast response, especially at lower speeds, but is only applicable if the turbine upstream pressure is sufficiently higher than the boost pressure. On the contrary, for the low pressure loop (LPL) EGR, a positive differential pressure between the turbine outlet and the compressor inlet is generally available. However, a LPL EGR is characterized by a slow response, especially at low and moderate speeds. In this study, of the future types of EGR systems, the dual-loop EGR system (which has the combined features of the high-pressure loop EGR and the low-pressure loop EGR) was developed and was optimized under five selected operating conditions using a commercial engine simulation program (GT-POWER) and the DOE method. Finally, significant improvements in the engine exhaust emissions and performance were obtained by controlling several major variables.     

涡轮增压柴油机废气再循环系统的发展

概述了世界各国涡轮增压柴油机运用废气再循环 (EGR)技术降低排放的发展状况 ,介绍并比较了内部EGR系统、在进排气管装有节流阀的EGR系统、对废气加压的EGR系统、装文曲利管的EGR系统、利用进排气管的压力波动的EGR系统以及有变截面涡轮等典型的废气再循环系统。指出应针对不同的排放法规采取相应的EGR措施。     

Study of strategy for model-based cooperative control of EGR and VGT in a diesel engine

There is a mutual influence between the effects of controlling exhaust gas recirculation (EGR) and a variable geometry turbocharger (VGT). This paper presents an approach through the application of a control system CAD program and rapid prototyping tools to improve transient operating states by referring to a model-based exhaust recirculation and variable geometry turbocharger control algorithm. The operation model for estimating the state conditions of EGR and a VGT was built on the controller. Simulation and experimental results demonstrating the effectiveness of optimized transient control are also described.     

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。     

VGT-EGR替代方案控制策略的实现

基于柴油机VGT-EGR系统的控制原理,提出了由电子节气门(ETC)—可变废气控制系统(VEC)联合控制替代VGT单独控制并结合EGR系统进一步降低柴油机排放的方案,建立了能够模拟多缸单体泵柴油机运行并通过芯片内部程序对其执行器进行控制的在环仿真试验平台,制取了不同工况下的循环油量MAP图,研究并制订了ETC,VEC和EGR系统的控制策略,并通过在环仿真试验验证了控制策略的可行性。     

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.     

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.     

基于进气流量的电控柴油机EGR系统控制策略研究

针对现代电控柴油机废气再循环系统的功能和作用,对EGR系统的控制策略进行了分析,设计了基于实现发动机理论进气需求量为控制目的,对EGR阀和TVA阀进行联合控制的策略。通过MATLAB/Sim-ulink软件平台编写了EGR和TVA联合控制策略,并使用Targetlink工具生成C代码且集成到试验ECU。在发动机试验台架上,对控制系统中的基本MAP图进行标定并对EGR系统的控制功能进行了验证。台架试验结果表明,该控制策略通过对EGR和TVA的联合控制,可以实现对柴油机各工况下新鲜进气量的快速准确控制,控制效果满足预期要求。     

车用柴油机EGR瞬态响应特性

应用自行开发的柴油机瞬态测试系统和电控EGR系统进行了EGR瞬态响应特性研究。结果表明:瞬态工况下由于EGR压差的增加和进气量的减小造成EGR率大幅度超调,增加幅值随瞬变率增加而增加;EGR本身会造成柴油机排气烟度增加,瞬态工况下EGR率的超调更加剧了这种恶化;与稳态工况相比,1600 r/min、5 s增负荷工况EGR率最大超调幅度达到43%,排气烟度增加6倍;2000 r/min增负荷工况EGR瞬态响应特性具有大致相同的规律。在发动机瞬变过程中需要制定相应的EGR瞬态控制策略,以降低瞬态排气烟度。     

Investigation on the flow and heat transfer characteristics of diesel engine EGR coolers

An important goal in diesel engine research is the development of a means to reduce the emissions of nitrogen oxides (NOx). The use of a cooled exhaust gas recirculation (EGR) system is one of the most effective techniques currently available for reducing nitrogen oxides. Since PM (Particulate Matter) fouling reduces the efficiency of an EGR cooler, a tradeoff exists between the amount of NOx and PM emissions, especially at high engine loads. In the present study, we performed engine dynamometer experiments and numerical analyses to investigate how the internal shape of an EGR cooler affects the heat exchanger efficiency. Heat exchanger efficiencies were examined for plain and spiral EGR coolers. The temperature and pressure distributions inside these EGR coolers were obtained in three dimensions using the numerical package program FLUENT.     

