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WO2015088662A2 - Système, procédé et appareil pour commande de turbocompresseur à géométrie variable - Google Patents

Système, procédé et appareil pour commande de turbocompresseur à géométrie variable Download PDF

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Publication number
WO2015088662A2
WO2015088662A2 PCT/US2014/062613 US2014062613W WO2015088662A2 WO 2015088662 A2 WO2015088662 A2 WO 2015088662A2 US 2014062613 W US2014062613 W US 2014062613W WO 2015088662 A2 WO2015088662 A2 WO 2015088662A2
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WIPO (PCT)
Prior art keywords
value
compressor
target
vgt
turbine
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2014/062613
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English (en)
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WO2015088662A3 (fr
Inventor
Carola Alcides LANA
David J. Stroh
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Cummins Inc
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Cummins Inc
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Publication of WO2015088662A2 publication Critical patent/WO2015088662A2/fr
Publication of WO2015088662A3 publication Critical patent/WO2015088662A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02C—GAS-TURBINE PLANTS; AIR INTAKES FOR JET-PROPULSION PLANTS; CONTROLLING FUEL SUPPLY IN AIR-BREATHING JET-PROPULSION PLANTS
    • F02C9/00—Controlling gas-turbine plants; Controlling fuel supply in air- breathing jet-propulsion plants
    • F02C9/16—Control of working fluid flow
    • F02C9/20—Control of working fluid flow by throttling; by adjusting vanes
    • F02C9/22—Control of working fluid flow by throttling; by adjusting vanes by adjusting turbine vanes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
    • F02B37/00—Engines characterised by provision of pumps driven at least for part of the time by exhaust
    • F02B37/12—Control of the pumps
    • F02B37/24—Control of the pumps by using pumps or turbines with adjustable guide vanes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02B—INTERNAL-COMBUSTION PISTON ENGINES; COMBUSTION ENGINES IN GENERAL
    • F02B39/00—Component parts, details, or accessories relating to, driven charging or scavenging pumps, not provided for in groups F02B33/00 - F02B37/00
    • F02B39/16—Other safety measures for, or other control of, pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02C—GAS-TURBINE PLANTS; AIR INTAKES FOR JET-PROPULSION PLANTS; CONTROLLING FUEL SUPPLY IN AIR-BREATHING JET-PROPULSION PLANTS
    • F02C6/00—Plural gas-turbine plants; Combinations of gas-turbine plants with other apparatus; Adaptations of gas-turbine plants for special use
    • F02C6/04—Gas-turbine plants providing heated or pressurised working fluid for other apparatus, e.g. without mechanical power output
    • F02C6/10—Gas-turbine plants providing heated or pressurised working fluid for other apparatus, e.g. without mechanical power output supplying working fluid to a user, e.g. a chemical process, which returns working fluid to a turbine of the plant
    • F02C6/12—Turbochargers, i.e. plants for augmenting mechanical power output of internal-combustion piston engines by increase of charge pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/0002—Controlling intake air
    • F02D41/0007—Controlling intake air for control of turbo-charged or super-charged engines
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/02—Input parameters for engine control the parameters being related to the engine
    • F02D2200/04—Engine intake system parameters
    • F02D2200/0406—Intake manifold pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
    • F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
    • F05D2220/00—Application
    • F05D2220/40—Application in turbochargers
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/12—Improving ICE efficiencies

Definitions

  • V GT variable geometry turbocharger
  • VGT turbochargers
  • the VGT is generally used to control the charge density, or the amount and pressure of the charge flow.
  • the charge density is controlled by the speed of the compressor, so control of the VGT is directed to the compressor speed or compressor acceleration rate.
  • the relationship between the VGT actuator position and the compressor acceleration varies in both magnitude and sign at varying operating conditions. Changes in response magnitude are symptoms of system non- linearity, and changes in response sign can result in positive feedback zones or response cycling and/or failure to converge on a solution. This problem is addressed in presently known controllers by operating the controllers in a conservative manner, for example with reduced gains or open loop control regions, that give up some of the potential benefits of the VGT but attempt to ensure the controller is well behaved.
  • One embodiment is a unique method that transforms the VGT control by mapping a VGT actuator position to a turbine target torque value, and controlling the compressor speed with the turbine target torque value to avoid non-linearities and positive feedback regions in the control space.
  • Another embodiment is a unique method that controls compressor speed by utilizing a maximum allowed turbine torque value until a compressor outlet pressure target value is achieved.
  • Other embodiments include unique methods, systems, and apparatus to control a VGT.
  • Fig. 1 is a schematic diagram of a system for controlling a variable geometry turbocharger.
  • Fig. 2 is a schematic diagram of an alternate embodiment of a system for controlling a variable geometry turbocharger.
  • Fig. 3 is a schematic diagram of a processing subsystem for controlling a variable geometry turbocharger.
  • Fig. 4 is a schematic illustration of a control diagram for VGT position control.
