Egr valve control method and device, vehicle, storage medium

Abstract

The embodiment of the present disclosure discloses an EGR valve control method and device, a vehicle and a storage medium. The method comprises: acquiring an operating parameter of an engine, and determining an operating condition of the engine according to the operating parameter; in response to the engine being in a transient condition, determining a current EGR rate of the EGR valve and a required target EGR rate; determining a target opening of the EGR valve according to the difference between the current EGR rate and the target EGR rate; and controlling the EGR valve based on the target opening. Through the method, the flexibility of the EGR valve opening control can be improved, so that the vehicle can reduce the engine fuel consumption and improve the smoothness of the engine operation in the transient condition.

Description

Technical Field

[0001] This disclosure relates to, but is not limited to, the field of engine technology, and particularly to an EGR valve control method and apparatus, a vehicle, and a storage medium. Background Technology

[0002] With the increasing use of vehicles and the rise in fuel consumption, automakers have begun researching and mass-producing gasoline engines with exhaust gas recirculation (EGR) systems to further improve the thermal efficiency of gasoline engines and reduce harmful emissions. EGR systems are further divided into low-pressure EGR systems and high-pressure EGR systems. If a high-pressure EGR control strategy is directly adopted, the engine control unit (ECU) cannot determine the timing of EGR gas entry into the cylinder, which will severely affect the control of engine combustion.

[0003] Compared to high-pressure EGR, low-pressure EGR is more effective in reducing fuel consumption, but its efficiency still needs further improvement. Summary of the Invention

[0004] In view of this, the present disclosure provides at least one control method and apparatus for an EGR valve, a vehicle, and a storage medium.

[0005] In a first aspect, embodiments of this disclosure provide a method for controlling an EGR valve, the method comprising:

[0006] The engine's operating parameters are obtained, and the engine's operating conditions are determined based on the operating parameters;

[0007] In response to the engine being in a transient operating condition, the current EGR rate of the EGR valve and the required target EGR rate are determined;

[0008] The target opening degree of the EGR valve is determined based on the difference between the current EGR rate and the target EGR rate.

[0009] The EGR valve is controlled based on the target opening degree.

[0010] In some embodiments, determining the target opening degree of the EGR valve based on the difference between the current EGR rate and the target EGR rate includes:

[0011] Based on the difference between the current EGR rate and the target EGR rate, the opening of the EGR valve is subjected to proportional-integral control to obtain a first opening value corresponding to the proportional control in the proportional-integral control, and a second opening value corresponding to the integral control in the proportional-integral control.

[0012] The target opening degree of the EGR valve is determined based on the first opening value and the second opening value.

[0013] In some embodiments, the step of performing proportional-integral control on the opening of the EGR valve based on the difference between the current EGR rate and the target EGR rate to obtain a first opening value corresponding to the proportional control in the proportional-integral control, and a second opening value corresponding to the integral control in the proportional-integral control, includes:

[0014] The first time required for the EGR valve to reach the preset differential pressure, and the second time for the gas to reach the EGR valve are obtained.

[0015] The proportional control factor is determined based on the difference between the current EGR rate and the target EGR rate;

[0016] Based on the difference, the proportional control factor, and the first and second times, the first opening value corresponding to the proportional control in the proportional-integral control is obtained; and / or,

[0017] The integral control factor is determined based on the difference between the current EGR rate and the target EGR rate;

[0018] Based on the difference, the integral control factor, the first time, and the preset opening value, the second opening value corresponding to the integral control in the proportional-integral control is obtained.

[0019] In some embodiments, the difference includes a difference value; obtaining the first opening value corresponding to the proportional control in the proportional-integral control based on the difference, the proportional control factor, the first time, and the second time includes:

[0020] A preset weight is determined based on the ratio of the second time to the first time.

[0021] The product of the difference, the proportional control factor, and the preset weight is determined as the first opening value corresponding to the proportional control in the proportional-integral control.

[0022] In some embodiments, the difference includes a difference value; obtaining the second opening value corresponding to the integral control in the proportional-integral control based on the difference, the integral control factor, the first time, and a preset opening value includes:

[0023] Determine the product of the difference, the integral control factor, and the first time;

[0024] Based on the sum of the product and the preset opening value, the second opening value corresponding to the integral control in the proportional-integral control is obtained.

[0025] In some embodiments, the preset opening value includes a historical second opening value.

[0026] In some embodiments, the engine operating parameters include the engine's current speed and the engine's current cylinder density, and the method further includes:

[0027] Determine the target cylinder density based on the current engine speed;

[0028] Determine the required EGR rate under steady-state conditions based on the current speed and the target cylinder density;

[0029] The step of determining the target EGR rate required by the EGR valve in response to the engine being in a transient operating condition includes:

[0030] In response to the engine being in an instantaneous operating condition, the target EGR rate required under the instantaneous operating condition is determined based on the target cylinder density, the current cylinder density of the engine, and the required EGR rate under the steady-state operating condition.

[0031] Secondly, embodiments of this disclosure provide a control device for an EGR valve, the device comprising:

[0032] The first determining module is configured to acquire the engine's operating parameters and determine the engine's operating conditions based on the operating parameters.

[0033] The second determining module is configured to determine the current EGR rate of the EGR valve and the required target EGR rate in response to the engine being in a transient operating condition.

