内混式多点喷射工业燃气发动机电控系统的研究与开发
|
摘要
中国经济的快速发展加剧了国内能源需求,由于石油能源的不可再生性,替代能源的研究愈发重要。以天然气、沼气和煤层气为代表的气体能源成为短期内最有效的替代燃料。本文针对工业燃气发动机的特点和使用要求,研究和开发了一套适用于多点喷射燃气发动机的电控系统。
首先,本文对工业燃气发动机控制系统进行了分析,构建了控制系统的基本框架。在控制系统的开发过程中,使用了基于模型的设计开发方法,让设计者将主要精力集中在数学模型的建立和验证上,不必过分关心硬件的变化和底层代码的编写,提高了开发效率。
本文将控制系统分为四个核心模型:过量空气系数模型、恒转速控制模型、燃气喷射阀驱动模型和发动机基本保护模型,并分别进行了深入的研究。在过量空气系数模型中,使用速度—密度法进行空气和燃气流量的预测,并对该算法加以改进,同时加入了过量空气系数的闭环修正。在恒转速控制模型中,应用了一种具有更好稳定性和响应速度的PID控制算法。在燃气喷射阀驱动模型中,通过采用电流自适应算法尽可能降低驱动电流,从而延长了喷射阀的使用寿命。
核心控制模型建立完成后,本文利用发动机平均值模型,从软件和硬件在环两方面对控制模型进行验证。试验结果表明,模型控制输出稳定,且在外界的连续扰动下,仍然能控制发动机模型稳定运行,控制模型及其算法可靠。
最终将所开发的电控系统在一台12V190发动机上进行试验验证,稳态和瞬态试验结果表明,发动机空燃比及转速的控制精度和动态响应速度均能满足控制要求,证明本文开发的ECU控制系统适用于工业燃气发动机。
With the fast development and prosperity of the economy of China, requirement of energy sources increasing rapidly. As petroleum is a non-renewable energy resource, the research of alternative fuel sources become more and more important, especially on natural gas, bio-gas and coal gas. And the gaseous energy source could be the most effective alternative fuel sources in short period of time. In this paper, a set of electronic control unit (ECU) applying for multi-point injection gas engine was developed, according to the characteristics of gas engine and the operation conditions.
First of all, the fundamental framework of the ECU control system has been constructed after analysis on the characteristics of that. And by using the model-based method during the development process on the ECU control system, the designers could make engagement in the establishment and calibration of mathematics model without concern about the variation of hardware or compiling the basic code, which make the development process efficiently.
There are four core models in the ECU control system which are excess air ratio model, constant speed control model, gas injection valve drive model and basic engine protection model separately. The prediction of air and fuel gas flow rate has been made in the excess air ratio model by means of speed-density method that is improved and regulated with the closed-loop correction on the excess air ratio. A better stability and response can be obtained in the constant speed control model using a new PID control method. And by applying the current self-adapting algorithm, the drive current can be reduced decline as low as possible in the gas fuel injection valve drive model and therefore the life span of inject-valve can be prolonged.
After finished the ECU control models, a simple engine mean value model was build using Simulink which used to test the reliability of the software control models and the response of hardware equipments. The results show that stable output of the control model can be obtained even with a sustained interference signal, which means the control model and arithmetic are reliable.
Experiments have been carried out in a 12V190 industrial gas engine to calibrate the ECU control system, and the stable and the transient experimental results show that control precision and response rate of the excess air ratio and speed can satisfied with the industrial gas engine control demand. Therefore the developed ECU control system is suitable for industrial gas engine.