  • Fig. 5 is a schematic illustration of another embodiment control diagram for
  • Fig. 6 is an example graph of torque and pressure ratio as a function of VGT position associated with the control scheme of Fig. 5.
  • the system 100 includes an internal combustion engine 114 which may be an engine of any type, including at least a compression ignition engine, a spark ignition engine, a diesel engine, a gasoline engine, a natural gas engine, and combinations of these.
  • the engine 114 emits exhaust gases 112 which flow to the VGT 102, and transfer a portion of the kinetic and/or thermodynamic energy of the exhaust gases to the turbine 106 of the VGT 102.
  • the transferred energy passes through a shaft 108 of the VGT 102 to a compressor 104 of the VGT 102 which provides compressed intake air 110.
  • the compressed intake air 110 is sometimes called charge air, charge gases, charge flow, intake air, or other terms, none of which are limiting.
  • the compressed intake air 110 may pass through a cooler (an intercooler— not shown) before going to the engine 114.
  • the intercooler helps provide for increased air density in the engine 114, although the cooling reduces the pressure of the compressed intake air 110.
  • the presence and operations of an intercooler, where present, are well understood and not important to the operations of the VGT 102, and accordingly the intercooler is not depicted to enhance the clarity of the description.
  • the VGT 102 may have any type of variable geometry mechanism known in the art.
  • a sliding nozzle VGT and/or a swing vane VGT are specifically designed to provide variable geometry mechanism for variable geometry mechanism.
  • VGT having a controllable waste gate as a portion of the control mechanism thereof.
  • the system 200 includes an exhaust gas recirculation (EGR) 202 flow path which fluidly couples the engine exhaust side to the engine intake side.
  • the EGR 202 may fluidly couple the exhaust manifold to the intake manifold, or any other portion of the exhaust system to any other portion of the intake system.
  • the EGR 202 includes an EGR valve 204 in the example, although the EGR 202 may additionally or alternatively include an EGR cooler and may further include EGR cooler bypass.
  • the EGR 202 may couple to the intake system at a position upstream or downstream of an intercooler (where present), and upstream or downstream of an intake valve (where present).
  • the depicted EGR 202 in the system 200 is a "high pressure" EGR system, coupling the exhaust system upstream of the turbine 106 to the intake system downstream of the compressor 104.
  • the EGR 202 where present, may be additionally or alternatively a low pressure EGR system coupling the exhaust system downstream of the turbine 106 to the intake system upstream of the compressor 104.
  • the presence and type of EGR system and EGR components present is entirely optional and not limiting to the present disclosure.
  • the systems 100, 200 include a controller 116 structured to perform certain operations to control the VGT 102.
  • the controller forms a portion of a processing subsystem including one or more computing devices having memory, processing, and communication hardware.
  • the controller may be a single device or a distributed device, and the functions of the controller may be performed by hardware and/or by a computer executing instructions stored in non-transient memory on one or more computer readable media.
  • the controller includes one or more modules structured to functionally execute the operations of the controller.
  • the controller includes an engine requirements module, a compressor characterization module, a turbine dynamic response module, and a turbine control module.
  • the description herein including modules emphasizes the structural independence of the aspects of the controller, and illustrates one grouping of operations and responsibilities of the controller. Other groupings that execute similar overall operations are understood within the scope of the present
  • Modules may be implemented in hardware and/or by a computer executing instructions stored in non-transient memory on one or more computer readable media, and modules may be distributed across various hardware or computer based components.
  • Example and non-limiting module implementation elements include sensors providing any value determined herein, sensors providing any value that is a precursor to a value determined herein, datalink and/or network hardware including communication chips, oscillating crystals, communication links, cables, twisted pair wiring, coaxial wiring, shielded wiring, transmitters, receivers, and/or transceivers, logic circuits, hard-wired logic circuits, reconfigurable logic circuits in a particular non-transient state configured according to the module specification, any actuator including at least an electrical, hydraulic, or pneumatic actuator, a solenoid, an op-amp, analog control elements (springs, filters, integrators, adders, dividers, gain elements), and/or digital control elements.
  • datalink and/or network hardware including communication chips, oscillating crystals, communication links, cables, twisted pair wiring, coaxial wiring, shielded wiring, transmitters, receivers, and/or transceivers, logic circuits, hard-wired logic circuits, reconfigurable logic circuits in a particular non-transient
  • Interpreting includes an operation to have the value made available by any method known in the art, including at least receiving the value from a datalink or network communication, receiving an electronic signal (e.g. a voltage, frequency, current, or PWM signal) indicative of the value, receiving a computer generated parameter indicative of the value, reading the value from a memory location on a non-transient computer readable storage medium, receiving the value as a run-time parameter by any method known in the art (e.g. from an operator input), receiving a value by which the interpreted parameter can be calculated, and/or by referencing a default value that is
  • Fig. 3 is a schematic illustration of a processing subsystem 300 including a controller 116.
  • the example controller 116 includes an engine requirements module 302 that interprets a compressor outlet pressure target value 310 and a compressor outlet flow target value 312.