[0034] The third determining module is configured to determine the target opening degree of the EGR valve based on the difference between the current EGR rate and the target EGR rate;

[0035] The control module is configured to control the EGR valve based on the target opening degree.

[0036] In some embodiments, the third determining module is further configured to perform proportional-integral control on the opening of the EGR valve based on the difference between the current EGR rate and the target EGR rate, to obtain a first opening value corresponding to the proportional control in the proportional-integral control and a second opening value corresponding to the integral control in the proportional-integral control; and to determine the target opening of the EGR valve based on the first opening value and the second opening value.

[0037] In some embodiments, the third determining module is further configured to: acquire a first time required for the EGR valve to reach a preset differential pressure, and a second time for gas to arrive at the EGR valve; determine a proportional control factor based on the difference between the current EGR rate and the target EGR rate; obtain a first opening value corresponding to the proportional control in the proportional-integral control based on the difference between the current EGR rate and the target EGR rate, the proportional control factor, the first time, and the second time; and / or, determine an integral control factor based on the difference between the current EGR rate and the target EGR rate; obtain a second opening value corresponding to the integral control in the proportional-integral control based on the difference between the current EGR rate and the target EGR rate, the integral control factor, the first time, and the preset opening value.

[0038] In some embodiments, the third determining module is further configured to determine a preset weight based on the ratio of the second time to the first time; and to determine the product of the difference, the proportional control factor, and the preset weight as the first opening value corresponding to the proportional control in the proportional-integral control.

[0039] In some embodiments, the third determining module is further configured to determine the product between the difference, the integral control factor, and the first time; and to obtain the second opening value corresponding to the integral control in the proportional-integral control based on the sum of the product and the preset opening value.

[0040] In some embodiments, the preset opening value includes a historical second opening value.

[0041] In some embodiments, the engine's operating parameters include the engine's current speed and the engine's current cylinder density, and the device further includes:

[0042] The fourth determining module determines the target cylinder density based on the current engine speed;

[0043] The fifth determining module determines the required EGR rate under steady-state conditions based on the current rotational speed and the target cylinder density.

[0044] The second determining module is further configured to, in response to the engine being in an instantaneous operating condition, determine the target EGR rate required under the instantaneous operating condition based on the target cylinder density, the current cylinder density of the engine, and the required EGR rate under the steady-state operating condition.

[0045] Thirdly, embodiments of this disclosure provide a vehicle, including:

[0046] Processor; memory used to store processor-executable instructions;

[0047] The processor is configured to perform the method described in the first aspect.

[0048] Fourthly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the method described in the first aspect.

[0049] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects:

[0050] This embodiment of the disclosure obtains the engine's operating parameters to determine the engine's operating conditions. Under the instantaneous operating conditions of the vehicle, based on the difference between the vehicle's current EGR rate and the target EGR rate, it determines the target opening value of the EGR valve and flexibly controls the opening of the EGR valve. This ensures that the actual EGR rate keeps approaching the target EGR rate, thereby reducing engine fuel consumption under instantaneous operating conditions and further improving the thermal efficiency of the vehicle's engine. On the other hand, the vehicle controls the relevant fuel injection and ignition actions smoothly when the engine is in its optimal operating state, preventing engine knocking damage or stalling during driving.

[0051] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0052] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the specification, serve to illustrate the technical solutions of this disclosure.

[0053] Figure 1 An example diagram of an EGR system structure provided in this disclosure embodiment;

[0054] Figure 2 A flowchart illustrating a control method for an EGR valve provided in this embodiment of the disclosure;

[0055] Figure 3 A schematic diagram of a control device for an EGR valve provided in an embodiment of this disclosure;

[0056] Figure 4 This is a schematic diagram of the hardware entity of a vehicle provided in an embodiment of this disclosure. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this disclosure clearer, the technical solutions of this disclosure are further described in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limitations on this disclosure. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0058] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0059] The terms “first / second / third” used in this disclosure are merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that “first / second / third” may be interchanged in a specific order or sequence where permitted, so that the embodiments of this disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this disclosure.

[0061] The EGR system is part of the vehicle's powertrain system and is a type of exhaust gas recirculation system. Figure 1 This is an example diagram of a low-voltage EGR system structure provided in an embodiment of this disclosure, such as... Figure 1 As shown: 1 is an engine cylinder; 2 is a turbocharger, used to pressurize the exhaust gas from the cylinder before discharge; 3 is a three-way catalytic converter, used to convert harmful gases in the exhaust gas from the engine into harmless gases; 4 is a gasoline engine particulate filter, used to filter particulates from the gas discharged from the cylinder; 5 is an EGR cooler; 6 is an EGR valve, wherein the EGR valve 6 may include a mechanical EGR valve or an electronically controlled EGR valve; 7 is an air flow meter; 8 is a turbocharger, used to pressurize the air-fuel mixture and send it into the cylinder; 9 is an intercooler, wherein the intercooler 9 may include a water-cooled intercooler.

