ADRC-based regeneration temperature control method, device, and electronic equipment

Abstract

This application provides a method, apparatus, and electronic device for regeneration temperature control based on ADRC (Advanced Dynamic Regeneration Control), relating to the field of vehicle technology. The method includes: establishing a thermodynamic model based on ADRC; obtaining a regeneration request; determining the maximum regeneration temperature based on carbon loading; obtaining the fuel injection quantity; and controlling the regeneration temperature based on the maximum regeneration temperature, the fuel injection quantity, and the thermodynamic model. Improving the accuracy of temperature control and expanding the steady-state range can increase the upper limit of the regeneration temperature, accelerate the heating process, improve regeneration efficiency, and also solve some post-treatment problems such as sulfur poisoning.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more specifically to a regenerative temperature control method, apparatus, and electronic equipment based on ADRC. Background Technology

[0002] Existing regeneration methods, especially parking regeneration temperature control, rely on simple PID control, which has several problems: Traditional PID algorithms depend on the error between the target temperature and the actual temperature, along with a negative feedback system, to eliminate the error. This error is relatively large in the initial heating stage, leading to significant gain and overshoot, causing a temperature spike upstream of the DPF. To avoid damage to the DPF from this temperature spike, current technology sets the maximum parking regeneration temperature to no more than 550 degrees Celsius. However, the DPF can actually withstand temperatures of 600-650 degrees Celsius, resulting in low regeneration efficiency in existing technologies.

[0003] Therefore, there is an urgent need to propose a regeneration temperature control method based on ADRC to solve at least one of the technical problems in the above-mentioned prior art. Summary of the Invention

[0004] This application provides a regeneration temperature control method based on ADRC to at least solve the technical problems existing in related technologies.

[0005] According to one aspect of the embodiments of this application, a regeneration temperature control method based on ADRC is provided, comprising: establishing a thermodynamic model based on ADRC; obtaining a regeneration request; determining a maximum regeneration temperature based on carbon loading; obtaining an injection quantity; and controlling the regeneration temperature based on the maximum regeneration temperature, the injection quantity, and the thermodynamic model.

[0006] Optionally, establishing the ADRC-based thermodynamic model includes: obtaining a basic thermodynamic model during regeneration; determining the relationship between the total heat received by the wall and the temperature during the regeneration process based on the basic thermodynamic model; determining the ADRC-based primary thermodynamic model based on the relationship between the total heat received by the wall and the temperature during the regeneration process; and determining the ADRC-based thermodynamic model based on the ADRC-based primary thermodynamic model.

[0007] Optionally, determining the ADRC-based thermodynamic model based on the ADRC-based primary thermodynamic model includes: obtaining a perturbation suppressor function; and compensating for the perturbation based on an extended observer to obtain a de-perturbed ADRC-based thermodynamic model.

[0008] Optionally, determining the maximum regeneration temperature based on carbon loading includes: obtaining the current carbon loading; determining whether the current carbon loading is less than a preset carbon loading; if the current carbon loading is less than the preset carbon loading, setting the maximum regeneration temperature to a first maximum temperature; if the current carbon loading is greater than or equal to the preset carbon loading, setting the maximum regeneration temperature to a second maximum temperature; wherein the first maximum temperature is greater than the second maximum temperature.

[0009] Optionally, the first maximum temperature is greater than or equal to 600°C and less than or equal to 650°C; the second maximum temperature is greater than or equal to 450°C and less than or equal to 550°C.

[0010] Optionally, controlling the regeneration temperature based on the maximum regeneration temperature, the fuel injection quantity, and the thermodynamic model includes: determining the heat generated by the fuel injection quantity based on the fuel injection quantity; determining the final regeneration temperature based on the heat generated by the fuel injection quantity; determining system disturbances based on the regeneration temperature value, and controlling the regeneration temperature value to reach the maximum regeneration temperature.

[0011] Optionally, controlling the regeneration temperature based on the maximum regeneration temperature, the fuel injection quantity, and the thermodynamic model further includes: acquiring the current carbon load in real time; determining whether the current carbon load has reached a preset minimum value; and stopping control if the current carbon load has reached the preset minimum value.