  • the controller 116 further includes a compressor characterization module 304 that determines a compressor target speed value 314 in response to the compressor outlet pressure target value 310 and the compressor outlet target flow value 312.
  • the compressor characterization module 304 may further determine a compressor speed error value 316 in embodiments
  • Control of an engine 114 generally operates from a previously known charge flow target value (e.g., mass flow of air or combined air and EGR flow at the engine inlet) which may be provided by an engine controller (not shown).
  • the engine controller may operate on the same device, or be a separate device, as the controller 116.
  • the compressor outlet pressure target value 310 can be calculated from the compressor outlet flow target value 312, the engine speed, and the volumetric efficiency of the engine.
  • the engine speed is generally known from the engine controller, and the volumetric efficiency of the engine at current engine operating conditions is also generally known from the engine controller. Where the engine speed and volumetric efficiency are not provided from the engine controller, the values can be determined from sensors, known correlations, numerous models that are known in the art, or taken from a proprietary data link or network where available.
  • the compressor outlet pressure target value 310 can be a direct input to the controller 116 provided from, for example, an engine controller.
  • the compressor target speed value 314 can be determined from the
  • compressor outlet pressure target value 310 the compressor outlet flow target value 312, a compressor inlet temperature 340, a compressor inlet pressure 342, and/or a compressor flow value 341, for example utilizing a compressor flow map 322.
  • the following relationship provides the information to find the compressor target speed value
  • T c i is the compressor inlet temperature 340
  • P c i is the
  • N c is the compressor target speed value 314 in equation 1 (N c may be a current compressor speed value 315 in certain equations herein, or in certain equations at certain times as will be clear according to the description and context).
  • relationship information about the compressor in one example from compressor inlet information combined with the compressor flow map 322 and/or a digitized sampling of the compressor flow map 322 stored on a non- transitory computer readable medium.
  • the compressor flow map 322 information is typically available from the compressor manufacturer, but may be readily determined by one of skill in the art as a routine data gathering operation where the manufacturer does not provide the information.
  • Flow information capturing techniques other than building a compressor flow map 322 are possible to store information sufficient to solve for N c based on the compressor outlet flow target value 312 and/or the compressor outlet pressure target value 310.
  • the controller 116 further includes a turbine dynamic response module 306 that determines a turbine target torque value 318 in response to the compressor target speed value 314 and the current compressor speed value 315.
  • An example operation of the turbine dynamic response module 306 includes determining a compressor torque value according to the following:
  • L c is the compressor torque value
  • c pa is the compressor gas intake (e.g., air) heat capacity
  • ⁇ a is the specific heat ratio (C p /C v ) of the compressor gas intake
  • ⁇ 0 is the compressor efficiency value
  • the compressor efficiency function e c in Eq. 4 is solved with available relationship information about the compressor, in one example from compressor inlet information combined with a compressor flow map 322 and/or a digitized sampling of the compressor efficiency map stored on a non- transitory computer readable medium— typically as compressor efficiency curves on a compressor flow map 322.
  • the compressor efficiency map information is typically available from the compressor manufacturer, but may be readily determined by one of skill in the art as a routine data gathering operation where the manufacturer does not provide the information.
  • Other flow information capturing techniques than building a compressor flow map 322 are possible to store information sufficient to solve for L c based one the compressor target speed value 314 and a current compressor speed value 315.
  • An example L c value includes an L c value that is the compressor torque value at the compressor target speed value 314, for example solving equations 2 through 4 with values such as N c and 3 ⁇ 4 as those values would be at the target compressor speed and operating conditions.
  • Another example L c value includes determining the Lc value as a base compressor torque value 328, which provides sufficient torque on the turbocharger shaft to support the compressor speed at the current conditions, and further determining a dynamic torque value 330 which provides additional torque to the turbocharger shaft to accelerate the compressor toward the
  • the acceleration of the compressor toward the compressor target speed value 314 is performed according to a desired turbocharger shaft acceleration value 326.
  • the desired turbocharger shaft acceleration value 326 can be determined according to the desired transient time of the VGT to reach a desired speed target, according to mechanical acceleration limits, according to response times of gas flow rates through the engine, according to maximum exhaust manifold pressure, according to maximum pumping work, and/or according to any other criteria understood in the art.
  • the desired turbocharger shaft acceleration value 326 is emergent from a comparison of system limits, the system limits including at least a maximum torque differential on the turbocharger shaft between the compressor and turbine side, a maximum compressor pressure ratio, a maximum turbine pressure ratio, a maximum turbocharger shaft speed slew rate, a maximum gas flow rate of change on the compressor side, a maximum gas flow rate of change on the turbine side, a maximum exhaust pressure (e.g. upstream of the turbine), a maximum intake pressure (e.g. downstream of the compressor), and/or a maximum torque value of the turbocharger shaft 338 (turbine, compressor, or both— distinct from differential listed preceding).