[0062] based on Figure 1 As shown in the diagram, when the engine is running, the exhaust gas discharged from cylinder 1 is pressurized by turbocharger 2 and flows into three-way catalytic converter 3. Three-way catalytic converter 3 converts harmful gases in the exhaust gas into harmless gases. When the EGR valve is closed, the harmlessly converted exhaust gas is filtered by particulate filter 4 and discharged as exhaust gas. When the EGR valve is open, part of the harmlessly converted exhaust gas is discharged as exhaust gas, and the other part of the exhaust gas passes through EGR cooler 5 to reduce the exhaust gas temperature, then flows through EGR valve 6 into the pipeline to mix with the air after passing through air flow meter 7. Then, the mixture is pressurized by turbocharger 8, and the pressurized mixture is cooled by intercooler 9 before being sent into the cylinder to reduce exhaust emissions and improve engine performance.

[0063] The EGR valve plays a crucial role in the EGR system. Its opening determines the flow rate of exhaust gas into the pipeline, thus altering the EGR rate. The EGR rate directly impacts engine performance and emissions; therefore, proper control of the EGR valve opening is essential to manage the EGR rate. The EGR rate refers to the proportion of exhaust gas recirculated within the EGR system, specifically the ratio of recirculated exhaust gas to the total intake air volume.

[0064] In response, this disclosure provides an EGR valve control method. Figure 2 This is a schematic diagram illustrating the implementation flow of an EGR valve control method provided in an embodiment of this disclosure, as shown below. Figure 2 As shown, the method includes the following steps:

[0065] S21. Obtain the engine's operating parameters and determine the engine's operating conditions based on the operating parameters;

[0066] S22. In response to the engine being in a transient operating condition, determine the current EGR rate of the EGR valve and the required target EGR rate;

[0067] S23. Determine the target opening degree of the EGR valve based on the difference between the current EGR rate and the target EGR rate;

[0068] S24. Control the EGR valve based on the target opening degree.

[0069] In this embodiment, the processing steps included in the EGR valve control method are executed by the ECU in the vehicle. The ECU is one of the core electronic components of modern automobiles; it is the comprehensive control device for the engine. Its function is to calculate, process, and judge various information input from the engine's sensors based on its stored programs, and then output commands to control the actions of relevant actuators, achieving the purpose of fast, accurate, and automatic engine control. For ease of description, this disclosure uses a vehicle as an example.

[0070] In step S21, the vehicle acquires the engine's operating parameters and determines the engine's operating condition based on these parameters. The operating parameters may include engine speed, cylinder density, engine torque, engine power, and engine temperature, etc. For example, the vehicle obtains engine speed and cylinder density from a crankshaft position sensor on the engine via the ECU, engine torque from a throttle position sensor, and engine temperature from a temperature sensor. Engine power can then be calculated from engine speed and torque.

[0071] After acquiring operating parameters, the vehicle further determines the engine's operating conditions based on these parameters. Operating conditions refer to the engine's working state during operation; engine performance varies under different operating conditions. In this embodiment, the engine's operating conditions may include stable operating conditions and transient operating conditions. Under stable operating conditions, the engine has warmed up and entered normal operation, with no change in speed or power over a certain period. The engine's intake, fuel injection, and ignition systems are in a relatively stable state. Under these conditions, the engine's power performance, fuel economy, and emissions performance are all well-represented. Under transient operating conditions, the engine's speed or load changes rapidly within a short period, potentially significantly impacting engine performance, such as reduced power, decreased fuel economy, and increased emissions. Transient operating conditions can be caused by sudden acceleration or sudden braking.

[0072] It should be noted that in the embodiments disclosed herein, when the engine is in steady-state operation, its performance does not change suddenly, and the engine speed and load remain basically unchanged, and the combustion process is relatively stable. Therefore, there is no need to adjust the EGR rate for steady-state operation. However, under instantaneous operation, the engine's intake, fuel injection, and ignition systems change, causing unstable engine performance. This seriously affects the engine's combustion control, preventing the engine from operating at its optimal state. Therefore, it is necessary to adjust the EGR rate to help the engine adapt to changes under instantaneous operation, optimize and adjust the engine's performance, and enable it to maintain a good operating state even under instantaneous operation.

[0073] In step S22, in response to the engine being in an instantaneous operating condition, the vehicle determines the current EGR rate of the EGR valve. The current EGR rate refers to the actual current EGR rate of the engine. The current EGR rate can be determined based on the parameter values ​​of the current operating state of the EGR valve, which include the pressure before and after the EGR valve, temperature, and the opening value of the EGR valve.

[0074] In this embodiment, the vehicle also needs to determine the target EGR rate required by the EGR valve. The target EGR rate refers to the EGR rate that the engine control system expects to achieve under the current operating conditions. The required target EGR rate can be determined based on the engine's acquired operating parameters and the engine's steady-state EGR rate, where the steady-state EGR rate is the EGR rate under steady-state operating conditions corresponding to the engine's operating parameters. For example, the vehicle can store a mapping (MAP) between the engine's operating parameters and the EGR rate under steady-state operating conditions. For example, a calibration method can be used, such as sampling the engine's operating parameters and the actual EGR rate under steady-state operating conditions corresponding to the operating parameters. The operating parameters can be engine speed and engine cylinder density, or engine speed and engine shaft torque, etc., and this embodiment does not impose any limitations.

[0075] In step S23, the vehicle determines the target opening degree of the EGR valve based on the difference between the current EGR rate and the target EGR rate. In this embodiment of the present disclosure, the difference between the current EGR rate and the target EGR rate can be either the difference between the current EGR rate and the target EGR rate or the ratio between the current EGR rate and the target EGR rate.

