CN102182575B - Equipment and method for controlling air system of diesel engine - Google Patents

Abstract

The embodiment of the invention relates to equipment and method for controlling an air system of a diesel engine. Particularly, a physical model for representing the air system of the diesel engine is established according to the embodiment of the invention. A turbine pressurization system and a waste gas recycling system are controlled by using the physical model, so that the actual working condition of the air system of the diesel engine approximates to a desired target working condition as much as possible. The embodiment of the invention discloses the corresponding equipment, the diesel engine and the method.

Description

The equipment and the method that are used for the air system of control diesel engine

Technical field

Embodiments of the present invention relate generally to diesel engine, more specifically, relate to equipment and method for the air system of control diesel engine.

Background technique

Along with the development of motor theory and technology, EGR (EGR) system has become the important component part in the diesel engine.In the waste gas that diesel engine is discharged, usually contain a large amount of oxynitrides (NOx), it is a main source that causes pollution of atmosphere.Utilize egr system, a part of waste gas that diesel engine produces is sent back to cylinder.Because EGR gas has inertia, so it will the retarded combustion process, velocity of combustion is slowed down to some extent, and then cause the pressure initiation process in the firing chamber to slow down, thereby effectively reduce oxynitrides.In addition, improve ER EGR Rate total air mass flow is reduced, so total pollutant output quantity will be reduced in the toxic emission.

In being equipped with the diesel engine of egr system, the ER EGR Rate in the transient process (EGR leads) and the matching relationship that enters the fresh air of motor are the keys of the transient process discharging of diesel engine air system.For this reason, a lot of diesel engine adopt turbo charge system to accelerate the response of instantaneous process Air system.In addition, turbo charge system can also improve power performance, the improvement burning of diesel engine, and it is one of important component part in the modern diesel engines.For example, variable geometry turbocharger (VGT) is a kind of common turbo charge system.Turbo charge system is a kind of air compression system in essence, increases the air inflow of diesel engine cylinder by pressurized air.It is driven by the impulse force of the waste gas that motor is discharged, and by devices such as pressurized machine rotating shafts pressure is passed to air compressor, thus make the air that newly enters before entering cylinder by effectively supercharging.

Be equipped with at the same time in the diesel engine of EGR and turbo charge system, the coupled characteristic between these two has proposed challenge to the control of air system.In the diesel engine that is equipped with gas recirculation system EGR and turbo charge system, for egr system, control accurately that EGR leads and intake temperature is to improve the NOx discharging and reduce it to the key of particulate matter and power and economic influence.In this motor, the flow of the input waste gas of cooler for recycled exhaust gas is by the control of EGR valve, and the two all receives the engine exhaust of discharging from exhaust duct the turbine inlet end of the entry end of EGR valve and turbosupercharger.Be appreciated that the boost pressure that pressurization system causes and the variation of exhaust back pressure also can exert an influence to the EGR flow rate except the aperture variation of EGR valve self.On the other hand, the aperture of EGR valve changes also and can the inlet flow rate of input pressurized machine be exerted an influence.That is to say, gas recirculation system and pressurization system be two interdepend, interactional system, that is, have coupled characteristic.Especially, in the control of the air system of diesel engine, the EGR in the transient process lead and fresh air between coupling, be the key of instantaneous emission process.

The coupled characteristic that gas recirculation system and pressurization system have is the difficult point of diesel engine air system control all the time, and the multivariable Control strategy of controlling simultaneously both also is the study hotspot of diesel engine air system control strategy always.In the prior art, several known control strategy simplified summary are as follows:

(1) the independent control strategy of gas recirculation system and pressurization system namely take boost pressure as the control target, adds transient state Feed-forward Control Strategy driving VGT valve by PID (proportional-integral-differential) control and makes actual supercharge pressure reach desired value; Take air mass flow as the control target, the control strategy driving EGR valve that adds the transient state feedforward by PID control makes actual air flow reach desired value.

(2) take Induction air flow and boost pressure as the control target, according to the air system mean value model is carried out local linearization, according to linear model devise optimum or robust controller, thereby further expand to again the method that whole condition range obtains non-linear control strategy: such as the infinite control of H, controller design method according to the Lyapunov Theory of Stability, the control law of minimum quadratic form optimum state feedback, sliding mode controller etc.

(3) take Induction air flow and boost pressure as the control target, according to the controller design method of non-analytical model: such as the fuzzy logic control method, according to the controlling method of neuron network etc.

(4) take Induction air flow and boost pressure as the control target, adopt model predictive control method, the i.e. mathematical model of integrated controlled device in controller, by model following multi-step system output is predicted, according to the deviation of predicted value and desired value structure objective function, the optimum value by the current controlled quentity controlled variable of iterative makes the minimization of object function.

(5) take sky right than and suction tude in the exhaust mass mark as controlling target, adopt air system contraction decoupling control policy, the transfer function matrix that is air system is contraction in some cases, therefore, two control targets have certain relation, original two-dimentional control strategy can be converted into better simply one dimension control strategy.

The major advantage of above-mentioned independent PID control strategy (1) according to air mass flow and boost pressure is simple in structure and can realizes good stable state control effect, and it is little to be used for the experiment work amount of demarcation of parameter.The shortcoming of closed loop PID control is because the coupled characteristic of system itself so that the control effect of its dynamic process is undesirable, the phenomenon of smoldering easily occurs in the process of accelerating.Another shortcoming of the closed loop control that works alone is that the EGR operating range is limited, when reason is that the EGR valve can only pressure be higher than boost pressure before the whirlpool, therefore can only be used for middle-low load and middle and slow speed of revolution operating mode.Nissan, Toyota, the companies such as Cummins do not adopt air mass flow and boost pressure as desired value in actual use, lead the replacement boost pressure as the control strategy of desired value and adopted with EGR.

The problem of a general character of this several method is that the flow of EGR is estimated.Because the EGR flow transducer all far can not satisfy actual use needs on precision or reliability, so that the EGR flow mainly obtains by estimation.And affecting Tail Pipe Temperature and the pressure of EGR flow, EGR pipeline restriction coefficient, cooling effectiveness etc. all need a large amount of tests just can obtain satisfied estimation effect, therefore so that very huge according to the control system test of the method.Although above control strategy can both be obtained preferably effect in stable state control, but because gas recirculation system and pressurization system act on suction tude simultaneously, there is coupled characteristic, and do not have for this coupled characteristic design transient control strategy in the control strategy, so transient control effect is often unsatisfactory.

Exist the accuracy of air system control strategy to require as control strategy (2)-(4) of controlling target and obvious contradiction of terseness requirement formation take Induction air flow and boost pressure.This contradiction is directed to strong coupling and the non-linear correlation of gas recirculation system and pressurization system.The requirement that all can't satisfy stable state and mapping according to closed loop control strategy and its distortion of air mass flow and boost pressure.Various theoretical research result are because the complexity of control strategy, to the requirement of control hardware, and many-sided factors such as difficulty of parameter calibration, also be not suitable with the requirement of actual control system.