  • system limits including at least a maximum torque differential on the turbocharger shaft between the compressor and turbine side, a maximum compressor pressure ratio, a maximum turbine pressure ratio, a maximum turbocharger shaft speed slew rate, a maximum gas flow rate of change on the compressor side, a maximum gas flow rate of change on the turbine side, a maximum exhaust pressure (e.g. upstream
  • the turbocharger acceleration for example for comparison to the desired turbocharger shaft acceleration value 326 and/or for determining appropriate values for the turbine target torque value 318 and/or dynamic torque value 330, is determined dynamically according to the following turbine tor ue d namic model 324: . 5
  • N N
  • N t is the turbocharger shaft acceleration rate
  • J is the turbocharger rotational inertia
  • Lt is the turbine side torque value
  • Nt is the turbine speed (which is the same as the compressor speed)
  • Tti is the turbine inlet temperature
  • Pti is the turbine inlet pressure
  • Wt is the turbine flow value
  • lit is the pressure ratio across the turbine
  • ⁇ e is the heat capacity ratio of the exhaust gases
  • vg is the VGT actuator position
  • f w t is the turbine flow function
  • / e is the turbine efficiency function.
  • the turbine flow and efficiency functions f w t and f e t are generally available as turbine flow maps and efficiency curves on the turbine flow maps from the turbocharger manufacturer. However, the functions may be readily determined by one of skill in the art as a routine data gathering operation for relevant operating conditions where the manufacturer does not provide the information.
  • the turbine torque dynamic model in Eqs. 5 through 10 provides the turbocharger as a dynamic torque balance across the turbocharger shaft and imposes the boundary condition that the compressor speed must equal the turbine speed.
  • the model assumes the input variables are available and that actuators are not saturated, and that input and actuator responses are much faster than rotational dynamic responses of the turbocharger. Any of the described
  • any other turbine torque dynamic model may be used, the model depicted in Eqs. 5 through 10 is provided as an example.
  • a turbine torque dynamic model is not utilized or is empirically determined.
  • a feedback controller can be tuned or otherwise adjusted to provide the desired turbine torque
  • an example turbine control module 308 determines a VGT actuator position command 320 in response to the turbine target torque value 318.
  • An example operation to solve for the VGT actuator position command 320 includes solving the syste of equations:
  • L tar ⁇ et is the turbine target torque value 318
  • N e is the engine speed
  • Vdisp is the engine displacement value
  • Pi m is the intake manifold pressure or the compressor outlet pressure
  • Ti m is the intake manifold temperature or the compressor outlet temperature (preferably but not required to be at the same position as the Pi m )
  • R a is the gas constant for air (or for the gases at the intake manifold, or at the compressor outlet, if known, but air is a reasonable
  • ⁇ ⁇ ⁇ is the volumetric efficiency of the engine at present operating conditions (generally known as a function of engine speed, intake manifold pressure, and the pressure ratio across the engine— turbine inlet over intake manifold), and Wf is the fuel mass flow rate.
  • Equation 11 is a turbine torque equation
  • Eq. 12 is determined generally from a turbine flow map (compare to Eq. 6 preceding)
  • Eq. 13 is an engine charge flow model
  • Eq. 14 is a turbine efficiency model
  • Eq. 15 imposes the VGT actuator saturation 336 conditions. It will be recognized that the set of Eqs. 11 through 15 may provide multiple solutions, or no solutions, of realizable VG positions to provide the turbine target torque value 318. In certain embodiments, multiple solutions are provided as VGT actuator position command solution values 332, and the turbine control module 308 selects between the multiple solutions to provide the VGT actuator position command 320.
  • An example operation to select a VGT actuator position command 320 from the VGT actuator position command solution values 332 includes an operation to minimize a weighted sum of an error between the turbine target torque value 318 and the actual generated torque, and an exhaust manifold pressure value. For example, using the equations: Subject to:
  • e is the torque error from the otherwise desired optimal turbine torque target
  • Lt is the turbine target torque value 318
  • L tar ⁇ et is a turbine target torque value 318 provided to find a unique solution from a set of VGT actuator position command solution values 332,
  • w e is the weighting factor given to the VGT torque error
  • w p is the weighting factor given to the exhaust manifold pressure value.
  • An example controller 116 includes determining the compressor target speed value 314 according to any operations described herein.
  • the example controller 116 determines a base compressor torque value 328 according to any operations described herein, which may be either the turbine torque required to sustain the current compressor speed or the turbine torque required to sustain the compressor at the compressor target speed value 314.
  • the controller 116 further determines a dynamic torque value 330, which is determined from:
  • L dyn K(N' ⁇ et - N t ) Eq. 22
  • Ld yn the dynamic torque value
  • K is a proportional gain term which may be any positive value
  • N tar ⁇ et is the compressor target speed value 314, and Nt is the current compressor speed value 315.
  • the base compressor torque value 328 and the dynamic torque value 330 may be determined from a desired turbocharger shaft acceleration value 326, or the torque values 328, 330 may be empirically tuned or determined by any other method.
  • the dynamic torque value 330 of Eq. 22 is a proportional feedback control value. In certain embodiments, the dynamic torque value 330 may additionally or alternatively include an integral control value.
