汽油发动机冷却系统建模与水温控制

doi:10.3785/j.issn.1008-973X.2019.06.011

浙江大学学报(工学版)

2019, Vol. 53

Issue (6): 1119-1129 DOI: 10.3785/j.issn.1008-973X.2019.06.011

机械与能源工程

汽油发动机冷却系统建模与水温控制

吕良1(

),陈虹1,宫洵1,赵海光2,胡云峰1,*(

)

1. 吉林大学汽车仿真与控制国家重点实验室，通信工程学院，吉林长春 130025
2. 中国环境科学研究院，北京 100012

Cooling system modeling and coolant temperature control for gasoline engine

Liang LV1(

),Hong CHEN1,Xun GONG1,Hai-guang ZHAO2,Yun-feng HU1,*(

)

1. State Key Laboratory of Automotive Simulation and Control, College of Communication Engineering, Jilin University, Changchun 130025, China
2. Chinese Research Academy of Environmental Science, Beijing 100012, China

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摘要：

针对冷却系统组件为电子风扇和机械水泵的汽油发动机的水温控制要求，建立面向控制的冷却系统传热动力学模型，并提出水温的非线性控制方法. 根据传热学原理建立燃烧室对壁面的加热功率精确模型，据此获得较为精确的传热动力学模型；将动力学模型简化为对控制变量具有仿射形式的非线性模型，并设计扩张状态观测器补偿建模误差，进而获得相对简单且精度较高的面向控制器设计的模型；在Lyapunov稳定性框架下设计状态反馈控制器，引入非线性史密斯预估器补偿系统延迟，并在输入到状态稳定性框架下证明闭环误差系统的鲁棒性. 仿真结果表明：所提控制系统具有良好的水温跟踪效果，在瞬态工况下水温波动小于0.5 K，且在模型失配扰动下具有较好的鲁棒性.

关键词： 传热动力学模型; 非线性控制; 扩张状态观测器; 非线性史密斯预估器; 稳定性分析

Abstract:

A control-oriented heat transfer dynamic model of engine cooling system was developed and a nonlinear control method was proposed, according to the requirement of coolant temperature control of gasoline engine equipped with an electric fan and a mechanical pump. Firstly, the heating power from combustion chamber to liner was precisely modeled based on the heat transfer theory, thereby ensuring a more accurate dynamic model. Secondly, the dynamic model was simplified as a nonlinear model with affine form for the control variable. An extended state observer was designed to compensate the modeling error. A controller-oriented design model was obtained, which was relatively simple and accurate. Then, a state feedback controller was designed based on the Lyapunov stability and a nonlinear Smith predictor was introduced to compensate the system delay. The robustness of the closed-loop error system was also proved under the input-state stability theory. The simulation results show that, the proposed control system has good temperature tracking performance and robustness under mismatch and disturbance, and the fluctuation is less than 0.5 K under transient conditions.

Key words: heat transfer dynamic model nonlinear control extended state observer nonlinear Smith predictor stability analysis

收稿日期: 2018-11-16 出版日期: 2019-05-22

CLC:

TK 411

通讯作者: 胡云峰 E-mail: lvliangcn@163.com;huyf@jlu.edu.cn

作者简介: 吕良（1991—），男，博士生，从事发动机机理建模与先进控制算法研究. orcid.org/0000-0002-2726-4853. E-mail： lvliangcn@163.com

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引用本文:

吕良,陈虹,宫洵,赵海光,胡云峰. 汽油发动机冷却系统建模与水温控制[J]. 浙江大学学报(工学版), 2019, 53(6): 1119-1129.

Liang LV,Hong CHEN,Xun GONG,Hai-guang ZHAO,Yun-feng HU. Cooling system modeling and coolant temperature control for gasoline engine. Journal of ZheJiang University (Engineering Science), 2019, 53(6): 1119-1129.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2019.06.011 或 http://www.zjujournals.com/eng/CN/Y2019/V53/I6/1119

图 1 汽油发动机冷却系统结构图

图 2 本研究提出的汽油发动机冷却系统控制框图

图 3 发动机与冷却液传热过程示意图

表 1 控制系统中各常量的值及变量的获取方式

图 4 燃烧气体、活塞环与壁面摩擦、燃烧室对壁面加热功率的变化

图 5 汽油发动机理想循环示意图

表 2 燃烧室对壁面加热功率模型的精度对比

图 6 不同文献中燃烧室对壁面加热功率模型与GT-Power模型进行对比所使用的工况

图 7 不同文献中燃烧室对壁面加热功率模型与GT-Power模型的对比

图 8 本研究系统动力学模型与GT-Power模型的对比结果

图 9 控制系统有、无扰动观测器时的水温对比

图 10 控制系统有、无史密斯预估器时的水温对比

图 11 测试本研究控制器所使用的工况

图 12 本研究控制器在瞬态工况下的控制结果

图 13 本研究控制器与其他控制器在瞬态工况下的控制结果对比

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