[0076] In some embodiments, the vehicle can input the difference between the current EGR rate and the target EGR rate into the EGR valve opening calculation model to obtain the target opening of the EGR valve as the output result. The EGR valve opening calculation model can be trained using a deep learning network. For example, based on training sample data and label values, a network such as a Convolutional Neural Network (CNN) or a Deep Neural Network (DNN) is trained and its parameters are tuned to obtain the EGR valve opening calculation model. The training sample data consists of the accumulated differences between the actual EGR rate and the required EGR rate under different instantaneous operating conditions. The label values ​​represent the preset EGR valve opening, which can be determined experimentally. For example, for a specific sample EGR rate difference, the EGR valve opening can be manually adjusted to determine the EGR valve's performance, thereby finding a better EGR valve opening as the preset EGR valve opening corresponding to that sample EGR rate difference.

[0077] In other embodiments, the vehicle may also determine the target opening of the EGR valve based on the difference between the current EGR rate and the target EGR rate using cybernetics methods.

[0078] In step S24, the vehicle controls the EGR valve based on the target opening degree.

[0079] In this embodiment of the disclosure, the target opening degree of the EGR valve can be greater than or less than the initial opening degree of the EGR valve. For example, when accelerating, the vehicle performs positive control on the EGR valve to increase the opening degree of the EGR valve; similarly, when decelerating, the vehicle performs reverse control on the EGR valve to decrease the opening degree of the EGR valve.

[0080] In related technologies, under instantaneous operating conditions, due to the very high volume of the pipeline through which the EGR exhaust gas flows, the pressure difference between the two ends drops by 50%-90%, resulting in a very long time for the exhaust gas in the EGR system to travel from the EGR valve to the cylinder. At low speed and low load operating conditions, the delay time reaches 2-3 seconds, which seriously affects the combustion control of the engine and prevents the engine from operating at its optimal state.

[0081] It is understood that in this embodiment of the present disclosure, under instantaneous operating conditions, the vehicle determines the target opening value of the EGR valve based on the difference between the current EGR rate and the target EGR rate, and flexibly controls the opening of the EGR valve, so that the actual EGR rate always approaches the target EGR rate. This allows the vehicle to reduce engine fuel consumption under instantaneous operating conditions and further improve the thermal efficiency of the vehicle engine. On the other hand, the vehicle controls the relevant fuel injection and ignition actions smoothly when the engine is in the optimal operating state, preventing engine knocking damage or stalling during driving.

[0082] In some embodiments, determining the target opening degree of the EGR valve based on the difference between the current EGR rate and the target EGR rate includes:

[0083] Based on the difference between the current EGR rate and the target EGR rate, the opening of the EGR valve is subjected to proportional-integral control to obtain a first opening value corresponding to the proportional control in the proportional-integral control and a second opening value corresponding to the integral control in the proportional-integral control.

[0084] The target opening degree of the EGR valve is determined based on the first opening value and the second opening value.

[0085] As mentioned earlier, the vehicle can determine the target opening degree of the EGR valve based on the difference between the current EGR rate and the target EGR rate using cybernetics methods. In this embodiment, the vehicle adopts PI control (Proportional-Integral Control) from the cybernetics method. PI control includes proportional control and integral control. Proportional control adjusts the output by comparing the expected value and the actual value, quickly responding to changes in error; integral control adjusts the deviation value by integral adjustment, eliminating static errors and improving control accuracy.

[0086] In this embodiment of the disclosure, the vehicle performs proportional-integral control on the opening of the EGR valve as described above based on the difference between the current EGR rate and the target EGR rate to obtain the corresponding proportional control value and integral control value, thereby obtaining the first opening value (e.g., EGRp) corresponding to the proportional control and the second opening value (e.g., EGRi) corresponding to the integral control.

[0087] In this embodiment of the disclosure, the vehicle determines the target opening of the EGR valve based on a first opening value and a second opening value. For example, the target opening is determined by the sum of the first opening value and the second opening value, as shown in the following formula (1):

[0088] EGRpct=EGRi+EGRp (1)

[0089] It is understood that the embodiments of this disclosure determine the target opening value of the EGR valve through proportional control and integral control based on the difference between the current EGR rate and the target EGR rate. Since the control theory-based method is efficient and accurate, it enables the vehicle to respond quickly to changes in EGR rate under instantaneous operating conditions and improves control accuracy.

[0090] In some embodiments, the step of performing proportional-integral control on the opening of the EGR valve based on the difference between the current EGR rate and the target EGR rate to obtain a first opening value corresponding to the proportional control in the proportional-integral control, and a second opening value corresponding to the integral control in the proportional-integral control, includes:

[0091] The first time required for the EGR valve to reach the preset differential pressure, and the second time for the gas to reach the EGR valve are obtained.

[0092] The proportional control factor is determined based on the difference between the current EGR rate and the target EGR rate;

[0093] Based on the difference, the proportional control factor, and the first and second times, the first opening value corresponding to the proportional control in the proportional-integral control is obtained; and / or,

[0094] The integral control factor is determined based on the difference between the current EGR rate and the target EGR rate;

[0095] Based on the difference, the integral control factor, the first time, and the preset opening value, the second opening value corresponding to the integral control in the proportional-integral control is obtained.