  • the control scheme 400 can include any specific operations otherwise described herein, and provides one potential control organization for controlling a VGT 102.
  • the control scheme 400 includes a target compressor speed calculation 402 that determines a target compressor speed 314 in response to a compressor inlet temperature 340, a compressor inlet pressure 342, and a compressor flow value 341.
  • the control scheme 400 includes a feedback controller 404 that determines a compressor speed error value 316 (not shown in Fig. 4) from the current compressor speed value 315 and the compressor target speed value 314. The feedback
  • controller 404 provides a dynamic torque value 330, which provides either an accelerating torque or a trimming torque, or a mixture of these.
  • the control scheme 400 further includes a compressor torque function 406 that determines a base compressor torque value 328.
  • the compressor torque function 406 is depicted determining the base compressor torque value 328 in response to current compressor conditions 315, 340, 341, 342.
  • the compressor torque function 406 may additionally or alternatively determine the base compressor torque value 328 in response to compressor conditions as they are predicted to be at the target compressor speed 314, or at some other value between the current compressor speed 315 and the target compressor speed 314.
  • the dynamic torque value 330 may be considered as the accelerating torque.
  • the dynamic torque value 330 may be considered as the trimming torque.
  • the torque values 328, 330 may be mixtures of these.
  • the feedback portion 404 will correct and/or compensate for the models, where present, in the compressor torque function 406.
  • the dynamic torque value 330 and the base compressor torque value 328 are combined into the turbine target torque value 318.
  • the turbine torque function 408 resolves the turbine target torque value 318 into a VGT actuator position command 320.
  • multiple VGT actuator position values may be solutions, and the turbine torque function 408 selects from among the VGT actuator position command solution values 332 (not shown in Fig. 4) using a selection criteria 410.
  • Example and non-limiting selection criteria include selecting the VGT actuator position command 320 providing the lowest turbine pressure ratio (Pto/Pti), the VGT actuator position command 320 that is closest to the current VGT actuator position 334, the VGT actuator position command 320 that provides a lowest stress value on a VGT component (e.g.
  • VGT actuator position command 320 that moves the VGT actuator further from a saturation condition (e.g. farther away from the fully open or fully closed position to leave more control space open for future operation).
  • other criteria such as
  • minimizing exhaust manifold pressure may be considered in the selection criteria 410.
  • the described selection criteria 410 are non-limiting examples. Additionally or alternatively, multiple selection criteria 410 may be utilized in a single system, for example present in a cost function, as various limiting criteria, or selectively activated. For example, the VGT actuator saturation may not be a consideration at all between 20% and 80%, with consideration either switched on or scheduled in at the VGT actuator approaches the fully open or closed positions. In another example, the VGT actuator may be limited to a given rate of change over time, but otherwise the current to target VGT actuator position may not be considered in determining the selection criteria 410. The specific examples listed are for illustration and are non-limiting.
  • the control scheme 400 has an illustrative control boundary 412 depicted, which may coincide with the controller 116 in certain embodiments of a system such as system 100 or system 200.
  • the control boundary 412 is a conceptual example, and is not limiting and not likely to be a boundary representing specific hardware or devices. Elements within the control boundary 412 may be distributed across hardware devices or present on a single hardware device.
  • the control scheme 500 can include any specific operations otherwise described herein, and provides one potential control organization for controlling VGT 102.
  • the control scheme 500 includes feedback controller 404 that receives a target compressor speed 314 and a current compressor speed 315 to determine a dynamic torque value 330, which provides either the accelerating torque or the trimming torque, or a mixture of these.
  • Control scheme 500 also includes compressor torque function 406 that receives current compressor speed 315, compressor inlet temperature 340, compressor inlet pressure 342, and a compressor flow value 341, and determines a base compressor torque value 328, as discussed above with respect to control scheme 400.
  • the dynamic torque value 330 and the base compressor torque value 328 are combined into the turbine target torque value 318.
  • Control scheme 500 also includes a turbine torque estimate 502 that current compressor speed 315, a charge flow 510, an intake manifold pressure 512, an exhaust manifold pressure 514, and an engine speed 516.
  • Turbine torque estimate 502 provides an estimation of the turbine torque and pressure ratio for all positions of the VGT 102.
  • Turbine torque estimate 502 determines a torque vector 504 for each VGT position and a pressure ratio vector 506 for each VGT position.
  • a pseudo turbine target torque value H(h) is estimated for turbine target torque value 318 according to the following equation:
  • a corrected turbine flow value Wt, c and a corrected turbine speed value Nt, c can be defined by the following:
  • ⁇ * and lie are defined as the pressure ratios of the turbine outlet to the turbine inlet and the compressor outlet to the compressor inlet, respectively.
  • the turbine torque function 508 of control scheme 500 resolves the turbine target torque value 318, the torque vectors 504, and the pressure ratio vectors 506 into a VGT actuator position command 320 by solving Eqs. 26 and 27 and using the selection criteria 410 to select a solution.
