CN102269071A - Method for controlling functions of engine based on crankshaft acceleration and control system - Google Patents

Abstract

The invention relates to a method for controlling functions of an engine based on crankshaft acceleration and a control system. Particularly, the invention provides a method and a system for controlling the engine. The system comprises an instant crankshaft acceleration confirming module which confirms the instant crankshaft acceleration. An engine parameter regulating module responds to the instant crankshaft acceleration to regulate engine parameters.

Description

Method and control system based on the crankshaft accelerations control duty of engine

The cross reference of related application

The application requires the rights and interests of the U.S. Provisional Application No.61/103700 of submission on October 8th, 2008.

Technical field

The present invention relates to vehicle control system, more specifically, relate to based on the crankshaft accelerations control duty of engine.

Background technique

The statement of this part only provides the background information relevant with the present invention, and may not constitute prior art.

Engine control system monitoring bent axle (motor) position.Engine speed and acceleration can be determined based on engine location.Only give an example, fuel, igniting and throttle position can be regulated based on engine location, speed and/or the acceleration of vehicle.

The crank position monitoring system typically comprises control module, crankshaft sensor and is connected with bent axle or is the target wheel of a bent axle part.Target wheel can have the tooth that is subjected to the crankshaft sensor monitoring.Crankshaft sensor generates the crankshaft-position signal of indicating target wheel angular orientation (engine location).

Control module can detect the position of target wheel with different spacing (time stamp) through crankshaft sensor.As an example, control module can be with the spacing detection of engine position more than or equal to 90 °.When 90 ° of spacings, the resolution of engine location is four position samplings of bent axle revolution.

Summary of the invention

The invention provides a kind of being used for by using the method and system of instantaneous crankshaft accelerations control engine operating parameter.The cost that this allows to remove cylinder pressure sensors and reduces vehicle.

In one embodiment, the method for operation motor comprises definite instantaneous crankshaft accelerations and regulates engine parameter in response to described instantaneous crankshaft accelerations.

In another embodiment, the control system that is used to control motor comprises the instantaneous crankshaft accelerations determination module of determining instantaneous crankshaft accelerations.The engine parameter adjustment module is regulated engine parameter in response to described instantaneous crankshaft accelerations.

The invention discloses following technical proposals.

1. method of operating motor, described method comprises:

Determine instantaneous crankshaft accelerations; And

Regulate engine parameter in response to described instantaneous crankshaft accelerations.

2. as scheme 1 described method, it is characterized in that, determine that instantaneous crankshaft accelerations comprises from crankshaft position sensor and determine described instantaneous crankshaft accelerations.

3. as scheme 2 described methods, it is characterized in that, described crankshaft position sensor comprises toothed the wheel, and wherein determine instantaneous crankshaft accelerations comprise determine bent axle with described toothed the wheel in a corresponding angular range of tooth on described instantaneous crankshaft accelerations.

4. as scheme 2 described methods, it is characterized in that described crankshaft position sensor comprises toothed the wheel, and wherein determine instantaneous crankshaft accelerations comprise determine bent axle with less than the described instantaneous crankshaft accelerations on the corresponding angular range of about 10 degree.

5. as scheme 1 described method, it is characterized in that, also comprise and determine peak value crankshaft accelerations position, and wherein regulate engine parameter and comprise based on the timing of described peak value crankshaft accelerations position regulation motor spark.

6. as scheme 1 described method, it is characterized in that, also comprise and determine peak value crankshaft accelerations position, and wherein regulate engine parameter and comprise based on described peak value crankshaft accelerations position regulation fuel injection timing.

7. as scheme 1 described method, it is characterized in that, also comprise and determine peak value crankshaft accelerations position, and wherein regulate engine parameter and comprise and regulate the burning phasing.

8. as scheme 1 described method, it is characterized in that, also comprise and determine peak value crankshaft accelerations position, and wherein regulate engine parameter and comprise and regulate the burning phasing, make peak value be in atdc about 20 and spend between about 30 degree.

9. as scheme 1 described method, it is characterized in that, also comprise and determine peak value crankshaft accelerations position, and wherein regulate engine parameter and comprise and regulate the burning phasing, make peak value be in about 24 degree of atdc.

10. as scheme 1 described method, it is characterized in that, determine that instantaneous crankshaft accelerations comprises the described instantaneous crankshaft accelerations of each cylinder of determining described motor, and wherein regulate engine parameter and comprise in response to the crankshaft accelerations of each cylinder of described motor and regulate engine parameter in response to crankshaft accelerations.

11. as scheme 1 described method, it is characterized in that, regulate engine parameter in response to crankshaft accelerations and comprise the adjusting dilution.

12., it is characterized in that, also comprise the coefficient of variation of determining described instantaneous crankshaft accelerations from a plurality of engine cycles, and wherein regulate and comprise the dilution of regulating in the described engine cycles each as scheme 11 described methods.

13. as scheme 12 described methods, it is characterized in that, regulate the relatively adjusting dilution that comprises in response to described instantaneous crankshaft accelerations and coefficient of variation.

14. a control module comprises:

Determine the instantaneous crankshaft accelerations determination module of instantaneous crankshaft accelerations; And

Engine parameter adjustment module in response to described instantaneous crankshaft accelerations adjusting engine parameter.

15. as scheme 14 described control modules, it is characterized in that, also comprise the peak value crankshaft accelerations position determination module of determining peak value crankshaft accelerations position, and wherein said engine parameter adjustment module is based on the timing of described peak value crankshaft accelerations position regulation motor spark.

16. as scheme 14 described control modules, it is characterized in that, also comprise the peak value crankshaft accelerations position determination module of determining peak value crankshaft accelerations position, and wherein said engine parameter adjustment module is based on described peak value crankshaft accelerations position regulation fuel injection timing.

17., it is characterized in that, also comprise the peak value crankshaft accelerations position determination module of determining peak value crankshaft accelerations position, and wherein said engine parameter adjustment module is regulated the burning orientation as scheme 14 described control modules.

18. as scheme 14 described control modules, it is characterized in that, also comprise the peak value crankshaft accelerations position determination module of determining peak value crankshaft accelerations position, and wherein said engine parameter adjustment module is regulated burning and is phase-locked to atdc about 20 and spends between about 30 degree.

19. as scheme 14 described control modules, it is characterized in that, also comprise the peak value crankshaft accelerations position determination module of determining peak value crankshaft accelerations position, and wherein said engine parameter adjustment module is diluted based on described peak value crankshaft accelerations position regulation.

20., it is characterized in that described engine parameter adjustment module is regulated dilution in response to coefficient of variation as scheme 19 described control modules.

The further Applicable scope of the present invention will become apparent from the description that provides at this.Be to be understood that this description and specific examples only are intended to illustrate purpose, and be not intended to limit the scope of the invention.

Description of drawings

From embodiment and accompanying drawing, will more completely understand the present invention, wherein:

Fig. 1 is the functional block diagram according to the control system of the embodiment of the invention;

Fig. 2 is the functional block diagram according to the control system of the embodiment of the invention;

Fig. 3 is the functional block diagram of Kalman (Kalman) wave filter according to the embodiment of the invention;

Fig. 4 is the speed curve diagram that illustrates according to the filtering of the embodiment of the invention;

Fig. 5 is the acceleration plots that illustrates according to the filtering of the embodiment of the invention;

Fig. 6 is the acceleration plots that illustrates according to the tooth variation of the embodiment of the invention;

Fig. 7 is the method that illustrates according to the study space width of the embodiment of the invention;

Fig. 8 illustrates according to the definite instant engine speed of the embodiment of the invention and the method for acceleration;

Fig. 9 is the functional block diagram according to the mixed power system of the automatic start-stop control of being integrated with of the embodiment of the invention;

Figure 10 is the functional block diagram according to another mixed power system of the embodiment of the invention;

Figure 11 is the block diagram diagrammatic view that is used to carry out the control module of the inventive method;

Figure 12 is the high-level flowchart that is used for regulating in response to instantaneous crankshaft accelerations the method for engine parameter;

Figure 13 is the flow chart of method that is used for regulating according to the present invention the phasing of motor;

Figure 14 is the flow chart that is used to change the method for amount of dilution; And

Figure 15 is the plotted curve of the relation of instantaneous crankshaft accelerations and burning phasing.

