基于模型的天然气发动机转矩控制研究
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摘要
本文采用基于模型的开发设计方法对天然气发动机转矩控制系统进行研究。首先,研究天然气发动机转矩控制理论,推导点火提前角、空燃比和节气门开度三个控制参数与转矩之间的关系。在不同发动机工况下,分析三个控制参数的调节方法以及它们之间的关系,为建立控制策略模型提供依据。
然后,利用Matlab/Curve Fitting Tool工具箱对传感器标定数据进行分析,建立温度和压力等传感器模型;通过原理分析建立位置传感器模型,使物理信号和传感器电压信号对应。将天然气发动机控制系统分为操纵意图、转矩控制、底层驱动三个相互关联的功能模块,为建立控制系统模型奠定基础。利用Matlab/Simulink/Stateflow实现控制系统模型。经过信号有效性检测和处理模型得到可信的传感器信号用于发动机状态的识别和控制策略计算,分工况建立控制策略模型,控制点火提前角、空燃比和电子节气门开度。
最后,建立天然气发动机模型用于验证和确认所建立的控制策略模型的可行性和正确性,离线仿真结果表明所建立的模型符合控制系统要求。利用Matlab/RTW技术,将模型写入MACS565汽车快速原型开发系统主控制器中,进行在环仿真测试和验证,并建立初始MAP图的标定模型。
采用基于模型的开发设计方法能够增加开发过程的灵活性,减少开发时间提高工作效率。
In this paper, the torque control system for compressed natural gas (CNG) engine is studied based on the system model. Firstly, the CNG engine torque control theory is introduced, and the relationship between the engine output torque and the three control parameters: the spark advance angle, the air-fuel ratio and the throttle opening, is derivated. Then for different engine working states, the regulation methods for the above three control parameters are analyzed. The relationship among them is used as the basis for establishing control strategy.
With Matlab/Curve Fitting Toolbox and sensor calibration data, the temperature and the pressure sensor models are built. For position sensor, the working principles of them are analyzed to establish the models and transform the sensor voltage signal to physical signal. The CNG engine control system model is consists of three functional modules, which are operation intentions, torque control and hardware drivers. Using Matlab/Simulink/Stateflow, the control system model is built. The validity of the sensor singals is completed with condition detecting algorithm. The validated signals are used to identify engine state and calculate control parameters. The control strategy model is established for different engine working states.
CNG engine model is used to verify and validate the correctness of control strategy model. Off-line simulation results show that the model with the control system requirement. With Matlab/RTW, the model is transformed to code and downloaded into the MACS565 atuomotive rapid control prototyping system. Some in-the-loop simulation tests are carried out to verify system model. At last, the initial calibration MAPs are established.
然后,利用Matlab/Curve Fitting Tool工具箱对传感器标定数据进行分析,建立温度和压力等传感器模型;通过原理分析建立位置传感器模型,使物理信号和传感器电压信号对应。将天然气发动机控制系统分为操纵意图、转矩控制、底层驱动三个相互关联的功能模块,为建立控制系统模型奠定基础。利用Matlab/Simulink/Stateflow实现控制系统模型。经过信号有效性检测和处理模型得到可信的传感器信号用于发动机状态的识别和控制策略计算,分工况建立控制策略模型,控制点火提前角、空燃比和电子节气门开度。
最后,建立天然气发动机模型用于验证和确认所建立的控制策略模型的可行性和正确性,离线仿真结果表明所建立的模型符合控制系统要求。利用Matlab/RTW技术,将模型写入MACS565汽车快速原型开发系统主控制器中,进行在环仿真测试和验证,并建立初始MAP图的标定模型。
采用基于模型的开发设计方法能够增加开发过程的灵活性,减少开发时间提高工作效率。
In this paper, the torque control system for compressed natural gas (CNG) engine is studied based on the system model. Firstly, the CNG engine torque control theory is introduced, and the relationship between the engine output torque and the three control parameters: the spark advance angle, the air-fuel ratio and the throttle opening, is derivated. Then for different engine working states, the regulation methods for the above three control parameters are analyzed. The relationship among them is used as the basis for establishing control strategy.
