Control method and device of exhaust gas recirculation valve and vehicle

Abstract

This invention discloses a control method, device, and vehicle for an exhaust gas recirculation (EGR) valve. The method includes: acquiring a target opening degree and current position of the EGR valve, wherein the target opening degree characterizes the opening degree of the EGR valve during operation; determining a target adjustment amount based on the target opening degree and current position; predicting the opening degree of the EGR valve based on the target adjustment amount to determine a target predicted opening degree, wherein the target predicted opening degree characterizes the opening degree of the EGR valve at the next moment; and controlling the EGR valve based on the target predicted opening degree. This invention solves the technical problem of low control efficiency of EGR valves in related technologies.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and more specifically, to a control method, device, and vehicle for an exhaust gas recirculation valve. Background Technology

[0002] The function of an exhaust gas recirculation (EGR) valve is to reintroduce exhaust gases from the engine into the combustion chamber for re-combustion, thereby reducing the emission of harmful substances and thus lowering environmental pollution. Current technologies primarily use the traditional proportional-integral-derivative (PID) control algorithm to control the EGR valve, but this method has relatively low control efficiency.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a control method, apparatus, and vehicle for an exhaust gas recirculation valve, to at least solve the technical problem of low control efficiency of exhaust gas recirculation valves in the related art.

[0005] According to one aspect of the present invention, a control method for an exhaust gas recirculation valve is provided, comprising: acquiring a target opening degree and a current position of the exhaust gas recirculation valve, wherein the target opening degree is used to characterize the opening degree of the exhaust gas recirculation valve during operation; determining a target adjustment amount based on the target opening degree and the current position; predicting the opening degree of the exhaust gas recirculation valve based on the target adjustment amount to determine a target predicted opening degree, wherein the target predicted opening degree is used to characterize the opening degree of the exhaust gas recirculation valve at the next moment; and controlling the exhaust gas recirculation valve based on the target predicted opening degree.

[0006] Optionally, predicting the opening of the exhaust gas recirculation valve based on the target adjustment amount and determining the target predicted opening amount includes: predicting the opening of the exhaust gas recirculation valve based on the target adjustment amount and determining a predicted opening sequence, wherein the predicted opening sequence is used to characterize the opening of the exhaust gas recirculation valve in a future preset time period; and determining the first predicted opening in the predicted opening sequence as the target predicted opening amount.

[0007] Optionally, the opening degree of the exhaust gas recirculation valve is predicted based on the target adjustment amount, and the predicted opening degree sequence is determined, including: constructing a virtual prediction system, wherein the virtual prediction system is used to predict the opening degree of the exhaust gas recirculation valve in a future preset time period; inputting the target adjustment amount into the virtual prediction system, and obtaining the predicted opening degree sequence output by the virtual prediction system.

[0008] Optionally, a virtual prediction system is constructed, including: constructing multiple system structural equations for the exhaust gas recirculation valve, wherein the multiple system structural equations include at least: the voltage balance equation, kinematic differential equation, and mathematical equation of the drive motor in the exhaust gas recirculation valve; based on the multiple system structural equations, determining the state-space equation of the exhaust gas recirculation valve, wherein the state-space equation is used to characterize the influence of target parameters in the exhaust gas recirculation valve on the exhaust gas recirculation valve, and the target parameters include at least: the operating parameters of the drive motor, the kinematic parameters of the exhaust gas recirculation valve, and the mathematical parameters of the exhaust gas recirculation valve; and discretizing the state-space equation to construct the virtual prediction system.

[0009] Optionally, based on the operating parameters of the drive motor, a voltage balance equation is constructed, wherein the operating parameters include at least: equivalent resistance, armature current, armature inductance, input voltage, motor back electromotive force, motor back electromotive force coefficient, and motor rotor angular velocity; based on the motion parameters of the exhaust gas recirculation valve, a kinematic differential equation is constructed, wherein the motion parameters include at least: valve shaft rotational inertia, exhaust gas recirculation valve plate angular velocity, gear transmission ratio, motor main shaft rotational inertia, frictional torque, and spring torque; based on the mathematical parameters of the exhaust gas recirculation valve, a mathematical equation is constructed, wherein the mathematical parameters include at least: return spring elastic coefficient, exhaust gas recirculation valve plate angle, initial preload torque, and total rotational inertia.

[0010] Optionally, the exhaust gas recirculation valve is controlled based on the target predicted opening degree, including: obtaining a control rate sequence of the exhaust gas recirculation valve, wherein the control rate sequence is used to characterize the rate of change of the opening degree of the exhaust gas recirculation valve in a future preset time period; determining an optimal control sequence based on the control rate sequence, wherein the optimal control sequence is used to characterize the optimal state of the opening and closing changes of the exhaust gas recirculation valve in a future preset time period; and controlling the exhaust gas recirculation valve based on the optimal control sequence.