[0012] According to another aspect of this application, a regeneration temperature control device based on ADRC is provided, comprising: a thermodynamic model establishment module for establishing a thermodynamic model based on ADRC; a request acquisition module for acquiring a regeneration request; a maximum regeneration temperature acquisition module for determining the maximum regeneration temperature based on carbon loading; an injection quantity acquisition module for acquiring the injection quantity; and a regeneration temperature control module for controlling the regeneration temperature based on the maximum regeneration temperature, the injection quantity, and the thermodynamic model.

[0013] According to another aspect of this application, an electronic device is provided, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus, the memory is used to store a computer program, and the processor is used to execute steps of an ADRC-based regeneration temperature control method by running the computer program stored in the memory.

[0014] According to another aspect of this application, a computer-readable storage medium is provided, wherein a computer program is stored therein, wherein the computer program is configured to perform the ADRC-based regeneration temperature control steps as described above when it is run.

[0015] This application provides a regeneration temperature control method based on ADRC (Advanced Dynamic Regeneration Control). The method involves establishing a thermodynamic model based on ADRC; obtaining a regeneration request; determining the maximum regeneration temperature based on carbon loading; obtaining the fuel injection quantity; and controlling the regeneration temperature based on the maximum regeneration temperature, the fuel injection quantity, and the thermodynamic model. This application leverages the stability of the ADRC controller to improve temperature control accuracy, expand the steady-state range, and effectively improve post-treatment efficiency. It uses only the heat generated by fuel injection as an input function, with the fuel injection quantity as the primary variable, making it simple and practical, thus enhancing the method's applicability. Furthermore, it can increase the upper limit of the regeneration temperature, accelerate the heating process, improve regeneration efficiency, and also address some post-treatment problems such as sulfur poisoning. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic flowchart of an ADRC-based regeneration temperature control method according to an embodiment of this application.

[0019] Figure 2 This is a schematic diagram of the structure of an optional electronic device according to an embodiment of this application. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application 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 this application 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 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.

[0022] In existing technologies, the temperature control method for regeneration, especially parking regeneration, is a simple PID control, which has the following problems: Traditional PID algorithms rely on the error between the target temperature and the actual temperature and a negative feedback system to eliminate the error. The error is relatively large in the initial stage of heating, resulting in a large gain and thus overshoot, causing a temperature spike upstream of the DPF. To avoid damage to the DPF from this temperature spike, existing technologies set the maximum temperature for parking regeneration to no more than 550 degrees Celsius. However, in reality, the DPF can withstand temperatures up to 600-650 degrees Celsius. Therefore, existing technologies suffer from low regeneration efficiency.

[0023] DPF stands for Particulate Filter, which is responsible for filtering particulate matter from engine exhaust. DPF regeneration refers to using the porous structure of the DPF to filter carbon particles and soot produced during combustion, thus reducing particulate emissions. However, over time, excessive carbon buildup on the DPF can affect its filtration efficiency.

[0024] ADRC is the result of researcher Han Jingqing's improvement on the PID controller. Commonly used ADRC systems are generally second-order systems. The ADRC constructed by researcher Han Jingqing mainly consists of three parts:

[0025] 1. Non-Linear Extended State Observer (NLESO): Used to estimate the values ​​of each state within the system, while simultaneously observing the total value of uncertainties in the controlled object and random disturbances in the external environment.

[0026] 2. Non-Linear Active Disturbance Rejection Controller (NLADRC): The state error signal is obtained by using the input signal and its derivatives obtained by the tracking differentiator and the state values ​​of the controlled object obtained by the observer. The non-linear function is selected for weighting to finally obtain the control quantity.

[0027] This application provides a regeneration temperature control method based on ADRC, the process of which may include the following steps:

[0028] S10 establishes a thermodynamic model based on ADRC;

[0029] S20 obtains a regeneration request;

[0030] S30 determines the maximum regeneration temperature based on carbon loading;

[0031] S40 obtains the fuel injection quantity;

[0032] S50 controls the regeneration temperature based on the maximum regeneration temperature, the injection quantity, and the thermodynamic model.