首先,本文对工业燃气发动机控制系统进行了分析,构建了控制系统的基本框架。在控制系统的开发过程中,使用了基于模型的设计开发方法,让设计者将主要精力集中在数学模型的建立和验证上,不必过分关心硬件的变化和底层代码的编写,提高了开发效率。
本文将控制系统分为四个核心模型:过量空气系数模型、恒转速控制模型、燃气喷射阀驱动模型和发动机基本保护模型,并分别进行了深入的研究。在过量空气系数模型中,使用速度—密度法进行空气和燃气流量的预测,并对该算法加以改进,同时加入了过量空气系数的闭环修正。在恒转速控制模型中,应用了一种具有更好稳定性和响应速度的PID控制算法。在燃气喷射阀驱动模型中,通过采用电流自适应算法尽可能降低驱动电流,从而延长了喷射阀的使用寿命。
核心控制模型建立完成后,本文利用发动机平均值模型,从软件和硬件在环两方面对控制模型进行验证。试验结果表明,模型控制输出稳定,且在外界的连续扰动下,仍然能控制发动机模型稳定运行,控制模型及其算法可靠。
最终将所开发的电控系统在一台12V190发动机上进行试验验证,稳态和瞬态试验结果表明,发动机空燃比及转速的控制精度和动态响应速度均能满足控制要求,证明本文开发的ECU控制系统适用于工业燃气发动机。
With the fast development and prosperity of the economy of China, requirement of energy sources increasing rapidly. As petroleum is a non-renewable energy resource, the research of alternative fuel sources become more and more important, especially on natural gas, bio-gas and coal gas. And the gaseous energy source could be the most effective alternative fuel sources in short period of time. In this paper, a set of electronic control unit (ECU) applying for multi-point injection gas engine was developed, according to the characteristics of gas engine and the operation conditions.
First of all, the fundamental framework of the ECU control system has been constructed after analysis on the characteristics of that. And by using the model-based method during the development process on the ECU control system, the designers could make engagement in the establishment and calibration of mathematics model without concern about the variation of hardware or compiling the basic code, which make the development process efficiently.
There are four core models in the ECU control system which are excess air ratio model, constant speed control model, gas injection valve drive model and basic engine protection model separately. The prediction of air and fuel gas flow rate has been made in the excess air ratio model by means of speed-density method that is improved and regulated with the closed-loop correction on the excess air ratio. A better stability and response can be obtained in the constant speed control model using a new PID control method. And by applying the current self-adapting algorithm, the drive current can be reduced decline as low as possible in the gas fuel injection valve drive model and therefore the life span of inject-valve can be prolonged.
After finished the ECU control models, a simple engine mean value model was build using Simulink which used to test the reliability of the software control models and the response of hardware equipments. The results show that stable output of the control model can be obtained even with a sustained interference signal, which means the control model and arithmetic are reliable.