[0011] Optionally, determining the optimal control sequence based on the control rate sequence includes: taking the partial derivative of the optimal control sequence based on the control rate sequence to obtain the partial derivative value; and obtaining the optimal control sequence when the control partial derivative value is zero.

[0012] According to another aspect of the present invention, a control device for an exhaust gas recirculation valve is also provided, comprising: an acquisition module for acquiring a target opening degree and a current position of the exhaust gas recirculation valve, wherein the target opening degree is used to characterize the opening degree of the exhaust gas recirculation valve during operation; a first determination module for determining a target adjustment amount based on the target opening degree and the current position; a second determination module for predicting the opening degree of the exhaust gas recirculation valve based on the target adjustment amount and determining a target predicted opening degree; and a control module for controlling the exhaust gas recirculation valve based on the target predicted opening degree, wherein the target predicted opening degree is used to characterize the opening degree of the exhaust gas recirculation valve at the next moment.

[0013] According to another aspect of the present invention, a vehicle is also provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform any of the methods described above.

[0014] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the above-described control method for the exhaust gas recirculation valve.

[0015] According to another aspect of the present invention, a processor is also provided, which is used to run a program, wherein the program executes the above-described control method for the exhaust gas recirculation valve during operation.

[0016] In this embodiment of the invention, the target opening degree and current position of the exhaust gas recirculation valve are obtained, wherein the target opening degree is used to characterize the opening degree of the exhaust gas recirculation valve during operation; based on the target opening degree and current position, a target adjustment amount is determined; based on the target adjustment amount, the opening degree of the exhaust gas recirculation valve is predicted to determine the target predicted opening degree; based on the target predicted opening degree, the exhaust gas recirculation valve is controlled. Through the above steps, after determining the target adjustment amount, the opening degree of the exhaust gas recirculation valve at the next moment is predicted based on the target adjustment amount, and then the exhaust gas recirculation valve is controlled based on the target predicted opening degree, achieving the purpose of precise control of the exhaust gas recirculation valve and enhancing stability, thereby achieving the technical effect of improving the control efficiency of the exhaust gas recirculation valve, and thus solving the technical problem of low control efficiency of exhaust gas recirculation valves in related technologies. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0018] Figure 1 This is a flowchart of a control method for an exhaust gas recirculation valve according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of a method for controlling an exhaust gas recirculation valve according to an embodiment of the present invention;

[0020] Figure 3 This is a schematic diagram of an optimal control sequence solution according to an embodiment of the present invention;

[0021] Figure 4 This is a flowchart of another control method for an exhaust gas recirculation valve according to an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of a control device for an exhaust gas recirculation valve according to an embodiment of the present invention. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0025] Example 1

[0026] According to embodiments of the present invention, a method, apparatus, system, and vehicle for controlling an exhaust gas recirculation valve are provided. It should be noted that the steps shown in the flowcharts in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowcharts, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0027] Figure 1 This is a flowchart of a control method for an exhaust gas recirculation valve according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0028] Step S102: Obtain the target opening degree and current position of the exhaust gas recirculation valve, wherein the target opening degree is used to characterize the opening degree of the exhaust gas recirculation valve during operation.

[0029] The exhaust gas recirculation valve can be understood as a device used to control the recirculation of engine exhaust gases. It is usually installed between the engine intake and exhaust manifolds. By controlling the opening and closing of the valve, the proportion of exhaust gas recirculation is adjusted to reduce harmful substances in the exhaust gas emitted by the engine. The target opening degree can be understood as the opening degree that the exhaust gas recirculation valve needs to achieve during operation, and the current position can be understood as the current position of the exhaust gas recirculation valve between the engine intake and exhaust manifolds.

[0030] In one alternative embodiment, the relationship between the exhaust gas recirculation valve rate and engine speed and intake air volume can be determined by engine bench testing, thereby calculating the target opening. The exhaust gas recirculation valve rate can be understood as the proportion of exhaust gas flow recirculated by the exhaust gas recirculation valve into the intake manifold to the total intake air flow.

[0031] In another alternative embodiment, the current position of the exhaust gas recirculation valve can be obtained by placing a distance sensor between the engine intake and exhaust manifolds.

