Oil injection control system and method of vehicle-mounted boiler

Abstract

The invention discloses an oil injection control system and method of a vehicle-mounted boiler. The oil injection control system of the vehicle-mounted boiler comprises an oil tank, an oil supply module, a flow sensor, an oil return pipeline and a programmable logic controller. The oil supply module comprises an electric oil pump, a proportional valve and an oil nozzle which are sequentially connected in series. The electric oil pump is connected with the outlet side of the oil tank. The flow sensor is respectively connected with the proportional valve and the oil nozzle; the oil return pipeline is connected with the outlet side of the electric oil pump and the oil tank; the programmable logic controller is electrically connected with the electric oil pump, the proportional valve and the flow sensor. The oil supply module, the flow sensor and the controller are organically combined in one system, the system integrates the flow sensor and the programmable logic controller, a basis is provided for adopting an integral, proportional and differential single closed-loop control algorithm, the oil injection quantity can be accurately monitored and controlled, the oil supply pipeline structure is simplified, and the oil supply efficiency is improved. And the system state can be monitored and adjusted conveniently.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle-mounted boilers, in particular to an oil injection control system and method for a vehicle-mounted boiler. BACKGROUND

[0002] At present, for ordinary vehicle-mounted fuel oil boilers, in order to ensure that the outlet water temperature meets the set temperature requirement, a water mixing tank device is usually needed to be installed, which has a large volume and is often difficult to arrange for heating devices installed on vehicles.

[0003] Therefore, in actual use, we need a heating device whose outlet water meets the set requirement. The common heating device currently used usually adopts a combination of several oil injection nozzles to adjust the oil injection amount to achieve the purpose of adjusting the outlet water temperature. With this control method, the oil injection amount cannot be continuously and accurately controlled, so the purpose of accurately controlling the instant outlet water temperature cannot be achieved. At the same time, during the start-up stage of the heating device, the current control method mostly adopts an open-loop control idea, which cannot effectively control the temperature, and there is a great safety hazard in real application.

[0004] In summary, the existing boiler heating device has the technical problems of easy fluctuation of outlet water temperature and safety hazard. SUMMARY

[0005] The present application aims to overcome the above technical deficiencies and provides an oil injection control system and method for a vehicle-mounted boiler to solve the technical problems of easy fluctuation of outlet water temperature and safety hazard in the prior art.

[0006] To achieve the above technical purpose, the present application adopts the following technical scheme: In a first aspect, the present application provides an oil injection control system for a vehicle-mounted boiler, comprising an oil tank, a fuel supply module, a flow sensor, a return oil pipeline, and a programmable logic controller.

[0007] The oil tank; The fuel supply module comprises an electric oil pump, a proportional valve, and an oil injection nozzle connected in series, and the electric oil pump is connected to the outlet side of the oil tank; The flow sensor is connected to the proportional valve and the oil injection nozzle, respectively; The return oil pipeline is connected to the outlet side of the electric oil pump and the oil tank, respectively; The programmable logic controller is electrically connected to the electric oil pump, the proportional valve, and the flow sensor, respectively.

[0008] In some embodiments of the present application, an outlet water temperature sensor is further included, and the outlet water temperature sensor is electrically connected to the programmable logic controller.

[0009] In some embodiments of the present application, the programmable logic controller is configured with a digital-to-analog conversion module and a proportional, integral and derivative control module.

[0010] In a second aspect, the present application also provides a fuel injection control method for a vehicle-mounted boiler, which is applicable to the fuel injection control system of any one of the embodiments of the first aspect, and comprises the following steps: obtaining a set value and a real-time value of the boiler outlet water temperature; calculating a control amount according to the deviation between the set value and the real-time value; outputting a control signal to the proportional valve according to the control amount, and adjusting the fuel flow of the fuel injection nozzle by continuously adjusting the opening degree of the proportional valve.

[0011] In some embodiments of the present application, the obtaining of the set value and the real-time value of the boiler outlet water temperature comprises: establishing a database corresponding to the fuel flow of the fuel injection nozzle and the opening degree of the proportional valve; calculating a basic fuel injection amount according to the input water flow and the deviation of the outlet water temperature; calling the initial opening degree data of the proportional valve according to the basic fuel injection amount and the database.

[0012] In some embodiments of the present application, the control method further comprises: calculating the control signal of the proportional valve by an integral, proportional and derivative algorithm; converting the control signal into an analog signal by a digital-to-analog conversion module and outputting the analog signal to the proportional valve.

