WO2025190838A1 - Procédé de régulation d'un rapport d'air de combustion d'un moteur à combustion interne, et dispositif de régulation - Google Patents

Procédé de régulation d'un rapport d'air de combustion d'un moteur à combustion interne, et dispositif de régulation

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Publication number
WO2025190838A1
WO2025190838A1 PCT/EP2025/056403 EP2025056403W WO2025190838A1 WO 2025190838 A1 WO2025190838 A1 WO 2025190838A1 EP 2025056403 W EP2025056403 W EP 2025056403W WO 2025190838 A1 WO2025190838 A1 WO 2025190838A1
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Prior art keywords
model
control
control response
controller
controlled variable
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German (de)
English (en)
Inventor
Jaroslav Lipa
Sebastian VIEHÖVER
Dusan Zaric
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Schaeffler Technologies AG and Co KG
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Schaeffler Technologies AG and Co KG
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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1438—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor
    • F02D41/1486—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor with correction for particular operating conditions
    • F02D41/1487—Correcting the instantaneous control value
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1438—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor
    • F02D41/1444—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor characterised by the characteristics of the combustion gases
    • F02D41/1454—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor characterised by the characteristics of the combustion gases the characteristics being an oxygen content or concentration or the air-fuel ratio
    • F02D41/1456—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor characterised by the characteristics of the combustion gases the characteristics being an oxygen content or concentration or the air-fuel ratio with sensor output signal being linear or quasi-linear with the concentration of oxygen
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1438—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor
    • F02D41/1444—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor characterised by the characteristics of the combustion gases
    • F02D41/1454—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor characterised by the characteristics of the combustion gases the characteristics being an oxygen content or concentration or the air-fuel ratio
    • F02D41/1458—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor characterised by the characteristics of the combustion gases the characteristics being an oxygen content or concentration or the air-fuel ratio with determination means using an estimation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1438—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor
    • F02D41/1477—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor characterised by the regulation circuit or part of it,(e.g. comparator, PI regulator, output)
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1438—Introducing closed-loop corrections using means for determining characteristics of the combustion gases; Sensors therefor
    • F02D41/1493—Details
    • F02D41/1495—Detection of abnormalities in the air/fuel ratio feedback system
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/22—Safety or indicating devices for abnormal conditions
    • F02D41/222—Safety or indicating devices for abnormal conditions relating to the failure of sensors or parameter detection devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D2041/1413—Controller structures or design
    • F02D2041/1418—Several control loops, either as alternatives or simultaneous
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D2041/1413—Controller structures or design
    • F02D2041/1418—Several control loops, either as alternatives or simultaneous
    • F02D2041/1419—Several control loops, either as alternatives or simultaneous the control loops being cascaded, i.e. being placed in series or nested
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D2041/1413—Controller structures or design
    • F02D2041/1423—Identification of model or controller parameters
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D2041/1413—Controller structures or design
    • F02D2041/143—Controller structures or design the control loop including a non-linear model or compensator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D2041/1413—Controller structures or design
    • F02D2041/1432—Controller structures or design the system including a filter, e.g. a low pass or high pass filter
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D2041/1433—Introducing closed-loop corrections characterised by the control or regulation method using a model or simulation of the system
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D2041/1433—Introducing closed-loop corrections characterised by the control or regulation method using a model or simulation of the system
    • F02D2041/1434—Inverse model