With Matlab/Curve Fitting Toolbox and sensor calibration data, the temperature and the pressure sensor models are built. For position sensor, the working principles of them are analyzed to establish the models and transform the sensor voltage signal to physical signal. The CNG engine control system model is consists of three functional modules, which are operation intentions, torque control and hardware drivers. Using Matlab/Simulink/Stateflow, the control system model is built. The validity of the sensor singals is completed with condition detecting algorithm. The validated signals are used to identify engine state and calculate control parameters. The control strategy model is established for different engine working states.
CNG engine model is used to verify and validate the correctness of control strategy model. Off-line simulation results show that the model with the control system requirement. With Matlab/RTW, the model is transformed to code and downloaded into the MACS565 atuomotive rapid control prototyping system. Some in-the-loop simulation tests are carried out to verify system model. At last, the initial calibration MAPs are established.
引文
[1]节能与新能源汽车网.07年世界燃气汽车统计数据[EB/OL].http://www.chinaev.org.
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[4]孙济美.天然气和液化石油气汽车[M],北京:北京理工大学出版社,1999.
[5]M.L.Willi,B.G.Richards:Design and Development of a Direct Injected Natural GasEngine[J],Journal of Engineering for Gas Turbines and Power of ASME,Oct.1995,Vol.l17.
[6]D.P.Meyers,G.D.Bourn,J.C.Hedrick,J.T.Kubesh:Evaluation of Six Natural Gas Combustion System for LNG Locomotive Applications[C],SAE Paper No.972967,1997.
[7]B.Douville,P.Oueliette,A.Touchette:Performance and Emissions of a Two Stroke EnginesFueled Using High-Pressure Direct Injection of Natural Gas[C],SAE Paper NO.981160,1998.
[8]王珂,张幽彤.天然气发动机技术发展研究[J],车辆与动力技术,2000(4):54-57.
[9][日]俊藤雄一,佐藤由雄.改善气缸内直喷天然气发动机燃烧和排放特性的研究[J],国外内燃机,2002(4):13-19.
[10]Huang Zuo-hua,ZENG Ke,YANG Zhong-le.Study on Combustion Characteristics of Direct Injection Natural Gas Engine by Using a Rapid Compression Machine[J],内燃学报,2001,19(4):314-322
[11]HuangZuo-hua,ZENG Ke,YANG Zhong-le.A Basic Study on the Spark Electrode Gap Position to Natural Gas Direct Injection Super-Lean Combustion[J],内燃机学报,2003,21(2):135-144
[12]Huang Zuohua,Seiichi Shiga,Takamasa Ueda.Feasibility of CNG-DI stratified combustion using a spark ignited rapid compression machine[A],Proceedings of the 5th International Symposium oil Diagnostics and Modeling Combustion in Internal Combustion Engines,Nagoya,Japan,July 1-4,2001
[13]Huang Zuo-hua,ZENG Ke,YANG Zhong-le.Emission Characteristics of Direct Injection Natural Gas Engine Using Rapid Compression Machine[J],燃烧科学与技术,2002,8(3):241-247
[1 4]Huang Zuo-hua,ZENG Ke,YANG Zhong-le:Characteristics of Natural Gas Direct Injection Combustion Under Various Fuel Injection Timing[J],燃烧科学与技术,2003,9(1):40-48
[15]林学东,袁兆成等.直喷式CNG发动机燃烧过程的控制技术[J],车辆与动力技术,2000(4):12-16
[16]张振东,郭辉,孙嗣炎,方祖华.缸内直喷天然气发动机控制系统研究[J],内燃机工程,2004,25(6):23-26
[17]孙嗣炎,张振东,方祖华,郭辉,李萌.缸内直喷式天然气发动机的试验研究[J],农业机械学报,2005,10(10):13-15
[18]洪伟,杨晓萍,赵梅,孙济美.天然气发动机空燃比的自适应控制研究[J],燃烧科学与技术,2003,9(1):85-87
[19]洪伟,杨晓萍,孙济美.天然气发动机点火正时的自适应控制策略研究[J],内燃机学报,2002,20(5):438-440
[20]张威,stateflow逻辑系统建模[M].西安:西安电子科技大学出版社,2007
[21]彭忆强.基于模型的汽车电控单元仿真测试技术研究[J].中国测试技术,2006,32(6):15-19.