[0013] In some embodiments of the present application, the calculation of the control signal of the proportional valve by the integral, proportional and derivative algorithm comprises: optimizing the integral, proportional and derivative algorithm by an integral separation algorithm; optimizing the integral, proportional and derivative algorithm by a limiting amplitude anti-saturation algorithm.

[0014] In some embodiments of the present application, the optimization of the integral, proportional and derivative algorithm by the integral separation algorithm comprises: judging whether the deviation of the outlet water temperature exceeds a preset error threshold value; if yes, canceling the integral term in the integral, proportional and derivative control algorithm and only performing proportional and derivative control; if no, performing complete integral, proportional and derivative control.

[0015] In some embodiments of the present application, the optimization of the integral, proportional and derivative algorithm by the limiting amplitude anti-saturation algorithm comprises: When the control amount reaches the upper or lower physical limit of the proportional valve, the accumulation of the integral term in the integral, proportional and derivative algorithm is stopped; When the control amount returns to the effective adjustment range of the proportional valve, the normal accumulation of the integral term is resumed.

[0016] In some embodiments of the present application, the control method further comprises: continuously monitoring the real-time value of the boiler outlet water temperature by an outlet water temperature sensor; monitoring the fuel flow of the fuel nozzle by a flow sensor.

[0017] Compared with the prior art, the technical scheme provided by the present application has the beneficial technical effects including: The present application organically combines the fuel supply module, the flow sensor and the controller in one system, integrates the flow sensor and the programmable logic controller, provides a basis for adopting the integral, proportional and derivative single closed loop control algorithm, can realize accurate monitoring and control of the fuel injection amount, and thus realizes accurate regulation of the outlet water temperature. By using a single fuel nozzle and a proportional valve to replace a combination of multiple electromagnetic valves and fuel nozzles, the fuel supply pipeline structure is simplified, the number of components and potential failure points is reduced, the hardware cost of the device is significantly reduced, and the overall reliability of the system is improved. By means of closed loop control, the system state is easy to monitor and adjust, which helps to improve the operation safety. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme in the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows: Figure 1 is a structure diagram of a fuel injection control system of a vehicle-mounted boiler in an embodiment of the present application; Figure 2 is a flow chart of a fuel injection control method of a vehicle-mounted boiler in an embodiment of the present application; Figure 3 is a block diagram of a PID control algorithm in an embodiment of the present application; Figure 4 is a result diagram of a PID control algorithm in an embodiment of the present application; Figure 5 is a result diagram of an integral separation control algorithm in an embodiment of the present application; Figure 6 is a result diagram of an integral limiting control algorithm in an embodiment of the present application; Figure 7 is a result diagram of temperature control actual measurement in an embodiment of the present application.

[0019] Reference signs: 1 - oil tank, 2 - electric oil pump, 3 - proportional valve, 4 - oil nozzle, 5 - flow sensor, 6 - oil return pipeline. DETAILED DESCRIPTION

[0020] In order to make the purposes, technical solutions and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0021] Those skilled in the art can understand that, in the present specification, the word "comprising" is an open-ended expression, which means that the features are present but other features are not excluded. The terms "upper", "lower", "left", "right" and the like are based on the example directions shown in the drawings. The features with "first" and "second" are implicitly included one or more of the features. The singular form is also used for the plural form. The meaning of "a plurality of" is two or more. The terms "mounting", "connecting", "connection" can be fixed connection, or detachable connection, or integral connection; can be directly connected, or indirectly connected through an intermediate medium, or the communication inside two elements. In addition, "connection" can include wireless connection.

[0022] The purpose of the present application is to overcome the above technical deficiencies, and to provide an oil injection control system and method for a vehicle-mounted boiler, which solves the technical problems of water outlet temperature fluctuation and safety hazards in the prior art.

[0023] To achieve the above technical purpose, the present application adopts the following technical scheme: As shown in Figure 1 The first aspect, the present application provides an oil injection control system for a vehicle-mounted boiler, comprising an oil tank 1, an oil supply module, a flow sensor 5, an oil return pipeline 6 and a programmable logic controller.