[0032] It is understandable that the relationship between the exhaust gas recirculation (EGR) valve rate and engine speed and intake air volume can be interpreted as follows: an increase in engine speed leads to an increase in intake air volume, which in turn increases the amount of exhaust gas produced. Therefore, at the same EGR valve opening, an increase in engine speed will lead to an increase in the EGR valve rate. An increase in intake air volume will increase the amount of exhaust gas produced. However, if the EGR valve opening remains unchanged, an increase in intake air volume will lead to a decrease in the EGR valve rate. An increase in the EGR valve opening will increase the exhaust gas recirculation flow rate, thereby increasing the EGR valve rate. Conversely, a decrease in the EGR valve opening will decrease the EGR valve rate. Therefore, the required EGR valve rate can be calculated using the current engine speed and the intake air volume on the intake side, and then the target opening of the EGR valve can be calculated.

[0033] Step S104: Determine the target adjustment amount based on the target opening and the current position.

[0034] The target adjustment amount can be understood as the amount by which the current position of the exhaust gas recirculation valve needs to be adjusted in order to achieve the target opening degree.

[0035] In one alternative embodiment, the current position of the exhaust gas recirculation valve can be adjusted by adjusting the angle of the exhaust gas recirculation valve.

[0036] In another alternative embodiment, the target opening degree and the current position can be input to the online optimization controller, which will then output a target adjustment amount. This allows for subsequent prediction of the opening degree of the exhaust gas recirculation valve based on the target adjustment amount. The online optimization controller can be understood as a control system that can optimize and adjust the system in real time based on real-time input information and feedback. By continuously monitoring the system status, collecting data, and analyzing information, this controller can achieve the best performance and effect of the system.

[0037] Understandably, by using an online optimization controller, problems such as interference and time-varying controlled parameters can be effectively solved in the process of predicting the opening of the exhaust gas recirculation valve, thus enabling the prediction system to have good stability.

[0038] Step S106: Predict the opening degree of the exhaust gas recirculation valve based on the target adjustment amount, and determine the target predicted opening degree.

[0039] The target predicted opening degree can be understood as the opening degree of the exhaust gas recirculation valve at the next moment.

[0040] In an alternative embodiment, a virtual prediction system can be constructed to predict the opening degree of the exhaust gas recirculation valve and determine the target predicted opening degree.

[0041] It is understandable that the target adjustment amount is input into the virtual prediction system, and then the virtual prediction system outputs the target predicted opening. The accuracy of the final target predicted opening is relatively high, so that the exhaust gas recirculation valve can be accurately controlled to achieve the target opening based on the target predicted opening.

[0042] Step S108: Control the exhaust gas recirculation valve based on the target predicted opening degree.

[0043] Understandably, controlling the exhaust gas recirculation valve based on the target predicted opening degree can enable the exhaust gas recirculation valve to respond quickly and move precisely to the required target position, that is, to achieve the target opening degree.

[0044] In one alternative embodiment, the exhaust gas recirculation valve is controlled based on the target predicted opening degree. This can be achieved by continuously adjusting the current opening degree of the exhaust gas recirculation valve until the target predicted opening degree is reached.

[0045] Through the above steps, the target opening degree and current position of the exhaust gas recirculation valve are obtained. The target opening degree characterizes the valve's opening during operation. Based on the target opening degree and current position, a target adjustment amount is determined. The opening degree of the exhaust gas recirculation valve is predicted based on the target adjustment amount, and the predicted target opening degree is determined. The exhaust gas recirculation valve is then controlled based on the predicted target opening degree. By determining the target adjustment amount and predicting the valve opening at the next moment, the exhaust gas recirculation valve is controlled based on this predicted opening degree. This achieves precise control of the exhaust gas recirculation valve, enhances stability, and improves its control efficiency, thus solving the technical problem of low control efficiency in exhaust gas recirculation valves in related technologies.

[0046] Optionally, determining the target predicted opening degree based on the target adjustment amount includes: predicting the opening degree of the exhaust gas recirculation valve based on the target adjustment amount, determining a predicted opening degree sequence, wherein the predicted opening degree sequence is used to characterize the opening degree of the exhaust gas recirculation valve in a future preset time period; and determining the first predicted opening degree in the predicted opening degree sequence as the target predicted opening degree.

[0047] The predicted opening sequence can be understood as a sequence of multiple openings of the exhaust gas recirculation valve over a future period of time, and the preset time period can be understood as a future period that is preset in advance.

[0048] In an alternative embodiment, the target adjustment amount can be input into the virtual prediction system, which then outputs a predicted opening sequence.