  • the solution includes defining a vector of VGT positions; employing Eq. 26 to calculate the associated turbine pressure ratio vectors 506 assuming a constant turbine flow; using the turbine pressure ratio vectors 506 and VGT positions to determine turbine torque vectors 504 using Eq. 27 and the defined pseudo torque H(h); and using the vector of VGT positions and associate torques to determine the associated VGT position command 320 that provides the turbine target torque value 318.
  • multiple VGT actuator position values between zero (0) and one (1) are possible, where zero (0) is a fully closed VGT position and one (1) is a fully open VGT position. Since multiple VGT actuator positions may be solutions, the turbine torque function 508 selects from among the VGT actuator positions, such as command solution values 332a, 332b shown in Fig. 6, using selection criteria 410. For example, in Fig. 6, VGT actuator command position value 332a satisfies the turbine target torque value 318.
  • VGT actuator command solution value 332b comes closest to satisfying the turbine target value 318 while also satisfying the minimum pressure ratio selection criteria. Therefore, in this embodiment, a VGT actuator position command 320 can be selected corresponding to VGT actuator command solution value 332b.
  • Other examples of non-limiting selection criteria are further provided above with reference to control scheme 400 can also be employed with control scheme 500.
  • the control scheme 500 has an illustrative control boundary 501 depicted, which may coincide with the controller 116 in certain embodiments of a system such as system 100 or system 200.
  • the control boundary 501 is a conceptual example, and is not limiting and not likely to be a boundary representing specific hardware or devices. Elements within the control boundary 501 may be distributed across hardware devices or present on a single hardware device.
  • the target compressor speed 314 is defined so that the engine can achieve the target charge flow conditions.
  • a compressor speed tracking error is defined as a difference between a target compressor speed function and the estimated compressor speed function, and the compressor speed tracking error is provided as an input to feedback controller 404 in place of target compressor speed 314 and current compressor speed 315.
  • the target compressor speed function is a function of the corrected compressor flow and of the target compressor pressure ratio
  • the measured compressor speed function is a function of the estimated corrected compressor flow and of the estimated compressor pressure ratio.
  • the corrected and estimated compressor flows are determined from an estimate of the current compressor speed value 315.
  • the use of the estimated corrected compressor flow and compressor pressure ratio determined from an estimate of the current compressor speed value 315 provides a direct link to the flow error and prevents under-actuation of the VGT due to modeling errors that create non-zero flow tracking errors.
  • the estimate of turbine speed is provided as an input to turbine torque estimate 502 in determining the torque vectors 504 and the pressure ratio vectors 506.
  • Operations illustrated are understood to be exemplary only, and operations may be combined or divided, and added or removed, as well as re-ordered in whole or part, unless stated explicitly to the contrary herein. Certain operations illustrated may be implemented by a computer executing a computer program product on a non- transient computer readable storage medium, where the computer program product includes instructions causing the computer to execute one or more of the operations, or to issue commands to other devices to execute one or more of the operations.
  • An example procedure includes an operation to interpret a compressor outlet pressure target value and a compressor outlet flow target value, an operation to determine a compressor target speed value in response to the compressor outlet pressure target value and the compressor outlet flow target value, and an operation to determine a turbine target torque value in response to the compressor target speed value and a current compressor speed value.
  • the example procedure further includes an operation to determine a variable geometry turbocharger (V GT) actuator position command in response to the turbine target torque value, and an operation to position a VGT in response to the VGT actuator position command.
  • V GT variable geometry turbocharger
  • An example procedure further includes an operation to determine a dynamic torque value in response to a compressor speed error value, an operation to determine a base compressor torque value in response to a current compressor flow value, a current compressor inlet temperature value, a current compressor inlet pressure value, and the current compressor speed value, and an operation to determine the turbine target torque value further in response to the dynamic torque value and the base compressor torque value.
  • An example procedure further includes an operation to determine the compressor target speed value in response to a compressor flow map, where the operation to determine the dynamic torque value further includes operating a turbocharger dynamic model using the compressor target speed value, and/or where the operation to determine the dynamic torque value further includes determining a desired turbocharger shaft acceleration value.
  • An example procedure further includes an operation to determine the dynamic torque value by operating a feedback controller on the compressor speed error value.
  • Another example procedure includes the base compressor torque value being a compressor speed maintenance value, and the dynamic torque value being a compressor acceleration value.
  • An example procedure includes an operation to determine the VGT actuator position command by selecting the VGT actuator position command from a number of VGT actuator position command solution values.
  • Example operations to select the VGT actuator position command from the number of VGT actuator position command solution values include selecting a VGT actuator position command that provides a lowest turbine pressure ratio, selecting a VGT actuator position command that is closest to a current VGT actuator position, selecting a VGT actuator position command that provides for a lowest stress value on a VGT component, and selecting a VGT actuator position command that moves the VGT actuator further from a saturation condition.
  • the example procedure include an operation to interpret a compressor outlet pressure target value, an operation to determine a compressor target speed value in response to the compressor outlet pressure target value, and an operation to determine whether a current compressor outlet pressure value has reached the compressor outlet pressure target value.