[22]dSPCACE产品手册.北京:九州恒润有限公司.2007
[23]Getting started MACS565.www.automtive.tno.nl,2006
[24]林建生 黄河.对基于转矩控制策略的电喷系统的研究[J].传动技术,2006-20(1):24-26
[25]吴森等译.汽油机管理系统[M].北京:北京理工大学出版社,2002
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[30]陈绪平.天然气发动机电控系统仿真研究[D].成都:西华大学,2005
[31]石包玉.基于MFB的点火提前角的神经网络控制[D].成都:西华大学,2007
[32]孙磊,吴昊,黄海燕等.汽油机平均值模型在硬件在环仿真中的应用[J].车用发动机,2002-140(4):27-29
[33]胡文俊 张付军 黄英.电控摩托车汽油机初始MAP图的仿真计算和优化[J].小型内燃机与摩托车[J].2002-31(6):7-11
[34]龚金科,谭凯,刘孟祥.电控摩托车汽油发动机基本MAP的建模与仿真[J].内燃机学报.2004-22(1):70-74
[35]王绍銧;夏群生;李建秋.汽车电子学[M].清华大学出版社,北京,2005
[36]李国勇编.智能控制与MATLAB在电控发动机中的应用[M].北京:电子工业出版社,2007
[37]范俊民.465Q汽油机电控系统冷启动性能的标定[D].长春:吉林大学,2005
[38]陈飞.压缩天然气发动机电控系统研制[D].成都:西华大学,2008
[39]包生重.四缸汽油发动机电控系统设计及其仿真研究[D].长沙:中南大学,2007
[40]郭连.汽车发动机电子节气门控制系统设计研究[D].浙江大学,2004
[41]朱二欣.电子节气门控制系统的开发研究[D].吉林大学,2004.
[42]Delphi Electronic Throttle Control Systems for Model Year 2000:Driver Features,System Security,and OEM Benefits.ETC for the Mass Market[J].SAE Paper,2000-O1-0556.
[43]Ross Pursifull.Unconventional Approach to Achieving a Default Throttle Position[J].SAE Paper.2000-01-0545.
[44]陈华,王耀南,夏阳.基于自整定模糊PID的电子节气门控制[J].仪器仪表用户,2005,12(1):18-20
[45]向禹.491QE电控系统的匹配标定研究[D].武汉:武汉理工大学,2006
[46]原霞,张翠平,杨庆佛.发动机怠速稳定性控制方法的分析研究[J].太原理工大学学报.2003-34(2):182-185
[47]蔡昌贵,黄韶炯.基于PI的汽油机怠速控制策略[J].农机化研究,2006(9):144-146.
[48]刘金琨.先进PID控制及其MATLAB仿真[M].北京:电子工业出版社,2003
[49]P.R,Crossley and J.A.Cook,IEE International Conference Control 91,Conference Publication 332,vol.2,pp.921-925,25-28 March,1991,Edinburgh,U.K.
[50]The Simulink Model.Developed by Ken Butts,Ford Motor Company.Modified by Paul Barnard,Ted Liefeld and Stan Quinn,The MathWorks,Inc.,1994-7.
[51]J.J.Moskwa and J.K.Hedrick,Automotive Engine Modeling for Real Time Control Application,Proc.1987 ACC,pp.341-346.
[52]B.K.Powell and J.A.Cook,Nonlinear Low Frequency Phenomenological Engine Modeling and Analysis,Proc.1987 ACC,pp.332-340.