[0049] Specifically, within a preset time period in the future, a predicted value can be output at regular intervals, and N predicted values ​​can be output at the same cycle to generate a predicted opening sequence. For example, the opening value of the exhaust gas recirculation valve can be output every 5ms for a total of 20 times, thus generating a predicted opening sequence consisting of 20 values. The values ​​mentioned above are not limited to these and can be changed according to actual needs. Furthermore, the virtual prediction system can adjust the subsequent predicted opening sequence in real time according to different target adjustment amounts, and only output the first predicted value in the predicted opening sequence.

[0050] It is understandable that determining the first predicted opening in the predicted opening sequence as the target predicted opening, that is, only outputting the first predicted value in the predicted opening sequence, allows each loop to have a new predicted sequence, thereby achieving prediction in each control cycle and continuous optimization.

[0051] By determining the first predicted opening in the predicted opening sequence as the target predicted opening, rolling optimization can be achieved. That is, optimization calculations are continuously performed during the control process, and the next step of optimization control is executed. Through the rolling optimization process, model predictive control can better solve problems such as disturbances and time-varying controlled parameters, and make the virtual prediction system have good stability.

[0052] Optionally, the opening degree of the exhaust gas recirculation valve is predicted based on the target adjustment amount, and the predicted opening degree sequence is determined, including: constructing a virtual prediction system, wherein the virtual prediction system is used to predict the opening degree of the exhaust gas recirculation valve in a future preset time period; inputting the target adjustment amount into the virtual prediction system, and obtaining the predicted opening degree sequence output by the virtual prediction system.

[0053] The virtual prediction system can be understood as a dynamic prediction model used to output a predicted opening sequence.

[0054] In one alternative embodiment, the required predictive model can be built based on the structural principles of the exhaust gas recirculation valve.

[0055] It is understandable that since the exhaust gas recirculation valve works by the motor driving the valve shaft to move the valve plate, a virtual prediction system can be built by combining the principle of the drive motor.

[0056] Optionally, a virtual prediction system is constructed, including: constructing multiple system structural equations for the exhaust gas recirculation valve, wherein the multiple system structural equations include at least: the voltage balance equation, kinematic differential equation, and mathematical equation of the drive motor in the exhaust gas recirculation valve; based on the multiple system structural equations, determining the state-space equation of the exhaust gas recirculation valve, wherein the state-space equation is used to characterize the influence of target parameters in the exhaust gas recirculation valve on the exhaust gas recirculation valve, and the target parameters include at least: the operating parameters of the drive motor, the kinematic parameters of the exhaust gas recirculation valve, and the mathematical parameters of the exhaust gas recirculation valve; and discretizing the state-space equation to construct the virtual prediction system.

[0057] Among them, multiple system structure equations can be understood as equations used to reflect the structural principles of multiple systems within the exhaust gas recirculation valve; voltage balance equations can be understood as equations used to reflect the voltage distribution relationship between the voltage source and the resistive element; kinematic differential equations can be understood as equations used to reflect the change of the motion state of the exhaust gas recirculation valve over time; mathematical equations can be understood as equations used to reflect the relationship between the opening degree of the exhaust gas recirculation valve and the working parameters of the valve plate; state space equations can be used to characterize the influence of the target parameters in the exhaust gas recirculation valve on the exhaust gas recirculation valve; and discretization processing can be understood as the process of converting continuous data into discrete data.

[0058] It is understandable that discretization is used to transform a continuous-time system into a discrete-time system. In practical control systems, continuous-time systems often need to be digitized for implementation in digital controllers. Discretization can divide the time step into finite discrete intervals, making the system's state and inputs computable and sampled at discrete time points. Discretization can simplify the analysis and design of system models, reduce computational and storage complexity, and ensure system stability and performance. Therefore, virtual predictive systems can be obtained by discretizing the state-space equations, making system analysis and design simpler and more practical.

[0059] By following the steps above, the various components of the exhaust gas recirculation valve, such as the motor and spring, are broken down into mathematical formulas. These mathematical formulas are then used as inputs to output a virtual prediction system.

[0060] Optionally, multiple system structural equations for the exhaust gas recirculation valve are constructed, including: a voltage balance equation based on the operating parameters of the drive motor, wherein the operating parameters include at least: equivalent resistance, armature current, armature inductance, input voltage, motor back electromotive force, motor back electromotive force coefficient, and motor rotor angular velocity; a kinematic differential equation based on the motion parameters of the exhaust gas recirculation valve, wherein the motion parameters include at least: valve shaft moment of inertia, exhaust gas recirculation valve plate angular velocity, gear ratio, motor main shaft moment of inertia, friction torque, and spring torque; and a mathematical equation based on the mathematical parameters of the exhaust gas recirculation valve, wherein the mathematical parameters include at least: the spring constant of the return spring, the exhaust gas recirculation valve plate angle, the initial preload torque, and the total moment of inertia.