And for adopt empty right than and suction tude in the exhaust mass mark as the control strategy (5) of controlling target, in actual use, lack the ripe commercial sensor of directly measuring exhaust mass mark in air fuel ratio and the suction tude, so can not realize directly take the feedback control of this parameter as the control target.Therefore and air mass flow and boost pressure all are very easy to by existing sensor measurement, can set up the feedback control strategy according to air mass flow and boost pressure, empty right than with suction tude in the exhaust mass mark obtain by visualizer as intermediate variable.And state observer will be introduced time delay and error, and control is disadvantageous to instantaneous conditions.

In sum, the control strategy for diesel engine air system in the prior art can't satisfy diesel engine actual motion stable state and instantaneous conditions performance well simultaneously, and the requirement of discharging and diesel engine control unit (ECU) demarcation.

Therefore, in the art, need a kind ofly can to satisfy the actual operating mode of diesel engine, relatively simple and be easy to the air system control strategy realizing and demarcate.

Summary of the invention

In order to overcome the defects that exists in the prior art, embodiments of the present invention are provided for controlling equipment and the method for the air system of diesel engine.

According to an aspect of the present invention, a kind of equipment of the air system for controlling diesel engine is provided, described air system comprises EGR egr system and turbo charge system, wherein said egr system comprises the EGR valve, and described turbo charge system comprises air compressor and pressure charging valve, described equipment comprises: the operating mode obtaining device, and configuration is for the measured value of the air mass flow of the measured value of the cylinder exhaust pressure that obtains described diesel engine and the described air compressor of flowing through; Target flow is determined device, it is coupled to described operating mode obtaining device, configuration is for the measured value that obtains according to described operating mode obtaining device, and according to the desired value of the air mass flow of the desired value of the cylinder exhaust pressure of described diesel engine and the described air compressor of flowing through, with the Nonlinear physics Model that characterizes described air system determine to flow through the target exhaust gas flow of described EGR valve and the target exhaust gas flow of the described pressure charging valve of flowing through; And signal generation device, it is coupled to described target flow and determines device, configuration is used for determining according to described target flow the target exhaust gas flow of the target exhaust gas flow of the described described EGR valve of flowing through that device is definite and the described pressure charging valve of flowing through, and generation is used for first of described egr system and drives signal and drive signal for second of described turbo charge system.

In one embodiment of the invention, described target flow determines that device further comprises: based on definite device of the control of sliding, configuration is for determine flow through the target exhaust gas flow of described EGR valve and the target exhaust gas flow of the described pressure charging valve of flowing through based on the slip control strategy.

In one embodiment of the invention, described signal generation device further comprises: EGR valve target aperture is determined device, and configuration is used for determining according to the target exhaust gas flow of the described described EGR valve of flowing through the target aperture of described EGR valve; And pressure charging valve target aperture determines device, and configuration is used for determining according to the target exhaust gas flow of the described described pressure charging valve of flowing through the target aperture of described pressure charging valve.

In one embodiment of the invention, described first drives the aperture that signal is used for controlling described EGR valve, and wherein said second drives the aperture that signal is used for controlling described pressure charging valve.

In one embodiment of the invention, described equipment utilization SOC(system on a chip) SoC or IC are realized.

In one embodiment of the invention, described Nonlinear physics Model is relevant with the following aspect of described diesel engine: suction pressure, exhaust pressure, air mass flow enters the gas flow of cylinder, cylinder exhaust valve rate of discharge, the suction valve flow coefficient, rotating speed, cylinder piston-rod displacement, the air inlet thermal constant, intake temperature, suction tude equivalent volume, the exhaust heat constant, delivery temperature, outlet pipe equivalent volume, the pressurized machine mechanical efficiency of described egr system, booster turbine efficient, booster turbine thermal capacity, atmospheric temperature, atmospheric environmental pressure, the inlet air ratio of heat capacities, exhaust heat Capacity Ratio, compressor efficiency, pressurized machine rotating shaft rotary inertia, supercharger speed, booster turbine exhaust energy, compressed air energy, pressurized air thermal capacity, and fuel injection flow rate.In one embodiment of the invention, further the dynamic disturbance source with the described air system of described diesel engine is relevant for described Nonlinear physics Model.

According to a further aspect in the invention, provide a kind of diesel engine, comprising: cylinder; Admission line is coupled to the entry end of described cylinder, and configuration is used for carrying gas to described cylinder; Exhaust duct is coupled to the outlet end of described cylinder, and configuration is used for discharging the waste gas of described cylinder combustion; Fuel injection system is coupled to described cylinder, and configuration is used for to described cylinder injection fuel oil; Air system; And control unit, comprise the said equipment, to be used for controlling described air system.Described air system comprises: the EGR egr system, be coupled to described exhaust duct and described admission line, and comprise the EGR valve, described egr system configuration is used for and will be transmitted back to described cylinder by described admission line from the part waste gas of described exhaust duct; Turbo charge system is coupled to described exhaust duct, and comprises air compressor and pressure charging valve, and the configuration of described turbo charge system is used for being used to waste gas from described exhaust duct and increases suction pressure by described cylinder.

According to a further aspect in the invention, a kind of method of the air system for controlling diesel engine is provided, described air system comprises EGR egr system and turbo charge system, wherein said egr system comprises the EGR valve, and described turbo charge system comprises air compressor and pressure charging valve.Described method comprises: the measured value that obtains the air mass flow of the measured value of cylinder exhaust pressure of described diesel engine and the described air compressor of flowing through; According to the measured value that obtains, and according to the desired value of the air mass flow of the desired value of the cylinder exhaust pressure of described diesel engine and the described air compressor of flowing through, with the Nonlinear physics Model that characterizes described air system determine to flow through the target exhaust gas flow of described EGR valve and the target exhaust gas flow of the described pressure charging valve of flowing through; And according to the target exhaust gas flow of the described described EGR valve of flowing through and the target exhaust gas flow of the described pressure charging valve of flowing through, produce for the first driving signal of described egr system with for second of described turbo charge system and drive signal.

In one embodiment of the invention, describedly determine further to comprise: based on slip control strategy determine to flow through the target exhaust gas flow of described EGR valve and the target exhaust gas flow of the described pressure charging valve of flowing through.

In one embodiment of the invention, the method further comprises: the target aperture of determining described EGR valve according to the target exhaust gas flow of the described described EGR valve of flowing through; And the target aperture of determining described pressure charging valve according to the target exhaust gas flow of the described described pressure charging valve of flowing through.

In one embodiment of the invention, described first drives the aperture that signal is used for controlling described EGR valve, and wherein said second drives the aperture that signal is used for controlling described pressure charging valve.