[53]R.W.Weeks and J.J.Moskwa,Automotive Engine Modeling for Real-Time Control Using Matlab/Simulink,1995 SAE Intl.Cong.paper 950417.
[54]薛定宇,陈阳泉编.基于MATLAB/Simulink的系统仿真技术与应用[M].北京:清华大学出版社,2006
[55]嵇国金,王艳敏,王磊.利用MATLAB/SIMULINK对汽油机进行建模与仿真[J].内燃机工程,2006-27(2):52-55
[56]张翔,汽油机电控系统车载诊断策略研究[D].武汉:武汉理工大学,2007
[2]节能与新能源汽车网站.2007新能源汽车年度发展报告(市场篇)[EB/OL].http://www.chinaev.org.
[3]宋钧,张武高,黄震.天然气发动机混合气形成与燃烧特点及性能评述[J],柴油机2002(3):16-20.
[4]孙济美.天然气和液化石油气汽车[M],北京:北京理工大学出版社,1999.
[5]M.L.Willi,B.G.Richards:Design and Development of a Direct Injected Natural GasEngine[J],Journal of Engineering for Gas Turbines and Power of ASME,Oct.1995,Vol.l17.
[6]D.P.Meyers,G.D.Bourn,J.C.Hedrick,J.T.Kubesh:Evaluation of Six Natural Gas Combustion System for LNG Locomotive Applications[C],SAE Paper No.972967,1997.
[7]B.Douville,P.Oueliette,A.Touchette:Performance and Emissions of a Two Stroke EnginesFueled Using High-Pressure Direct Injection of Natural Gas[C],SAE Paper NO.981160,1998.
[8]王珂,张幽彤.天然气发动机技术发展研究[J],车辆与动力技术,2000(4):54-57.
[9][日]俊藤雄一,佐藤由雄.改善气缸内直喷天然气发动机燃烧和排放特性的研究[J],国外内燃机,2002(4):13-19.
[10]Huang Zuo-hua,ZENG Ke,YANG Zhong-le.Study on Combustion Characteristics of Direct Injection Natural Gas Engine by Using a Rapid Compression Machine[J],内燃学报,2001,19(4):314-322
[11]HuangZuo-hua,ZENG Ke,YANG Zhong-le.A Basic Study on the Spark Electrode Gap Position to Natural Gas Direct Injection Super-Lean Combustion[J],内燃机学报,2003,21(2):135-144
[12]Huang Zuohua,Seiichi Shiga,Takamasa Ueda.Feasibility of CNG-DI stratified combustion using a spark ignited rapid compression machine[A],Proceedings of the 5th International Symposium oil Diagnostics and Modeling Combustion in Internal Combustion Engines,Nagoya,Japan,July 1-4,2001
[13]Huang Zuo-hua,ZENG Ke,YANG Zhong-le.Emission Characteristics of Direct Injection Natural Gas Engine Using Rapid Compression Machine[J],燃烧科学与技术,2002,8(3):241-247
[1 4]Huang Zuo-hua,ZENG Ke,YANG Zhong-le:Characteristics of Natural Gas Direct Injection Combustion Under Various Fuel Injection Timing[J],燃烧科学与技术,2003,9(1):40-48
[15]林学东,袁兆成等.直喷式CNG发动机燃烧过程的控制技术[J],车辆与动力技术,2000(4):12-16
[16]张振东,郭辉,孙嗣炎,方祖华.缸内直喷天然气发动机控制系统研究[J],内燃机工程,2004,25(6):23-26
[17]孙嗣炎,张振东,方祖华,郭辉,李萌.缸内直喷式天然气发动机的试验研究[J],农业机械学报,2005,10(10):13-15
[18]洪伟,杨晓萍,赵梅,孙济美.天然气发动机空燃比的自适应控制研究[J],燃烧科学与技术,2003,9(1):85-87
[19]洪伟,杨晓萍,孙济美.天然气发动机点火正时的自适应控制策略研究[J],内燃机学报,2002,20(5):438-440
[20]张威,stateflow逻辑系统建模[M].西安:西安电子科技大学出版社,2007
[21]彭忆强.基于模型的汽车电控单元仿真测试技术研究[J].中国测试技术,2006,32(6):15-19.