[0061] Specifically, the voltage balance equation of the drive motor can be expressed by the following formula:

[0062]

[0063] Where R represents the equivalent resistance, i represents the armature current, L represents the armature inductance, and u represents the input voltage. r k represents the back electromotive force of the motor. r ω represents the back electromotive force coefficient of the motor. r This indicates the angular velocity of the motor rotor.

[0064] The kinematic differential equation of the exhaust gas recirculation valve can be expressed by the following formula:

[0065]

[0066] Among them, J t ω represents the moment of inertia of the exhaust gas recirculation valve shaft, and ω represents the angular velocity of the exhaust gas recirculation valve plate. r J represents the angular velocity of the motor rotor, n represents the gear ratio, and J represents the angular velocity of the motor rotor.r T represents the moment of inertia of the motor spindle. f T represents frictional torque. s This indicates the spring torque.

[0067] The mathematical equation for the exhaust gas recirculation valve can be expressed by the following formula:

[0068]

[0069] Where, k s Let θ represent the spring constant of the return spring, θ represent the valve plate angle of the exhaust gas recirculation valve, T0 represent the preload torque on the spring at its initial position, and J represent the total moment of inertia of the valve shaft. J can be calculated using the following formula: J = n 2 ·J r +J t .

[0070] The state-space equation of the exhaust gas recirculation valve can be expressed by the following formula:

[0071]

[0072] in,

[0073] It should be noted that the state-space equation of the exhaust gas recirculation valve is discretized according to the sampling period of the current engine control unit to obtain the output value of the discretized prediction model, thereby obtaining the required exhaust gas recirculation valve prediction model, which can output the valve plate angle of the predicted future state and the valve plate angle at the current moment.

[0074] Optionally, the exhaust gas recirculation valve is controlled based on the target predicted opening degree, including: obtaining the control rate sequence of the exhaust gas recirculation valve; determining the optimal control sequence based on the control rate sequence; and controlling the exhaust gas recirculation valve based on the optimal control sequence.

[0075] Among them, the control rate sequence can be understood as the rate of change of the opening degree of the exhaust gas recirculation valve within a preset time period in the future, and the optimal control sequence can be understood as the optimal state of the opening and closing of the exhaust gas recirculation valve within a preset time period in the future.

[0076] Specifically, the control efficiency of the exhaust gas recirculation valve can be reflected by the rate of change of the valve's opening. For example, if the opening gradually increases, that is, when starting the exhaust gas recirculation system, the opening of the exhaust gas recirculation valve will gradually increase to achieve a stable recirculation flow rate. At this time, the control efficiency is high. If the opening is constant, that is, during stable operation, the opening of the exhaust gas recirculation valve will remain at a certain constant value to maintain a stable recirculation flow rate. At this time, the control efficiency is low. If the opening gradually decreases, that is, when stopping the exhaust gas recirculation system, the opening of the exhaust gas recirculation valve will gradually decrease until it is completely closed to stop the recirculation flow rate. At this time, the control efficiency is high.

[0077] The exhaust gas recirculation valve undergoes different opening and closing changes under different conditions. For example, when the exhaust gas recirculation system needs to be activated, a signal can be sent by the control system to open the valve, allowing exhaust gas to re-enter the recirculation system. When detecting exhaust gas flow, a flow sensor or other detection device can be used to monitor the exhaust gas flow in real time, which can be used to determine the load and effectiveness of the exhaust gas recirculation system. When controlling exhaust gas flow, the opening of the exhaust gas recirculation valve can be controlled based on the real-time monitored exhaust gas flow to adjust the flow to meet system requirements. When controlling exhaust gas composition, the opening of the exhaust gas recirculation valve can be adjusted by the control system based on the real-time monitored exhaust gas composition to control the oxygen content, carbon dioxide content, and other components in the exhaust gas to meet environmental protection requirements. When the exhaust gas recirculation system needs to be deactivated, a signal can be sent by the control system to close the valve, stopping exhaust gas from entering the recirculation system.

[0078] Optionally, determining the optimal control sequence based on the control rate sequence includes: taking the partial derivative of the optimal control sequence based on the control rate sequence to obtain the partial derivative value; and obtaining the optimal control sequence when the control partial derivative value is zero.

[0079] Specifically, an online optimization controller can be used to obtain the control rate of the current virtual prediction system by solving the cost function.