Embodiment

Control module can detect the position (engine location) of target wheel with different spacing through crankshaft sensor.As an example, control module can with greater than, equal or less than 90 ° spacing detection of engine position.Can be called as the low resolution spacing more than or equal to 90 ° spacings.Can be called as the high-resolution spacing less than 90 ° spacings.

The bent axle target wheel can have for example 58 teeth; The related about 6 ° rotation of each tooth.The excellent resolution rate of engine location can provide by monitoring per 6 ° of increments.By the excellent resolution rate is provided, can produce improved position, speed, acceleration and rate of acceleration change information about motor.

Spacing between the tooth of bent axle target wheel (or width of tooth) is also inequality usually.The variation of spacing can exist.These variations can cause to component change, target wheel sensor and the variation of target wheel sensing system etc. owing to manufacturing tolerances, parts.If the calculating on little spacing is based on for example 6 ° nominal space width value, the result will include error so.This error can cause useless result.

Be provided for the accurately technology of the space width of learning objective wheel in this disclosed embodiment.The position information on little spacing is accurately calculated by this permission system.Embodiment allow during producing vehicle and/or produce vehicle after accurately learn concrete space width on the target wheel of motor.

Following description only is exemplary in essence and never is to limit the present invention and application or use.For the purpose of clear, use the similar element of identical designated in the accompanying drawings.As used herein, at least one among phrase A, B and the C should be interpreted as using the logic (A or B or C) of non-exclusive logic OR.Be to be understood that when not changing principle of the present invention, can be with the step in the different order manner of execution.

As used herein, term module refers to processor (shared, special-purpose or in groups) and storage, the combinational logic circuit of specific integrated circuit (ASIC), electronic circuit, the one or more software programs of execution or firmware program and/or other suitable parts of institute's representation function is provided.

In addition, as used herein, the stage of development again of term burn cycle mean engine combustion process.For example, in 4 stroke IC engines, single burn cycle can refer to and comprise aspirating stroke, compression stroke, expansion stroke and exhaust stroke.Run duration at motor repeats this four strokes.

In addition, though the following examples are mainly described with respect to the example internal-combustion engine, embodiments of the invention may be used on other internal-combustion engines.For example, the present invention may be used on the auxiliary compression point combustion engine of compression point combustion engine, spark ignition engine, homogeneous spark ignition engine, homogeneous charge compression point combustion engine, layering spark ignition engine and spark.

In addition, in the following description, multiple variable mark is disclosed.Only provide described variable mark with example.Described variable mark is provided with arbitrarily and each can be used for identifying or referring to different projects.For example, variable mark N can be used for referring to the number of element in the number of the tooth on the target wheel or the array.

The finite difference approximation (Δ v/ Δ t) of finite difference approximation of speed (Δ x/ Δ t) and acceleration can for example be determined by angular position based on position and temporal information from the discrete sampling of bent axle target wheel sensor.Representation 1 shows the illustration backward difference for time sampling 6 and 7 speed.

(Δx/Δt) ₇＝(x ₇-x ₆)/(t ₇-t ₆) (1)

Actual derivative (dx/dt and d ²X/dt ²), equal the mean derivative on spacing, more accurate.

Continuous data point can be used for calculating the finite difference approximation of mean velocity.The size of approaching spacing in time of instantaneous velocity reduces and improves.Described size of approaching spacing in time reduces and becomes more responsive to measurement error.See representation 2.

$\underset{\mathrm{\Δt}\→0}{\lim }\frac{\mathrm{\Δx}}{\mathrm{\Δt}}=\frac{\mathrm{dx}}{\mathrm{dt}}---\left(2\right)$

When using instantaneous flow (not being average magnitude) poor, each finite difference is calculated (haveing nothing to do with the spacing size) and all is created in the mean derivative on the corresponding spacing.For example when measuring the position, can calculate (reality) mean velocity.When measuring instantaneous velocity, can determine (reality) mean acceleration.The actual average acceleration can not be determined based on the position of measuring.Referring to illustration representation 3-5 for sampling 6 and 7.

${\stackrel{\‾}{v}}_7=\frac{\mathrm{\Δx}}{\mathrm{\Δt}}=\frac{x_7-x_6}{(t_7-t_6)}---\left(3\right)$

${\stackrel{\‾}{a}}_7=\frac{\mathrm{\Δv}}{\mathrm{\Δt}}=\frac{(v_7-v_6)}{(t_7-t_6)}---\left(4\right)$

${\stackrel{\‾}{a}}_7\≠\frac{({\stackrel{\‾}{v}}_7-{\stackrel{\‾}{v}}_6)}{(t_7-t_6)}---\left(5\right)$

Following embodiment provides tooth study and filtering technique, and this technology provides the accurate estimation to instantaneous position, speed and acceleration.

Though the following examples are mainly described based on the wave filter of Kalman with respect to using, described embodiment can be applied to other application that comprise non-Kalman wave filter.With reference now to Fig. 1,, control system 10 is shown.Control system 10 comprises system control module 12, electronic control module (ECM) for example, and it receives the position signal that records 14 from position transducer 16.Position transducer 16 can be crankshaft position sensor, gear box position sensor or motor position sensor.The tooth that position transducer 16 detects on the target wheel 18.The position signal 14 that records can indicating target the position of wheel 18, for example can indicate the position of bent axle target wheel, speed changer target wheel or motor target wheel.System control module 12 can and be lighted and closure and phase discriminator position based on the position signal 14 control fuel that record.

System control module 12 comprises Kalman wave filter 20, and Kalman wave filter 20 can produce the estimation of instantaneous position, speed and acceleration signal 22-26, and described estimation is provided for various modules.Described module can comprise fuel control module 28, lights control module 30, closure control module 32, phase discriminator control module 34, engine combustion module 36, the module of misfiring 38, other diagnostic modules 40 etc.

Engine combustion module 36 can be determined the information relevant with the combustion incident of cylinder based on instantaneous position, speed and/or acceleration signal 22-26.Combustion information can be used for fuel metering and controls, lights control, throttle position and phase discriminator control.Combustion information can comprise fuel timing and supply, spark timing, air supply, moment of torsion estimated value etc.For example, instantaneous acceleration information is directly related with the instantaneous torque output of motor.The characteristic of the combustion incident in instantaneous torque and the cylinder is directly related.This combustion incident information can be used for the adjusting and/or the control that provide above-mentioned then.

The module of misfiring 38 can detect based on instantaneous position, speed and/or acceleration signal 22-26 misfires.But the fuel mixture in the mean engine cylinder of misfiring is not lighted and/or when appropriate between when not lighting.The module of misfiring 38 can be based on misfire timing of information fuel metering and supply, light timing, throttle position and phase discriminator control.Timing, the fuel injector of fuel control module 28 fuel metering spargers is in out the amount of time in the state and/or the size of each fuel injector aperture.

Light control module 30 and regulate for example timing of spark plug.When the disclosed embodiments are applied to diesel engine, can not comprise and light control module 30.Closure control module 32 is the position of can regulate intake valve sheet for example, thereby controls to the air stream of motor.Phase discriminator control module 34 can be with respect to engine crankshaft control phase device and camshaft location.When being merged in more than a camshaft, phase discriminator control module 34 can regulate are somebody's turn to do the relative positioning of (a plurality of) camshaft.

With reference now to Fig. 2,, another control system 50 is shown.Control system 50 comprises system control module 12 ', for example ECM and storage 54.System control sytsem 12 ' comprises time logging modle 56, Kalman wave filter 20 ', speed setting module 60 and position history record module 62.Position module 62 comprises constant acceleration module 64, constant acceleration variance ratio module 66 and exponential decay module 68.Storage 54 comprises time stamp array 70, tooth position array 72 and merges tooth position array 74.