In one embodiment of the invention, described Nonlinear physics Model is relevant with the following aspect of described diesel engine: suction pressure, exhaust pressure, air mass flow enters the gas flow of cylinder, cylinder exhaust valve rate of discharge, the suction valve flow coefficient, rotating speed, cylinder piston-rod displacement, the air inlet thermal constant, intake temperature, suction tude equivalent volume, the exhaust heat constant, delivery temperature, outlet pipe equivalent volume, the pressurized machine mechanical efficiency of described egr system, booster turbine efficient, booster turbine thermal capacity, atmospheric temperature, atmospheric environmental pressure, the inlet air ratio of heat capacities, exhaust heat Capacity Ratio, compressor efficiency, pressurized machine rotating shaft rotary inertia, supercharger speed, booster turbine exhaust energy, compressed air energy, pressurized air thermal capacity, and fuel injection flow rate.

In one embodiment of the invention, also the dynamic disturbance source with the described air system of described diesel engine is relevant for described Nonlinear physics Model.

According to a further aspect in the invention, provide a kind of computer program medium, comprise the computer program code that is performed for realizing according to said method.

According to the embodiment of the present invention, a kind of novel effectively equipment and method for control air system (particularly, egr system and turbo charge system) proposed.Particularly, utilization is equipped with the quasi steady state characteristic relation of the diesel engine of egr system and turbo charge system, can set up the physical model that characterizes air system, it can be used to effectively (to comprise transient state and stable state) under various working conditions control egr system and turbo charge system, thus make through the air mass flow of air compressor and cylinder exhaust pipe pressure as far as possible close to the desired value of expectation.

In this way, can in the dynamic characteristic of opposing external interference source and not modeling, take into account the coupling between egr system and the turbo charge system.And, simple according to the device structure of embodiment of the present invention, be easy to realize.Therefore, embodiments of the present invention can be improved the control of diesel engine air system significantly.

Description of drawings

By reading with reference to the accompanying drawings detailed description hereinafter, above-mentioned and other purposes of embodiment of the present invention, the feature and advantage easy to understand that will become.In the accompanying drawings, show some mode of executions of the present invention in exemplary and nonrestrictive mode, wherein:

Fig. 1 shows and comprises the two the schematic diagram of diesel engine of gas recirculation system and turbo charge system;

Fig. 2 shows the schematic diagram according to the control apparatus 200 of the air system that is used for the control diesel engine of embodiment of the present invention;

Fig. 3 shows the schematic diagram of the SOC(system on a chip) (SoC) 300 of the control apparatus 200 that is suitable for putting into practice among Fig. 2; And

Fig. 4 shows the flow chart according to the controlling method 400 of the air system that is used for diesel engine of embodiment of the present invention.

In the accompanying drawings, identical or corresponding label represents identical or corresponding part.

Embodiment

Below with reference to some illustrative embodiments principle of the present invention and spirit are described.Should be appreciated that providing these mode of executions only is for those skilled in the art can being understood better and then realize the present invention, and be not to limit the scope of the invention by any way.

A kind of equipment and method of the air system for controlling diesel engine have been proposed according to the embodiment of the present invention.Should be noted that in this article, employed term " air system " comprises EGR egr system and turbo charge system at least.

It shall yet further be noted that mention in this article such as the concrete turbo charge system such as variable geometry turbine system (VGT), only be for explanation and demonstration purpose.Embodiments of the present invention are equally applicable to utilize engine exhaust to carry out any turbo charge system of the present known of work or exploitation in future.Scope of the present invention is unrestricted in this regard.

In addition, in this article, employed term " parameter " expression is any can indicate the value of the physical quantity of (target or the reality) physical state of motor or operation conditions.And in this article, " parameter " physical quantity represented with it can Alternate.For example, " parameter of indication rotating speed " has the implication that is equal in this article with " rotating speed ".And, in this article, establish A and represent certain specific physical quantity, then Expression A is to the differentiate of time, i.e. A rate over time.

In addition, in this article, employed term " obtains " and comprises at present various means known or that develop in the future, and for example measure, read, estimate, estimate, etc.

Below with reference to some representative embodiments of the present invention, explain in detail principle of the present invention and spirit.At first with reference to figure 1, as indicated above, it shows the schematic diagram of the diesel engine 100 that is equipped with EGR and turbo charge system.Should be appreciated that and only show part relevant with embodiments of the present invention in the diesel engine 100 among Fig. 1.Diesel engine 100 can also comprise the miscellaneous part of arbitrary number.

As shown in Figure 1, diesel engine 100 comprises: cylinder 108; Admission line 106 is coupled to the entry end of cylinder 108, and configuration is used for carrying gases to cylinder 108; Exhaust duct 112 is coupled to the outlet end of cylinder 108, and configuration is used for discharging the waste gas of cylinder 108 burnings; Fuel injection system 110 is coupled to cylinder 108, and configuration is used for to its injected fuel; Air system; And control unit (ECU) 114, be used for realization to the control of diesel engine 100.As mentioned above, air system comprises: gas recirculation system (for example comprising EGR valve 116, cooler for recycled exhaust gas 118 and other necessary parts), it is coupled to exhaust duct 112 and admission line 106, and configuration is used for and will be transmitted back to cylinder 108 by admission line 106 from the part waste gas of exhaust duct 112; And turbo charge system (for example comprising pressurized machine 120, pressurized machine rotating shaft 124, air compressor 102, air intercooler 104 and other necessary parts), it is coupled to exhaust duct 112, for the waste gas that is used to from exhaust duct 112, increase the suction pressure by cylinder 108.

As can be seen from Fig. 1, gas recirculation system and turbo charge system all receive the waste gas from exhaust duct 112, and its charge flow rate is controlled by EGR valve 116 and pressure charging valve 122 respectively.In operation, diesel engine electronic control unit (ECU) 114 produces corresponding EGR valve drive signal and supercharging valve drive signal according to the operating mode of motor, is respectively applied to control the aperture of EGR valve 116 and pressure charging valve 122.As mentioned above, the performance of gas recirculation system and turbo charge system affects each other, therefore need to effectively control the aperture of exhaust gas recirculation valve 116 and pressure charging valve 122.

According to thought of the present invention, how accurately, flexibly, effectively crucial problem is the air system that characterizes diesel engine, particularly how to characterize influencing each other and acting between these four key characteristics of exhaust gas flow of the air mass flow of cylinder exhaust pressure, the air compressor of flowing through, the exhaust gas flow of the EGR valve of flowing through and the pressure charging valve of flowing through.If can effectively characterize and modeling above-mentioned four characteristics, just can realize the effective control to air system that can't realize in the prior art.For this reason, as will be detailed later, embodiments of the present invention have been set up the Nonlinear physics Model that characterizes above-mentioned four critical system characteristics of air system, and control the air system of diesel engine with it.

With reference to figure 2, it shows the schematic diagram according to the control apparatus 200 of the air system that is used for the control diesel engine of embodiment of the present invention.Be appreciated that control apparatus 200 can be used as the diesel engine ECU 114 shown in Fig. 1 or its part and tries out.Alternatively, control apparatus 200 also can be implemented as specially the control apparatus for the air system of diesel engine.