[0024] The oil supply module comprises an electric oil pump 2, a proportional valve 3 and an oil nozzle 4 connected in series. The electric oil pump 2 is connected to the outlet side of the oil tank 1. The electric oil pump 2 mainly provides diesel oil with required flow rate and pressure for the oil injection device. In this embodiment, the selected boiler has a maximum thermal power of 120 kW and a maximum oil consumption of 14.9 L / h. A 380V, 180W diesel pump motor is selected. The proportional valve 3 is an important device for accurately controlling the oil injection device. When the proportional valve 3 is fully opened, the maximum flow rate is greater than 15 L / h. The PLC generates a 4-20 mA analog signal through a digital analog signal conversion module (DA module) to accurately control the opening degree of the proportional valve 3, thereby controlling the oil supply of the electric oil pump 2. The oil nozzle 4 mainly atomizes the diesel oil delivered by the electric oil pump 2 to make the ignition system easy to ignite and make the combustion of diesel oil more complete. According to the maximum oil consumption, the selected nozzle has a working pressure of 1 Mp and a maximum oil injection amount of 15.2 L / h. After improvement, the oil pump 2 provides maximum fuel supply to meet the 120 kW thermal power; the proportional solenoid valve adjusts the oil supply to meet the uninterrupted adjustment from 0 to 120 kW thermal power, thereby realizing continuous and accurate control of water temperature.

[0025] The flow sensor 5 is connected to the proportional valve 3 and the oil nozzle 4, respectively.

[0026] The return oil line 6 is connected to the outlet side of the electric oil pump 2 and the oil tank 1, respectively. A pressure relief valve is provided on the return oil line. When the opening degree of the proportional valve 3 decreases and the fuel flow rate through the proportional valve 3 is less than the fuel flow rate pumped by the electric oil pump 2, the air pressure in the system changes, the pressure relief valve quickly opens to allow part of the oil to flow back to the oil tank, thereby absorbing the pressure impact.

[0027] The programmable logic controller is electrically connected to the electric oil pump 2, the proportional valve 3 and the flow sensor 5, respectively. The programmable logic controller (PLC) is the core control element for accurately controlling the oil injection device. The boiler outlet water temperature is set through the human machine interface (HMI), and the PLC controls the opening angle of the proportional valve 3 according to the set outlet water temperature, thereby controlling the oil injection amount of the nozzle and adjusting the outlet water temperature to reach the set value. At the same time, the PLC monitors the real-time values of the flow sensor 5 and the outlet water temperature sensor to achieve closed-loop control effect on the outlet water temperature.

[0028] The application integrates the flow sensor 5 and the programmable logic controller in a system, provides a basis for adopting integral, proportional and differential single closed loop control algorithm, can realize accurate monitoring and control of the fuel injection amount, and thus realizes accurate regulation of the outlet water temperature.

[0029] In some embodiments of the application, an outlet water temperature sensor is further included, which is electrically connected with the programmable logic controller.

[0030] The outlet water temperature sensor and the PLC form a complete temperature closed loop control. In operation, the PLC collects data of the outlet water temperature sensor and the flow sensor 5 in real time, accurately calculates and adjusts the opening degree of the proportional valve 3 through a PID algorithm, so as to control the fuel injection amount of the fuel injection nozzle 4, and make the actual outlet water temperature stably maintain around the set value. The design not only realizes accurate feedback control of the temperature, but also dynamically adjusts the fuel supply amount according to the temperature change. Compared with single parameter regulation which only relies on flow control, the system responds more quickly and controls more accurately, further reduces the temperature fluctuation range, improves the adaptability and stability of the system, and ensures that the instant outlet water temperature requirement can be met under various working conditions.

[0031] In some embodiments of the application, the programmable logic controller is configured with a digital-analog conversion module and proportional, integral and differential control modules.

[0032] In operation, the analog signals of the temperature sensor and the flow sensor 5 are converted into digital signals by the digital-analog conversion module and input into the PLC. The PID module automatically calculates the comprehensive control amount of the proportional, integral and differential values according to the deviation between the set value and the actual value, and realizes accurate fuel injection control by adjusting the opening degree of the proportional valve 3. This design avoids the complex wiring and signal attenuation problems of the traditional external PID regulator, deeply integrates the control algorithm into the controller, not only improves the system response speed and control accuracy, but also enhances the anti-interference ability and environmental adaptability, makes the temperature control more stable and reliable, and effectively suppresses the overshoot and oscillation phenomenon.

