EGR (Exhaust Gas Recirculation) valve lag compensation control method based on feedforward control and related equipment

Abstract

The invention discloses an EGR valve lag compensation control method based on feedforward control and related equipment, and belongs to the technical field of EGR valves. The method comprises the steps that the opening degree is adjusted through PID control according to the deviation between the set opening degree and the actual opening degree of the EGR valve; the real-time actual opening degree of the EGR valve is determined, and the real-time position, the movement direction and the speed gradient of the EGR valve are calculated in combination with the real-time actual opening degree of the EGR valve; based on the motion direction and the speed gradient of the EGR valve, a feedforward control strategy of the EGR valve is determined; if the movement direction of the EGR valve is switched or the speed gradient is larger than a preset threshold value, the friction torque and the reset torque of the EGR valve are used for determining lag compensation torque; and according to the lag compensation torque and the closed-loop driving torque of the EGR valve, the required driving torque of the EGR valve is calculated and converted into the duty ratio, and lag compensation is conducted on the EGR valve through PID control and feedforward control. The responsiveness of EGR valve control can be improved, and the response speed of valve control is increased; the problem that an oscillation phenomenon easily occurs during control of an existing EGR valve is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of EGR valves, and in particular to an EGR valve hysteresis compensation control method based on feedforward control and related equipment. Background Art

[0002] The statements in this section merely mention background art related to the present invention and do not necessarily constitute prior art.

[0003] To meet stringent emission standards, diesel engines must significantly reduce their primary emissions—NOx and particulate matter. EGR (Exaust Gas Recirculation) is one of the most effective methods for reducing NOx emissions from diesel engines. EGR, or exhaust gas recirculation, involves using an EGR valve to direct 6% to 15% of exhaust gas into the intake manifold, where it is mixed with fresh air and then enters the cylinder for combustion. There are two implementation methods: internal EGR, which uses variable valve timing to retain some exhaust gas from the previous engine cycle; and external EGR, which uses an EGR pipe to direct exhaust gas into the intake manifold before it enters the next engine cycle for combustion. Currently, external EGR is primarily used, and the recirculated exhaust gas is cooled before entering the intake manifold. The control system determines the EGR valve opening based on engine operating conditions and implements closed-loop control using valve position feedback signals, thereby achieving precise exhaust gas recirculation.

[0004] Existing technology primarily uses PID control based on opening deviation, outputting a duty cycle to control EGR valve movement and achieve closed-loop control of EGR valve opening. When the EGR valve position error is relatively small, the differential effect is almost ineffective, and the proportional effect, which is proportional to the error, also becomes very small. When the speed is almost zero, friction increases, resulting in the valve's control torque being insufficient to offset the friction, causing the valve to stop prematurely. However, the integral effect increases as the error persists until it offsets the static friction and pushes the valve back to the given opening. However, increasing speed reduces friction, inevitably causing the valve to exceed the given position and generate a negative deviation, until the negative deviation reduces the integral effect and reverses to overcome the negative static friction to eliminate the negative deviation. This repetitive process is prone to oscillation. Summary of the Invention

[0005] In order to address the deficiencies of the prior art, the present invention provides an EGR valve hysteresis compensation control method, system, electronic device, computer-readable storage medium and computer program product based on feedforward control. Based on the hysteresis characteristics of the EGR valve, a feedforward compensation is added to the duty cycle of the PID control output to achieve closed-loop control of the EGR opening.

[0006] In a first aspect, the present invention provides an EGR valve hysteresis compensation control method based on feedforward control;

[0007] A method for controlling an EGR valve hysteresis compensation based on feedforward control, comprising:

[0008] Determine the set opening and actual opening of the EGR valve, and adjust the opening of the EGR valve through PID control according to the deviation between the set opening and the actual opening of the EGR valve;

[0009] Determine the real-time actual opening of the EGR valve, and calculate the real-time position, movement direction and velocity gradient of the EGR valve based on the real-time actual opening of the EGR valve;

[0010] Based on the movement direction and velocity gradient of the EGR valve, the feedforward control strategy of the EGR valve is determined to achieve closed-loop control of the EGR valve opening;

[0011] Among them, if the movement direction of the EGR valve switches or the speed gradient is greater than a preset threshold, the feedforward control strategy is to use the friction torque of the EGR valve and the reset torque provided by the reset torsion spring to determine the hysteresis compensation torque of the EGR valve; based on the hysteresis compensation torque and closed-loop drive torque of the EGR valve, the required driving torque of the EGR valve is calculated and converted into a duty cycle, and the hysteresis compensation of the EGR valve is performed through PID control and feedforward control.