As shown in Figure 2, control apparatus 200 comprises operating mode obtaining device 202, the measured value (parameter) of its configurable actual conditions be used to obtaining indication diesel engine (for example, diesel engine 100 shown in Figure 1).Especially, In some embodiments of the present invention, the measured value that operating mode obtaining device 202 can configure be used to the cylinder exhaust pressure that obtains diesel engine (is designated as P _Em), and the measured value of the air mass flow of the air compressor that comprises of the turbo charge system of flowing through (is designated as W _C).

Should be appreciated that operating mode obtaining device 202 can obtain by actual measurement the measured value of indication engine operating condition.Alternatively or additionally, operating mode obtaining device 202 also can be according to physical condition by estimating or the measured value of indication engine operating condition is obtained in estimation.Scope of the present invention is unrestricted in this regard.

As described in Figure 2, according to the embodiment of the present invention, control apparatus 200 comprises that also target flow determines device 204, and it is coupled to described operating mode obtaining device 202, and configuration is used for the P that obtains according to described operating mode obtaining device 202 _EmAnd W _C, and according to the desired value (P of the cylinder exhaust pressure of diesel engine _{Em, d}) and the desired value (W of the air mass flow of the air compressor of flowing through _{C, d}), use to characterize the Nonlinear physics Model of air system, the target exhaust gas flow (W of the EGR valve of determining to flow through _Egr) and the target exhaust gas flow (W of the pressure charging valve of flowing through _t).

Can see, according to the embodiment of the present invention, target flow determines that device 204 uses (many inputs/many outputs) Nonlinear physics Model that characterizes air systems, the P that obtains with operating mode obtaining device 202 _EmAnd W _CBe input, determine in order to satisfy P _{Em, d}And W _{C, d}Should have two crucial exhaust gas flows in the air system.In fact, in the art, there is no the air system that prior art attempts characterizing and controlling by the Nonlinear physics Model of this Control-oriented diesel engine.The below will introduce the Nonlinear physics Model towards air system control according to embodiment of the present invention in detail.

According to the embodiment of the present invention, this Nonlinear physics Model can be relevant with one or more aspects of diesel engine.Here alleged " aspect " both comprised the build-in attribute of motor, also comprised the real-time working condition in the engine operation process, for example included but not limited to: suction pressure, exhaust pressure, air mass flow enters the gas flow of cylinder, the cylinder exhaust valve rate of discharge, suction valve flow coefficient, rotating speed, cylinder piston-rod displacement, air inlet thermal constant, intake temperature, the suction tude equivalent volume, exhaust heat constant, delivery temperature, the outlet pipe equivalent volume, the pressurized machine mechanical efficiency of egr system, booster turbine efficient, booster turbine thermal capacity, atmospheric temperature, atmospheric environmental pressure, inlet air ratio of heat capacities, the exhaust heat Capacity Ratio, compressor efficiency, pressurized machine rotating shaft rotary inertia, supercharger speed, the booster turbine exhaust energy, the compressed air energy, pressurized air thermal capacity, and fuel injection flow rate.Moreover, as mentioned below, in a preferred embodiment, this physical model can also be included the dynamic disturbance factor of not modeling in consideration.

According to the embodiment of the present invention, can utilize various means to set up towards the Nonlinear physics Model of air system control based on the above-mentioned aspect of motor.A kind of preferred implementation of the present invention is described below.

At first, as known in the art, for given diesel engine, the mass balance equation of gas handling system can be expressed as:

${\stackrel{\·}{P}}_{\mathrm{im}}=k_{\mathrm{im}}(W_C+W_{\mathrm{egr}}-W_{\mathrm{ei}})---\left(1\right)$

Wherein:

$k_{\mathrm{im}}=\frac{R_a{T}_{\mathrm{im}}}{V_{\mathrm{im}}}$

And wherein: P _ImThe suction pressure of expression cylinder; R _aExpression air inlet thermal constant; T _ImThe expression intake temperature; V _ImExpression suction tude equivalent volume; V _CThe flow through air mass flow of air compressor of turbo charge system of expression; W _EgrThe flow through exhaust gas flow of EGR valve of expression; And W _EiExpression enters the gas flow in the cylinder.

In addition, the mass balance equation of the vent systems of diesel engine can be expressed as:

${\stackrel{\·}{P}}_{\mathrm{em}}=k_{\mathrm{em}}(W_{\mathrm{eo}}-W_t-W_{\mathrm{egr}})---\left(2\right)$

Wherein:

$k_{\mathrm{em}}=\frac{R_e{T}_{\mathrm{em}}}{V_{\mathrm{em}}}$

And wherein: P _EmThe exhaust pressure of expression cylinder; R _eExpression exhaust heat constant; T _EmThe expression delivery temperature; V _EmExpression outlet pipe equivalent volume; W _EoExpression cylinder exhaust valve rate of discharge; And W _tRepresent to flow through the pressure charging valve exhaust gas flow; W _EgrThe flow through exhaust gas flow of EGR valve of expression.

And the pressurized machine inertia balance equation of the turbo charge system of diesel engine can be expressed as:

$\frac{1}{2}{J}_t\frac{d}{\mathrm{dt}}\left({\mathrm{\ω}}_t^2\right)-P_t{\mathrm{\η}}_m-P_C---\left(3\right)$

Wherein: J _tExpression pressurized machine rotating shaft rotary inertia; ω _tThe rotating speed of expression pressurized machine; P _tExpression booster turbine exhaust energy; η _mExpression pressurized machine mechanical efficiency; P _CExpression compressed air energy.

Further, still as known in the art, booster turbine exhaust energy P _tCan be expressed as:

$P_t=W_t{\mathrm{\η}}_t{c}_{\mathrm{pe}}{T}_{\mathrm{em}}[1-{\left(\frac{P_{\mathrm{amb}}}{P_{\mathrm{em}}}\right)}^{\frac{{\mathrm{\γ}}_e-1}{{\mathrm{\γ}}_e}}]---\left(4\right)$

Wherein: W _tRepresent to flow through the pressure charging valve exhaust gas flow; η _tExpression booster turbine efficient; c _PeExpression booster turbine thermal capacity; T _EmThe expression delivery temperature; P _AmbThe expression atmospheric environmental pressure; P _EmThe exhaust pressure of expression cylinder; And γ _eExpression exhaust heat Capacity Ratio.

And because the mechanical efficiency of pressurized machine, the thermal efficiency etc. can not reach 100% in actual conditions, therefore actual compressed air energy can be expressed as:

$P_C{\mathrm{\η}}_C=W_C{c}_{\mathrm{pa}}{T}_{\mathrm{amb}}[{\left(\frac{P_{\mathrm{im}}}{P_{\mathrm{amb}}}\right)}^{\frac{{\mathrm{\γ}}_a-1}{{\mathrm{\γ}}_a}}-1]---\left(5\right)$

Wherein: P _CExpression compressed air energy; η _CThe overall efficiency of expression air compressor; W _CThe flow through air mass flow of air compressor of turbo charge system of expression; c _PaExpression pressurized air thermal capacity; T _AmbThe expression atmospheric temperature; P _ImThe suction pressure of expression cylinder; P _AmbThe expression atmospheric environmental pressure; And γ _aThe inlet air ratio of heat capacities.