[0096] In this embodiment, the vehicle acquires the first time t1 required for the EGR valve to reach a preset pressure difference, and the second time for the gas to reach the EGR valve. It should be noted that both the first time t1 and the second time t2 can be calibrated values ​​and stored in the vehicle. The first time t1 and the second time t2 can be obtained through calibration. For example, several measured time data points t1 and t2, along with corresponding airflow data, are first collected. The collected data is then cleaned, organized, and filtered. A preliminary analysis is performed on the preprocessed data, and a suitable mathematical model is selected to describe the relationship between time t1, t2, and airflow. The selected model is then used to fit the preprocessed data to obtain the t1 and t2 data.

[0097] In this embodiment of the disclosure, the vehicle determines a proportional control factor (e.g., fp(EGRerr)) based on the difference between the current EGR rate and the target EGR rate (e.g., EGRRerr). For example, the vehicle may store a mapping table between the difference in EGR rates and the proportional control factor, allowing the vehicle to obtain the proportional control factor corresponding to the difference between the current EGR rate and the target EGR rate by looking up the table. Table 1 below shows the mapping table between the difference in EGR rates and the proportional control factor:

[0098] EGRerr -0.05 -0.017 0 0.01 0.1 fp(EGRerr) 20 10 0 2 3

[0099] Among them, fp(EGRerr) is the proportional control curve based on EGRerr, which is obtained by experimental calibration. For example, the curve is calibrated according to the standard of completing the EGR rate rise in 3 seconds. Specifically, under the condition of determining the EGR difference, the response characteristics of the system are observed by controlling the proportional control factor value, such as the adjustment accuracy, adjustment time, adjustment error, etc., and the parameter value that makes the system performance optimal is selected as the calibration value.

[0100] In this embodiment of the disclosure, the integral control factor (e.g., fi(EGRerr)) is determined based on the difference between the current EGR rate and the target EGR rate, EGRRerr. For example, the vehicle may also store a mapping table between the difference in EGR rates and the integral control factor, allowing the vehicle to obtain the integral control factor corresponding to the difference between the current EGR rate and the target EGR rate by looking up the table. Table 2 below shows the mapping table between the difference in EGR rates and the integral control factor:

[0101] EGRerr -0.05 -0.017 0 0.01 0.100000001 fi(EGRerr) 35 15 2.5 3 5

[0102] Among them, fi(EGRerr) is the integral control curve based on EGRRerr, which is obtained by experimental calibration. For example, the curve is calibrated according to the standard that completes the EGR rate decrease in 0.3 seconds. Specifically, under the condition of determining the EGR difference, the response characteristics of the system are observed by controlling the integral control factor value, such as the adjustment accuracy, adjustment time, adjustment error, etc., and the parameter value that makes the system performance optimal is selected as the calibration value.

[0103] In this embodiment of the disclosure, the vehicle obtains a first opening value corresponding to the proportional control in proportional-integral control based on the difference between the current EGR rate and the target EGR rate, the proportional control factor, and the first and second times; and / or, based on the above difference, the integral control factor, the first time, and the preset opening value, obtains a second opening value corresponding to the integral control in proportional-integral control. This step introduces the proportional control factor, the first time, and the second time to adjust the EGR rate difference in order to calculate the first opening value corresponding to the proportional control, and introduces the integral control factor, the first time, and the preset opening value to adjust the EGR rate difference in order to calculate the second opening value corresponding to the integral control. Based on these relevant parameters that can adjust the opening, the vehicle can adjust the EGR rate from multiple factors to calculate a more accurate first opening value and second opening value.

[0104] It should be noted that the preset opening value in this embodiment can be a historical opening value or a preset fixed value. The preset fixed value can be set according to actual needs and is not limited here. For example, the preset opening value can also be determined based on the number of times the EGR valve control method is executed. For instance, when the control method is executed for the first time, the preset opening value can be a preset fixed value of 0. In each subsequent execution, the preset opening value can be set to a historical opening value, such as the second opening value obtained from the previous execution of the EGR valve control method.

[0105] It is understood that, based on the difference between the current EGR rate and the target EGR rate, the preset opening value, and the first and second times, this embodiment of the disclosure first determines the proportional control factor and the integral control factor, and then determines the first opening value corresponding to the proportional control and the second opening value corresponding to the integral control. This introduces a parameter to adjust the EGR rate difference, which helps to improve the accuracy of calculating the target opening of the EGR valve.

[0106] In some embodiments, the difference includes a difference value; obtaining the first opening value corresponding to the proportional control in the proportional-integral control based on the difference, the proportional control factor, the first time, and the second time includes:

[0107] A preset weight is determined based on the ratio of the second time to the first time.

[0108] The product of the difference, the proportional control factor, and the preset weight is determined as the first opening value corresponding to the proportional control in the proportional-integral control.

[0109] In this embodiment of the disclosure, the difference between the current EGR rate and the target EGR rate can be the difference between the current EGR rate and the target EGR rate.

[0110] In this embodiment of the disclosure, the vehicle determines a preset weight (e.g., Gain) based on the ratio of a second time (e.g., t2) to a first time (e.g., t1), as shown in the following formula (2):

[0111] Gain=a*t2 / t1 (2)

[0112] Where 'a' is the weighting coefficient, and 'a' is a positive number. The specific value can be set according to actual needs, and there is no limitation here. For example, 'a' can be 24.