Time logging modle 56 for example is recorded in the time stamp between deceleration period.Can be during time history recording learning process logging timestamp.Time stamp can be related with each tooth on the target wheel.For example, time stamp can be related with the trailing edge of tooth.Can obtain position, speed and/or acceleration information based on the time stamp of being stored.Time stamp can be stored in the time stamp array 70.Can be the selected different time stamp array of each tooth.The time stamp array can have be used for specific tooth and target wheel each change time corresponding and stab.For example, can comprise N time stamp array, wherein each time stamp array comprises M element.But N and M integer value.In M element each can be related with the specific commentaries on classics of target wheel.For example, referring to the step 204-234 of following Fig. 7.

Kalman wave filter 20 ' can be based on the information operation from time logging modle 56, speed setting module 60, position history record module 62 and storage 54.The module 28-40 of Fig. 1 also can be based on the information operation from time logging modle 56, speed setting module 60, position history record module 62 and storage 54.

Speed setting module 60 is used in the speed that time of implementation historical record learning process increases or set motor before.For example, referring to the step 202 of following Fig. 7.

Position history record module 62 can be used for determining position information based on the time stamp of being stored in time stamp array 70.Position information can be stored in the tooth position array 72.For example and continue above-mentioned example, in the time can having N time stamp array, also have the N related tooth position array with each tooth of target wheel.Described N tooth position array can have X element, and wherein X is the integer that can equal M.

Can determine position information via constant acceleration module 64, constant acceleration variance ratio module 66 and/or exponential decay module 68.Constant acceleration module 64 can be determined as for example position information described in the step 210-214 of Fig. 7.Constant acceleration variance ratio module 66 can be determined as for example position information described in the step 220-224 of Fig. 7.Exponential decay module 68 can be determined as for example position information described in the step 230-234 of Fig. 7.

Position history record module 62 can ask average to each the element in the tooth position array 72.Resulting mean value can be merged into merges tooth position array 74, and it comprises for the average position element of the warp of each of the tooth of target wheel.This example obtains describing in the step 214,224 and 234 of Fig. 7.

With reference now to Fig. 3,, Kalman wave filter 20 is shown " functional block diagram.Kalman wave filter 20 " can comprise position filtering module 100, velocity filtering module 102 and acceleration filtration module 104.Module 100-104 comprises position, speed and acceleration counter 106-110 and position, speed and acceleration estimation device 112-116 respectively.The output of estimator 112-116 can be set to Kalman wave filter 20 " output.Module 100-104 can be based on from the module 56,60 of Fig. 2 and 62 and the information operation of storage 54.

Position calculator 106 receives the position signal 120 that records.The position signal 120 that records can pass through crankshaft position sensor, gear box position sensor or motor position sensor and produce.The output of position calculator 106 and position estimator 112 can be offered first comparator, 122, the first comparators 122 and produce position error signal 124, position error signal 124 is fed return and puts estimator 112.

The output of position module 100 and/or position estimator 112 can be offered velocity calculator 108.The output of velocity calculator 108 and speed estimator 114 can be offered second comparator, 124, the second comparators 124 and produce speed error signal 126, speed error signal 126 is fed back speed estimator 114.

The output of speed module 102 and/or speed estimator 114 can be offered acceleration counter 110.Can degree of will speed up calculator 110 and the output of acceleration estimation device 116 offer the 3rd comparator 130, the three comparators 130 and produce acceleration error signals 132, acceleration error signal 132 is fed back acceleration estimation device 116.

Kalman wave filter 20 " be state estimator.Kalman wave filter disclosed herein is used for instantaneous position, instantaneous velocity and/or instantaneous acceleration definite and/or the estimating target wheel.As the part of Kalman wave filter, dynamic (dynamical) equation of descriptive system (for example motor) is defined.These equations are used to produce the estimated value of state variable (for example engine location, speed and acceleration).These estimated values and the value that records are compared to produce error signal, and described error signal is fed back to proofread and correct described estimated value.For example, the difference between estimated engine speed and the engine speed that records is fed back to proofread and correct the estimated value of engine speed.

Kalman wave filter 20 " can be 2 rank or 3 rank wave filter.In 2 rank wave filter mode of executions, use the state vector that comprises speed and acceleration two clauses and subclauses.2 rank Kalman wave filter provide for example estimation of engine speed, and this estimation compares with the engine speed that records.The engine speed that records can be based on the crankshaft-position signal from crankshaft sensor.Difference between estimated value and the value that records is fed back to improve the estimated value of engine speed and acceleration.

Usually, 3 rank Kalman wave filter are more accurate than 2 rank Kalman wave filter, and therefore are described in greater detail below.3 rank Kalman wave filter comprise having the position

Speed And acceleration

The state vector of three clauses and subclauses

3 rank Kalman wave filter provide the estimation of position

With location estimation

Compare with the position x that records.The position x that records can be based on for example from the position signal of crankshaft sensor.Difference between estimated value and the value that records is used as feedback to improve the estimated value of position, speed and acceleration.

Set up and use the equation of state of descriptive system (for example motor) by 3 rank Kalman wave filter.The illustration equation of state is shown in representation 6 and 7, and u, w and v are respectively control input, process noise and measure noise.Representation 6 comprises matrix A, B and C, can be defined as respectively

With

Representation 7 comprises matrix D and E, can be defined as [1 0 0] and [0] respectively.When introducing the control input, can revise matrix B and E.

$\left[\begin{array}{c}\stackrel{\·}{x}\\ \stackrel{\·\·}{x}\\ \stackrel{\·\·\·}{x}\end{array}\right]=\left[\begin{array}{ccc}0& 1& 0\\ 0& 0& 1\\ 0& 0& 0\end{array}\right]\left[\begin{array}{c}x\\ \stackrel{\·}{x}\\ \stackrel{\·\·}{x}\end{array}\right]+\left[\begin{array}{c}0\\ 0\\ 0\end{array}\right]u+\left[\begin{array}{c}0\\ 0\\ 1\end{array}\right]w---\left(6\right)$

$\hat{x}=\left[\begin{array}{ccc}1& 0& 0\end{array}\right]\left[\begin{array}{c}x\\ \stackrel{\·}{x}\\ \stackrel{\·\·}{x}\end{array}\right]+\left[0\right]u+v---\left(7\right)$

When using 3 rank Kalman wave filter, the feedback position-based, it is actual recording.This is different from 2 rank Kalman wave filter, and it is based on speed, for estimating or not being actual recording.3 rank Kalman wave filter provide actual estimation of derivative value.In other words, 3 rank Kalman wave filter provide instantaneous velocity and acceleration, rather than finite difference approximation.

With reference now to Fig. 4,, the speed curve diagram of diagram filtering is shown.Speed curve diagram provides the diagram of three friction speed signals 140,142,144.Though second speed signal 142 and third speed signal 144 are shown as the mean velocity of mean velocity less than first rate signal 140, this is on the plotted curve second speed signal 142 and third speed signal 144 to be moved down so that distinguish between curve.In fact rate signal 140,142,144 expressions are with respect to the identical speed of time.

First rate signal 140 is by using for example illustration curve of 6 ° the speed based on finite difference approximation (Δ x/ Δ t) of nominal space width for each limited differential position.The nominal space width is used for each the Δ x corresponding to each tooth of target wheel.The plotted curve of second speed signal 142 illustrates by using the actual space width of being determined during the tooth learning process based on the definite speed of finite difference.At this illustration tooth learning process is described.For second speed signal 142, determine or obtain special position difference (Δ x for example for each tooth _1-58).The special position difference related with each tooth can be stored in the storage.Third speed signal 144 is illustrations of 3 rank Kalman filtering of second speed signal 142.

With reference now to Fig. 5,, the acceleration plots of diagram filtering is shown.Acceleration plots provides the diagram of three different acceleration signals 150,152,154.Though second acceleration signal 152 and the 3rd acceleration signal 154 are shown as the mean acceleration of mean acceleration less than first acceleration signal 150, this is on the plotted curve second acceleration signal 152 and the 3rd acceleration signal 154 to be moved down so that distinguish between curve.In fact acceleration signal 150,152,154 expressions are with respect to the same acceleration of time.