[0033] Specifically, by establishing a thermodynamic model based on ADRC (Advanced Driver Regulator), the maximum regeneration temperature is determined based on the carbon loading upon receiving a regeneration request. The regeneration temperature is then controlled based on the maximum regeneration temperature, the injection quantity, and the ADRC-based thermodynamic model. Leveraging the stability of the ADRC controller, the accuracy of temperature control is improved, the steady-state range is expanded, and post-treatment efficiency is effectively enhanced. Using only the heat generated by injection as an input function, with the injection quantity as the primary variable, the method is simple and practical, improving its applicability. Furthermore, it can increase the upper limit of the regeneration temperature, accelerate the heating process, improve regeneration efficiency, and also address some post-treatment issues such as sulfur poisoning.

[0034] Optionally, establishing the ADRC-based thermodynamic model includes: obtaining a basic thermodynamic model during regeneration; determining the relationship between the total heat received by the wall and the temperature during the regeneration process based on the basic thermodynamic model; determining the ADRC-based primary thermodynamic model based on the relationship between the total heat received by the wall and the temperature during the regeneration process; and determining the ADRC-based thermodynamic model based on the ADRC-based primary thermodynamic model.

[0035] Optionally, determining the ADRC-based thermodynamic model based on the ADRC-based primary thermodynamic model includes: obtaining a perturbation suppressor function; and compensating for the perturbation based on an extended observer to obtain a de-perturbed ADRC-based thermodynamic model.

[0036] Specifically, the fundamental thermodynamic model can be expressed as:

[0037]

[0038] Where Q(t): the heat received by the DPF wall; Q inj (t): Heat generated by fuel injection and combustion; H soot(t): Heat generated by the combustion of carbon deposits; H cat-gas Heat loss in solid-gas heat transfer; H env : Heat loss of fluid due to thermal convection and thermal radiation; q inj Fuel injection calorific value; m inj (t): Fuel injection flow rate.

[0039] The relationship between the total heat received by the wall during DPF regeneration and the temperature change is as follows:

[0040] C cat m cat (TT int )=Q(t)

[0041] Among them, C cat : Heat capacity of the solid material on the DPF wall; m cat T: Mass of the solid material supporting the DPF; T: Target temperature during the DPF regeneration process; int : Temperature value at the beginning of DPF regeneration.

[0042] The primary thermodynamic model based on ADRC can be:

[0043]

[0044] The disturbance suppressor function can be: u(t) = u0 + h

[0045] De-perturbation thermodynamic model of DPF:

[0046] Assuming the derivative of the total disturbance h exists, and letting the total disturbance be a new state of the system, then the extended state equation is:

[0047]

[0048] ESO Extended Observer:

[0049]

[0050] z1 and z2 are estimates of the expanded system states x1 and x2, respectively; β 01 ,β 02 For ESO parameters; the nonlinear function fal has the following form:

[0051]

[0052] Where δ = 0.0025

[0053] Specifically, ADRC decouples disturbances from the input signal based on a physical model of temperature and heat. An extended observer predicts the direction of the disturbance and feeds it back into the system. When model parameter perturbations of the controlled object occur, the impact of model mismatch is compensated along with the total disturbance, resulting in strong robustness. This invention, through the stable characteristics of the ADRC controller, can improve the accuracy of temperature control, expand the steady-state value range, and effectively improve post-processing efficiency.

[0054] Optionally, determining the maximum regeneration temperature based on carbon loading includes: obtaining the current carbon loading; determining whether the current carbon loading is less than a preset carbon loading; if the current carbon loading is less than the preset carbon loading, setting the maximum regeneration temperature to a first maximum temperature; if the current carbon loading is greater than or equal to the preset carbon loading, setting the maximum regeneration temperature to a second maximum temperature; wherein the first maximum temperature is greater than the second maximum temperature.

[0055] Optionally, the first maximum temperature is greater than or equal to 600°C and less than or equal to 650°C; the second maximum temperature is greater than or equal to 450°C and less than or equal to 550°C.