[0113] In this embodiment of the disclosure, the vehicle determines the first opening degree EGRp corresponding to the proportional control in the proportional integral control by multiplying the above-mentioned difference EGRrr, the proportional control factor fp(EGRerr) and the Gain between the preset weights, as shown in the following formula (3):

[0114] EGRp=EGRerr*Gain*fp(EGRerr) (3)

[0115] It is understood that in this embodiment of the present disclosure, the first opening value corresponding to the proportional control is obtained by multiplying the proportional control factor, the difference between the EGR rate and the time weight coefficient. The time weight coefficient determines the rate at which the opening value changes with time. The proportional control factor is used to further fine-tune the control opening value result. This method can quickly respond to changes in the EGR rate of the system and improve the system's adaptability to different operating conditions.

[0116] In some embodiments, the difference includes a difference value; obtaining the second opening value corresponding to the integral control in the proportional-integral control based on the difference, the integral control factor, the first time, and a preset opening value includes:

[0117] Determine the product of the difference, the integral control factor, and the first time;

[0118] Based on the sum of the product and the preset opening value, the second opening value corresponding to the integral control in the proportional-integral control is obtained.

[0119] In this embodiment of the disclosure, the difference between the current EGR rate and the target EGR rate can be the difference between the current EGR rate and the target EGR rate.

[0120] In this embodiment of the disclosure, the vehicle determines the second opening value EGRi corresponding to the proportional control in the proportional-integral control based on the sum of the product of the above-mentioned difference EGRerr, the integral control factor fi (EGRerr) and the first time t1 and a preset opening value (e.g., EGRil), as shown in the following formula (4):

[0121] EGRi=EGRerr*t1*fi(EGRerr)+EGRil (4)

[0122] It is understood that in this embodiment of the present disclosure, the second opening value corresponding to the integral control is obtained by summing the product of the integral control factor and the difference between the EGR rate and the first time with the preset opening value. The time coefficient plays a role in smoothing the integral control. The preset opening value serves as a target reference value to guide the output of the controller. The integral control factor further adjusts the control opening value result. This method optimizes the performance of the EGR control system and enhances the stability and adaptability of the system.

[0123] Furthermore, in this embodiment of the disclosure, the proportional control factor during forward control (i.e., the target EGR rate is greater than the current EGR rate) is less than the proportional control factor during reverse control (i.e., the target EGR rate is less than the current EGR rate), and the proportional control factor during forward control is positively correlated with the difference in EGR rate, while the proportional control factor during reverse control is negatively correlated with the difference in EGR rate. The rate of change of the proportional control factor during forward control is less than the rate of change of the control factor during reverse control, as shown in Table 1 above.

[0124] Similarly, in this embodiment of the present disclosure, the integral control factor during forward control is smaller than the integral control factor during reverse control, and the integral control factor during forward control is positively correlated with the difference in EGR rate, while the proportional control factor during reverse control is negatively correlated with the difference in EGR rate. The rate of change of the proportional control factor during forward control is smaller than the rate of change of the control factor during reverse control, as shown in Table 2 above.

[0125] Based on the characteristics of the proportional and integral control factors in different control directions, it can be seen that in forward control, the relatively small rates of change of the proportional and integral control factors allow for smooth changes in the first and second opening values, resulting in a smooth change in the target opening value of the EGR valve. However, in reverse control of the EGR valve, the relatively large rates of change of the proportional and integral control factors cause rapid changes in the first and second opening values, resulting in a rapid change in the target opening value of the EGR valve. This method achieves a smooth increase and rapid decrease in the actual EGR rate when the actual EGR rate follows the target EGR rate. On the one hand, it ensures that the engine operates at its optimal state when the actual EGR rate changes smoothly, resulting in stable combustion and reduced fuel consumption. On the other hand, it can quickly reduce the EGR rate to minimize engine stall or engine shutdown when the actual EGR rate is too high and combustion is unstable under certain conditions.

[0126] In some embodiments, the preset opening value includes a historical second opening value.

[0127] In this embodiment, the historical second opening value can be the second opening value output from the previous sampling cycle, or it can be the second opening value output from a sampling cycle prior to the previous sampling cycle. It is understood that in this embodiment, the preset opening value includes historical second opening values. By accumulating historical second opening values ​​into the calculation of the current second opening value, the second opening value of the EGR valve becomes more reasonable, better considering the past behavior of the system, enhancing the system's adaptability, and ensuring that the system's actual EGR rate consistently approaches the target EGR rate, thereby improving system stability.

[0128] In some embodiments, the engine operating parameters include the engine's current speed and the engine's current cylinder density, and the method further includes:

[0129] Determine the target cylinder density based on the current engine speed;

[0130] Determine the required EGR rate under steady-state conditions based on the current speed and the target cylinder density;

[0131] The step of determining the target EGR rate required by the EGR valve in response to the engine being in a transient operating condition includes:

[0132] In response to the engine being in an instantaneous operating condition, the target EGR rate required under the instantaneous operating condition is determined based on the target cylinder density, the current cylinder density of the engine, and the required EGR rate under the steady-state operating condition.

[0133] In this embodiment of the disclosure, the vehicle determines the target cylinder density based on the current engine speed. For example, the engine speed can be monitored to infer the cycle time in the cylinder, thereby calculating or selecting a suitable target cylinder density. This target density should be sufficient to ensure the normal operation and efficiency of the engine.