[0012] In some embodiments, determining the position, movement direction, and velocity gradient of the EGR valve in combination with the real-time actual opening of the EGR valve includes:

[0013] Determine the real-time position of the EGR valve according to the real-time actual opening of the EGR valve;

[0014] Determine the movement direction of the EGR valve based on the difference between the real-time position of the EGR valve and the corresponding position at adjacent time points;

[0015] The velocity gradient of the EGR valve is determined by taking the derivative of the velocity of the EGR valve.

[0016] In some embodiments, the friction torque of the EGR valve is calculated by using a Stribeck model.

[0017] In some embodiments, the friction torque of the EGR valve is expressed as:

[0018]

[0019] Among them, M c represents the friction Coulomb torque, M t Indicates valve drive torque, M s represents the maximum static friction torque, B represents the viscous friction coefficient, w represents the valve movement speed, w s represents the approaching Stribeck velocity, and sign(w) represents the sign function.

[0020] In some embodiments, the closed-loop driving torque is determined based on the rotational inertia and the velocity gradient of the EGR valve.

[0021] In some embodiments, the required driving torque is expressed as:

[0022]

[0023] Where, J represents the moment of inertia of the EGR valve, a represents the velocity gradient of the EGR valve, and M 动 Indicates the closed-loop driving torque of the EGR valve, M f Indicates the friction torque of the EGR valve, M 弹 Indicates the torque provided by the reset torsion spring, M 滞后 Indicates the applied hysteresis compensation torque.

[0024] In a second aspect, the present invention provides an EGR valve hysteresis compensation control system based on feedforward control;

[0025] The EGR valve hysteresis compensation control system based on feedforward control includes:

[0026] an opening adjustment module configured to: determine a set opening and an actual opening of the EGR valve, and adjust the opening of the EGR valve through PID control according to a deviation between the set opening and the actual opening of the EGR valve;

[0027] a motion state determination module configured to: determine a real-time actual opening of the EGR valve, and calculate a real-time position, motion direction, and velocity gradient of the EGR valve based on the real-time actual opening of the EGR valve;

[0028] The hysteresis compensation module is configured to: determine a feedforward control strategy of the EGR valve based on a movement direction and a velocity gradient of the EGR valve to achieve closed-loop control of the EGR valve opening;

[0029] Among them, if the movement direction of the EGR valve switches or the speed gradient is greater than a preset threshold, the feedforward control strategy is to use the friction torque of the EGR valve and the reset torque provided by the reset torsion spring to determine the hysteresis compensation torque of the EGR valve; based on the hysteresis compensation torque and closed-loop drive torque of the EGR valve, the required driving torque of the EGR valve is calculated and converted into a duty cycle, and the hysteresis compensation of the EGR valve is performed through PID control and feedforward control.

[0030] In a third aspect, the present invention provides an electronic device;

[0031] An electronic device includes a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the above-mentioned EGR valve lag compensation control method based on feedforward control.

[0032] In a fourth aspect, the present invention provides a computer-readable storage medium;

[0033] A computer-readable storage medium stores a computer program / instruction thereon, which, when executed by a processor, implements the steps of the above-mentioned EGR valve lag compensation control method based on feedforward control.

[0034] In a fifth aspect, the present invention provides a computer program product;

[0035] A computer program product includes a computer program / instruction, which implements the steps of the above-mentioned EGR valve hysteresis compensation control method based on feedforward control when executed by a processor.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] 1. The technical solution provided by the present invention implements feedforward control based on the hysteresis characteristics and movement direction of the EGR valve. The movement direction of the EGR valve is determined by the set opening, actual opening and opening deviation of the actuator. The opening of the EGR valve is controlled through hysteresis compensation and PID control throughout the entire movement process of the actuator, thereby achieving closed-loop control of the waste gas recirculation amount.