Definitions

  • the present disclosure relates to methods for lambda control of an internal combustion engine and corresponding control devices configured to carry out such methods.
  • TWC three-way catalyst
  • lambda control is implemented in the engine control unit of the combustion engine.
  • Lambda control is typically based on signals from lambda sensors upstream and downstream of the three-way catalytic converter.
  • pre-catalytic converter control the oxygen content of the exhaust gas upstream of the catalytic converter is measured using a linear lambda sensor.
  • the control system corrects the injected fuel quantity from the combustion engine's pre-control. Accuracy can be further improved with the signal from the second lambda sensor behind the catalytic converter.
  • the quality of the pre-catalyst control plays a key role in the accuracy, speed, and stability of the lambda control. These control characteristics, in turn, have a direct impact on emissions, because any deviation from a specified lambda target value or lambda setpoint causes emissions. Optimal lambda control is therefore particularly important in light of new, increasingly stringent emissions legislation.
  • PI controllers have often been used for pre-catalyst control, but these have stability issues under certain operating conditions. Such stability issues can, for example, lead to a constant or systematic deviation from the target lambda value, which also worsens the engine's pollutant emissions. Furthermore, engine operation can become unstable, which can impair the engine's acoustics or even the vehicle's handling.
  • a method for controlling a combustion air ratio of an internal combustion engine comprises the following steps: (a) determining a control response to a control deviation by means of a first controller, wherein the control deviation corresponds to a deviation, in particular a difference, between an actual value of a controlled variable and a target value of the controlled variable, and the controlled variable is characteristic of a combustion air ratio; (b) implementing the control response by means of a manipulated variable as an input to a controlled system; (c) receiving a change in the controlled variable caused by the control response, which change is measured at or after an output of the controlled system by means of a measuring element; (d) comparing the measured change in the controlled variable with a model; and (e) changing, in particular reducing, or maintaining the control response by means of a second controller depending on the comparison.
  • a control device with a first controller and a second controller is provided, which is configured to carry out the method described above.
  • a computer program which comprises instructions which, when the computer program is executed by a computer, cause the computer to carry out the method described above.
  • a controlled system is defined, for example, as that part of a control loop that contains the system or process to be controlled.
  • the controller(s) of the control loop can be configured to act on the controlled system via one or more manipulated variables. If the manipulated variable characterizes a fuel injection into an internal combustion engine and the controlled variable characterizes a combustion air ratio or lambda, the controlled system can, for example, describe the physical relationship between fuel injection into the internal combustion engine and measurement of the combustion air ratio in an exhaust system downstream of the internal combustion engine.
  • a manipulated variable is defined, for example, as the output variable of a controller and/or as the input variable of the controlled system.
  • the manipulated variable can be suitable for influencing the controlled variable.
  • a control response of the controller can be implemented using the manipulated variable.
  • the manipulated variable can characterize a fuel injection.
  • a controlled variable is defined, for example, as an output variable of the controlled system. It can be a variable to be controlled, which, for example, is to be controlled such that it corresponds to a predetermined target value or target curve.
  • the controlled variable can be, for example, a combustion air ratio or lambda.
  • the combustion air ratio can be or characterize the ratio of air to fuel compared to a combustion stoichiometric mixture.
  • the combustion stoichiometric mixture can be an optimal ratio between the reactants, for example, combustible substances and oxygen as an oxidizing agent.
  • a measuring element is defined, for example, as a measuring device at or after the output of the controlled system, which is particularly designed to determine the controlled variable directly or indirectly.
  • the measuring element can be designed to determine measured values from which corresponding values of the controlled variable can be derived.
  • the measuring element can belong entirely or partially to the controlled system or can be designed separately from the controlled system.
  • the measuring element can be a measuring device which is designed to determine an oxygen content in an exhaust gas of the internal combustion engine. determine, from which the combustion air ratio can be derived at least approximately.
  • the device and/or method described above may be advantageous to enable fast, accurate and at the same time robust control.
  • a primary controller designed for fast or optimal control can exhibit stability problems.
  • the measured change in the controlled variable is compared with a model, for example, a model of the controlled system and/or the measuring element.
  • a second controller modifies, in particular reduces, or maintains the control response depending on the comparison.
  • the model deviations determined by the comparison are an indication of possible instabilities in the control system. If such model deviations are detected, the control response can be modified accordingly, in particular reduced. For example, the control response can be slowed down or its amplitude reduced. This can increase the robustness of the control system when stability problems occur.
  • System component protection can prevent or at least reduce harmful oscillations of the drive system or the vehicle.
  • the model is or comprises a model of the controlled system and/or the measuring element. Only aspects of the controlled system and/or the measuring element relevant to the controlled variable can be modeled. Accordingly, it can be a very abstract model, comprising, for example, only a few mathematical formulas, such as n-order polynomial functions, and/or one or more tables.
  • the model can, for example, be an n-order system with dead time, in particular a first-order system with dead time.
  • the first controller can determine the control response based on the model.
  • the deviation between the actual value of the controlled variable and the target value of the controlled variable corresponds to a difference.