  • the procedure further includes, in response to the
  • V GT variable geometry turbocharger
  • the maximum allowed turbine torque value 338 may be determined according to any operation known in the art having the benefit of the disclosures herein.
  • Example and non-limiting operations to determine the maximum allowed turbine torque value 338 include at least determining a highest allowable turbine pressure ratio, a highest allowable turbine inlet pressure (or exhaust manifold pressure, which are not necessarily the same in some systems), a highest actuator force allowed, a greatest nozzle or vane force allowed, a highest pressure differential allowed in the turbocharger system (e.g. until oil may be driven from the bearings in either direction), a physically realizable operating point on a turbine/compressor flow map, and/or a VGT actuator position rate of change limit value being reached.
  • the compressor outlet pressure target value may be determined according to any operation known in the art having the benefit of the disclosures herein.
  • Example and non-limiting operations to determine the compressor outlet pressure target value include at least determining: a pressure corresponding to a load threshold (e.g., 10%, 25%, etc.) which load threshold may be a maximum load, a load at a present engine speed, or other load value; a specified pressure in absolute terms (e.g., 20 psia, 25 psia, 30 psia, etc.); and/or a pressure value at which empirical testing has shown above which the VGT is sufficiently responsive under a normal VGT actuator position control scheme (or another VGT actuator position control scheme other than an all-maximum turbine torque allowed control).
  • a load threshold e.g. 10%, 25%, etc.
  • load threshold e.g. 10%, 25%, etc.
  • a specified pressure in absolute terms e.g., 20 psia, 25 psia, 30 psia, etc.
  • a value that is "sufficiently responsive" is definable by meeting a transient requirement, by meeting an engine speed or air flow rate rise time requirement, by meeting a driveability specification, and/or by meeting a compressor speed transient requirement.
  • Such requirements and specifications are known to those of skill in the art contemplating a particular system to meet driveability, emissions, transient performance, or other system delivery requirements.
  • the example procedure further includes, in response to the operation to determine the current compressor outlet pressure value has reached the compressor outlet pressure target value, an operation to resume a normal VGT actuator position control scheme.
  • a normal VGT actuator position control scheme may be any scheme that is not maximum VGT shaft torque based, and may include a VGT shaft torque based control or other control scheme of the VGT.
  • An example procedure including the normal VGT actuator position control scheme further includes an operation to interpret a compressor outlet flow target value, an operation to determine a compressor target speed value in response to the compressor outlet pressure target value and the compressor outlet flow target value, an operation to determine a turbine target torque value in response to the compressor target speed value and a current compressor speed value, and an operation to determine the VGT position command in response to the turbine target torque value.
  • An example set of embodiments is a method including interpreting a compressor outlet pressure target value and a compressor outlet flow target value, determining a compressor target speed value in response to the compressor outlet pressure target value and the compressor outlet flow target value, determining a turbine target torque value in response to the compressor target speed value and a current compressor speed value, determining a variable geometry turbocharger (VGT) actuator position command in response to the turbine target torque value, and positioning a VGT in response to the VGT actuator position command.
  • VGT variable geometry turbocharger
  • An example method further includes determining the compressor target speed value in response to a compressor flow map, where the determining the dynamic torque value further includes operating a turbocharger dynamic model using the
  • determining the dynamic torque value further includes determining a desired turbocharger shaft acceleration value.
  • Example methods include determining the dynamic torque value by operating a feedback controller on the compressor speed error value and/or where the base compressor torque value is a compressor speed maintenance value and where the dynamic torque value is an compressor acceleration value.
  • An example method includes determining the VGT actuator position command by selecting the VGT actuator position command from a number of VGT actuator position command solution values.
  • Example operations to select the VGT actuator position command from the number of VGT actuator position command solution values includes selecting a VGT actuator position command that provides a lowest turbine pressure ratio, selecting a VGT actuator position command that is closest to a current VGT actuator position, selecting a VGT actuator position command that provides for a lowest stress value on a VGT component, and selecting a VGT actuator position command that moves the VGT actuator further from a saturation condition.
  • Another example set of embodiments is a method including interpreting a compressor outlet pressure target value, determining a compressor target speed value in response to the compressor outlet pressure target value, determining whether a current compressor outlet pressure value has reached the compressor outlet pressure target value, in response to the determining the current compressor outlet pressure value has not reached the compressor outlet pressure target value, determining a variable geometry turbocharger (VGR) actuator position command corresponding to a maximum allowed turbine torque value, and positioning a VGT in response to the VGT actuator position command.