[0038] 2. The technical solution provided by the present invention derives the hysteresis compensation torque of the EGR valve based on the reset torque provided by the reset torsion spring and the friction torque of the EGR valve, and outputs the EGR duty ratio through PID control and feedforward compensation control to achieve closed-loop control of the EGR opening. PID control and feedforward compensation control can improve the response speed of the EGR opening control, reduce oscillation and overshoot, and improve the control accuracy of the EGR opening. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0040] Figure 1 A flow chart of an EGR valve hysteresis compensation control method based on feedforward control provided in an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of the control principle of the EGR valve hysteresis compensation control method based on feedforward control provided in an embodiment of the present invention;

[0042] Figure 3 An example diagram of a change trend curve provided by an embodiment of the present invention;

[0043] Figure 4An example diagram of a hysteresis characteristic curve provided by an embodiment of the present invention;

[0044] Figure 5 This is an example diagram of a demand driving torque curve provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0045] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0046] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0047] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0048] Example 1

[0049] The existing EGR valve has oscillation phenomenon during the control process, and the response speed and control accuracy need to be improved; therefore, this embodiment provides an EGR valve hysteresis compensation control method based on feedforward control. Based on the hysteresis characteristics of the EGR valve, a feedforward compensation is added to the duty cycle of the PID output that controls the EGR valve movement.

[0050] Next, combine Figure 1-Figure 5 , a feedforward control-based EGR valve hysteresis compensation control method disclosed in this embodiment is described in detail. The feedforward control-based EGR valve hysteresis compensation control method includes:

[0051] S1. Determine the set opening and actual opening of the EGR valve, and adjust the opening of the EGR valve through PID control according to the deviation between the set opening and the actual opening of the EGR valve.

[0052] S2. Determine the real-time actual opening of the EGR valve, and calculate the real-time position, movement direction, and velocity gradient of the EGR valve based on the real-time actual opening of the EGR valve.

[0053] As an implementation method, S2 specifically includes:

[0054] S201. Determine the real-time position of the EGR valve according to the real-time actual opening of the EGR valve.

[0055] Here, the real-time actual opening of the EGR valve is the real-time position of the EGR valve.

[0056] S202 : Determine the movement direction of the EGR valve according to the difference between the real-time position of the EGR valve and the corresponding position at adjacent time points.

[0057] Specifically, the difference between the real-time position of the EGR valve and the corresponding position at the previous moment is calculated. If the difference is positive, the movement direction of the EGR valve is the opening direction; otherwise, the movement direction of the EGR valve is the closing direction.

[0058] S203 , deriving the time based on the real-time position of the EGR valve to determine the movement speed of the EGR valve; and deriving the movement speed of the EGR valve to determine the velocity gradient of the EGR valve.

[0059] S3. Based on the movement direction and velocity gradient of the EGR valve, determine whether to perform feedforward control on the EGR valve. If so, execute S4; otherwise, execute S1.

[0060] Specifically, if the movement direction of the EGR valve is converted or the speed gradient is greater than a preset threshold, feedforward control is performed on the EGR valve; otherwise, only PID control is performed on the EGR valve.

[0061] S4. Determine the hysteresis compensation torque of the EGR valve using the friction torque of the EGR valve and the reset torque provided by the reset torsion spring; calculate the required driving torque of the EGR valve based on the hysteresis compensation torque and the closed-loop driving torque of the EGR valve and convert it into a duty cycle. Hysteresis compensation of the EGR valve is performed through PID control and feedforward control. This specifically includes:

[0062] S401 : Determine the hysteresis compensation torque of the EGR valve by using the friction torque of the EGR valve and the reset torque provided by the reset torsion spring.

[0063] As an implementation method, the specific process of S401 is as follows:

[0064] Step 1: Calculate the friction torque of the EGR valve using the Stribeck model.

[0065] For example, the friction torque M of the EGR valve f Expressed as:

[0066]

[0067] Among them, M c represents the friction Coulomb torque, M t Indicates valve drive torque, Ms represents the maximum static friction torque, B represents the viscous friction coefficient, and the parameter δ s It usually changes in the interval [0.5, 2], w represents the valve movement speed, w s represents the approaching Stribeck velocity, and sign(w) represents the sign function:

[0068]

[0069] Furthermore, with the valve opening speed as the horizontal axis and the friction torque as the vertical axis, a trend curve of the friction torque with respect to the valve movement speed is determined; the trend curve is as follows: Figure 3 As shown, when the valve movement speed is greater than 0, that is, during the valve opening process, the friction torque presents an upward trend of a concave curve, and when the valve movement speed is less than 0, that is, during the valve closing process, the friction torque presents an upward trend of a convex curve.

[0070] Step 2: Determine the torque M provided by the reset torsion spring based on its elastic coefficient, deformation angle, and torsion spring radius. 弹 Determine the hysteresis compensation torque M based on the vector sum of the reset torque provided by the reset torsion spring and the friction torque of the EGR valve 滞后 .