Improvement of combustion efficiency and emission characteristics of IC diesel engine operating on ESC cycle applying Variable Geometry Turbocharger (VGT) with vaneless turbine volute

Based on experimental data, the present study investigates the influence of turbine adjustment in a turbocharger with vaneless turbine volute on diesel combustion efficiency indices and emission characteristics. Experimental investigations were conducted on engine modes as set out by the European Stationary Cycle (ESC). The adjustment algorithms selected for the experiment under ESC modes included adjustment to achieve minimal values of specific fuel consumption (SFC), NOx, CO and particulate matter (PM). In present research only VGT adjustment was investigated, the factors like fuel injection timing and EGR were not investigated. As a result we were able to make a comparison of the engine combustion efficiency and emission indices for VGT and a common turbocharger running on ESC cycle modes.     

EGR系统在SNH4102型柴油机中的标定试验

EGR系统是治理内燃机排放污染物Nq的有效方法之一,在PTO台架上对SNH4102型柴油机EGR系统进行标定试验,采用真空度控制EGR阀开度,实现EGR系统的调节。在柴油机额定转速下,将测功器开至100％,75％,50％,10％;在最大扭矩下,将测功器开至100％,75％,50％;及怠速工况下,找到EGR阀最佳开度,完成EGR系统的标定;并通过NHA-501型废气分析仪和FLB-100不透光式烟度计等测量排放物的含量。结果表明：在SNH4102型柴油机台架试验中,EGR系统对于NOx的控制有明显的效果,对CO和HC等排放物的抑制作用不明显。     

采用排气循环技术改善车用柴油机NOx的排放特性

在增压中冷直喷式柴油机上，通过采用排气再循环（ＥＧＲ）的技术措施，分析研究了ＥＧＲ在不同条件下对柴油机ＮＯｘ的排放特性及其工作过程的影响，指出了ＥＧＲ抑制ＮＯｘ排放量的原理和具体效率。     

采用电控直列泵+冷却EGR技术的国Ⅲ柴油机排放性能的研究

研究了采用电控直列泵+冷却EGR技术的国Ⅲ柴油机强制关闭EGR阀对ESC、ETC和ELR循环排放的影响.分析了在调整喷油提前角后的ESC循环试验结果.比较了满足国Ⅲ排放法规的直列泵、电控单体泵和高压共轨3种技术的ESC循环的油耗率.研究结果表明,国Ⅲ柴油机在关闭EGR阀后NO_x大幅上升,超过了法规限值;虽通过调整喷油提前角可达到国Ⅲ排放的要求,但油耗率上升,动力性下降;与其它技术相比,采用电控直列泵+冷却EGR技术时国Ⅲ柴油机ESC循环油耗率最低.     

EGR增压柴油机的燃烧及排放特性研究

在1台增压中冷柴油机上,采用从涡轮前取气回流到压气机后的高压EGR系统,研究了恒定转速不同负荷下发动机的燃烧和排放特性。在同一工况下,随着EGR率增加,压缩终了混合气温度升高,着火延迟期缩短,燃气压力和温度下降,燃烧持续期延长。分析了柴油机燃烧过程及排放污染物的形成机理。研究发现,当发动机负荷由大变小时,随着EGR率增加,CO的形成因受温度控制增幅越来越大,HC受着火延迟期和供氧的影响增幅越来越小,NO_x的降幅几乎随EGR率呈线性变化,而排气烟度则呈二阶多项式趋势的恶化。