[0033] The main advantage of the application is that the fuel injection amount can be continuously and accurately controlled, so as to accurately control the outlet water temperature.

[0034] Due to the single nozzle design, the boiler fuel supply pipeline is simplified, the reliability is improved, and the maintainability is facilitated.

[0035] AsFigures 2-7 As shown. Secondly, this application also provides a fuel injection control method for a vehicle-mounted boiler, applicable to the fuel injection control system of a vehicle-mounted boiler as described in any embodiment of the first aspect, comprising the following steps: S1. Obtain the setpoint and real-time value of the boiler outlet water temperature; S2. Calculate the control quantity based on the deviation between the set value and the real-time value; S3. Output a control signal to the proportional valve 3 according to the control quantity, and adjust the fuel flow of the injector 4 by continuously adjusting the opening of the proportional valve 3.

[0036] In software development, the basic fuel injection quantity needs to be calculated based on the input water flow rate and the output water temperature.

[0037] For example, in this embodiment, according to conventional requirements, the water flow rate for single-person disinfection is typically: According to temperature difference (The inlet water temperature of the fuel injection device is 15℃, and the required outlet water temperature is 45℃, then...) The amount of heat that needs to be absorbed is:

[0038] In the formula: Absorbs heat. Specific heat capacity :quality, Temperature change.

[0039] Q_in=4.2×10³×300×30=37800000(J) Converted to kilowatt-hours, that is:

[0040] Based on a boiler thermal efficiency of 86%, the required heat is:

[0041] According to GB / T 2589-2020 General Rules for Comprehensive Energy Consumption Calculation, the amount of fuel required per hour for diesel to output thermal power per kW is as follows: The mass of diesel fuel required to produce Q is: M diesel mass =

[0042]

[0043] According to the table, the density of No. 0 diesel oil is 0.84 g / ml, which is 0.84 kg / L. Therefore, the total number of liters of diesel oil required is: Ldiesel demand = M diesel mass / p = 1.03 kg / (0.84 kg / L) = 1.23 L In some embodiments of the application, the set value and real-time value of the boiler outlet water temperature are obtained, comprising: A database is established for the fuel flow of the fuel injection nozzle 4 and the opening degree of the proportional valve 3; According to the input water flow and the deviation value of the outlet water temperature, the basic fuel injection amount is calculated; According to the basic fuel injection amount and the database, the initial opening degree data of the proportional valve 3 are called.

[0044] According to the software writing requirements, we have made a large number of measurements on the electromagnetic valve opening degree corresponding to different fuel injection amounts under 1MP pressure, and established a corresponding database for easy calling when writing the program later.

[0045] In some embodiments of the application, the control method further comprises: The control signal of the proportional valve 3 is calculated by integral, proportional and differential algorithms; The control signal is converted into an analog signal by a digital analog conversion module and output to the proportional valve 3.

[0046] The standard PID controller adopts a PID control algorithm, and the mathematical expression is:

[0047] Where: u(t): controller output (electromagnetic valve opening degree); e(t): error signal = set value (setpoint) - actual value (process variable); : proportional gain (proportional gain); : integral gain (integral gain); : derivative gain (derivative gain).

[0048] According to the above calculation and measurement, when the ambient temperature is 15℃, the water temperature is required to be 45℃, and the flow is 5L / min, the control system automatically adjusts the proportional electromagnetic valve to the corresponding opening degree according to the required fuel flow of 1.23L / h calculated by the flow-opening degree database. At the same time, the PID algorithm is started, and the proportional electromagnetic valve opening degree is finely adjusted according to the real-time feedback signals of the outlet and inlet water temperature sensors and the flow sensor 5, so as to accurately control the outlet water temperature. The PID control algorithm block diagram is shown in Figure 3 ​To verify that the algorithm can realize continuous and stable control of temperature, experiments are carried out in simulation and actual environment, and experimental results are as shown in Figure 4 .

[0049] In some embodiments of the application, the control signal of the proportional valve 3 is calculated by the integral, proportional and differential algorithm, comprising: optimizing the integral, proportional and differential algorithm by integral separation algorithm; optimizing the integral, proportional and differential algorithm by amplitude limiting anti-saturation algorithm.

[0050] In order to accurately control the size of oil injection in the device startup phase, avoid the control instability and safety problems caused by integral saturation and excessive overshoot of PID algorithm, the patent further improves the PID algorithm. On the basis of the PID algorithm, the integral separation and amplitude limiting anti-saturation method is designed in the startup phase to suppress the overshoot and integral saturation problem of the PID algorithm in the startup phase.