The aspect relevant with the air system of diesel engine described from different angles in above formula (1)-(5).Yet, in the prior art, lack effective means and characterize and utilize coupling and interaction between these aspects.In order to address this problem, in embodiments of the present invention, set up the air system Nonlinear physics Model of Control-oriented.

Particularly, except above-mentioned aspect, according to the embodiment of the present invention, also include turbosupercharger quasi steady state characteristic curve in consideration.The quasi steady state characteristic curve of turbosupercharger has been described the characteristic of the air mass flow of compressor, and it is can be predetermined, for example can obtain from pressurized machine manufacturer.Although this curve description is the performance characteristic of pressurized machine under quasi steady state, from qualitatively angle consideration, it is set up under instantaneous conditions equally.

According to turbosupercharger quasi steady state characteristic curve as can be known: the air mass flow W of the compressor of flowing through _CCylinder suction pressure P _ImWith secondary speed ω _tFunction, that is:

W _C＝W _C(P _im，ω _t) (6)

Thus, can obtain:

${\stackrel{\·}{W}}_c=\frac{{\∂W}_c}{{\∂P}_{\mathrm{im}}}{\stackrel{\·}{P}}_{\mathrm{im}}+\frac{{\∂W}_c}{{\∂\mathrm{\ω}}_t}{\stackrel{\·}{\mathrm{\ω}}}_t+{\mathrm{\Δ}}_c---\left(7\right)$

For simplicity, in formula (6), establish:

$a_1=\frac{{\∂W}_c}{{\∂P}_{\mathrm{im}}};$ $a_2=\frac{{\∂W}_c}{{\∂\mathrm{\ω}}_t}$

The two is cylinder suction pressure P _ImWith secondary speed ω _tFunction.Especially, can see, also comprise in the formula (7) and be designated as Δ _COne, the dynamic disturbance source of its expression diesel engine air system, the dynamic characteristic that namely is not modeled.According to the embodiment of the present invention, this Δ _CCan be expressed as:

${\mathrm{\Δ}}_c={\mathrm{\Δ}}_c(P_{\mathrm{im}},{\mathrm{\ω}}_t,{\stackrel{\·}{P}}_{\mathrm{im}},{\stackrel{\·}{\mathrm{\ω}}}_t)---\left(8\right)$

Thus, in this mode of execution of the present invention, Nonlinear physics Model has not only been considered the various intrinsic characteristics of motor, but also can take into account the impact of external dynamic distrubance source, thereby can realize the more control of robust of air system.Certainly, this is preferred implementation of the present invention, and in optional mode of execution, embodiments of the present invention equally can be in the situation that do not consider that the external dynamic distrubance source is applicable.

Especially, as will be understood by the skilled person in the art, the behavioral characteristics Δ of modeling not _CObviously be bounded, that is:

|Δ _c|≤ε (9)

Wherein ε is constant.

Thus, according to formula (1)-(9), can derive:

${\stackrel{\·}{W}}_c=a_1{k}_{\mathrm{im}}(W_c+W_{\mathrm{egr}}-\frac{{\mathrm{\η}}_e{P}_{\mathrm{im}}{\mathrm{\ω}}_e{V}_d}{120R_a{T}_{\mathrm{im}}})+$

$\frac{{2a}_2}{J_t{\mathrm{\ω}}_t}\left(W_t{\mathrm{\η}}_m{\mathrm{\η}}_t{c}_{\mathrm{pe}}{T}_{\mathrm{em}}\right[1-{\left(\frac{P_{\mathrm{amb}}}{P_{\mathrm{em}}}\right)}^{\frac{{\mathrm{\γ}}_{e-1}}{{\mathrm{\γ}}_e}}]-W_c{c}_{\mathrm{pa}}{T}_{\mathrm{amb}}[{\left(\frac{P_{\mathrm{im}}}{P_{\mathrm{amb}}}\right)}^{\frac{{\mathrm{\γ}}_{a-1}}{{\mathrm{\γ}}_a}}-1\left]\right)+{\mathrm{\Δ}}_c---\left(10\right)$

Can get through arrangement:

${\stackrel{\·}{W}}_c=a_3+a_1{k}_{\mathrm{im}}{W}_{\mathrm{egr}}+a_4{W}_t+{\mathrm{\Δ}}_c---\left(11\right)$

Wherein:

$a_3=a_1{k}_{\mathrm{im}}(W_c-\frac{{\mathrm{\η}}_e{P}_{\mathrm{im}}{\mathrm{\ω}}_e{V}_d}{120R_a{T}_{\mathrm{im}}})-\frac{{2a}_2{W}_c{c}_{\mathrm{pa}}{T}_{\mathrm{amb}}}{J_t{\mathrm{\ω}}_t}[{\left(\frac{P_{\mathrm{im}}}{P_{\mathrm{amb}}}\right)}^{\frac{\mathrm{\γa}-1}{\mathrm{\γa}}}-1]$

$a_4=\frac{{2a}_2{\mathrm{\η}}_m{\mathrm{\η}}_t{c}_{\mathrm{pe}}{T}_{\mathrm{em}}}{J_t{\mathrm{\ω}}_t}[1-{\left(\frac{P_{\mathrm{amb}}}{P_{\mathrm{em}}}\right)}^{\frac{\mathrm{\γe}-1}{\mathrm{\γe}}}]$

Further arrangement can get:

${\stackrel{\·}{P}}_{\mathrm{em}}=a_5-k_{\mathrm{em}}{W}_{\mathrm{egr}}-k_{\mathrm{em}}{W}_t---\left(12\right)$

Wherein:

$a_5=k_{\mathrm{em}}(W_f+\frac{{\mathrm{\η}}_e{P}_{\mathrm{im}}{\mathrm{\ω}}_e{V}_d}{120R_a{T}_{\mathrm{im}}})---\left(13\right)$

Thus, can obtain:

$\left(\begin{array}{c}{\stackrel{\·}{W}}_c\\ {\stackrel{\·}{P}}_{\mathrm{em}}\end{array}\right)=\left(\begin{array}{c}{a}_3\\ a_5\end{array}\right)+\left[\begin{array}{cc}{a}_1{k}_{\mathrm{im}}& a_4\\ -k_{\mathrm{em}}& -k_{\mathrm{em}}\end{array}\right]\left(\begin{array}{c}{W}_{\mathrm{egr}}\\ W_t\end{array}\right)+\left(\begin{array}{c}{\mathrm{\Δ}}_c\\ 0\end{array}\right)---\left(14\right)$

Easy for what represent, formula (14) further can be put in order is following form:

$\stackrel{\·}{x}=f\left(x\right)+g\left(x\right)u+\mathrm{\Δ}---\left(15\right)$

Wherein:

$x=\left(\begin{array}{c}{W}_c\\ P_{\mathrm{em}}\end{array}\right);$

$f\left(x\right)=\left(\begin{array}{c}{a}_3\\ a_5\end{array}\right);$

$g\left(x\right)=\left[\begin{array}{cc}{a}_1{k}_{\mathrm{im}}& a_4\\ {-k}_{\mathrm{em}}& -k_{\mathrm{em}}\end{array}\right];$