[22]dSPCACE产品手册.北京:九州恒润有限公司.2007
[23]Getting started MACS565.www.automtive.tno.nl,2006
[24]林建生 黄河.对基于转矩控制策略的电喷系统的研究[J].传动技术,2006-20(1):24-26
[25]吴森等译.汽油机管理系统[M].北京:北京理工大学出版社,2002
[26]吴琼,彭忆强.基于转矩引导的CNG发动机进气控制系统研究[A].2008年汽车工程学会会议论文集[C].北京:机械工业出版社,2008:1602-1605.
[27]黄海波主编:燃气汽车结构原理与维修,机械工业出版社,2002.03
[28]周龙保主编.内燃机学[M].北京:机械工业出版社,2007,
[29]刘峥,王建昕编.汽车发动机原理教程[M].北京:清华大学出版社,2008
[30]陈绪平.天然气发动机电控系统仿真研究[D].成都:西华大学,2005
[31]石包玉.基于MFB的点火提前角的神经网络控制[D].成都:西华大学,2007
[32]孙磊,吴昊,黄海燕等.汽油机平均值模型在硬件在环仿真中的应用[J].车用发动机,2002-140(4):27-29
[33]胡文俊 张付军 黄英.电控摩托车汽油机初始MAP图的仿真计算和优化[J].小型内燃机与摩托车[J].2002-31(6):7-11
[34]龚金科,谭凯,刘孟祥.电控摩托车汽油发动机基本MAP的建模与仿真[J].内燃机学报.2004-22(1):70-74
[35]王绍銧;夏群生;李建秋.汽车电子学[M].清华大学出版社,北京,2005
[36]李国勇编.智能控制与MATLAB在电控发动机中的应用[M].北京:电子工业出版社,2007
[37]范俊民.465Q汽油机电控系统冷启动性能的标定[D].长春:吉林大学,2005
[38]陈飞.压缩天然气发动机电控系统研制[D].成都:西华大学,2008
[39]包生重.四缸汽油发动机电控系统设计及其仿真研究[D].长沙:中南大学,2007
[40]郭连.汽车发动机电子节气门控制系统设计研究[D].浙江大学,2004
[41]朱二欣.电子节气门控制系统的开发研究[D].吉林大学,2004.
[42]Delphi Electronic Throttle Control Systems for Model Year 2000:Driver Features,System Security,and OEM Benefits.ETC for the Mass Market[J].SAE Paper,2000-O1-0556.
[43]Ross Pursifull.Unconventional Approach to Achieving a Default Throttle Position[J].SAE Paper.2000-01-0545.
[44]陈华,王耀南,夏阳.基于自整定模糊PID的电子节气门控制[J].仪器仪表用户,2005,12(1):18-20
[45]向禹.491QE电控系统的匹配标定研究[D].武汉:武汉理工大学,2006
[46]原霞,张翠平,杨庆佛.发动机怠速稳定性控制方法的分析研究[J].太原理工大学学报.2003-34(2):182-185
[47]蔡昌贵,黄韶炯.基于PI的汽油机怠速控制策略[J].农机化研究,2006(9):144-146.
[48]刘金琨.先进PID控制及其MATLAB仿真[M].北京:电子工业出版社,2003
[49]P.R,Crossley and J.A.Cook,IEE International Conference Control 91,Conference Publication 332,vol.2,pp.921-925,25-28 March,1991,Edinburgh,U.K.
[50]The Simulink Model.Developed by Ken Butts,Ford Motor Company.Modified by Paul Barnard,Ted Liefeld and Stan Quinn,The MathWorks,Inc.,1994-7.
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