[0051] In some embodiments of the application, the integral, proportional and differential algorithm is optimized by the integral separation algorithm, comprising: judging whether the deviation value of the outlet water temperature exceeds the preset error threshold value; if it exceeds, the integral term is cancelled in the integral, proportional and differential control algorithm, and only proportional and differential control is performed; if it does not exceed, complete integral, proportional and differential control is performed.

[0052] When the error exceeds the set threshold , the integral action in the PID algorithm is cancelled, and only proportional and differential control is retained; when the error is less than the threshold, complete PID control is enabled. In this way, the excessive accumulation of the integral term under large deviation can be avoided, and overshoot can be reduced. The integral separation algorithm is mathematically expressed as follows:

[0053] According to the actual collection of database data statistics, it can be obtained that the temperature error of the heating device in the startup process often reduces to within five degrees Celsius in the previous minute, so the threshold is set to 5. Therefore, the integral part of the PID algorithm in the startup phase is not actually executed, and only the proportional and differential links participate in calculation. In this way, the integral link is effectively avoided from excessively accumulating errors in the startup phase, so that the subsequent regulation process is invalid and affects the control effect.

[0054] In order to verify the effectiveness of the integral separation algorithm, experiments are carried out in simulation and actual environment, and experimental results are as shown in Figure 5 .

[0055] Experimental results show that during system startup, the error between the actual temperature and the given target value is significant, exceeding the threshold. Therefore, the integral separation algorithm is activated at the beginning, resulting in a substantial reduction in temperature overshoot during system startup. The experimental results demonstrate that the PID algorithm with integral separation improves control stability while reducing the risk of excessively high water temperatures.

[0056] In some embodiments of this application, optimizing the integral, proportional, and differential algorithms using a limiting anti-saturation algorithm includes: When the control quantity reaches the physical upper or lower limit of the proportional valve 3, the accumulation of the integral term in the integral, proportional and derivative algorithms is stopped. When the control quantity returns to the effective adjustment range of the proportional valve 3, the normal accumulation of the integral term is restored.

[0057] When control quantity Reaching the physical limit of the actuator or lower limit When the control variable returns to the effective range, the accumulation of the integral term is stopped to prevent integral saturation. Simultaneously, when the control variable returns to the effective range, the integral term resumes normal accumulation. The mathematical representation of the integral limiting algorithm is shown below:

[0058] Data analysis based on a flow-opening database collected from real-world experiments reveals that in general scenarios, the integral element often becomes excessively large during regulation, causing the valve opening to remain at its upper limit. This not only hinders stable temperature control but also accelerates hardware aging. After incorporating integral limiting optimization, the experimental results are as follows: Figure 6 As shown.

[0059] It can be observed that adding integral limiting effectively reduces the peak value of the valve opening, significantly slowing down the hardware aging process. Meanwhile, the algorithm control remains stable, consistently keeping the temperature error within 0.2℃.

[0060] In some embodiments of this application, the control method further includes: The real-time value of the boiler outlet water temperature is continuously monitored by an outlet water temperature sensor; The fuel flow rate of the injector 4 is monitored by the flow sensor 5. A prototype of the precise fuel injection control device was tested. During the test, the inlet water temperature was measured at 9℃, and the set outlet water temperature was 40℃. The test showed that the system could precisely control the outlet water temperature within the range of "T set dimension ± 1.3℃" within 60 seconds, and the actual effect met the design expectations. The test results are as follows... Figure 7 As shown.

[0061] Because the flow-opening database is established by using a large amount of test data, the data can be used to optimize and adjust the PID algorithm in the equipment starting stage. According to the experimental data, the integral separation and amplitude anti-saturation method are introduced to optimize the PID algorithm, thereby improving the operation efficiency of the equipment in the starting stage and reducing the safety hidden danger of the equipment operation.

[0062] Compared with the prior art, the technical scheme provided by the application has the beneficial technical effects including: The application integrates the flow sensor 5 and the programmable logic controller in a system by organically combining the oil supply module, the flow sensor 5 and the controller, provides a basis for adopting the integral, proportional and differential single closed loop control algorithm, can realize accurate monitoring and control of the oil injection amount, and thus realizes accurate regulation of the outlet water temperature. By using a single oil injection nozzle 4 and a proportional valve 3 to replace a plurality of electromagnetic valves and a combination of oil injection nozzles 4, the oil supply pipeline structure is simplified, the number of components and potential failure points are reduced, the hardware cost of the device is significantly reduced, and the overall reliability of the system is improved. By the closed loop control mode, the system state is convenient to monitor and adjust, and the operation safety is improved.