Experiments have been carried out in a 12V190 industrial gas engine to calibrate the ECU control system, and the stable and the transient experimental results show that control precision and response rate of the excess air ratio and speed can satisfied with the industrial gas engine control demand. Therefore the developed ECU control system is suitable for industrial gas engine.
引文
[1]康逸宁,克里斯多夫.鲁尔,BP世界能源统计,www.bp.com/statisticalreview,2010.6
[2]徐贵清,车用能源及新型动力车的发展与研究,中国科技纵横,2010,15:326
[3] Bob Dudley , BP 2030世界能源展望,www.bp.com/liveassets/bp.../2030-Energy-Outlook-CHN.pdf, 2011.1
[4] Andrei Ludu,Low Emission Technologies for Large Diesel Engines,AVL Executive Seminar for Chinese Large Engine OEMs,2007
[5]李清观,日本工业用发动机最新排放对策,柴油机,2007,29(2):28~30
[6]徐月云,李孟良,方茂东等,装有DPF的轻型柴油车颗粒物排放特性的研究,汽车工程,2010,32(12):1030~1037
[7]范振勇,文武红,SCR降低柴油机NOX排放的理论研究和试验验证,内燃机与动力装置,2010,4:4~45
[8]陈强福,醇类燃料在车用发动机上的研究现状,甘肃科技纵横,2006,35(2):43~44
[9]胡建功,张翠平,任超超等,甲醇汽油对发动机动力经济及排放性能的影响,汽车与配件,2010,49(12):41~43
[10]鲍晓锋,刘泽砚,醇类燃料的应用研究,山东工程学院学报,1995,9(3):1~4
[11]谭满志,郭英男,黄为钧等,不同基础汽油配制的乙醇汽油对汽车性能的影响,内燃机工程,2006,27(6):40~42
[12]宋林萍,吕志进,二甲醚(DME)发动机排放性研究,内燃机与动力装置,2010,4:36~39
[13]楼狄明,沈航泉,胡志远等,基于不同原料生物柴油混合燃料的发动机性能研究,内燃机工程,2011,32(1):29~33
[14]孙济美,代用燃料汽车(一),汽车工艺与材料,2000,11:1-5
[15]周龙保,内燃机学,北京:机械工业出版社,2006,1
[16]秦松涛,CNG发动机电控系统设计:[硕士学位论文],成都;西华大学,004
[17]尤秋菊,张来斌,王朝晖等,天然气发动机供气方式及其特点分析,柴油机,2007,29(1):42~45
[18]白洪林,胡春明,潘志前,压缩天然气缸内直喷发动机的现状及发展趋势,小型内燃机与摩托车,2009,38(6):83~86
[19]孙伟,宽域氧传感器接口控制单元开发:[硕士学位论文],成都;西华大学,2007
[20] Woodward,In-Pulse? II Electronic Fuel Injection Control,Technical Manual,26343,2010
[21] Ali Behboodian,Model-Based Design,DSP magazine,2006,5:52-55
[22] MathWorks,Matlab User’s Guide,Manual,2010
[23] MathWorks,Simulink User’s Guide,Manual,2010
[24]徐昕,李涛,伯晓晨,MATLAB工具箱应用指南,北京:电子工业出版社,2000
[25]赵文峰,MATLAB控制设计与仿真,西安:西安电子科技大学出版社,2000
[26]王田苗,嵌入式系统设计与实例开发,北京:清华大学出版社,2002
[27] Woodward,MotoTron Control Solutions,Brochure,36300,2010
[28]康明斯稀薄燃烧发动机技术,康明斯电力系统技术信息,2004
[29] Shinsuke Takahashi,Taruji Sekozawa,Air-Fuel Ratio Contorl in Gasoline Engines Based on State Estimation and Prediction Using Dynamic Models,IEEE0-7803-3026-9/95,1995
[30] Peter J.Maloney,A Production Wide-Range AFR Control Algorithm for Direct-Injection Gasoline Application,SAE Paper,2001-01-0260,2001
[31] Y.Hesegawa,S.Akazak,I.Komoriya et al,Individual Cylinder Air-Fuel Ration Feedback Control Using an Observer,SAE Paper,940376,1994
[32] Cui Hongwei,Liu Yifan,Zhai Yujian,Air-Fuel-Ratio Control in a Spark-Ignition LPG Engine Using Grey Forecasting Model,SAE Paper,2002-01-1741,2002