$a_4=\frac{2a_2{\mathrm{\η}}_m{\mathrm{\η}}_t{c}_{\mathrm{pe}}{T}_{\mathrm{em}}}{J_t{\mathrm{\ω}}_t}[1-{\left(\frac{P_{\mathrm{amb}}}{P_{\mathrm{em}}}\right)}^{\frac{\mathrm{\γe}-1}{\mathrm{\γe}}}];$

$u=\left(\begin{array}{c}{W}_{\mathrm{egr}}\\ W_t\end{array}\right);$

$\mathrm{\Δ}=\left(\begin{array}{c}{\mathrm{\Δ}}_c\\ 0\end{array}\right).$

Like this, embodiments of the present invention have been set up a kind of many inputs that characterize the exhaust gas flow Relations Among of the air mass flow of the cylinder exhaust pressure of diesel engine, the air compressor of flowing through, the exhaust gas flow of the EGR valve of flowing through and the pressure charging valve of flowing through/many outputs, nonlinear physical models.

Of course it is to be understood that given above only is a kind of preferred implementation of the air system physical model of Control-oriented.The various distortion of this model are possible.For example, under some working condition, in physical model, can not consider mentioned above one or more aspect, and/or the increase new aspect relevant with motor.And for example, as indicated above, in some embodiments, can not consider the dynamic disturbance source of not modeling.In fact, based on as above enlightenment and the instruction that the present invention provides, those skilled in the art can be in conjunction with its real needs and condition, and design realizes that any suitable physical model characterizes the air system of diesel engine.

In addition, as mentioned above, in the physical model involved these aspects some belong to the build-in attribute of motor, some then is the real-time working condition of motor.For the build-in attribute of motor, they can pre-determine and obtain.And for real-time working condition, then may be in the operation process of motor Real-time Obtaining.For this reason, operating mode obtaining device 202 can further comprise one or more (son) device (not shown among Fig. 2), and the configuration of every height device is used for obtaining the measured value of corresponding operating mode, and it is passed to target flow determines that device 204 is for use.

According to the embodiment of the present invention, based on above-mentioned physical model, the actual measured value P of the air mass flow of given cylinder exhaust pressure and the air compressor of flowing through _EmAnd W _CAnd desired value P _{Em, d}And W _{C, d}, target flow determines that device 204 can be according to the present known or any suitable control strategy of exploitation in the future, the target exhaust gas flow of determine to flow through EGR valve and pressure charging valve.

Below, will take the slip control strategy as example, describe a class preferred implementation of the present invention in detail.Particularly, in this type of mode of execution, target flow determines that device 204 further comprises the definite device (not shown among Fig. 2) based on the control of sliding, and configuration is used for based on slip control strategy determine the to flow through device of target exhaust gas flow of EGR valve and pressure charging valve.In operating process, should be configurable be used to defining slip surface S=0, that is: based on definite device of the control of sliding

$s=\tilde{x}=x-x_d$

Wherein

$x_d=\left(\begin{array}{c}{W}_{c,d}\\ P_{\mathrm{em},d}\end{array}\right)$

At this moment, the air system nonlinear model according to formula (15) limits has:

$\frac{1}{2}\frac{d}{\mathrm{dt}}\left(s^{T}s\right)=s^T\stackrel{\·}{s}=s^T(f\left(x\right)+g\left(x\right)u+\mathrm{\Δ})---\left(16\right)$

Then, establishing the control law of controlling that slides is:

$u=g^{-1}[-f\left(x\right)-\tilde{x}-\left(\underset{0}{\mathrm{\ϵsgn}(W_c-W_{c,d})}\right)]---\left(17\right)$

Wherein sgn represents sign function, that is:

sgn(y)＝1，y＞0

sgn(y)＝-1，y＜0

Then have

$\frac{1}{2}\frac{d}{\mathrm{dt}}\left(s^{T}s\right)\≤-\mathrm{\λ}\left|s_1\right|---\left(18\right)$

λ＞0 wherein.

Obtain thus:

$W_{\mathrm{egr}}=\frac{1}{a_4{k}_{\mathrm{em}}-a_1{k}_{\mathrm{im}}{k}_{\mathrm{em}}}\{-a_4(a_5+P_{\mathrm{em}}-P_{\mathrm{em},d})-k_{\mathrm{em}}[a_3+(W_c-W_{c,d})+\mathrm{\ϵsgn}(W_c-W_{c,d})\left]\right\}---\left(19\right)$

And

$W_t$

$=\frac{1}{a_4{k}_{\mathrm{em}}-a_1{k}_{\mathrm{im}}{k}_{\mathrm{em}}}\left\{k_{\mathrm{em}}\right[a_3+(W_c-W_{c,d})+\mathrm{\ϵsgn}(W_c,-W_{c,d})]+a_1{k}_{\mathrm{im}}(a_5+P_{\mathrm{em}}-P_{\mathrm{em},d})\}---\left(20\right)$

In this way, target flow is determined device 204 can determine the to flow through target exhaust gas flow of EGR valve and pressure charging valve.

Should be appreciated that above the mode of execution based on the slip control strategy only is exemplary.In the situation of the air system Nonlinear physics Model of having set up Control-oriented, target flow determines that device 204 can comprise arbitrarily suitable sub-device, configuration is used for adopting any suitable control strategy to determine the flow through target exhaust gas flow of EGR valve and pressure charging valve, for example Robust Adaptive Control strategy, robust nonlinear control strategy, etc.Scope of the present invention is unrestricted in this regard.

Continuation is with reference to figure 2, control apparatus 200 also comprises signal generation device 206, it is coupled to target flow and determines device 204, configuration is used for determining according to target flow the target exhaust gas flow of the target exhaust gas flow of the device 204 determined described EGR valves of flowing through and the described pressure charging valve of flowing through, and generation drives signal for first of egr system and is used for second of turbo charge system and drives signal.

Especially, according to the embodiment of the present invention, first drives the aperture that signal is used for control EGR valve, and second drives the aperture that signal is used for the control pressure charging valve.For this reason, according to the embodiment of the present invention, signal generation device 206 may further include the EGR valve opening and determines that device 2062 and pressure charging valve aperture determine device 2064, and the two configures respectively for determine the target aperture of EGR valve and the target aperture of pressure charging valve based on the data of determining device 204 from target flow.

As is known to persons skilled in the art, flow through and exist respectively confirmable corresponding relation between the aperture of the exhaust gas flow of above-mentioned two valves and these two valves.For example, In some embodiments of the present invention, the corresponding relation between the two is based on corresponding arteries and veins spectrogram and obtains.In other words, the EGR valve opening is determined device 2062 after determining that from target flow device 204 receives the target exhaust gas flow of the EGR valve of flowing through, and based on exhaust gas flow and the relation of the arteries and veins spectrogram between the EGR valve opening of EGR valve, determines the target aperture of EGR valve.Similarly, the pressure charging valve aperture determines that device 2064 can determine based on the arteries and veins spectrogram target aperture of pressure charging valve equally.Correspondingly, signal generation device 206 will produce the aperture that control signal drives EGR valve and pressure charging valve.