[0063] Those skilled in the art can understand that the steps, measures and schemes in the various operations, methods and processes discussed in the application can be alternated, changed, rearranged, decomposed, combined or deleted.

[0064] The specific embodiments of the application described above do not constitute a limitation on the protection scope of the application. Any various other corresponding changes and modifications made according to the technical concept of the application should be included in the protection scope of the claims of the application.

Claims

1. A fuel injection control system for a vehicle-mounted boiler, characterized in that, include: tank; The fuel supply module includes an electric fuel pump, a proportional valve, and a fuel injector connected in series, with the electric fuel pump connected to the outlet side of the fuel tank. A flow sensor is connected to the proportional valve and the fuel injector, respectively. The return oil line is connected to the outlet side of the electric oil pump and the oil tank, respectively; The programmable logic controller is electrically connected to the electric oil pump, the proportional valve, and the flow sensor, respectively.

2. The fuel injection control system for a vehicle-mounted boiler according to claim 1, characterized in that, It also includes an outlet water temperature sensor, which is electrically connected to the programmable logic controller.

3. The fuel injection control system for a vehicle-mounted boiler according to claim 1, characterized in that, The programmable logic controller is equipped with a digital-to-analog conversion module and proportional, integral, and derivative control modules.

4. A method for controlling fuel injection in a vehicle-mounted boiler, characterized in that, The fuel injection control system for the vehicle-mounted boiler as described in any one of claims 1 to 3 includes the following steps: Obtain the setpoint and real-time value of the boiler outlet water temperature; The control quantity is calculated based on the deviation between the set value and the real-time value; The control signal is output to the proportional valve according to the control quantity, and the fuel flow of the injector is adjusted by continuously adjusting the opening of the proportional valve.

5. The fuel injection control method for a vehicle-mounted boiler according to claim 4, characterized in that, The acquisition of the setpoint and real-time value of the boiler outlet water temperature includes: Establish a database corresponding to the fuel flow rate of the fuel injector and the opening degree of the proportional valve; The base fuel injection quantity is calculated based on the deviation between the input water flow rate and the outlet water temperature. Based on the base injection quantity and the database, the initial opening data of the proportional valve is retrieved.

6. The fuel injection control method for a vehicle-mounted boiler according to claim 4, characterized in that, The control method further includes: The control signal of the proportional valve is calculated using integral, proportional, and derivative algorithms. The control signal is converted into an analog signal by a digital-to-analog converter module and then output to the proportional valve.

7. The fuel injection control method for a vehicle-mounted boiler according to claim 6, characterized in that, The calculation of the control signal for the proportional valve using integral, proportional, and derivative algorithms includes: The integral, proportional, and differential algorithms are optimized using an integral separation algorithm. The integral, proportional, and differential algorithms are optimized using a limiting anti-saturation algorithm.

8. The fuel injection control method for a vehicle-mounted boiler according to claim 7, characterized in that, The optimization of the integral, proportional, and differential algorithms using the integral separation algorithm includes: Determine whether the deviation of the outlet water temperature exceeds a preset error threshold; If the limit is exceeded, the integral term will be canceled in the integral, proportional and derivative control algorithms, and only proportional and derivative control will be performed. If it does not exceed the limit, then complete integral, proportional and derivative control will be performed.

9. The fuel injection control method for a vehicle-mounted boiler according to claim 7, characterized in that, The optimization of the integral, proportional, and derivative algorithms using the amplitude limiting and anti-saturation algorithm includes: When the control quantity reaches the physical upper or lower limit of the proportional valve, the accumulation of the integral term in the integral, proportional and derivative algorithms is stopped. When the control quantity returns to the effective adjustment range of the proportional valve, the normal accumulation of the integral term is restored.

10. The fuel injection control method for a vehicle-mounted boiler according to claim 4, characterized in that, The control method further includes: The real-time value of the boiler outlet water temperature is continuously monitored by an outlet water temperature sensor; The fuel flow rate of the fuel injector is monitored by a flow sensor.

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