[0134] In this embodiment of the disclosure, the vehicle determines the required EGR rate under steady-state operating conditions based on the current engine speed and the target cylinder density. As mentioned earlier, the steady-state EGR rate under the current engine operating parameters can be obtained from the mapping relationship between the calibrated engine operating parameters and the EGR rate under steady-state operating conditions. Therefore, in this embodiment of the disclosure, the current engine operating parameters are the current engine speed and the target cylinder density, and the steady-state EGR rate can be obtained through the corresponding mapping relationship.

[0135] In this embodiment of the disclosure, in response to the engine being in an instantaneous operating condition, the vehicle determines the target EGR rate required under the instantaneous operating condition based on the target cylinder density, the current cylinder density of the engine, and the required EGR rate under steady-state operating conditions, as shown in the following formula (5):

[0136]

[0137] in, and These are preset constant values, which can be set according to actual needs. No limitation is set here; this is just an example. It can be 200. It can be 50. Among the engine operating parameters, cylinder density has a significant impact on EGR rate. The target cylinder density represents the ideal or desired in-cylinder gas state, and the steady-state EGR rate is usually determined under stable operating conditions. At this time, the engine state is relatively stable and the various parameters change little. Using these parameters to determine the transient target EGR rate can improve the calculation accuracy and stability.

[0138] It should be noted that the engine operating parameters in this embodiment can also be torque, intake flow rate, etc., and torque or intake flow rate can be used to participate in the calculation of transient target EGR rate in the same way as cylinder density.

[0139] It is understood that the embodiments of this disclosure first determine the target cylinder density based on the current speed, then determine the steady-state required EGR rate, and finally obtain the target EGR rate suitable for the engine's optimal operating state under transient conditions based on the target cylinder density, the current cylinder density, and the steady-state required EGR rate, thereby achieving better engine performance and engine thermal efficiency control.

[0140] Figure 3 This is a schematic diagram of a control device for an EGR valve provided in an embodiment of the present disclosure, as shown below. Figure 3As shown, the control device 300 for the EGR valve includes:

[0141] The first determining module 301 is configured to acquire the engine's operating parameters and determine the engine's operating conditions based on the operating parameters.

[0142] The second determining module 302 is configured to determine the current EGR rate of the EGR valve and the required target EGR rate in response to the engine being in an instantaneous operating condition.

[0143] The third determining module 303 is configured to determine the target opening degree of the EGR valve based on the difference between the current EGR rate and the target EGR rate;

[0144] The control module 304 is configured to control the EGR valve based on the target opening degree.

[0145] In some embodiments, the third determining module 303 is further configured to perform proportional-integral control on the opening of the EGR valve based on the difference between the current EGR rate and the target EGR rate, to obtain a first opening value corresponding to the proportional control in the proportional-integral control and a second opening value corresponding to the integral control in the proportional-integral control; and to determine the target opening of the EGR valve based on the first opening value and the second opening value.

[0146] In some embodiments, the determining module 303 is further configured to: acquire a first time required for the EGR valve to reach a preset differential pressure, and a second time for gas to arrive at the EGR valve; determine a proportional control factor based on the difference between the current EGR rate and the target EGR rate; obtain a first opening value corresponding to the proportional control in the proportional-integral control based on the difference between the current EGR rate and the target EGR rate, the proportional control factor, the first time, and the second time; and / or, determine an integral control factor based on the difference between the current EGR rate and the target EGR rate; obtain a second opening value corresponding to the integral control in the proportional-integral control based on the difference between the current EGR rate and the target EGR rate, the integral control factor, the first time, and the preset opening value.

[0147] In some embodiments, the determining module 303 is further configured to determine a preset weight based on the ratio of the second time to the first time; and to determine the product of the difference, the proportional control factor, and the preset weight as the first opening value corresponding to the proportional control in the proportional-integral control.

[0148] In some embodiments, the determining module 303 is further configured to determine the product between the difference, the integral control factor, and the first time; and to obtain the second opening value corresponding to the integral control in the proportional-integral control based on the sum of the product and the preset opening value.

[0149] In some embodiments, the preset opening value includes a historical second opening value.

[0150] In some embodiments, the engine's operating parameters include the engine's current speed and the engine's current cylinder density, and the device further includes:

[0151] The fourth determining module determines the target cylinder density based on the current engine speed;

[0152] The fifth determining module determines the required EGR rate under steady-state conditions based on the current rotational speed and the target cylinder density.

[0153] The second determining module 302 is further configured to, in response to the engine being in an instantaneous operating condition, determine the target EGR rate required under the instantaneous operating condition based on the target cylinder density, the current cylinder density of the engine, and the required EGR rate under the steady-state operating condition.

[0154] Figure 4 This is a schematic diagram of the hardware entity of a vehicle provided in an embodiment of this disclosure, such as... Figure 4 As shown, the hardware entity of the vehicle 400 includes: a processor 401, a communication interface 402, and a memory 403, wherein:

[0155] Processor 401 typically controls the overall operation of computer device 400.

[0156] Communication interface 402 enables computer devices to communicate with other terminals or servers via a network.

[0157] The memory 403 is configured to store instructions and applications executable by the processor 401, and can also cache data to be processed or already processed (e.g., image data, audio data, voice communication data, and video communication data) in the processor 401 and various modules in the computer device 400. It can be implemented using flash memory or random access memory (RAM). Data can be transferred between the processor 401, the communication interface 402, and the memory 403 via bus 404. The processor 401 is used to execute some or all of the steps in the aforementioned vehicle operation control method.