First acceleration signal 150 is the illustration curves by the acceleration (Δ v/ Δ t) of the finite difference approximation of using acceleration.For each limited differential position by using for example 6 ° of finite difference approximations of determining acceleration based on the finite difference approximation of speed of nominal space width.As shown, be difficult to any variation of sense acceleration based on first acceleration signal 150 with respect to cylinder events.

Second acceleration signal 152 is the illustration plotted curves by the definite acceleration of the finite difference of using acceleration.Determine to determine that based on the finite difference of speed the finite difference of acceleration is definite by using the actual space width of during the tooth learning process, being determined.Determine for the finite difference of speed, determine or obtain special position difference (Δ x for example for each tooth _1-58).The special position difference related with each tooth can be stored in the storage.The pitch information that utilization is obtained from tooth study can detect some variation and/or pattern based on the acceleration of cylinder events from second acceleration signal 152.The 3rd acceleration signal 154 is illustrations of 3 rank Kalman filtering of second acceleration signal 152.From the 3rd acceleration signal 154, the variation of acceleration clearly and can be detected easily.

With reference now to Fig. 6,, the acceleration plots that the diagram tooth changes is shown.This acceleration plots is the partial enlarged drawing of a part of the 3rd acceleration signal 154 of Fig. 5.Four sinusoidal period 160-166 are shown.4 continuous cylinder events of the corresponding four cylinder engine of cycle 160-162.These four cylinder events are difference cylinders.Acceleration plots is provided as acceleration the variation on difference cylinder incident of example so that bent axle to be shown.The use of Kalman filtering described here and tooth learning process makes and can detect these differences and carry out the adjusting of engine control based on this.

With reference now to Fig. 7,, the method for study space width (or facewidth degree) is shown.Though following step is mainly described with respect to the embodiment of Fig. 1-3, this step can be applied to other embodiments of the present invention.

When the study space width can occur in some condition and exists, for example approximate stable or with approximate steadily (non-oscillatory) when mode changes at engine speed.Described condition can provide when the motor unburned.This has been avoided each monitoring quickening and slow down to the bent axle that causes owing to the cylinder combustion incident.Method can start from step 200.

In step 202, engine speed can be increased to or be set at predetermined speed (for example, 6000RPM).This can implement during the vehicle manufacturing, when vehicle is in maintenance or at the run duration of vehicle.

In step 204, allow engine retard and forbid engine combustion.The related speed changer of motor can be in Parking or neutral gear or alternatively can be in the gear.In the time of in being in gear, motor is driven by the reversal of load from for example speed changer, transmission shaft, vehicle bridge, vehicle etc. on the motor.

In step 204A, can forbid the spark of motor.In step 204B, can forbid the fuel of motor.When being in Parking or neutral gear, engine speed reduces when fuel is under an embargo.In step 204C, can be reduced to engine air capacity.The closing of closure lowered because of the air quality of being caught of the cylinder of motor and the acceleration/deceleration of the bent axle that residue causes.The amplitude that this has minimized the amount of the gas of catching during compression stroke and the expansion stroke and has reduced the crankshaft accelerations/retardation of each cylinder events.Part crankshaft accelerations/retardation can keep owing to the connecting rod of for example motor and the reciprocal inertia force of piston.

After the above-mentioned condition that obtains step 202-204, the time history of crank position, speed and/or acceleration record can be determined during the process of tooth learning process.Can when the generation time historical record, ignore because the acceleration and the deceleration of the bent axle that each cylinder events causes.Can determine the time history record by using one or more in constant acceleration/retardation technology (step 210-214), constant acceleration variance ratio technology (step 220-224) and the exponential decay technology (step 230-234).

In step 210, on the time of enforcement tooth learning process, experience under the situation of constant acceleration/retardation the study of control historical record starting time at the supposition bent axle.Each tooth timestamp information for target wheel is collected and is stored in the corresponding array.For example, can receive input pulse for each trailing edge of the tooth of target wheel, and the record time related with this trailing edge.

During the tooth learning process, target wheel can experience N changes, and wherein N is an integer.Each commentaries on classics provides storable sample to each tooth.For example, if target wheel has 58 teeth, can store time stamp data array so for each tooth.The time stamp array can be described as the first group pattern A _1-M, array A wherein _1-MIn each all have M element, wherein M is an integer, for example 58.The time history recording learning can be kept predetermined or tooth cycle learning time.

In step 212,, be stored in array A in the latter stage in tooth cycle learning time _1-MIn each in M time stamp be used for the position information of definite each tooth.Position information, for example angular orientation that shows with kilsyth basalt or space width and/or the tooth width value related with each tooth can be stored in the second group pattern B _1-MIn.Can determine spacing and/or width information from the angular orientation.The second group pattern B _1-MIn each all have M position data element.

Can crankshaft speed be described by constant retarded motion.In other words, crankshaft speed in time linearity reduce.Equation as the crank position of the function of time can obtain by the dual-integration to the crankshaft accelerations equation.Illustration crank position x as function of time equation can be provided by representation 8.v ₀Be the speed that begins to rotate, and x ₀It is the position that begins to rotate.T is time and a ₀It is the poor corresponding acceleration between the speed when beginning when finishing with the rotation of target wheel.

$x\left(t\right)=\frac{1}{2}{a}_0{\mathrm{<figure-callout\; id="2"\; label="t"\; filenames="HSA00000140454300061.png"\; state="\{\{state\}\}">t</figure-callout>}}^2+v_{0}t+x_0---\left(8\right)$

Be stored in the second group pattern B _1-MIn position information can use representation 8 to determine.

In step 214, to being stored in the second group pattern B _1-MIn M position data element in each ask on average so that the mean estimates (or mean value of facewidth degree) of the space width related with each tooth to be provided.

In step 220, under the situation of experience constant acceleration variance ratio on the time of enforcement tooth learning process, control historical record starting time is learnt at the supposition bent axle.In other words, crankshaft accelerations linear change in time.For each tooth of target wheel, timestamp information can be collected and is stored in the corresponding array.The time stamp array can be described as the first group pattern C _1-M, array C wherein _1-MIn each all have M element.The time history recording learning can be kept predetermined or tooth cycle learning time.

In step 222,, be stored in array C in the latter stage in tooth cycle learning time _1-MIn each in N time stamp be used for the position information of definite each tooth.Position information, for example angular orientation that shows with kilsyth basalt or space width and/or the tooth width value related with each tooth can be stored in the second group pattern D _1-MIn.The second group pattern D _1-MIn each all have M position data element.

By the rate of acceleration change equation is carried out triple integral, be provided for the equation of crank position about the time.This example is provided by representation 9, wherein j ₀Rate of acceleration change when being the beginning of target wheel rotation.

$x\left(t\right)=\frac{1}{6}{j}_0{\mathrm{<figure-callout\; id="3"\; label="t"\; filenames="HSA00000140454300061.png"\; state="\{\{state\}\}">t</figure-callout>}}^3+\frac{1}{2}{a}_0{\mathrm{<figure-callout\; id="2"\; label="t"\; filenames="HSA00000140454300061.png"\; state="\{\{state\}\}">t</figure-callout>}}^2+v_{0}t+x_0---\left(9\right)$

Be stored in the second group pattern D _1-MIn position information can use representation 9 to determine.

In step 224, to being stored in the second group pattern D _1-MIn N position data element in each ask on average so that the mean estimates (or mean value of facewidth degree) of the space width related with each tooth to be provided.

In step 230, under the situation of the exponential decay of experience speed on the time of enforcement tooth learning process, control historical record starting time is learnt at the supposition bent axle.For each tooth of target wheel, timestamp information can be collected and is stored in the corresponding array.The time stamp array can be described as the first group pattern E _1-M, array E wherein _1-MIn each all have M element.The time history recording learning can be kept predetermined or tooth cycle learning time.

In step 232,, be stored in array E in the latter stage in tooth cycle learning time _1-MIn each in N time stamp be used for the position information of definite each tooth.Position information, for example angular orientation that shows with kilsyth basalt or space width and/or the tooth width value related with each tooth can be stored in the second group pattern F _1-MIn.The second group pattern F _1-MIn each all have M position data element.