Above in conjunction with some embodiments structure and operation according to control apparatus 200 of the present invention have been described.Description by above is to be understood that, according to the embodiment of the present invention, control apparatus 200 can adopt the Nonlinear physics Model of air system, effectively realize the control to egr system and turbo charge system, thereby so that the actual conditions of air system approaches the target operating condition of expectation as much as possible.

Should be appreciated that shown in Fig. 2 and at above-described control apparatus 200 to utilize various ways to implement.For example, in some embodiments, equipment 200 can be implemented as intergrated circuit (IC) chip.In other mode of executions, equipment 200 can be realized by SOC(system on a chip) (SoC) and corresponding software and/or firmware.Alternatively or additionally, equipment 200 can also utilize software module to realize, namely is embodied as computer program.Scope of the present invention is unrestricted in this regard.

With reference to figure 3, it shows the structured flowchart of the SOC(system on a chip) (SoC) 300 that is suitable for implementing control apparatus shown in Figure 2 200.As shown in Figure 3, SoC 300 can comprise that operating mode is obtained piece 302, target flow is determined piece 304 and signal generation block 306, and it corresponds respectively to operating mode obtaining device 202, the target flow above described with reference to figure 2 and determines device 204, signal generation device 206.In addition, although not shown in Fig. 3, according to the embodiment of the present invention, these pieces can also comprise sub-block, install the sub-device that comprises corresponding to each that describe among Fig. 2.These pieces 302-306 and sub-block thereof can be used as hardware, software and/or firmware module, integrally operate mutually independently or with other entities such as signal processing and control circuits, in order to realize various mode of execution described here and/or feature.

In addition, SoC 300 comprises various assemblies, such as input output (I/O) logic 310 (for example in order to comprise electronic circuit) and microprocessor 312 (for example, any microcontroller or DSP digital signal processor).SoC 300 also comprises storage 314, and it can be the random access storage device (RAM) of any type, low nonvolatile memory (for example, flash memory), ROM (read-only memory) (ROM) and/or other the suitable electronic data storage of postponing.SoC 300 can also comprise various firmwares and/or software, and such as operation system 316, it can be the computer executable instructions of being safeguarded and being carried out by microprocessor 312 by storage 314.SoC 300 can also comprise other various communication interfaces and assembly, network interface components, other hardware, firmware and/or software.

Should be appreciated that according to the embodiment of the present invention, SoC 300 can be integrated with required other hardware, firmware and/or the software of electronic circuit, microprocessor, storage, input output (I/O) logic, communication interface and assembly, the whole equipment of operation.SoC 300 can also comprise integrated data bus (not shown), and each assembly of its coupling SoC is to be used for the data communication between the assembly.The equipment that comprises SoC 300 can also utilize a plurality of combinations of different assemblies to realize.

Below with reference to Fig. 4, it shows the flow chart according to the method 400 of the nonlinear Control of the air system that is used for diesel engine of embodiment of the present invention.After method 400 beginnings, at step S402, obtain the measured value of cylinder exhaust pressure, and the measured value of the air mass flow of the air compressor of flowing through.

Next, at step S404, according to measured value and the corresponding desired value of cylinder exhaust pressure and the air mass flow of the air compressor of flowing through, use the Nonlinear physics Model that characterizes air system, determine to flow through the target exhaust gas flow of EGR valve and the target exhaust gas flow of the pressure charging valve of flowing through.As indicated above, according to the embodiment of the present invention, can utilize various control strategy determine to flow through the target exhaust gas flow of EGR valve and the target exhaust gas flow of the pressure charging valve of flowing through, for example slide control, self adaptive control, nonlinear Control, etc.

Then, at step S406, based on the target exhaust gas flow of the determined EGR of flowing through valve and the target exhaust gas flow of the pressure charging valve of flowing through, produce the driving signal that is used for egr system and turbo charge system.For example, in some embodiments, can determine respectively based on two target exhaust gas flows the target aperture (for example, based on the arteries and veins spectrogram) of EGR valve and pressure charging valve, and the driving signal can correspondingly drive EGR valve and pressure charging valve.

Be appreciated that the step of record in the method 400 is with above fully corresponding consistent respectively with reference to the device in the control apparatus 200 of figure 2 descriptions.Thus, operation, function and/or the feature of above describing with reference to each device of control apparatus 200 is equally applicable to each step of method 400.And each step of record can be carried out and/or executed in parallel according to different orders in the method 400.

In addition, should be appreciated that the method 400 of describing with reference to figure 4 can realize by computer program.For example, this computer program can comprise at least one computer-readable recording medium, and it has the computer readable program code part that is stored thereon.When computer-readable code part when for example processor is carried out, it is used for the step of manner of execution 400.

Above spirit of the present invention and principle have been explained in conjunction with some embodiments.According to the embodiment of the present invention, can set up the physical model that characterizes diesel engine air system, it can be used to effectively (to comprise transient state and stable state) under various working conditions control egr system and turbo charge system, thus make through the air mass flow of air compressor and cylinder exhaust pipe pressure as far as possible close to the desired value of expectation.In this way, can in the dynamic characteristic of opposing external interference source and not modeling, take into account the coupling between egr system and the turbo charge system.And, simple according to the device structure of embodiment of the present invention, be easy to realize.Therefore, embodiments of the present invention can be improved the control of diesel engine air system significantly.

Should be noted that embodiments of the present invention can realize by the combination of hardware, software or software and hardware.Hardware components can utilize special logic to realize; Software section can be stored in the storage, and by suitable instruction execution system, for example microprocessor or special designs hardware are carried out.Those having ordinary skill in the art will appreciate that above-mentioned equipment and method can and/or be included in the processor control routine with computer executable instructions realizes, for example such as the mounting medium of disk, CD or DVD-ROM, provide such code such as the programmable memory of ROM (read-only memory) (firmware) or such as the data medium of optics or electronic signal carrier.Equipment of the present invention and module thereof can be by such as vlsi circuit or gate array, realize such as the semiconductor of logic chip, transistor etc. or such as the hardware circuit of the programmable hardware device of field programmable gate array, programmable logic device etc., also can use the software of being carried out by various types of processors to realize, also can by the combination of above-mentioned hardware circuit and software for example firmware realize.

Although should be noted that some devices or the sub-device of having mentioned control apparatus in above-detailed, this division only is not enforceable.In fact, according to the embodiment of the present invention, the feature of above-described two or more devices and function can be specialized in a device.Otherwise, the feature of an above-described device and function can Further Division for to be specialized by a plurality of devices.

In addition, although described in the accompanying drawings the operation of the inventive method with particular order,, this is not that requirement or hint must be carried out these operations according to this particular order, or the operation shown in must carrying out all could realize the result of expectation.On the contrary, the step of describing in the flow chart can change execution sequence.Additionally or alternatively, can omit some step, a plurality of steps be merged into a step carry out, and/or a step is decomposed into a plurality of steps carries out.