  • Other functional dependencies are also possible.
  • the manipulated variable is characteristic of a fuel quantity injected into the internal combustion engine.
  • the injected fuel quantity represents a typical manipulated variable when controlling the combustion air ratio.
  • the measuring element is a lambda probe that measures the oxygen content in the exhaust gas of the internal combustion engine.
  • lambda probes for indirect measurement of the combustion air ratio are typically used in lambda control.
  • the lambda probe is arranged in an exhaust system of the internal combustion engine upstream of a catalytic converter, in particular a three-way catalytic converter.
  • the lambda probe is thus arranged between the internal combustion engine and the catalytic converter.
  • the associated lambda control is a so-called pre-catalytic converter control. This can be advantageous for low-emission operation of the catalytic converter.
  • model parameters of the model are determined at least partially by diagnosing the lambda sensor, i.e., the lambda sensor actually used in the exhaust system, or a nominal lambda sensor. A production tolerance can be taken into account for the nominal lambda sensor. Such calibration of the model can be advantageous to avoid costly repeated diagnoses for model adaptation.
  • the second controller is calibrated based on nominal plant parameters. Such an embodiment can be advantageous to avoid further parameter identification and model adaptation.
  • the automatic adjustment of the control strategy between optimality and robustness is based solely on the uncertainty of the model.
  • the model comprises a model of the controlled system and/or the measuring element and comprises the steps of: modeling a comparison control response by applying a model inverse to the model to the measured change in the controlled variable, and comparing the comparison control response with the control response.
  • the model comprises a model of the controlled system and/or the measuring element and comprises comparing: modeling a comparison change in the controlled variable using the model of the controlled system as a function of the control response and comparing the comparison change in the controlled variable with the measured change in the controlled variable.
  • a dead time determined by the controlled system is taken into account during the comparison, in particular by a dead time element of the second controller.
  • Such a dead time can be modeled either by the model or separately from the model. In the latter case, a temporal progression would not be taken into account in the model, and the modeling of the control intervention would be time-synchronous.
  • Such an embodiment can be advantageous for temporally assigning changes in the manipulated variable and corresponding effects on the controlled variable.
  • the dead time corresponds to or correlates with a running time from the injection of the fuel until the measurement of the associated lambda value by the measuring element.
  • a measure of a deviation of the measured change in the controlled variable from the model is determined during the comparison, and the control response is modified, in particular reduced, depending on the measure.
  • the greater the deviation determined by the measure the more the control response is reduced.
  • the relationship between the measure and the reduction in the control response can be monotonic or strictly monotonic. Such an embodiment can be advantageous because larger deviations require a stronger response to avoid instabilities in the control system.
  • the change or maintenance of the control response is determined by a filter element that characterizes a sensitivity and/or a speed, particularly with respect to the change or maintenance of the control response.
  • the filter element comprises a low-pass filter.
  • the measure is characteristic of a difference between the control response implemented by means of the manipulated variable and the comparison control response and/or of a difference between the measured change in the controlled variable and the comparison change in the controlled variable.
  • the measure is indicative of an inaccuracy of one or more model parameters of the model and/or of a disturbance variable in the controlled system that is at least not fully taken into account by the model.
  • a disturbance variable is defined, for example, as a variable acting on the controlled system and/or the measuring element that is capable of influencing the controlled variable.
  • An inaccurate model parameter can result, for example, from aging or a replacement of the measuring element, such as a lambda sensor.
  • a disturbance variable can, for example, be external damage to the measuring element that causes a pulsating signal from the lambda sensor.
  • the second controller is configured to increase the robustness of the control depending on the measure.
  • the first controller aims for "optimal,” in particular fast, control, while the second controller is configured to correct the first controller with a view to "robust,” in particular stable, control under many operating conditions.
  • control response of the first controller is based on the model, in particular the model of the controlled system and/or the measuring element.
  • the second controller modifies the control response, especially when the control response of the first controller is based on incorrect model assumptions. In particular, instabilities in the control system are to be expected under such incorrect model assumptions.
  • the first controller is configured such that a rise time, an overshoot, a settling time, and a state error or steady-state error are considered for the control response.
  • the rise time may be preferred over the other parameters.
  • the overshoot may be preferred over the remaining parameters, i.e., except for the rise time.
  • the second controller is configured to perform at least one of the following measures for changing, in particular reducing, the control response: increasing a rise time; reducing an overshoot; reducing a state error or steady-state error.
  • the rise time, the overshoot, and/or the steady-state error can relate to the measured change in the controlled variable.
  • Such an embodiment can be advantageous because the aforementioned measures all contribute to the robustness of the control.
  • Figure 1 shows an internal combustion engine with an exhaust system and a control unit according to an embodiment of the present disclosure
  • Figures 2 and 3 each show control loops for methods for controlling a combustion air ratio according to embodiments of the present disclosure
  • Figures 4 to 6 show various aspects of a comparison between optimal and robust control in methods for controlling a combustion air ratio according to embodiments of the present disclosure.
  • FIG. 1 shows an internal combustion engine or combustion engine 100 and an exhaust system 101 coupled to the internal combustion engine 100.