Speed can be confirmed as for example being provided and being used by representation 10 representation 11.Variables A refers to that the initial velocity at the time history record place of being determined subtracts speed in latter stage.For example, motor can be 1600RPM and learn latter stage at historical record for per minute 6000 changes (RPM) when the study of control historical record starting time.Initial velocity when variables A equals that constantly t equals zero (0) (for example, 6000RPM) deduct speed in latter stage (for example 1600RPM) (latter stage of tooth learning cycle), this, represented by variable C in latter stage by speed.C is constant and can equals speed in latter stage (for example, 1600RPM), k is a damping time constant, and it can be determined about the best fit exponential decay curve of the decay of time based on the speed of match target wheel.Representation 11 can be incorporated into so that representation 12 to be provided.

v(t)＝Ae ^(-kt)+C (10)

A＝v(t)-C (11)

$x\left(t\right)=\frac{A}{(-k)e^{(-\mathrm{kt})}}+\mathrm{Ct}+\frac{A}{k}---\left(12\right)$

Be stored in the second group pattern D _1-MIn position information can use representation 12 to determine.

In step 234, to being stored in the second group pattern F _1-MIn M position data element in each ask on average so that the mean estimates (or mean value of facewidth degree) of the space width related with each tooth to be provided.

Above-mentioned steps means and is exemplary example; Depend on application, can be during the cycle overlapping time sequential ground of described step, synchronously, side by side, carry out continuously or carry out with different order.Above-mentioned tooth learning art can allow about 0.01 ° or better space width validity.For each tooth, can be asked average or combination so that the combination estimated value with each tooth corresponding position information of target wheel to be provided from step 214,224 and 234 mean place information.

With reference now to Fig. 8,, the method for determining instant engine speed and acceleration is shown.Though following step is mainly described with respect to the embodiment of Fig. 1-3, described step can be applicable to other embodiments of the present invention.Method can start from step 300.

In step 302, learn for example position, speed and the acceleration of the performed next definite reality of space width study in Fig. 7 based on the position signal that records and based on space width.Actual engine location and speed are the estimations of instantaneous position and speed.Actual speed is determined based on the predetermined spacing information of each tooth.For example, when the target wheel nominal clearance is 6 °, use the actual pitch related, for example 5.9 °, 6.1 °, 6.05 ° etc. with each tooth of target wheel.Actual velocity can be by determining the finite difference of actual pitch divided by the time Δ t related with each tooth for the rotation of target wheel.Actual acceleration can be determined by using finite difference approximation.Actual acceleration, the acceleration of the reality for each tooth for example can be based on determining divided by Δ t in the beginning in the cycle related with this tooth and the actual velocity of being determined in latter stage.

In step 304, determine the estimated value of engine location, speed and acceleration.Estimated engine location position-based error signal produces.Estimated engine speed produces based on speed error signal.Estimated engine acceleration produces based on the acceleration error signal.

In step 306, engine location, speed and the acceleration of reality and estimated engine location, speed and acceleration are compared to produce position, speed and acceleration error signal.

In step 308, position-based, speed and acceleration error signal are proofreaied and correct estimated position, speed and acceleration.This can comprise position, speed and the component of acceleration of adjustment state vector (the A vector of representation 6 for example).

In step 310, exportable estimated position, speed and acceleration signal.The estimated position of being exported, speed and acceleration signal can be used for controlling the All aspects of of motor, as mentioned above.

Above-mentioned steps means and is exemplary example; Depend on application, can be during the cycle overlapping time sequential ground of described step, synchronously, side by side, carry out continuously or carry out with different order.Said method provides the instant engine speed with minimum noise and the estimated value of acceleration.

The embodiment disclosed herein provides and comprises the tooth study of learning space width, and it is used to minimize by the caused noise of inconsistent space width.Use minimizes noise from each provenance at this disclosed Kalman wave filter.Use Kalman wave filter allows to minimize the noise from multiple source, and does not significantly change baseband signal.

Example from the noise of each provenance is: tooth to the variation of tooth, after space width is by " study " variation, by the noise that vibration produced of engine cylinder-body, owing to apply the variation etc. of variation that electric noise (electromagnetic interference) on line causes and the sensor response time of passing through the flexible part between tooth edge, piston and the tooth target wheel.

The Kalman wave filter can comprise the model of the dynamic operation of engine system.Based on the measured value historical record, the Kalman wave filter estimates what next sample (for example sample of engine location, speed and/or acceleration) should be.The historical record of the error between Kalman wave filter use estimated value and the measured value characterizes the noise in the engine system.Learn about noise based on the Kalman wave filter, the Kalman wave filter provides improved estimation (for example estimation of engine location, speed and/or acceleration).This repeatedly carries out to improve estimation progressively and the signal with minimum noise is provided.

Noise can comprise static noise and random noise.Static noise and random noise may be that the variation to another regional magnetic property causes because the variation of the sensor response time by the tooth edge, tooth are to a zone of tooth variation, target wheel.Uneven heating can the crooked electric edge related with each tooth of target wheel (the tooth edge that is detected) with the feature in being embedded in target wheel.Like this, there are electricity and the magnetic variationization related with the tooth of target wheel.Some electricity and machinery variation are static (repeatably), and some is unrepeatable (shake).

Above-mentioned tooth study allows to eliminate static noise.The Kalman wave filter is eliminated the non-repeatably noise of not learnt by system.Thereby shake can cause the noise of crank position measured value and lower the quality of this measured value.

The Kalman wave filter is implemented as state estimator and can has the data related with the restriction of motor or position detecting system.Unusual when high when detected chattering frequency, the Kalman wave filter reduces effectively or ignores this shake.When the Kalman filter order when receiving a pair of low frequency dither, the Kalman wave filter allows this shake to pass through.When the Model Matching of the dynamic behavior of two little increases in the noise and motor, allow low-frequency jitter to pass through.This is different from and receives high dither, and high dither provides big " outburst (blip) ", and this outburst is the abnormal behaviour of motor or position detecting system.The Kalman wave filter allows the signal of the expected behavior of the system that is very similar to pass through.

The embodiment disclosed herein may be used on the multiple time interval related with the bent axle target wheel.Under the high-resolution spacing, embodiment provides the accurate estimation of motor instantaneous velocity and acceleration.Embodiment can be used in the target wheel of any number tooth, for example 360x.Embodiment is not limited to the signal processing of crank position, but may be used on the signal processing of gear box position and/or electric machine position.Embodiment can be used for estimating instantaneous position, speed and the acceleration of speed changer and/or motor.

The instant engine speed and the acceleration that are provided by the embodiment of the invention can be used for strengthening control and diagnosis policy.Information can be used for the diagnosis of for example misfiring, thereby infers in real time and monitoring engine combustion performance, thereby and improves engine performance.

With reference now to Fig. 9,, illustrates and be associated with the illustration mixed power system 410 that technology is determined in above-mentioned tooth study, filtering and position.Though power system 410 is shown as rear wheel drive (RWD) dynamical system, is understood that and implements embodiments of the invention with any other dynamical system structure.Power system 410 comprises propulsion system 412 and transmission system 414.Propulsion system 412 comprises internal-combustion engine (ICE) 416 and motor or generator unit (MGU) 418.Propulsion system 412 also can comprise accessory, includes but not limited to A/C compressor 420 and steering pump 422.MGU418 and accessory are attached to ICE416 by band and pulley system 424.The band and pulley system 424 can be coupled to the bent axle 426 of ICE416 and make moment of torsion transmit between bent axle 426 and MGU418 and/or accessory.This structure is called as belt AC motor starter motor (BAS) system.