Although described the present invention with reference to some embodiments, should be appreciated that, the present invention is not limited to disclosed embodiment.The present invention is intended to contain interior included various modifications and the equivalent arrangements of spirit and scope of claims.The scope of claims meets the most wide in range explanation, thereby comprises all such modifications and equivalent structure and function.

Claims (14)

1. equipment that is used for the air system of control diesel engine, described air system comprises EGR egr system and turbo charge system, wherein said egr system comprises the EGR valve, and described turbo charge system comprises air compressor and pressure charging valve, and described equipment comprises:

The operating mode obtaining device, configuration is for the measured value of the air mass flow of the measured value of the cylinder exhaust pressure that obtains described diesel engine and the described air compressor of flowing through;

Target flow is determined device, it is coupled to described operating mode obtaining device, configuration is for the measured value that obtains according to described operating mode obtaining device, and according to the desired value of the air mass flow of the desired value of the cylinder exhaust pressure of described diesel engine and the described air compressor of flowing through, with the Nonlinear physics Model that characterizes described air system determine to flow through the target exhaust gas flow of described EGR valve and the target exhaust gas flow of the described pressure charging valve of flowing through; And

Signal generation device, it is coupled to described target flow and determines device, configuration is used for determining according to described target flow the target exhaust gas flow of the target exhaust gas flow of the described described EGR valve of flowing through that device is definite and the described pressure charging valve of flowing through, and generation is used for first of described egr system and drives signal and drive signal for second of described turbo charge system.

2. equipment as claimed in claim 1, wherein said target flow determines that device further comprises:

Based on definite device of the control of sliding, configuration is for determine flow through the target exhaust gas flow of described EGR valve and the target exhaust gas flow of the described pressure charging valve of flowing through based on the slip control strategy.

3. equipment as claimed in claim 1, wherein said signal generation device further comprises:

EGR valve target aperture is determined device, and configuration is used for determining according to the target exhaust gas flow of the described described EGR valve of flowing through the target aperture of described EGR valve; And

Pressure charging valve target aperture is determined device, and configuration is used for determining according to the target exhaust gas flow of the described described pressure charging valve of flowing through the target aperture of described pressure charging valve.

4. equipment as claimed in claim 3, wherein said first drives the aperture that signal is used for controlling described EGR valve, and wherein said second drives the aperture that signal is used for controlling described pressure charging valve.

5. equipment as claimed in claim 1, wherein said equipment utilization SOC(system on a chip) SoC or IC are realized.

6. equipment as claimed in claim 1, wherein said Nonlinear physics Model is relevant with the following aspect of described diesel engine:

Suction pressure, exhaust pressure, air mass flow, enter the gas flow of cylinder, cylinder exhaust valve rate of discharge, suction valve flow coefficient, rotating speed, cylinder piston-rod displacement, air inlet thermal constant, intake temperature, suction tude equivalent volume, exhaust heat constant, delivery temperature, outlet pipe equivalent volume, the pressurized machine mechanical efficiency of described egr system, booster turbine efficient, booster turbine thermal capacity, atmospheric temperature, atmospheric environmental pressure, inlet air ratio of heat capacities, exhaust heat Capacity Ratio, compressor efficiency, pressurized machine rotating shaft rotary inertia, supercharger speed, the booster turbine exhaust energy, the compressed air energy, pressurized air thermal capacity, and fuel injection flow rate.

7. equipment as claimed in claim 6, wherein said Nonlinear physics Model further the dynamic disturbance source with the described air system of described diesel engine are relevant.

8. diesel engine comprises:

Cylinder;

Admission line is coupled to the entry end of described cylinder, and configuration is used for carrying gas to described cylinder;

Exhaust duct is coupled to the outlet end of described cylinder, and configuration is used for discharging the waste gas of described cylinder combustion;

Fuel injection system is coupled to described cylinder, and configuration is used for to described cylinder injection fuel oil;

Air system comprises:

The EGR egr system is coupled to described exhaust duct and described admission line, and comprises the EGR valve, and described egr system configuration is used for and will be transmitted back to described cylinder by described admission line from the part waste gas of described exhaust duct;

Turbo charge system is coupled to described exhaust duct, and comprises air compressor and pressure charging valve, and the configuration of described turbo charge system is used for being used to waste gas from described exhaust duct and increases suction pressure by described cylinder; And

Control unit comprises equipment as claimed in claim 1, to be used for controlling described air system.

9. method that is used for the air system of control diesel engine, described air system comprises EGR egr system and turbo charge system, wherein said egr system comprises the EGR valve, and described turbo charge system comprises air compressor and pressure charging valve, and described method comprises:

Obtain the measured value of the air mass flow of the measured value of cylinder exhaust pressure of described diesel engine and the described air compressor of flowing through;

According to the measured value that obtains, and according to the desired value of the air mass flow of the desired value of the cylinder exhaust pressure of described diesel engine and the described air compressor of flowing through, with the Nonlinear physics Model that characterizes described air system determine to flow through the target exhaust gas flow of described EGR valve and the target exhaust gas flow of the described pressure charging valve of flowing through; And

According to the target exhaust gas flow of the described described EGR valve of flowing through and the target exhaust gas flow of the described pressure charging valve of flowing through, produce for the first driving signal of described egr system with for second of described turbo charge system and drive signal.

10. method as claimed in claim 9, wherein saidly determine further to comprise:

Based on slip control strategy determine to flow through the target exhaust gas flow of described EGR valve and the target exhaust gas flow of the described pressure charging valve of flowing through.

11. method as claimed in claim 9 further comprises:

Determine the target aperture of described EGR valve according to the target exhaust gas flow of the described described EGR valve of flowing through; And

Determine the target aperture of described pressure charging valve according to the target exhaust gas flow of the described described pressure charging valve of flowing through.

12. method as claimed in claim 11, wherein said first drives the aperture that signal is used for controlling described EGR valve, and wherein said second drives the aperture that signal is used for controlling described pressure charging valve.

13. method as claimed in claim 9, wherein said Nonlinear physics Model is relevant with the following aspect of described diesel engine:

Suction pressure, exhaust pressure, air mass flow, enter the gas flow of cylinder, cylinder exhaust valve rate of discharge, suction valve flow coefficient, rotating speed, cylinder piston-rod displacement, air inlet thermal constant, intake temperature, suction tude equivalent volume, exhaust heat constant, delivery temperature, outlet pipe equivalent volume, the pressurized machine mechanical efficiency of described egr system, booster turbine efficient, booster turbine thermal capacity, atmospheric temperature, atmospheric environmental pressure, inlet air ratio of heat capacities, exhaust heat Capacity Ratio, compressor efficiency, pressurized machine rotating shaft rotary inertia, supercharger speed, the booster turbine exhaust energy, the compressed air energy, pressurized air thermal capacity, and fuel injection flow rate.

14. method as claimed in claim 13, wherein said Nonlinear physics Model also the dynamic disturbance source with the described air system of described diesel engine are relevant.

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