  • the exhaust system 101 comprises a three-way catalytic converter 103 and a lambda probe 102 downstream and upstream of the catalytic converter 103.
  • the lambda probe 102 arranged between the internal combustion engine 100 and the three-way catalytic converter 103, is a linear lambda probe designed to measure the oxygen content of the exhaust gas upstream of the three-way catalytic converter 103.
  • a control unit 104 Based on this measured value, a control unit 104 performs the lambda control upstream of the three-way catalytic converter 103, i.e., the so-called pre-catalytic converter control.
  • the control unit 104 corrects the fuel quantity control from the pilot control of the internal combustion engine 100. For greater accuracy, the signal from the second lambda probe 102 downstream of the three-way catalyst 103 is also taken into account.
  • Figures 2 and 3 show circuit diagrams or control loops 110 of processes performed by the control unit 104 shown in Figure 1 for pre-cat control.
  • the pre-cat control is shown as a cascade control with two parts or two controllers.
  • the first controller 111 is an optimal controller
  • the second controller 112 connected downstream of the first controller 111, is a robust controller.
  • the control response of the second controller is used as the input of the controlled system 113.
  • a controlled variable at the output of the controlled system 113 is fed back to the second controller 112 and compared with a reference variable, with the deviation of the controlled variable from the reference variable serving as the input of the first controller 111.
  • the optimal controller 111 refers to a controller that meets defined criteria regarding control quality. This can be, for example, an IMC (Internal Model Regulator), MPC (Model Predictive Regulator), LQR (Linear Quadratic Regulator), or a PI controller, especially an optimally calibrated PI controller.
  • Control quality refers, among other things, to the signal metrics rise time, percentage overshoot, settling time, and steady-state error, which characterize a deviation from the lambda target value and can therefore also influence emissions.
  • the robust controller 112 is broken down into several components, including the inverse model 114, the dead-time element 115, the filter 116, the comparison element 124, and the reduction element 125.
  • the controlled system 113 can be described as an n-order system with dead time, in particular as a first-order system with dead time.
  • An inaccuracy in the model parameters or an unknown disturbance caused by a disturbance variable 123 in the controlled system 113 can be referred to as system indeterminacy.
  • the robust controller at least partially compensates for this uncertainty.
  • the inverse model 114 reconstructs the control intervention from the lambda signal measured by the measuring element 117.
  • the modeling by the inverse model 114 is time-synchronous.
  • the controlled system 113 contains a time delay between input and output, this delay must be compensated by the dead-time element 115.
  • the comparison element 124 a delayed input of the controlled system 113 is therefore compared with the control intervention reconstructed from the output of the controlled system.
  • Filter 116 defines the dynamics and sensitivity of the compensation, depending on the deviation between the actual and the reconstructed control intervention determined by comparison element 124.
  • a low-pass filter for example, can be used as filter 116.
  • the robust controller provides no compensation via reduction element 125 because there is no deviation between the reconstructed control intervention and the delayed active control intervention at comparison element 124.
  • the control loop behaves optimally to a certain extent. However, if the uncertainty increases, the robust controller compensates the output. of the first controller 111 or the optimal controller so that the control loop 110 remains stable.
  • the first controller 111 receives an actual value 118 of the controlled variable, determined by means of the measuring element 117, as well as a setpoint value 119 of the reference variable. From the comparison of the actual value 118 with the setpoint value 119, a control deviation 120 is formed as the input of the first controller 111. In response to the control deviation 120, the first controller 111 determines a first control response 121, which is then changed or maintained depending on the model deviation determined at the reduction element 125 and the compensation determined therefrom by the filter 116, in order to form a second control response 121 of the second controller.
  • the second control response 121 is converted by means of a manipulated variable 122 as the input of the controlled system 123 in order to obtain an actual value 118 of the controlled variable as the output of the controlled system 123, which is measured by means of the measuring element 117.
  • the combination of the first optimal controller 111 and the second robust controller enables precise and stable control of the actual value 118 to the setpoint 119.
  • Figure 4 shows the reaction over time 130 of the actual value 118 of the controlled variable 135 to a sudden change in the setpoint 119 of the reference variable from a smaller constant value to a larger constant value.
  • the actual value 118 changes in the direction of the changed setpoint 119.
  • the time until the changed setpoint is reached is characterized by the rise time 131.
  • the rise time 131 can be defined based on a tangent to the curve of the actual value 118 at the intersection with the changed setpoint 119.
  • An overshoot of the actual value 118 after the intersection with the changed setpoint 119 is characterized by the overshoot amplitude 133.
  • the overshoot 133 can be defined as the largest amplitude of a deviation from the changed setpoint 119 or from a steady-state value of the actual value 118 after the intersection point. After one or more oscillations of the actual value 118 around the changed setpoint 119, the actual value 118 approaches the setpoint 119. The total time of this approach, starting from the time of the change in the setpoint 119, is defined by the settling time 132. characterized. Possible deviations of the actual value 118 from the setpoint 119 after the settling time 132 are referred to as a steady-state error 134 or state error.
  • Figure 5 shows a control intervention in the event of uncertainty.
  • the robust controller reduces the control response 141 of the optimal controller to the robust control response 142.
  • control is thus adapted, for example in the event of a sudden change in the setpoint 119, from an optimal control 143 with a fast rise time to a robust control 144 with a slow rise time, but a small overshoot and a small steady-state error.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)

