Cylinder Individual Lambda Feedback Control in an

CylinderIndividualLambdaFeedbackControlinanSIEngineExamensarbeteutfortiFordonssystemvidTekniskaHogskolaniLinkopingavPatrikBerggrenAndrejPerkovicRegnr:LiTH-ISY-EX-1649CylinderIndividualLambdaFeedbackControlinanSIEngineExamensarbeteutfortiFordonssystemvidTekniskaHogskolaniLinkopingavPatrikBerggrenAndrejPerkovicRegnr:LiTH-ISY-EX-1649Supervisor:MikaelGlavenius,MecelABTomasHenriksson,LiTHLarsNielsen,LiTHExaminer:LarsNielsenLinkoping,January16,1996.AbstractiAbstractInordertomeetfuturestandardsregardingexhaustpollutantsfromSIengines,precisecontroloftheairfuelratioisessential.Toenableusageoffuelinjectorswithlessaccuracyandtocompensatefordierencesbetweencylindersduetowear,acylinderindividualcontroloflambdaisneeded.Inthisthesiswedevelopanonmodelbasedmultisensorcontrollertoaccomplishtheabovementionedtasks.Thepresentedcontrollerusesanabsolutemeasurementoflambdaattheconuencepointandrelativecylinderindividuallambdameasurements.Thisisdonetoprepareforanexchangetocylinderindividuallambdasprovidedbyanionizationcurrentalgorithm,thatisbeingdevelopedatMecelAB.Theresultsarepromisingandthecontrollerperformance,includingspeedandaccuracy,issuperiortotheconventionallambdacontrolleralsodescribedinthethesis.KeyWord:conventionallambdacontrol,cylinderindividual,multisensorlambdacon-trol.AcknowledgmentsThisprojectisperformedincooperationbetweenMecelABandtheDivisionofVehicu-larSystemsatLinkopingUniversity.WewishtothankoursupervisorsMikaelGlaveniusatMecelABandLarsNielsenandTomasHenrikssonattheDivisionofVehicularSys-temsatLinkopingUniversity.SpecialthankstoSimonEdlundforcomputerassistance,LarsErikssonforhelpinguswithSelma,MattiasNybergforprovidingFigure2.1andMagnusPetterssonforgeneraltroubleshootingandLATEXsupport.iiNotationNotationOperatorsandFunctionsoutput=1/inputSymbolsthrottleanglenormalizedairfuelratioinormalizedairfuelratioincylinderipmaninletmanifoldabsolutepressuremaairmassmffuelmassmfffuellmmassmfiinjectedfuelmassmfvvaporizedfuelmassfccut{ofrequencyK;Ky;Ti;Tiycontrollerparameterse;e1;e2;e3;e4dierencebetweencontrollerinputsu;t1;t2;t3;t4controlleroutputsignalsT1;T2settlingtimestdeltransportdelaytotheconuencepointtdelcyltransportdelaytoclosetocylindersensortinjtotalfuelinjectiontime(basicinjectiontime+lambdacorrectiontime)uppupeaktopeakvalueAbbreviationsSISparkIgnitionA/FAir/Fuel(A/F)sAir/FuelatstoichiometryUEGOUniversalExhaustGasOxygenEGOExhaustGasOxygenLQGLinearQuadraticGaussianrpmrevolutionsperminuteTWCThree{WayCatalystPIDProportional{Integral{Derivativecylcylindercpconuencepointscsinglecylinderrmsrootmeansquarerefreferencevaluebhpbrakehorse{powerContentsiiiContents1Introduction11.1ProblemSpecicationandObjective:::::::::::::::::::::11.2Limitations:::::::::::::::::::::::::::::::::::11.3Methods:::::::::::::::::::::::::::::::::::::21.4Reader’sGuide:::::::::::::::::::::::::::::::::21.5PreviousRelatedWork:::::::::::::::::::::::::::::22AutomotiveFundamentals42.1History:::::::::::::::::::::::::::::::::::::42.2MainPartsforA/FControlinanSIEngine:::::::::::::::::42.3Whatis?:::::::::::::::::::::::::::::::::::52.4Three{WayCatalyticConverter::::::::::::::::::::::::72.5ElectronicControlUnit,SensorsandActuators:::::::::::::::73OpeningExperiments113.1OperatingPoints::::::::::::::::::::::::::::::::113.2OpenLoopControl:::::::::::::::::::::::::::::::113.3ChoosingSamplingRate::::::::::::::::::::::::::::123.4ChoosingFilters::::::::::::::::::::::::::::::::133.5Ziegler{NicholsRulesofThumb::::::::::::::::::::::::133.6SomeDenitions::::::::::::::::::::::::::::::::144FindingaSimulationModel154.1MeanValueModelsofSIEngines:::::::::::::::::::::::154.2SensorModels::::::::::::::::::::::::::::::::::164.3FormingaSimulinkBlockforaSingleCylinder:::::::::::::::164.4FormingaSimulinkBlockforaSensor::::::::::::::::::::174.5AbouttheSimulations:::::::::::::::::::::::::::::185SingleSensorLambdaControl195.1ConventionalLambdaControl:::::::::::::::::::::::::195.2LambdaControlUsingOneUEGOSensor::::::::::::::::::295.3Conclusions:::::::::::::::::::::::::::::::::::336MultiSensorLambdaControl346.1TheControlStructure:::::::::::::::::::::::::::::346.2Implementation:::::::::::::::::::::::::::::::::356.3ARegulatorUsingallAvailableInformation:::::::::::::::::386.4ARegulatorwithanUnknownOsetinLambda::::::::::::::446.5Conclusions:::::::::::::::::::::::::::::::::::507ControllerVerication518Extensions53ivContents9Conclusions54References55AppendixA:LaboratoryFacilityandEngineSpecications56AppendixB:SimulationModels58AppendixC:Code601Introduction11Introduction1.1ProblemSpecicationandObjectiveTheobjectiveistondacontrolstructurethatcancontrollambdainacylinderindi-vidualway.Thisshallbedoneinthreestages:CylinderindividuallambdacontrolusingaUEGOsensorattheconuencepointandUEGOsensorslocatedclose1toeachcylinder.Asabovebutthecylinderbycylinderplacedsensorshaveanunknownoset.CylinderindividuallambdacontrolusingaUEGOsensorattheconuencepointandcylinderindividuallambdasestimatedbyanionizationcurrentalgorithmde-velopedbyMecelAB.Thepossibilitytoaccomplishthelaststagedepen