[33] C.F. Aquino,Transient A/F Control Characteristics of 5 Liter Central Fuel Injection Engine,SAE Paper,810494,1981
[34] E. Hendricks,A. Chevalier,M. Jensen,Modeling of the Intake Manifold Filling Dynamics,SAE Paper,960037,1996
[35] Katushiko Ogata,现代控制工程(卢伯英,于海勋),北京:电子工业出版社,2003,7
[36]刘益芳,LPG发动机闭环控制系统研究:[硕士学位论文],南京:东南大学,2002
[37]刘利,卓斌,PID控制在电控汽油机Lambda闭环控制中的应用及相关参数的标定,车用发动机,2000,1:17-20
[38]刘建江,李政,倪维斗,基于H无穷理论的状态变量控制在主蒸汽温度中的应用,动力工程,2000,20(3):669-684
[39]胡定军,朱晖,LPG发动机空燃比闭环控制系统的设计,小型内燃机与摩托车,2001,3(30):19-23
[40]黄曼磊,李典璞,唐嘉亨,船舶电站柴油机调速系统H无穷控制器的设计,中国造船,2001,42(4):46-51
[41]李彦强,柴油机数字式电子调速器调速控制研究:[硕士学位论文],大连:海军工程学院,1999
[42]宋百玲,费景洲,宋恩哲,船用柴油机模糊-PID复合调速及快速控制原型研究,内燃机工程,2010,31(4):
[43]田国良,嵌入式智能PID控制器的设计:[硕士学位论文],石家庄:河北科技大学,2009
[44]张敏,基于预期动态原理的PID参数正定研究:[硕士学文论文],北京:北京科技大学,2009
[45] Kamran Eftekhari Shahroudi,Method to adaptively control and derive the control voltage of solenoid operated valve based on the valve closure point,United States Patent,US 6889121 B1,May 3,2005
[46] Woodward,SOGAV Solenoid Operated Gas Admission Valve,Technical Manual,04144,2010
[47] E. Grunbacher,P. Kefer,L. del Re,Estimation of the Mean Value Engine Torque Using an Extended Kalman Filter,SAE Paper,2005-01-0063,2005
[48] A. Chevalier,M. Muller,E. Hendricks,On the Validity of Mean Value Engine Models During Transient Operation,SAE Paper,2000-01-1261,2000
[49] A. Chevalier,C. W. Vigild,E. Hendricks,Predicting the Port Air Mass Flowof SI Engines in Air/Fuel Ration Control Applications,SAE Paper,2000-01-0260,2000
[50] E. Hendricks,Spencer C. Sorenson,Mean Value Modelling of Spark Ingition Engines,SAE Paper,900616,1990
[2]徐贵清,车用能源及新型动力车的发展与研究,中国科技纵横,2010,15:326
[3] Bob Dudley , BP 2030世界能源展望,www.bp.com/liveassets/bp.../2030-Energy-Outlook-CHN.pdf, 2011.1
[4] Andrei Ludu,Low Emission Technologies for Large Diesel Engines,AVL Executive Seminar for Chinese Large Engine OEMs,2007
[5]李清观,日本工业用发动机最新排放对策,柴油机,2007,29(2):28~30
[6]徐月云,李孟良,方茂东等,装有DPF的轻型柴油车颗粒物排放特性的研究,汽车工程,2010,32(12):1030~1037
[7]范振勇,文武红,SCR降低柴油机NOX排放的理论研究和试验验证,内燃机与动力装置,2010,4:4~45
[8]陈强福,醇类燃料在车用发动机上的研究现状,甘肃科技纵横,2006,35(2):43~44
[9]胡建功,张翠平,任超超等,甲醇汽油对发动机动力经济及排放性能的影响,汽车与配件,2010,49(12):41~43
[10]鲍晓锋,刘泽砚,醇类燃料的应用研究,山东工程学院学报,1995,9(3):1~4
[11]谭满志,郭英男,黄为钧等,不同基础汽油配制的乙醇汽油对汽车性能的影响,内燃机工程,2006,27(6):40~42
[12]宋林萍,吕志进,二甲醚(DME)发动机排放性研究,内燃机与动力装置,2010,4:36~39
[13]楼狄明,沈航泉,胡志远等,基于不同原料生物柴油混合燃料的发动机性能研究,内燃机工程,2011,32(1):29~33
[14]孙济美,代用燃料汽车(一),汽车工艺与材料,2000,11:1-5
[15]周龙保,内燃机学,北京:机械工业出版社,2006,1
[16]秦松涛,CNG发动机电控系统设计:[硕士学位论文],成都;西华大学,004
[17]尤秋菊,张来斌,王朝晖等,天然气发动机供气方式及其特点分析,柴油机,2007,29(1):42~45
[18]白洪林,胡春明,潘志前,压缩天然气缸内直喷发动机的现状及发展趋势,小型内燃机与摩托车,2009,38(6):83~86
[19]孙伟,宽域氧传感器接口控制单元开发:[硕士学位论文],成都;西华大学,2007