  • VGR variable geometry turbocharger
  • Example methods further include, in response to the determining the current compressor outlet pressure value has reached the compressor outlet pressure target value, resuming a normal VGT actuator position control scheme, and may further include the normal VGT actuator position control scheme being: interpreting a compressor outlet flow target value, determining a compressor target speed value in response to the compressor outlet pressure target value and the compressor outlet flow target value, determining a turbine target torque value in response to the compressor target speed value and a current compressor speed value, and
  • Another example set of embodiments is a system including an internal combustion engine pneumatically coupled to a compressor of a turbocharger on an inlet side and to a turbine of the turbocharger on an outlet side, the turbocharger including a variable geometry turbocharger (V GT) having a VGT actuator responsive to a VGT actuator position command, a controller that interprets a compressor outlet pressure target value and a compressor outlet flow target value, determines a compressor target speed value in response to the compressor outlet pressure target value and the compressor outlet flow target value, determines a turbine target torque value in response to the compressor target speed value and a current compressor speed value, determines the VGT actuator position command in response to the turbine target torque value, and provides the VGT actuator position command to the VGT actuator.
  • V GT variable geometry turbocharger
  • An example system includes the controller is further determining a dynamic torque value in response to a compressor speed error value, determining a base compressor torque value in response to a current compressor flow value, a current compressor inlet temperature value, a current compressor inlet pressure value, and the current compressor speed value, and determining the turbine target torque value further in response to the dynamic torque value and the base compressor torque value.
  • the controller further selects the VGT actuator position command from a number of VGT actuator position command solution values by performing at least one of: selecting a VGT actuator position command providing a lowest turbine pressure ratio; selecting a VGT actuator position command closest to a current VGT actuator position; selecting a VGT actuator position command providing for a lowest stress value on a VGT component; and selecting a VGT actuator position command that moves the VGT actuator further from a saturation condition.
  • Yet another example set of embodiments is an apparatus for controlling a controlling a variable geometry turbocharger (V GT), the apparatus including an engine requirements module that interprets a compressor outlet pressure target value and a compressor outlet flow target value, a compressor characterization module that determines a compressor target speed value in response to the compressor outlet pressure target value and the compressor outlet target flow value, a turbine dynamic response module that determines a turbine target torque value in response to the compressor target speed value and a current compressor speed value, and a turbine control module that determines a VGT actuator position command in response to the turbine target torque value, and provides the VGT actuator position command, where the providing includes one of providing the VGT actuator position command to a VGT actuator and storing the VGT actuator position command on a non-transitory computer readable storage medium.
  • An example apparatus includes the turbine dynamic response module being further structured to determine the turbine target torque value by operating a turbocharger dynamic model using the compressor target speed value, and may further include the turbine dynamic response module further determining the turbine target torque value by determining a desired turbocharger shaft acceleration value, and further operating the turbocharger dynamic model using the desired turbocharger shaft acceleration value.
  • An example apparatus includes the turbine dynamic response module further determining the turbine target torque value by determining a dynamic torque value from a feedback control operation on a compressor speed error value and determining a base compressor torque value in response to current compressor operation conditions.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
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  • Chemical Kinetics & Catalysis (AREA)
  • General Chemical & Material Sciences (AREA)
  • Supercharger (AREA)

Abstract

Procédé consistant à interpréter une valeur cible de pression de sortie de compresseur et une valeur cible d'écoulement de sortie de compresseur, à déterminer une valeur de vitesse cible de compresseur en réaction à la valeur cible de pression de sortie de compresseur et à la valeur cible d'écoulement de sortie de compresseur, à déterminer une valeur de couple cible de turbine en réaction à la valeur de vitesse cible de compresseur et à une valeur de vitesse de compresseur actuelle, à déterminer une commande position d'actionneur de turbocompresseur à géométrie variable (VGT) en réaction à la valeur de couple cible de turbine, et à positionner un VGT en réaction à la commande de position d'actionneur de VGT.
PCT/US2014/062613 2013-12-10 2014-10-28 Système, procédé et appareil pour commande de turbocompresseur à géométrie variable Ceased WO2015088662A2 (fr)

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CN107944071A (zh) * 2016-10-12 2018-04-20 Fev欧洲有限责任公司 用于确定可变几何形状涡轮机的转矩的方法
WO2019177597A1 (fr) * 2018-03-14 2019-09-19 Cummins Inc. Détection et atténuation de moteur incontrôlable dans des conditions de vitesse
CN112955639A (zh) * 2018-10-18 2021-06-11 赛峰飞机发动机公司 涡轮机的控制方法、计算机程序、电控模块和涡轮机

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CN107918692A (zh) * 2016-10-11 2018-04-17 Fev欧洲有限责任公司 用于确定可变几何形状涡轮机的效率值的方法
CN107944071A (zh) * 2016-10-12 2018-04-20 Fev欧洲有限责任公司 用于确定可变几何形状涡轮机的转矩的方法
WO2019177597A1 (fr) * 2018-03-14 2019-09-19 Cummins Inc. Détection et atténuation de moteur incontrôlable dans des conditions de vitesse
CN112955639A (zh) * 2018-10-18 2021-06-11 赛峰飞机发动机公司 涡轮机的控制方法、计算机程序、电控模块和涡轮机
CN112955639B (zh) * 2018-10-18 2024-05-14 赛峰飞机发动机公司 涡轮机的控制方法、计算机程序、电控模块和涡轮机

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