[0071] Among them, the torque M provided by the reset torsion spring 弹 Expressed as:

[0072] M 弹 =k*θ*r;

[0073] Hysteresis compensation torque M 滞后 Expressed as:

[0074]

[0075] Where k represents the elastic coefficient of the return torsion spring, and θ represents the deformation angle of the return torsion spring.

[0076] Because the EGR valve contains a return torsion spring, it is subject to a return torque that pulls the valve to its closed position. Therefore, the valve must overcome this pull during opening, while the valve must treat the return torsion spring's return torque as a pull during closing. This results in different duty cycles when the valve is opened or closed at the same position.

[0077] Here, according to the above formula, the hysteresis characteristic curve of the EGR valve in the opening and closing process at a fixed speed can be obtained, such as Figure 4 As shown, the curve trend of the hysteresis characteristic curve during the closing process is similar to the left half of the change trend curve, and the curve trend of the hysteresis characteristic curve during the opening process is similar to the right half of the change trend curve.

[0078] Since the EGR valve has the above characteristics, in order to ensure that the EGR valve responds quickly and moves smoothly, when the EGR valve switches from a closed state to an open state, the force provided by the reset torsion spring changes from a driving force to a resistance. Therefore, a step external force (duty cycle) needs to be applied to the EGR valve to quickly switch the valve from a closed state to an open state. During the state switching process, the accumulation of the I integral is cleared to zero to prevent adverse effects on subsequent control trends. Similar changes are also required in the control of the valve from an open state to a closed state.

[0079] S402 : Calculate the required driving torque of the EGR valve according to the hysteresis compensation torque and the closed-loop driving torque of the EGR valve, convert it into a duty cycle, and output it to the EGR valve.

[0080] The required driving torque is expressed as:

[0081] M 驱动 =M 动 +M 滞后 ;

[0082] M 动 =J*a;

[0083]

[0084] Where, J represents the moment of inertia of the EGR valve, a represents the velocity gradient of the EGR valve, and M 动 Indicates the closed-loop driving torque of the EGR valve, M 滞后 Indicates that hysteresis compensation torque is applied and driving torque M is required 驱动 is the PID closed-loop control torque M 动 and hysteresis compensation torque M 滞后 Here, M 弹 The positive or negative value is determined by whether the direction of valve movement is consistent with the direction of the reset torque provided by the reset torsion spring. If they are consistent, it is negative; if not, it is positive.

[0085] Example 2

[0086] This embodiment discloses an EGR valve hysteresis compensation control system based on feedforward control, comprising:

[0087] an opening adjustment module configured to: determine a set opening and an actual opening of the EGR valve, and adjust the opening of the EGR valve through PID control according to a deviation between the set opening and the actual opening of the EGR valve;

[0088] a motion state determination module configured to: determine a real-time actual opening of the EGR valve, and calculate a real-time position, motion direction, and velocity gradient of the EGR valve based on the real-time actual opening of the EGR valve;

[0089] The hysteresis compensation module is configured to: determine a feedforward control strategy of the EGR valve based on a movement direction and a velocity gradient of the EGR valve to achieve closed-loop control of the EGR valve opening;

[0090] Among them, if the movement direction of the EGR valve switches or the speed gradient is greater than a preset threshold, the feedforward control strategy is to use the friction torque of the EGR valve and the reset torque provided by the reset torsion spring to determine the hysteresis compensation torque of the EGR valve; based on the hysteresis compensation torque of the EGR valve and the closed-loop drive torque, the required drive torque of the EGR valve is calculated and converted into a duty cycle, and the EGR valve is hysteresis compensated through PID control and feedforward control. It should be noted here that the above-mentioned opening adjustment module, motion state determination module and hysteresis compensation module correspond to the steps in Example 1. The examples and application scenarios implemented by the above-mentioned modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above-mentioned Example 1. It should be noted that the above-mentioned modules as part of the system can be executed in a computer system such as a set of computer executable instructions.

[0091] Example 3

[0092] Embodiment 3 of the present invention provides an electronic device, including a memory and a processor, and computer instructions stored in the memory and running on the processor. When the computer instructions are run by the processor, the steps of the above-mentioned EGR valve lag compensation control method based on feedforward control are completed.

[0093] Example 4

[0094] A fourth embodiment of the present invention provides a computer-readable storage medium for storing computer instructions. When the computer instructions are executed by a processor, the steps of the above-mentioned EGR valve lag compensation control method based on feedforward control are completed.

[0095] Example 5

[0096] A fifth embodiment of the present invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the above-mentioned EGR valve lag compensation control method based on feedforward control.