[20] Woodward,In-Pulse? II Electronic Fuel Injection Control,Technical Manual,26343,2010
[21] Ali Behboodian,Model-Based Design,DSP magazine,2006,5:52-55
[22] MathWorks,Matlab User’s Guide,Manual,2010
[23] MathWorks,Simulink User’s Guide,Manual,2010
[24]徐昕,李涛,伯晓晨,MATLAB工具箱应用指南,北京:电子工业出版社,2000
[25]赵文峰,MATLAB控制设计与仿真,西安:西安电子科技大学出版社,2000
[26]王田苗,嵌入式系统设计与实例开发,北京:清华大学出版社,2002
[27] Woodward,MotoTron Control Solutions,Brochure,36300,2010
[28]康明斯稀薄燃烧发动机技术,康明斯电力系统技术信息,2004
[29] Shinsuke Takahashi,Taruji Sekozawa,Air-Fuel Ratio Contorl in Gasoline Engines Based on State Estimation and Prediction Using Dynamic Models,IEEE0-7803-3026-9/95,1995
[30] Peter J.Maloney,A Production Wide-Range AFR Control Algorithm for Direct-Injection Gasoline Application,SAE Paper,2001-01-0260,2001
[31] Y.Hesegawa,S.Akazak,I.Komoriya et al,Individual Cylinder Air-Fuel Ration Feedback Control Using an Observer,SAE Paper,940376,1994
[32] Cui Hongwei,Liu Yifan,Zhai Yujian,Air-Fuel-Ratio Control in a Spark-Ignition LPG Engine Using Grey Forecasting Model,SAE Paper,2002-01-1741,2002
[33] C.F. Aquino,Transient A/F Control Characteristics of 5 Liter Central Fuel Injection Engine,SAE Paper,810494,1981
[34] E. Hendricks,A. Chevalier,M. Jensen,Modeling of the Intake Manifold Filling Dynamics,SAE Paper,960037,1996
[35] Katushiko Ogata,现代控制工程(卢伯英,于海勋),北京:电子工业出版社,2003,7
[36]刘益芳,LPG发动机闭环控制系统研究:[硕士学位论文],南京:东南大学,2002
[37]刘利,卓斌,PID控制在电控汽油机Lambda闭环控制中的应用及相关参数的标定,车用发动机,2000,1:17-20
[38]刘建江,李政,倪维斗,基于H无穷理论的状态变量控制在主蒸汽温度中的应用,动力工程,2000,20(3):669-684
[39]胡定军,朱晖,LPG发动机空燃比闭环控制系统的设计,小型内燃机与摩托车,2001,3(30):19-23
[40]黄曼磊,李典璞,唐嘉亨,船舶电站柴油机调速系统H无穷控制器的设计,中国造船,2001,42(4):46-51
[41]李彦强,柴油机数字式电子调速器调速控制研究:[硕士学位论文],大连:海军工程学院,1999
[42]宋百玲,费景洲,宋恩哲,船用柴油机模糊-PID复合调速及快速控制原型研究,内燃机工程,2010,31(4):
[43]田国良,嵌入式智能PID控制器的设计:[硕士学位论文],石家庄:河北科技大学,2009
[44]张敏,基于预期动态原理的PID参数正定研究:[硕士学文论文],北京:北京科技大学,2009
[45] Kamran Eftekhari Shahroudi,Method to adaptively control and derive the control voltage of solenoid operated valve based on the valve closure point,United States Patent,US 6889121 B1,May 3,2005
[46] Woodward,SOGAV Solenoid Operated Gas Admission Valve,Technical Manual,04144,2010
[47] E. Grunbacher,P. Kefer,L. del Re,Estimation of the Mean Value Engine Torque Using an Extended Kalman Filter,SAE Paper,2005-01-0063,2005
[48] A. Chevalier,M. Muller,E. Hendricks,On the Validity of Mean Value Engine Models During Transient Operation,SAE Paper,2000-01-1261,2000
[49] A. Chevalier,C. W. Vigild,E. Hendricks,Predicting the Port Air Mass Flowof SI Engines in Air/Fuel Ration Control Applications,SAE Paper,2000-01-0260,2000
[50] E. Hendricks,Spencer C. Sorenson,Mean Value Modelling of Spark Ingition Engines,SAE Paper,900616,1990