Abstract

L'invention concerne un procédé de régulation d'un rapport d'air de combustion d'un moteur à combustion interne (100), comprenant les étapes suivantes : (a) déterminer une réponse de régulation (121) à un écart de régulation (120) au moyen d'un premier dispositif de régulation (111), l'écart de régulation (120) correspondant à un écart entre une valeur réelle (118) d'une variable régulée (135) et une valeur cible (119) de la variable régulée (135), et la variable régulée (135) étant caractéristique du rapport d'air de combustion ; (b) convertir la réponse de régulation (121) au moyen d'une variable manipulée (122) en tant qu'entrée d'un système régulé (113) ; (c) recevoir un changement (143, 144) dans la variable régulée (135) provoqué par la réponse de régulation (121), lequel changement est mesuré au niveau ou après une sortie du système régulé (113) au moyen d'un élément de mesure (117) ; (d) comparer le changement mesuré (143, 144) dans la variable régulée (135) avec un modèle ; et (e) changer, en particulier réduire, ou maintenir la réponse de régulation (121) au moyen d'un second dispositif de régulation (112) en fonction de la comparaison. L'invention se rapporte également à une unité de régulation correspondante (104) et à un programme informatique.
PCT/EP2025/056403 2024-03-13 2025-03-10 Procédé de régulation d'un rapport d'air de combustion d'un moteur à combustion interne, et dispositif de régulation Pending WO2025190838A1 (fr)

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DE102024202377.9A DE102024202377B3 (de) 2024-03-13 2024-03-13 Verfahren zur Regelung eines Verbrennungsluftverhältnisses einer Brennkraftmaschine sowie Steuergerät
DE102024202377.9 2024-03-13

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0936351A2 (fr) * 1998-02-12 1999-08-18 Yamaha Hatsudoki Kabushiki Kaisha Méthode et dispositif de commande à valeur optimale d'un objet de commande à l'aide d'une commande à apprentisage
DE102017122817A1 (de) * 2016-10-04 2018-04-05 Ford Global Technologies, Llc Verfahren und system zur katalysatorrückkopplungsregelung
DE102018216980A1 (de) * 2018-10-04 2020-04-09 Robert Bosch Gmbh Verfahren zur Regelung einer Füllung eines Speichers eines Katalysators für eine Abgaskomponente in Abhängigkeit von einer Alterung des Katalysators

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Publication number Priority date Publication date Assignee Title
US6785601B2 (en) 2001-12-18 2004-08-31 Hitachi Unisia Automotive, Ltd. Air-fuel ratio control apparatus of internal combustion engine and method thereof
DE102006034685A1 (de) 2006-07-25 2008-01-31 Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr Verfahren und Vorrichtung zur Regelung des Kraftstoff-Luft-Gemisches einer Verbrennungskraftmaschine

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0936351A2 (fr) * 1998-02-12 1999-08-18 Yamaha Hatsudoki Kabushiki Kaisha Méthode et dispositif de commande à valeur optimale d'un objet de commande à l'aide d'une commande à apprentisage
DE102017122817A1 (de) * 2016-10-04 2018-04-05 Ford Global Technologies, Llc Verfahren und system zur katalysatorrückkopplungsregelung
DE102018216980A1 (de) * 2018-10-04 2020-04-09 Robert Bosch Gmbh Verfahren zur Regelung einer Füllung eines Speichers eines Katalysators für eine Abgaskomponente in Abhängigkeit von einer Alterung des Katalysators

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