[0158] Correspondingly, embodiments of this disclosure provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements some or all of the steps in the above method.

[0159] It should be understood that the phrase "an embodiment" or "one embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this disclosure. Therefore, "in one embodiment" or "one embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Moreover, in the various embodiments of this disclosure, the sequence numbers of the above steps / processes do not imply a sequential order of execution; the execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this disclosure. The sequence numbers of the above embodiments of this disclosure are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0160] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0161] In the several embodiments provided in this disclosure, it should be understood that the disclosed devices and methods 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, such as: multiple units or components may be combined, or integrated into another system, or some features may be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0162] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0163] In addition, each functional unit in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0164] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0165] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this disclosure, or the part that contributes to related technologies, 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 methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, magnetic disks, or optical disks.

[0166] The above description is merely an embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. An EGR valve control method, characterized in that, The method includes: The engine's operating parameters are acquired, and the engine's operating conditions are determined based on the operating parameters. The operating conditions include at least steady-state operating conditions and instantaneous operating conditions. In response to the engine being in a transient operating condition, the current EGR rate of the EGR valve and the required target EGR rate are determined; The target opening degree of the EGR valve is determined based on the difference between the current EGR rate and the target EGR rate. The EGR valve is controlled based on the target opening degree; The step of determining the target opening degree of the EGR valve based on the difference between the current EGR rate and the target EGR rate includes: Based on the difference between the current EGR rate and the target EGR rate, the opening of the EGR valve is subjected to proportional-integral control to obtain a first opening value corresponding to the proportional control in the proportional-integral control, and a second opening value corresponding to the integral control in the proportional-integral control. The target opening degree of the EGR valve is determined based on the first opening value and the second opening value; The step of performing proportional-integral control on the opening of the EGR valve based on the difference between the current EGR rate and the target EGR rate to obtain a first opening value corresponding to the proportional control and a second opening value corresponding to the integral control in the proportional-integral control includes: The first time required for the EGR valve to reach the preset differential pressure, and the second time for the gas to reach the EGR valve are obtained. The proportional control factor is determined based on the difference between the current EGR rate and the target EGR rate; Based on the difference, the proportional control factor, the first time, and the second time, the first opening value corresponding to the proportional control in the proportional integral control is obtained; The integral control factor is determined based on the difference between the current EGR rate and the target EGR rate; Based on the difference, the integral control factor, the first time, and the preset opening value, the second opening value corresponding to the integral control in the proportional-integral control is obtained.

2. The method according to claim 1, characterized in that, Both the first time and the second time are calibration values.

3. The method according to claim 1, characterized in that, The difference includes a difference value; obtaining the first opening value corresponding to the proportional control in the proportional-integral control based on the difference, the proportional control factor, the first time, and the second time includes: A preset weight is determined based on the ratio of the second time to the first time. The product of the difference, the proportional control factor, and the preset weight is determined as the first opening value corresponding to the proportional control in the proportional-integral control.

4. The method according to claim 1, characterized in that, The difference includes a differential value; obtaining the second opening value corresponding to the integral control in the proportional-integral control based on the difference, the integral control factor, the first time, and the preset opening value includes: Determine the product of the difference, the integral control factor, and the first time; Based on the sum of the product and the preset opening value, the second opening value corresponding to the integral control in the proportional-integral control is obtained.

5. The method according to claim 4, characterized in that, The preset opening value includes the historical second opening value.

6. The method according to any one of claims 1-5, characterized in that, The engine's operating parameters include the engine's current speed and current cylinder density. The method further includes: Determine the target cylinder density based on the current engine speed; Determine the required EGR rate under steady-state conditions based on the current speed and the target cylinder density; The step of determining the target EGR rate required by the EGR valve in response to the engine being in a transient operating condition includes: In response to the engine being in an instantaneous operating condition, the target EGR rate required under the instantaneous operating condition is determined based on the target cylinder density, the current cylinder density of the engine, and the required EGR rate under the steady-state operating condition.

7. A control device for an EGR valve, characterized in that, The control device includes: The first determining module is configured to acquire the engine's operating parameters and determine the engine's operating conditions based on the operating parameters, wherein the operating conditions include at least steady-state operating conditions and instantaneous operating conditions. The second determining module is configured to determine the current EGR rate of the EGR valve and the required target EGR rate in response to the engine being in a transient operating condition; The third determining module is configured to: acquire the first time required for the EGR valve to reach a preset differential pressure, and the second time for gas to arrive at the EGR valve; determine a proportional control factor based on the difference between the current EGR rate and the target EGR rate; obtain a first opening value corresponding to the proportional control in proportional-integral control based on the difference between the current EGR rate and the target EGR rate, the proportional control factor, the first time, and the second time; determine an integral control factor based on the difference between the current EGR rate and the target EGR rate; obtain a second opening value corresponding to the integral control in proportional-integral control based on the difference between the current EGR rate and the target EGR rate, the integral control factor, the first time, and the preset opening value; and determine the target opening of the EGR valve based on the first opening value and the second opening value. The control module is configured to control the EGR valve based on the target opening degree.

8. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to perform the method as described in any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 6.

Images