[0056] Specifically, by using temperature control based on the ADRC controller, the maximum regeneration temperature can be increased to 600℃-650℃, effectively solving the problem in the prior art where the maximum temperature set for parking regeneration does not exceed 550 degrees Celsius in order to avoid damage to the DPF from peak temperatures, resulting in low regeneration efficiency. At the same time, increasing the upper limit of the regeneration temperature when the carbon load is less than a certain value can also prevent the DPF from being burned due to excessive carbon buildup and high temperature.

[0057] Optionally, controlling the regeneration temperature based on the maximum regeneration temperature, the fuel injection quantity, and the thermodynamic model includes: determining the heat generated by the fuel injection quantity based on the fuel injection quantity; determining the final regeneration temperature based on the heat generated by the fuel injection quantity; determining system disturbances based on the regeneration temperature value, and controlling the regeneration temperature value to reach the maximum regeneration temperature.

[0058] Optionally, controlling the regeneration temperature based on the maximum regeneration temperature, the fuel injection quantity, and the thermodynamic model further includes: acquiring the current carbon load in real time; determining whether the current carbon load has reached a preset minimum value; and stopping control if the current carbon load has reached the preset minimum value.

[0059] According to another aspect of the embodiments of this application, a regeneration temperature control device based on ADRC is also provided, the system including:

[0060] Thermodynamic model building module, used to build thermodynamic models based on ADRC;

[0061] The request retrieval module is used to retrieve regeneration requests;

[0062] The maximum regeneration temperature acquisition module is used to determine the maximum regeneration temperature based on the carbon loading.

[0063] Fuel injection quantity acquisition module, used to acquire fuel injection quantity;

[0064] The regeneration temperature control module is used to control the regeneration temperature based on the maximum regeneration temperature, the fuel injection quantity, and the thermodynamic model.

[0065] It should be noted that the examples and application scenarios implemented by the above modules and corresponding steps are the same, but are not limited to the content disclosed in the above embodiments. It should also be noted that the above modules, as part of the device, can run in a hardware environment, and can be implemented in software or hardware, wherein the hardware environment includes a network environment.

[0066] According to another aspect of this application, an electronic device is provided, the electronic device comprising:

[0067] At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the steps of the ADRC-based regeneration temperature control method as described in any of the preceding claims.

[0068] Figure 2 This is a structural block diagram of an optional electronic device according to an embodiment of this application, such as... Figure 2 As shown, it includes a processor 402, a communication interface 404, a memory 406, and a communication bus 408. The processor 402, communication interface 404, and memory 406 communicate with each other via the communication bus 408.

[0069] Memory 406 is used to store computer programs;

[0070] When processor 402 executes a computer program stored in memory 406, it performs the following steps:

[0071] Establish a thermodynamic model based on ADRC;

[0072] Get a regeneration request;

[0073] The maximum regeneration temperature is determined based on the carbon loading.

[0074] Obtain the fuel injection quantity;

[0075] The regeneration temperature is controlled based on the maximum regeneration temperature, the amount of fuel injected, and the thermodynamic model.

[0076] Optionally, in this embodiment, the communication bus can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. This communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 2 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0077] The communication interface is used for communication between the aforementioned electronic devices and other devices.

[0078] The memory may include RAM, or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0079] As an example, such as Figure 2 As shown, the memory 406 may include, but is not limited to, the thermodynamic model establishment module of the ADRC-based regeneration temperature control device; the request acquisition module; the regeneration temperature maximum value acquisition module; the fuel injection quantity acquisition module; and the regeneration temperature control module. It may also include, but is not limited to, other module units of the ADRC-based regeneration temperature control device, which will not be elaborated in this example.

[0080] The processors mentioned above can be general-purpose processors, including but not limited to: CPU (Central Processing Unit), NP (Network Processor), etc.; they can also be DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0081] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated here.

[0082] According to another aspect of the embodiments of this application, a storage medium is also provided. Optionally, in this embodiment, the storage medium can be used to execute program code for an ADRC-based regeneration temperature control method.