[0097] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowcharts and / or block diagrams. Figure 1a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0098] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0099] These computer program instructions can also be loaded onto a computer or other programmable data processing device, and a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide the functions for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0100] The descriptions of the various embodiments in the above embodiments have different focuses. For parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0101] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. The EGR valve hysteresis compensation control method based on feedforward control is characterized in that: include: Determine the set opening and actual opening of the EGR valve, and adjust the opening of the EGR valve through PID control according to the deviation between the set opening and the actual opening of the EGR valve; Determine the real-time actual opening of the EGR valve, and calculate the real-time position, movement direction and velocity gradient of the EGR valve based on the real-time actual opening of the EGR valve; Based on the movement direction and velocity gradient of the EGR valve, the feedforward control strategy of the EGR valve is determined to achieve closed-loop control of the EGR valve opening; Among them, if the movement direction of the EGR valve switches or the speed gradient is greater than a preset threshold, the feedforward control strategy is to use the friction torque of the EGR valve and the reset torque provided by the reset torsion spring to determine the hysteresis compensation torque of the EGR valve; based on the hysteresis compensation torque and closed-loop drive torque of the EGR valve, the required driving torque of the EGR valve is calculated and converted into a duty cycle, and the hysteresis compensation of the EGR valve is performed through PID control and feedforward control.

2. The EGR valve hysteresis compensation control method based on feedforward control according to claim 1, characterized in that: The method of determining the real-time position, movement direction and speed gradient of the EGR valve in combination with the real-time actual opening of the EGR valve includes: Determine the real-time position of the EGR valve according to the real-time actual opening of the EGR valve; Determine the movement direction of the EGR valve based on the difference between the real-time position of the EGR valve and the corresponding position at adjacent time points; The velocity gradient of the EGR valve is determined by taking the derivative of the velocity of the EGR valve.

3. The EGR valve hysteresis compensation control method based on feedforward control according to claim 1, characterized in that: The friction torque of the EGR valve is calculated by using the Stribeck model.

4. The EGR valve hysteresis compensation control method based on feedforward control according to claim 1, characterized in that: The friction torque of the EGR valve is expressed as: Among them, M c represents the friction Coulomb torque, M t Indicates valve drive torque, M s represents the maximum static friction torque, B represents the viscous friction coefficient, w represents the valve movement speed, w s represents the approaching Stribeck velocity, and sign(w) represents the sign function.

5. The EGR valve hysteresis compensation control method based on feedforward control according to claim 1, characterized in that: The closed-loop driving torque is determined according to the rotational inertia and speed gradient of the EGR valve.

6. The EGR valve hysteresis compensation control method based on feedforward control according to claim 1, characterized in that: The required driving torque is expressed as: Where, J represents the moment of inertia of the EGR valve, a represents the velocity gradient of the EGR valve, and M 动 Indicates the closed-loop driving torque of the EGR valve, M f Indicates the friction torque of the EGR valve, M 弹 Indicates the torque provided by the reset torsion spring, M 滞后 Indicates the applied hysteresis compensation torque.

7. The EGR valve hysteresis compensation control system based on feedforward control is characterized in that: include: an opening adjustment module configured to: determine a set opening and an actual opening of the EGR valve, and adjust the opening of the EGR valve through PID control according to a deviation between the set opening and the actual opening of the EGR valve; a motion state determination module configured to: determine a real-time actual opening of the EGR valve, and calculate a real-time position, motion direction, and velocity gradient of the EGR valve based on the real-time actual opening of the EGR valve; The hysteresis compensation module is configured to: determine a feedforward control strategy of the EGR valve based on a movement direction and a velocity gradient of the EGR valve to achieve closed-loop control of the EGR valve opening; Among them, if the movement direction of the EGR valve switches or the speed gradient is greater than a preset threshold, the feedforward control strategy is to use the friction torque of the EGR valve and the reset torque provided by the reset torsion spring to determine the hysteresis compensation torque of the EGR valve; based on the hysteresis compensation torque and closed-loop drive torque of the EGR valve, the required driving torque of the EGR valve is calculated and converted into a duty cycle, and the hysteresis compensation of the EGR valve is performed through PID control and feedforward control.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the EGR valve hysteresis compensation control method based on feedforward control according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instruction is executed by a processor, the steps of the EGR valve hysteresis compensation control method based on feedforward control according to any one of claims 1 to 6 are implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the steps of the EGR valve hysteresis compensation control method based on feedforward control according to any one of claims 1 to 6 are implemented.

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