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Nonlinear Model-Based Multivariable Control for Air & Charging System of Diesel Engine with Short and Long Route EGR Valves

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Abstract

The objective of this study is to investigate a nonlinear model-based multivariable (MIMO, Multi Input Multi Output) technique to decouple actuators interaction and to reduce the calibration effort, while increasing control performances, above all in transient conditions, and robustness with respect to model uncertainties and system parameter variations. The presented control technique is based on the development of a nonlinear dynamical physical model of the diesel air and charging system. Feedback Linearization control is then applied to decouple actuators’ interactions and compensate for nonlinearities. A new set of virtual inputs are defined inverting the system differential equations. Relation among the new virtual inputs and the outputs is purely linear and decoupled, meaning that each virtual input affects linearly only one output. Moreover, a linear control block is added to guarantee transient and steady state performances and closed loop robustness. The proposed control approach has been validated through small diesel engine dyno and vehicle activities. Transient test bench maneuvers show that the control is able to coordinate the actuators in order to fulfill the targets and to guarantee similar performances in different operating points. In addition the robustness to environmental changes has been demonstrated by vehicle tests at different ambient conditions.

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Abbreviations

βt :

turbine pressure ratio (downstream/upstream) (-)

βc :

compressor pressure ratio (downstream/upstream) (-)

uitv :

intake throttle valve position (%)

uegr_HP :

high pressure EGR valve position (%)

uegr_LP :

low pressure EGR valve position (%)

uvgt :

turbine VGT position (%)

pi :

intake manifold pressure (kPa)

px :

exhaust manifold pressure (upstream turbine) (kPa)

pc_us :

upstream compressor pressure (kPa)

pt_ds :

downstream turbine pressure (kPa)

pexh :

downstream after-treatment pressure (kPa)

pitv_us :

upstream throttle pressure (kPa)

Fi :

residual gas fraction at intake manifold (%)

Fx :

residual gas fraction at exhaust manifold (%)

Fc :

compressor upstream residual gas fraction (%)

Fe :

residual gas fraction at engine outlet (%)

Wegr_HP :

high pressure EGR mass flow rate (g/s)

Witv :

throttle valve mass flow rate (g/s)

Wegr_LP :

low pressure EGR mass flow rate (g/s)

Wc :

compressor flow rate (g/s)

Wair :

air mass flow rate (g/s)

Wf :

fuel mass flow rate (g/s)

Wt :

turbine mass flow rate (g/s)

We_in :

engine-in mass flow rate (g/s)

Wexh :

mass flow rate that goes out the engine (g/s)

Ne :

engine speed (rpm)

Nt :

turbine speed (rpm)

Pt :

turbine power (W)

Pt :

compressor power (W)

Ti :

intake manifold temperature (K)

Tx :

exhaust manifold temperature (K)

Tegr_LP :

low pressure EGR gas temperature (K)

Tc_us :

upstream compressor gas temperature (K)

Titv_us :

upstream throttle gas temperature (K)

Tt_ds :

downstream turbine gas temperature (K)

Vi :

intake manifold volume (mm3)

Vx :

exhaust manifold volume (mm3)

Vc_us :

upstream compressor volume (mm3)

Vt_us :

downstream turbine volume (mm3)

γ:

ratio of specific heats (-)

R:

universal gas constant (m2/(K s2))

cp :

specific heat capacity at constant pressure (J/K)

ηvo :

volumetric efficiency (-)

ηt :

turbine efficiency (-)

ηc :

compressor efficiency (-)

(A/F)s :

stoichiometric air fuel ratio (-)

EGR:

exhaust gas recirculation

VGT:

variable geometry turbine

ITV:

Intake throttle valve

LP:

low pressure

HP:

high pressure

ECU:

engine control unit

AT:

after-treatment

SISO:

single input single output

MIMO:

multi input multi output

PID:

proportional integral derivative

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Authors and Affiliations

  1. General Motors Global Propulsion Systems, Corso Castelfidardo 36, 10129 Turin, 36-10129, Torino, Italy

    Vincenzo Alfieri, Giuseppe Conte & Carmen Pedicini

Authors
  1. Vincenzo Alfieri
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  2. Giuseppe Conte
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  3. Carmen Pedicini
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Correspondence to Giuseppe Conte.

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Alfieri, V., Conte, G. & Pedicini, C. Nonlinear Model-Based Multivariable Control for Air & Charging System of Diesel Engine with Short and Long Route EGR Valves. Int.J Automot. Technol. 19, 405–412 (2018). https://doi.org/10.1007/s12239-018-0039-7

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  • DOI: https://doi.org/10.1007/s12239-018-0039-7

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