Bent axle 426 drives transmission system 414.Transmission system 414 comprises flexible disc or flywheel (not shown), torque-converters or other coupling devices 430, speed changer 432, transmission shaft 434, differential mechanism 436, axle shaft 438, break 440 and follower 442.Propulsive torque (T in the output of bent axle 426 places of ICE416 _PROP) transmitted by drivetrain components to provide vehicle bridge moment of torsion (T at axle shaft 438 places _AXLEThereby) driving wheel 442.The vehicle bridge torque T _AXLECan be described as the dynamical system output torque.More specifically, with T _PROPThereby multiplication provides T by some velocity ratios that coupling device 430, speed changer 432, differential mechanism 436 are provided at axle shaft 438 places _AXLEIn fact, T _PROPBy the effective velocity ratio of multiplication, this effective velocity ratio is the function of ratio, the determined transmission ratio of speed changer I/O axle speed, differential ratio and the ratio that any other parts (for example gearbox in four-wheel drive (4WD) or full wheel drive (AWD) dynamical system) can be introduced in transmission system 414 introduced by coupling device 430.For the purpose of moment of torsion control, T _AXLEThe territory comprises ICE416 and MGU418.

Dynamical system 410 also comprises control system 450, and control system 450 is regulated the moment of torsion output of MGU418 during the self-starting of motor 416.Control system 450 comprises system control module 451, and system control module 451 can comprise transmission control module (TCM) 452, engine control module (ECM) 454 and mixed power control module (HCM) 456.Control system 450 can be based on the moment of torsion output of the speed regulation MGU418 of MGU418, and wherein the speed of MGU418 can detect by velocity transducer 451.Information from velocity transducer 451 directly can be offered HCM456.The output torque that this allows the speed of fast detecting MGU418 and regulates MGU418.This output torque can be applied to the bent axle of motor 416.

The dynamical system output torque that system control module 451 is controlled via TCM452, ECM454 and HCM456 produced.System control module 451 can be based on the related tooth learning control dynamical system output torque of implementing with the target wheel of motor 416, MGu418 and/or speed changer 432.HCM456 can comprise one or more submodules, includes but not limited to BAS control processing device (BCP) 458.TCM452, ECM454 and HCM456 communicate with one another via controller zone network (CAN) bus 460.The driver imports 462 and communicates by letter with ECM.The driver imports 462 can include but not limited to accelerator pedal and/or cruise control system.Driver's interface 464 is communicated by letter with TCM452.Driver's interface 464 includes but not limited to speed changer scope selector (for example, PRNDL bar).System control module 451 can be communicated by letter with storage 465.

Control system 450 can be based on the moment of torsion control operation of coordinating, and the moment of torsion control of coordination can comprise vehicle bridge moment of torsion territory and propulsive torque territory.T _PROPBe the bent axle output torque, can comprise the EM torque contribution.Moment of torsion according to coordination of the present invention is controlled at enforcement vehicle bridge moment of torsion (T among the ECM _AXLE) arbitrate so that the vehicle bridge moment of torsion (T through arbitration to be provided _AXLEARB) and distribute the propulsive torque control task for ECM and HCM.This distribution advances the moment of torsion of coordinating to control and is beneficial to component protection, motor is overrun and prevented and system's remedial measure and other torque request on ECM.Mixed power propulsive torque control can ECM stop and implementing transmission torque control, regenerative braking and motor overrun prevent and the situation of other torque request under recover at HCM.

But the torque request of coordinating control monitoring accelerator pedal position (α _PED) and car speed (V _VEH).That the driver is intended to or wish vehicle bridge moment of torsion (T _AXLEDES) based on α _PEDAnd V _VEHDetermine.α for example _PEDAnd V _VEHCan be used as the input of the question blank of pre-demarcation, prestor, described question blank provides corresponding T _AXLEDESECM454 arbitrates T _AXLEDESWith other torque request so that T to be provided _AXLEARBOther torque request are included in the vehicle bridge torque request and concentrate the one or more torque request that are provided with.Torque request is produced by torque characteristic, and includes but not limited to absolute torque value, minimal torque limits value, Maximum Torque limits value or the request of increment (delta) torque value.The torque characteristic related with vehicle bridge torque request collection includes but not limited to pull-in control system (TCS), vehicle stability enhancement system (VSES) and vehicle overspeed protection system (VOS).Determining T _AXLEARBThe basis on, by using effective velocity ratio with T _AXLEARBConvert the propulsive torque (T in the ECM454 to _PROPECM).Determining T _PROPECMAfter, ECM454 arbitrates T _PROPECMWith other propulsive torque requests,, thereby determine final T to HCM456 so that determine that what person is that ECM454 is responsible for _PROPECM

HCM456 can send torque request by the cylinder (for example, by being cut to the fuel of cylinder) of stopping using the engine combustion moment of torsion is output as zero.During this can occur in vehicle when accelerator pedal position is zero and slides situation downwards.For example, fuel is cut off and the regenerative braking of vehicle begins to be converted to electric power with the kinetic energy with vehicle via MGU418.In order to be beneficial to this, make the converter clutch joint that wheel torque is attached to bent axle.By like this, MGU418 is driven.Therefore, the torque request that enters the arbitration of ECM454 propulsive torque provides from HCM456, makes two torque request devices import into ECM454 propulsive torque arbitration: driver/cruise (the vehicle bridge moment of torsion of arbitration) propulsive torque request and HCM456 zero fuel torque request.

TCM452 provides the propulsive torque value (T through arbitration _PROPTCM).More specifically, the TCM452 arbitration is from the torque request of torque characteristic.Exemplary TCM torque characteristic is a speed changer protection algorithm, and it produces the moment of torsion of Maximum Torque restriction with limiting transmission input shaft place.The Maximum Torque restricted representation passes through the maximum allowable torque of transmission input shaft so that the protection transmission components.

T from ECM454 _PROPECMWith T from TCM452 _PROPTCMBe sent to HCM456, HCM456 finishes T _PROPArbitration.More specifically, HCM456 arbitration T _PROPECM, T _PROPTCM, and other torque request so that T to be provided _PROPFINALOther torque request are included in the propulsive torque request and concentrate set one or more torque request.Each is all produced torque request by torque characteristic, and includes but not limited to absolute torque value, minimal torque limits value, Maximum Torque limits value or the request of increment (delta) torque value.The torque characteristic related with propulsive torque request collection includes but not limited to that regenerative braking, motor overspeed protection and EM boost.

HCM456 is based on T _PROPFINALDetermine T _ICEAnd T _EMMore specifically, HCM456 comprises optimization algorithm, and it exports graduation T based on the available torque of each among ICE416 and the MGU418 _PROPFINALT _ICEBe sent to ECM454, it produces control system so that by using ICE416 to realize T _ICEHCM456 is based on T _EMProduce control system so that by using MGU418 to realize T _EM

With reference now to Figure 10,, illustrates and be associated with the functional block diagram that the engine system 500 of technology is determined in above-mentioned tooth study, filtering and position.Engine system 500 can be configured for hybrid-power electric vehicle.Engine system 500 comprises motor 502 and MGU503, and wherein motor 502 combustion airs/fuel mixture is used for the driving torque of vehicle with generation, and MGU 503 can be connected to power source 505 or communicate by letter with power source.Power source can comprise one or more batteries.Air only is sucked in the intake manifold 510 by closure 512.System control module 514 can based on the module and the equipment of related tooth learning control engine system of implementing 500 of the target wheel of motor 502, MGU503 and/or motor gear box device system 602 and corresponding engine system 500.

Thereby system control module 514 instructs throttle actuator modules 516 to control the air quantity that is sucked in the intake manifold 510 with the aperture of regulating intake valve 512.Be sucked into the cylinder of motor 502 from the air of intake manifold 510.Motor 502 can comprise the cylinder of any amount.Thereby system control module 514 can indicate gas cylinder actuators module 520 to improve fuel economy with some cylinder of selectively stopping using.

Air from intake manifold 510 is sucked in the cylinder 518 by intake manifold 522.The fuel quantity that ECM514 control is sprayed by fuel injection system 524.Fuel injection system 524 can center position inject fuel in the intake manifold 510 or can be in a plurality of positions for example the intake valve place near each cylinder inject fuel in the intake manifold 510.Replacedly, fuel injection system 524 can inject fuel directly in the cylinder.