[0080] The control rate sequence can be calculated using the following formula:

[0081]

[0082] Where J represents the control rate sequence, P represents the prediction time domain, M represents the number of control steps; k represents the time series, r P (k) is a system setpoint representing the target valve opening, which can be determined by input from an external system. Let Δu(k) represent the opening prediction output sequence of the prediction model, Δu(k) represent the optimal control sequence of the system for the future M steps, and Q and R represent two weighting matrices.

[0083] Based on the control rate sequence, we can let That is, by finding the extreme value of the control law series, the optimal control sequence is obtained as follows:

[0084] Δu * (k)=(A T QA+R) -1 A T Q[r P (k)-d(k)]

[0085] Where A represents an inequality matrix, which can be understood as a simplified representation of several matrices derived from the partial derivatives of J mentioned above. T The transpose of matrix A, d(k), can be calculated using the following formula:

[0086]

[0087] Where e(k) represents the prediction error between the predicted value and the actual output, and G represents a pre-set matrix.

[0088] It is understandable that, since the operation of the exhaust gas recirculation valve is limited by the maximum and minimum operating voltages, ignoring the constraints in the control system can cause system instability, deterioration of control performance, and even damage to the controlled object. Therefore, the embodiments of the present invention can use the particle swarm optimization algorithm to obtain the optimal control sequence by solving the optimization problem online.

[0089] Figure 2 This is a schematic diagram of a method for controlling an exhaust gas recirculation valve according to an embodiment of the present invention, as shown below. Figure 2 As shown, the target opening degree r(k) is input into the online optimization controller, which outputs the control sequence u(k). The controlled process is then combined with external influencing factors, and finally, the predicted opening degree sequence is output through the dynamic prediction model. Finally, the model output and feedback correction are performed to obtain y(k+i / k).

[0090] Figure 3 This is a schematic diagram of an optimal control sequence solution according to an embodiment of the present invention, such as... Figure 3 As shown, the target aperture r(k) is input into the online optimization controller, which, in conjunction with the time delay module and the online prediction model, outputs a predicted aperture sequence. Then, the optimal control sequence is output, and the control quantity m is obtained. f (k), is input to the exhaust gas recirculation valve to obtain the actual output position y(k) of the exhaust gas recirculation valve. After passing through the filter, the prediction error e(k) is output. The time delay module can be used to store the input value, delay it for a certain period of time, and then retrieve and send it to facilitate the online prediction model to perform iterative prediction.

[0091] Figure 4 This is a flowchart of another control method for an exhaust gas recirculation valve according to an embodiment of the present invention, such as... Figure 4 As shown, the specific process includes:

[0092] Step S401: Build a mathematical model based on the parameters of the exhaust gas recirculation valve;

[0093] Step S402: Build the prediction model;

[0094] Step S403: Predict the valve plate position output sequence and take the first value;

[0095] Step S404: Feedback on the position of the correction valve plate;

[0096] Step S405: Solve the control quantity online by optimizing the controller. If the optimization objective is not met, return to step S403.

[0097] Step S406: If the condition is met, the action is applied to the controlled object and the actual output is obtained.

[0098] By using the above methods, a predictive model for the exhaust gas recirculation valve is established. Utilizing its internal rolling optimization and feedback correction mechanism, the control accuracy of the exhaust gas recirculation valve is improved, while the system's response speed and robustness are enhanced. This achieves the goal of precise control of the exhaust gas recirculation valve and enhanced stability, thereby realizing the technical effect of improving the control efficiency of the exhaust gas recirculation valve and solving the technical problem of low control efficiency of exhaust gas recirculation valves in related technologies.

[0099] Example 2

[0100] According to another aspect of the present invention, a control device for an exhaust gas recirculation valve is also provided. This device can execute the control method for the exhaust gas recirculation valve in Embodiment 1 above. The specific implementation scheme and application scenario in this embodiment are the same as those in Embodiment 1 above, and will not be described in detail here.

[0101] Figure 5 This is a schematic diagram of a control device for an exhaust gas recirculation valve according to an embodiment of the present invention, as shown below. Figure 5 As shown, the device includes: an acquisition module 502, used to acquire the target opening degree and current position of the exhaust gas recirculation valve, wherein the target opening degree is used to characterize the opening degree of the exhaust gas recirculation valve during operation; a first determination module 504, used to determine a target adjustment amount based on the target opening degree and current position; a second determination module 506, used to predict the opening degree of the exhaust gas recirculation valve based on the target adjustment amount, and determine the target predicted opening degree; and a control module 508, used to control the exhaust gas recirculation valve based on the target predicted opening degree, wherein the target predicted opening degree is used to characterize the opening degree of the exhaust gas recirculation valve at the next moment.