[0083] Optionally, in this embodiment, the storage medium may be located on at least one of the network devices in the network shown in the above embodiment.

[0084] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments, and will not be repeated in this embodiment.

[0085] Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0086] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0087] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of this application, 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 one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0088] In the above embodiments of this application, 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.

[0089] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0090] 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 network units. Some or all of the units can be selected to achieve the purpose of the solution provided in this embodiment, depending on actual needs.

[0091] Furthermore, the functional units in the various embodiments of this application 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.

[0092] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A regeneration temperature control method based on ADRC, characterized in that, include: Establish a thermodynamic model based on ADRC; Get a regeneration request; The maximum regeneration temperature is determined based on the carbon loading. Obtain the fuel injection quantity; The regeneration temperature is controlled based on the maximum regeneration temperature, the injection quantity, and the thermodynamic model. The establishment of the ADRC-based thermodynamic model includes: Obtain the fundamental thermodynamic model for regeneration; The relationship between the total heat received by the wall and the temperature during the regeneration process is determined based on the aforementioned basic thermodynamic model. The primary thermodynamic model based on ADRC is determined based on the relationship between the total heat received by the wall and the temperature during the regeneration process. The ADRC-based thermodynamic model is determined based on the ADRC-based primary thermodynamic model. The determination of the maximum regeneration temperature based on carbon loading includes: Get the current carbon loading; Determine whether the current carbon loading is less than the preset carbon loading; If the current carbon loading is less than the preset carbon loading, the maximum regeneration temperature is set to the first maximum temperature. If the current carbon loading is greater than or equal to the preset carbon loading, the maximum regeneration temperature is set to the second maximum temperature. Wherein, the first maximum temperature is greater than the second maximum temperature; The control of the regeneration temperature based on the maximum regeneration temperature, the fuel injection quantity, and the thermodynamic model includes: The heat generated by the fuel injection quantity is determined based on the fuel injection quantity; The final regeneration temperature is determined based on the heat generated by the fuel injection quantity. The system disturbance is determined based on the regeneration temperature value, and the regeneration temperature value is controlled to reach the maximum value of the regeneration temperature.

2. The regeneration temperature control method based on ADRC as described in claim 1, characterized in that, The step of determining the ADRC-based thermodynamic model according to the ADRC-based primary thermodynamic model includes: Get the disturbance suppressor function; The perturbation is compensated by an extended observer to obtain a de-perturbed ADRC-based thermodynamic model.

3. The regeneration temperature control method based on ADRC as described in claim 1, characterized in that, The first maximum temperature is greater than or equal to 600°C and less than or equal to 650°C; the second maximum temperature is greater than or equal to 450°C and less than or equal to 550°C.

4. The regeneration temperature control method based on ADRC as described in claim 1, characterized in that, The method of controlling the regeneration temperature based on the maximum regeneration temperature, the fuel injection quantity, and the thermodynamic model further includes: Get the current carbon loading in real time; Determine whether the current carbon loading has reached a preset minimum value; If the current carbon load reaches the preset minimum value, control will stop.

5. A regeneration temperature control device based on ADRC, characterized in that, The regeneration temperature control method based on ADRC according to any one of claims 1 to 4 includes: Thermodynamic model building module, used to build thermodynamic models based on ADRC; The request retrieval module is used to retrieve regeneration requests; The maximum regeneration temperature acquisition module is used to determine the maximum regeneration temperature based on the carbon loading. Fuel injection quantity acquisition module, used to acquire fuel injection quantity; The regeneration temperature control module is used to control the regeneration temperature based on the maximum regeneration temperature, the fuel injection quantity, and the thermodynamic model.

6. An electronic device comprising a processor, a communication interface, a memory, and a communication bus, wherein, The processor, the communication interface, and the memory communicate with each other via the communication bus, characterized in that... The memory is used to store computer programs; The processor is configured to execute the steps of the ADRC-based regeneration temperature control method according to any one of claims 1 to 4 by running the computer program stored in the memory.

7. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, wherein the computer program is configured to execute the steps of the ADRC-based regeneration temperature control method according to any one of claims 1 to 4 when it is run.

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