The fuel that is sprayed in cylinder 518 with air mixing and produce air/fuel mixture.Piston (not shown) compressed air/fuel mixture in the cylinder 518.Based on signal from system control module 514, the spark plug 528 in the spark actuator module 526 excitation cylinders 518, thus light air/fuel mixture.Can specify the timing of spark the moment when being in its uppermost position in fig-ure that is called as top dead center (TDC) when piston, in top dead centre position, air/fuel mixture is subjected to maximum compression.

The downward driven plunger of the burning of air/fuel mixture, thus drive the bent axle (not shown) that rotates.Then piston begin to move upward once more and the by product of driving away burning by exhaust valve 530.The by product of burning is discharged from vehicle via releasing system 534.Waste gas is by catalyzer 535.

Intake valve 522 can be subjected to the control of admission cam shaft 540, and exhaust valve 530 can be subjected to the control of exhaust cam shaft 542.In various embodiments, a plurality of intake valves of the every cylinder of a plurality of admission cam shaft may command and/or the intake valve of a plurality of inblock cylinders of may command.Similarly, a plurality of exhaust valves of the every cylinder of a plurality of exhaust cam shaft may command and/or the exhaust valve of a plurality of inblock cylinders of may command.Gas cylinder actuators module 520 can be by ending fuel supplying and spark and/or forbidding its exhaust valve and/or intake valve and deactivated cylinder.

Can change the moment of opening intake valve 522 with respect to piston TDC by intake cam phase discriminator 548.Can change the moment of opening exhaust valve 530 with respect to piston TDC by exhaust cam phaser 550.Phase discriminator actuator module 558 is based on SC sigmal control intake cam phase discriminator 548 and exhaust cam phaser 550 from ECM514.

Engine system 500 can comprise the supercharging equipment that forced air is offered intake manifold 510.For example, Fig. 2 has described turbosupercharger 560.Turbosupercharger 560 is by the waste gas energy supply of the releasing system 534 of flowing through, and the pressurized air inflation is offered intake manifold 510.Turbosupercharger 560 can be before air arrives intake manifold 510 pressurized air.

Wastegate 564 can allow exhaust gas bypass to pass through turbosupercharger 560, thereby reduces the output (supercharging) of turbosupercharger.System control module 514 is by supercharging actuator module 562 control turbosupercharger 560.Supercharging actuator module 562 can be regulated the supercharging of turbosupercharger 560 by the position of control wastegate 564.The pressurized air inflation is provided for intake manifold 510 by turbosupercharger 560.Intercooler (not shown) some heats in the heat of pressurized air inflation that can dissipate, the heat of described pressurized air inflation produces when air is compressed, and can increase by approaching releasing system 534.Alternative engine system can comprise and pressurized air offered intake manifold 510 and by the pressurized machine of crank-driven.

Engine system 500 can comprise exhaust gas recirculation (EGR) valve 570, and it is optionally guided waste gas back into gas manifold 510 again.In various mode of executions, after EGR valve 570 can be positioned on turbosupercharger 560.Engine system 500 can be changeed the speed of the bent axle of (RPM) expression by the RPM sensor measurement with per minute.The temperature of engine coolant can be measured by using engineer coolant temperature (ECT) sensor 582.ECT sensor 582 can be positioned in the motor 502 or is decided to be other positions that are recycled at freezing mixture, for example is positioned at radiator (not shown) place.

Pressure in the intake manifold 510 can use manifold absolute pressure (MAP) sensor 584 to measure.In various mode of executions, can measure motor degree of vacuum, wherein motor degree of vacuum is poor between the pressure in environmental air pressure and the intake manifold 510.But quality service property (quality) air mass flow (MAF) sensor 586 that flows into the air in the intake manifold 510 is measured.In various mode of executions, maf sensor 586 can be positioned in the housing that also comprises closure 512.

Throttle actuator module 516 can be used the position of one or more throttle position sensor (TPS) 590 monitoring closures 512.The ambient temperature that is inhaled into the air in the engine system 500 can use intake air temperature (IAT) sensor 592 to measure.ECM514 can use from the signal of sensor and make the control decision that is used for engine system 500.

System control module 514 can be communicated by letter with transmission control module 594 to coordinate the change gear in the speed changer (not shown).For example, system control module 514 can reduce moment of torsion during gear shift.System control module 514 can be communicated by letter with mixed power control module 596 to coordinate the operation of motor 502 and MGU503.MGU503 can be used for producing the electric energy that is used by vehicle electrical systems and/or is stored in electric energy in the battery.In various mode of executions, system control module 514, transmission control module 594 and mixed power control module 596 can be integrated in one or more modules.

For the various control gear of appellation motor 502 abstractively, each system that changes engine parameter can be called as actuator.For example throttle actuator module 516 can change closure 512 leaf position, therefore and change the aperture area.Therefore throttle actuator module 516 can be called as actuator, and the throttle opening area can be called as actuator position.

Similarly, spark actuator module 526 can be called as actuator, and simultaneously corresponding actuator position is the spark advancement amount.Other actuators comprise supercharging actuator module 562, EGR valve 570, phase discriminator actuator module 558, fuel injection system 524 and gas cylinder actuators module 520.The number of the cylinder that the term actuator position with respect to these actuators can correspond respectively to boost pressure, EGR valve opening, intake cam phase discriminator angle and exhaust cam phaser angle, air/fuel compares and enabled.

Though MGU503 can provide the motor torque of exporting serial or parallel connection with the moment of torsion of motor 502, is understood that also and can conceives other structures within the scope of the invention.For example, MGU503 can be embodied as replacement directly offers moment of torsion wheel 600 via motor gear box device system 602 one or more motor.

The motor 502 of institute's combination and the torque applications of MGU503 are in the input of speed changer 602.Motor gear box device system 602 can comprise the automatic transmission that changes instruction switching gear according to the gear from system control module 514.Motor gear box device system 602 can comprise and is used for one or more motor that auxiliary, engine braking, regeneration etc. were selected, rotated to velocity ratio.The output shaft coupling of motor gear box device system 602 is to the input of differential gear 604.Differential gear 604 drives vehicle bridge and wheel 600.Vehicle-wheel speed sensor 606 produces the signal of the rotational velocity of its corresponding wheel 600 of expression.

Engine system 500 also can comprise barometric pressure sensor 608.Barometric pressure sensor 608 can be used for determining environmental conditions, and environmental conditions also can be used for determining the throttle area of hope.The throttle area of wishing can be corresponding to the particular sections valve position.

With reference now to Figure 11,, the block diagram diagrammatic view of control module 700 is shown.Control module 700 can be an individual control module, perhaps can be in the above-mentioned various control module, comprise the system control module 12 of Fig. 1, the system control module 12 ' of Fig. 2, the system control module 451 of Fig. 9 or the system control module 514 of Figure 10.Use control module 700 expressions to be used for regulating based on crankshaft accelerations the control module of engine parameter, this control module can be independently or make the part of one or more other modules.Various functions can take place in disparate modules.

In the following description, monitor engine performance in real time based on instantaneous crankshaft accelerations and regulate various control parameters of engine with optimization engine combustion phasing.Suppose that the relative noiseless that can obtain instantaneous crankshaft accelerations estimates, as in Fig. 1-10 proposition, following method and system allows real-time near-optimization burning phasing.

Control module 700 has instantaneous crankshaft accelerations determination module 710.Instantaneous crankshaft accelerations determination module 710 is determined the instantaneous crankshaft accelerations of each cylinder of motor.As mentioned above, instantaneous crankshaft accelerations can obtain from toothed the wheel with crankshaft position sensor.Instantaneous crankshaft accelerations can take place on the part of crankshaft rotating.For example, instantaneous acceleration can take place in the rotation of the angle of about tooth of taking turns.In a lot of the application, this will and be approximately 6 degree less than 10 degree for the specific embodiment of the wheel with 60 teeth.Be understood that each toothed manufacturing tolerances of taking turns the system of can be depending on is slightly different.