[0102] The second determining module 506 includes: a prediction unit, used to predict the opening degree of the exhaust gas recirculation valve based on the target adjustment amount, and determine a predicted opening degree sequence, wherein the predicted opening degree sequence is used to characterize the opening degree of the exhaust gas recirculation valve in a future preset time period; and an opening degree determining unit, used to determine the first predicted opening degree in the predicted opening degree sequence as the target predicted opening degree.

[0103] The prediction unit includes: a system construction subunit, used to construct a virtual prediction system, wherein the virtual prediction system is used to predict the opening degree of the exhaust gas recirculation valve within a preset time period in the future; and a sequence acquisition subunit, used to input the target adjustment amount into the virtual prediction system and acquire the predicted opening degree sequence output by the virtual prediction system.

[0104] The system construction subunit can be implemented through the following steps: Constructing multiple system structural equations for the exhaust gas recirculation valve, wherein these equations include at least: the voltage balance equation, kinematic differential equation, and mathematical equation of the drive motor in the exhaust gas recirculation valve; Based on these equations, determining the state-space equation of the exhaust gas recirculation valve, wherein the state-space equation characterizes the influence of target parameters on the exhaust gas recirculation valve, and the target parameters include at least: the operating parameters of the drive motor, the kinematic parameters of the exhaust gas recirculation valve, and the mathematical parameters of the exhaust gas recirculation valve; Discretizing the state-space equation to construct a virtual prediction system.

[0105] The system structure equations for the exhaust gas recirculation valve include: a voltage balance equation based on the operating parameters of the drive motor, wherein the operating parameters include at least: equivalent resistance, armature current, armature inductance, input voltage, motor back electromotive force, motor back electromotive force coefficient, and motor rotor angular velocity; a kinematic differential equation based on the motion parameters of the exhaust gas recirculation valve, wherein the motion parameters include at least: valve shaft moment of inertia, exhaust gas recirculation valve plate angular velocity, gear ratio, motor main shaft moment of inertia, friction torque, and spring torque; and a mathematical equation based on the mathematical parameters of the exhaust gas recirculation valve, wherein the mathematical parameters include at least: the spring constant of the return spring, the exhaust gas recirculation valve plate angle, the initial preload torque, and the total moment of inertia.

[0106] The control module 508 includes: a sequence acquisition unit for acquiring a control rate sequence of the exhaust gas recirculation valve, wherein the control rate sequence is used to characterize the opening change rate of the exhaust gas recirculation valve within a future preset time period; a determination unit for determining an optimal control sequence based on the control rate sequence, wherein the optimal control sequence is used to characterize the optimal state of the opening and closing of the exhaust gas recirculation valve within a future preset time period; and a control unit for controlling the exhaust gas recirculation valve based on the optimal control sequence.

[0107] The determining unit includes: a first acquisition subunit, used to calculate the partial derivative of the optimal control sequence based on the control law sequence, and obtain the partial derivative value; and a second acquisition subunit, used to obtain the optimal control sequence when the partial derivative value is zero.

[0108] Example 3

[0109] According to another aspect of the present invention, a vehicle is also provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform any of the methods described above.

[0110] Example 4

[0111] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the above-described control method for the exhaust gas recirculation valve.

[0112] Example 5

[0113] According to another aspect of the present invention, a processor is also provided, which is used to run a program, wherein the program executes the above-described control method for the exhaust gas recirculation valve during operation.

[0114] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0115] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0116] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0117] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0118] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0119] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0120] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A control method for an exhaust gas recirculation valve, characterized in that, include: The target opening degree and current position of the exhaust gas recirculation valve are obtained, wherein the target opening degree is used to characterize the opening degree of the exhaust gas recirculation valve during operation; Based on the target opening and the current position, determine the target adjustment amount; The opening degree of the exhaust gas recirculation valve is predicted based on the target adjustment amount to determine the target predicted opening degree, wherein the target predicted opening degree is used to characterize the opening degree of the exhaust gas recirculation valve at the next moment. The exhaust gas recirculation valve is controlled based on the target predicted opening degree. Predicting the opening of the exhaust gas recirculation valve based on the target adjustment amount and determining the target predicted opening amount includes: predicting the opening of the exhaust gas recirculation valve based on the target adjustment amount and determining a predicted opening sequence, wherein the predicted opening sequence is used to characterize the opening of the exhaust gas recirculation valve in a future preset time period; and determining the first predicted opening in the predicted opening sequence as the target predicted opening amount. Based on the target predicted opening degree, the exhaust gas recirculation valve is controlled, including: obtaining a control rate sequence of the exhaust gas recirculation valve, wherein the control rate sequence is used to characterize the opening change rate of the exhaust gas recirculation valve within a future preset time period; determining an optimal control sequence based on the control rate sequence, wherein the optimal control sequence is used to characterize the optimal state of the opening and closing change of the exhaust gas recirculation valve within a future preset time period; and controlling the exhaust gas recirculation valve based on the optimal control sequence.

2. The control method for the exhaust gas recirculation valve according to claim 1, characterized in that, Based on the target adjustment amount, the opening degree of the exhaust gas recirculation valve is predicted, and the predicted opening degree sequence is determined, including: A virtual prediction system is constructed, wherein the virtual prediction system is used to predict the opening degree of the exhaust gas recirculation valve within a future preset time period; The target adjustment amount is input into the virtual prediction system, and the predicted opening sequence output by the virtual prediction system is obtained.

3. The control method for the exhaust gas recirculation valve according to claim 2, characterized in that, Constructing a virtual prediction system includes: Multiple system structural equations for the exhaust gas recirculation valve are constructed, wherein the multiple system structural equations include at least: the kinematic differential equation of the exhaust gas recirculation valve, the mathematical equation of the exhaust gas recirculation valve, and the voltage balance equation of the drive motor in the exhaust gas recirculation valve. Based on the multiple system structural equations, the state-space equation of the exhaust gas recirculation valve is determined. The state-space equation is used to characterize the influence of target parameters in the exhaust gas recirculation valve on the exhaust gas recirculation valve. The target parameters include at least: the operating parameters of the drive motor, the motion parameters of the exhaust gas recirculation valve, and the mathematical parameters of the exhaust gas recirculation valve. The state-space equations are discretized to construct the virtual prediction system.

4. The control method for the exhaust gas recirculation valve according to claim 3, characterized in that, Constructing multiple system structural equations for the exhaust gas recirculation valve, including: Based on the operating parameters of the drive motor, the voltage balance equation is constructed, wherein the operating parameters include at least: equivalent resistance, armature current, armature inductance, input voltage, motor back electromotive force, motor back electromotive force coefficient, and motor rotor angular velocity. Based on the motion parameters of the exhaust gas recirculation valve, the kinematic differential equation is constructed, wherein the motion parameters include at least: valve shaft rotational inertia, exhaust gas recirculation valve plate angular velocity, gear transmission ratio, motor main shaft rotational inertia, frictional torque, and spring torque; Based on the mathematical parameters of the exhaust gas recirculation valve, the mathematical equation is constructed, wherein the mathematical parameters include at least: the elastic coefficient of the return spring, the valve plate angle of the exhaust gas recirculation valve, the initial preload torque, and the total moment of inertia.

5. The control method for the exhaust gas recirculation valve according to claim 1, characterized in that, Based on the control rate sequence, the optimal control sequence is determined, including: Based on the control rate sequence, the partial derivative of the optimal control sequence is calculated to obtain the partial derivative value; By controlling the partial derivative value to zero, the optimal control sequence is obtained.

6. A control device for an exhaust gas recirculation valve, characterized in that, include: The acquisition module is used to acquire the target opening degree and current position of the exhaust gas recirculation valve, wherein the target opening degree is used to characterize the opening degree of the exhaust gas recirculation valve during operation; The first determining module is used to determine the target adjustment amount based on the target opening degree and the current position; The second determining module is used to predict the opening degree of the exhaust gas recirculation valve based on the target adjustment amount, and determine the target predicted opening degree. A control module is used to control the exhaust gas recirculation valve based on the target predicted opening degree, wherein the target predicted opening degree is used to characterize the opening degree of the exhaust gas recirculation valve at the next moment. The second determining module is further configured to predict the opening degree of the exhaust gas recirculation valve based on the target adjustment amount, and determine a predicted opening degree sequence, wherein the predicted opening degree sequence is used to characterize the opening degree of the exhaust gas recirculation valve in a future preset time period; and determine the first predicted opening degree in the predicted opening degree sequence as the target predicted opening degree; The control module is further configured to acquire a control rate sequence of the exhaust gas recirculation valve, wherein the control rate sequence characterizes the rate of change of the opening of the exhaust gas recirculation valve within a future preset time period; determine an optimal control sequence based on the control rate sequence, wherein the optimal control sequence characterizes the optimal state of the opening and closing of the exhaust gas recirculation valve within a future preset time period; and control the exhaust gas recirculation valve based on the optimal control sequence.

7. A non-volatile storage medium, characterized in that, The non-volatile storage medium includes a stored program, wherein the program, when running, controls the execution of the method according to any one of claims 1 to 5 in the processor of the device.

8. A vehicle, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 5.

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