Control module 700 also can comprise peak value crankshaft accelerations position determination module 712.Peak value crankshaft accelerations position determination module is determined the relative position with respect to combustion process for the peak value crankshaft accelerations.Following will the description, the can regulate engine parameter moves peak value crankshaft accelerations position with the top dead center with respect to the piston of motor.

Control module 700 also can comprise average determination module 714.Average determination module 714 can be determined the average of instantaneous crankshaft accelerations on the engine cycles of predetermined number.For example can use last 50 circulations in determining described.In addition, can be used for producing average from the peak value crankshaft accelerations position of peak value crankshaft accelerations position determination module 712 corresponding to the average of described position.Certainly determine that described average is intrasystem optional formation.Average determination module 714 can be the definite average separately of in-engine each cylinder.That is to say, can be each cylinder and produce independent crankshaft accelerations and the peak value crankshaft accelerations position of determining.This allows each cylinder to be subjected to controlling respectively.

Coefficient of variation (COV) determination module 716 can provide the coefficient of variation of crankshaft accelerations position and instantaneous crankshaft accelerations.Coefficient of variation is defined as standard deviation divided by average.Described average is as above determined in frame 714.Therefore, can settle the standard difference and the division of standard deviation and average is provided of coefficient of variation determination module.Coefficient of variation is the dimensionless number that can compare with the threshold value in the comparison module 718.Based on described comparison, in engine parameter adjustment module 720, can make motor and regulate engine parameter.The engine parameter that is conditioned can be regulated from the value that is stored in the table 721.Comparison module 718 can compare coefficient of variation and predetermined threshold.For example, when described comparison value is equal to or greater than described threshold value, in engine parameter adjustment module 720, can carries out motor and regulate.

Engine parameter adjustment module 720 can be used for by burning phasing module 722 adjusting burning phasings or can be used for diluting by the EGR that dilution module 724 controls in the system.Burning phasing module can be used for various types of motors, comprises spark ignition engine and Compression Engine for example diesel engine or hcci engine.For spark ignition engine, can change the burning phasing in advance by regulating spark.For Compression Engine, can change the burning phasing by regulating injection timing.

Dilution module 724 can be used for determining the poor/dilution operation restriction of motor and therefore can allow motor in its dilution limit place operation.Described dilution is by implementing waste gas from releasing system is sent to the air inlet of cylinder.

Another Variation module 726 also can be positioned at engine parameter adjustment module 720.Can be conditioned separately or can comprise the adjusting of fuel quantity or timing and air quantity or timing with burning phasing and other engine parameters of being conditioned of dilution module.

With reference now to Figure 12,, the high-level flowchart of the system that uses instantaneous crankshaft accelerations is shown.In step 810, determine instantaneous crankshaft accelerations.In step 810, determine instantaneous crankshaft accelerations by using said process.The pressure transducer of the alternative definite pressure of instantaneous crankshaft accelerations.Pressure transducer is the cost that therefore extra parts have increased system.Crankshaft position sensor typically is comprised in the vehicle.Therefore, determine that the use of the crankshaft position sensor of acceleration does not increase the cost of vehicle.

In step 812, regulate engine parameter in response to instantaneous crankshaft accelerations.The details of this process will be described below.

With reference now to Figure 13,, illustrates and be used to regulate for example method of phasing of engine parameter.In step 830, can determine the instantaneous crankshaft accelerations of cylinder.Can be each cylinder and determine instantaneous crankshaft accelerations.As mentioned above, the average acceleration also on the engine cycles of predetermined number, determined of instantaneous crankshaft accelerations.For example, can determine the instantaneous crankshaft accelerations of average on about 50 engine cycles.In step 832, also can determine the position of peak acceleration.This is with respect to crankshaft angles and therefore with respect to combustion process.Once more, can determine each position in the instantaneous crankshaft accelerations peak value for each cylinder by using the average on the engine cycles of predetermined number, determined.

In step 832, the phasing of the combustion process of each single cylinder of can regulate.The phasing of combustion process can be harmonized with the instantaneous crankshaft accelerations of peak value position.This peak value can be adjusted between After Top Center about 20 degree spend with about 30.In other example, this peak value can be adjusted to about 24 degree After Top Center.

With reference now to Figure 14,, another example of regulating by the motor operation of using instantaneous crankshaft accelerations is shown.In step 910, the instantaneous crankshaft accelerations of each cylinder is set.In step 912, can determine the coefficient of variation (COV) of the instantaneous crankshaft accelerations of each cylinder.This step comprises the position of definite peak value crankshaft accelerations position and the average of crankshaft accelerations.Statistics term coefficient of variation is that standard deviation is divided by average.In step 914, regulate amount of dilution.For example, under the situation of monitoring coefficient of variation, can increase amount of dilution.In step 916, coefficient of variation and threshold value are compared.Depend on object lesson, can monitor coefficient of variation to surpass or to equal threshold value.When coefficient of variation did not surpass or equals threshold value, execution in step 914 once more, regulate amount of dilution in step 914 in step 916.Can increase amount of dilution is exceeded or equals threshold value up to coefficient of variation in step 916.When coefficient of variation surpassed or equals threshold value, step 918 stopped or keeping dilution and regulate in step 916.

With reference now to Figure 15,, the plotted curve of acceleration about the burning phasing is shown.The optimal combustion phasing 950 of After Top Center about 24 degree for the peak value crankshaft accelerations is shown in this embodiment.Point to arrow 952 directions that more are lower than top dead center (BTDC) left early stage burning phasing is shown, and the burning phasing in later stage is shown as the arrow 954 that points to atdc (ATDC) to the right.

The present invention allows to remove cylinder pressure sensors.On the other hand,, also can remove other sensors, for example mass flow sensor, quick-fried vibration sensor, humidity transducer, manifold pressure sensor and barometric pressure sensor by using aforesaid instruction.

Those skilled in the art can understand and can a large amount of forms implement instruction of the present invention from the description of front now.Therefore, though the present invention includes specific examples, true scope of the present invention should not be so limited, and therefore other modification will become obvious for experienced implementer on the basis of research accompanying drawing, the specification and the claim of enclosing.

Claims (10)

1. method of operating motor, described method comprises:

Determine instantaneous crankshaft accelerations; And

Regulate engine parameter in response to described instantaneous crankshaft accelerations.

2. the method for claim 1 is characterized in that, determines that instantaneous crankshaft accelerations comprises from crankshaft position sensor to determine described instantaneous crankshaft accelerations.

3. method as claimed in claim 2, it is characterized in that, described crankshaft position sensor comprises toothed the wheel, and wherein determine instantaneous crankshaft accelerations comprise determine bent axle with described toothed the wheel in a corresponding angular range of tooth on described instantaneous crankshaft accelerations.

4. method as claimed in claim 2, it is characterized in that, described crankshaft position sensor comprises toothed the wheel, and wherein determine instantaneous crankshaft accelerations comprise determine bent axle with less than the described instantaneous crankshaft accelerations on the corresponding angular range of about 10 degree.

5. the method for claim 1 is characterized in that, also comprises determining peak value crankshaft accelerations position, and wherein regulates engine parameter and comprise based on the timing of described peak value crankshaft accelerations position regulation motor spark.

6. the method for claim 1 is characterized in that, also comprises determining peak value crankshaft accelerations position, and wherein regulates engine parameter and comprise based on described peak value crankshaft accelerations position regulation fuel injection timing.

7. the method for claim 1 is characterized in that, also comprises determining peak value crankshaft accelerations position, and wherein regulates engine parameter and comprise and regulate the burning phasing.

8. the method for claim 1 is characterized in that, also comprises determining peak value crankshaft accelerations position, and wherein regulates engine parameter and comprise and regulate the burning phasing, makes peak value be in atdc about 20 and spends between about 30 degree.

9. the method for claim 1 is characterized in that, also comprises determining peak value crankshaft accelerations position, and wherein regulates engine parameter and comprise and regulate the burning phasing, makes peak value be in about 24 degree of atdc.

10. control module comprises:

Determine the instantaneous crankshaft accelerations determination module of instantaneous crankshaft accelerations; And

Engine parameter adjustment module in response to described instantaneous crankshaft accelerations adjusting engine parameter.

Images