Method for operating a power device, control device for carrying out such a method, and power arrangement comprising such a control device

Abstract

The invention relates to a method for operating a power device, wherein the power device is operated with a transient operating profile during a predetermined time interval ([t A , t E ]), wherein a plurality of temporally successive control values (X[tA, tE]) of at least one control variable (x) of the power device is specified during the predetermined time interval ([t A , t E ]), wherein a plurality of temporally successive measured values (Y [t A , t E ]) of at least one measured variable (y) is detected during the predetermined time interval ([t A , t E ]) by means of at least one sensor (11), wherein the plurality of measured values (Y[t A , t E ]) is manipulated by means of a power device model (GP) taking into account the dynamic behaviour of the at least one sensor (11), as a result of which a plurality of temporally successive reconstructed measured values (Y r [t A , t E ]) of the at least one measured variable (y) is obtained, wherein the power device model (GP) is adapted on the basis of the plurality of reconstructed measured values (Y r [t A , t E ]) and the plurality of control variables (Y r [t A , t E ]), wherein the power device is operated based on the adapted power device model (GP).

Description

[0001]Rolls-Royce Solutions GmbH DESCRIPTION Method for operating a power device, control device for carrying out such a method and power arrangement with such a control device The invention relates to a method for operating a power device, a control device for carrying out such a method and a power arrangement with a power device and such a control device. It is known that an adaptive model-predictive control of manipulated variables of the internal combustion engine is carried out in order to operate an internal combustion engine. In hyperspace control, models of combustion variables of the internal combustion engine are used to determine the manipulated variables. The models are typically determined and / or adapted based on steady-state operation of the internal combustion engine, in particular during test bench tests.The disadvantage is that these models cannot be adapted during transient operation of the internal combustion engine. Furthermore, these models are therefore not suitable for correctly determining the combustion variables during transient operation of the internal combustion engine and thus for optimally adjusting the manipulated variables. The invention is therefore based on the object of creating a method for operating a power device, a control device for carrying out such a method, and a power arrangement comprising a power device and such a control device, wherein the aforementioned disadvantages are at least reduced and preferably do not occur. The object is achieved by providing the present technical teaching, in particular the teaching of the independent claims and the preferred embodiments disclosed in the dependent claims and the description.The problem is solved by providing a method for operating a power device. The power device is operated in a predetermined time interval with a transient operating characteristic, wherein a plurality of temporally successive control values ​​of at least one control variable of the power device are specified in the predetermined time interval. By means of at least one sensor, a plurality of temporally successive measured values ​​of at least one measured variable are acquired in the predetermined time interval. Furthermore, the plurality of measured values ​​are manipulated by means of a power device model, taking into account a dynamic behavior of the at least one sensor, such that a plurality of temporally successive reconstruction measured values ​​are obtained.The power device model is then adapted based on the plurality of reconstruction measured values ​​and the plurality of control values, with the power device being operated based on the adapted power device model. Due to the dynamic behavior of the at least one sensor, the measured values ​​acquired at a specific time do not reflect the actual values ​​of the at least one measured variable at the location of the at least one sensor at the specific time. Therefore, the control value and the measured value at the specific time cannot be used as data points for adapting the power device model.Advantageously, the dynamic behavior of the at least one sensor is taken into account in the reconstruction measured values, so that the reconstruction measured values ​​of the specific point in time and the control values ​​of the specific point in time can be used as data points for adapting the power device model. The power device model is thus advantageously adapted during transient operation of the power device. In addition, optimal control values ​​of the at least one control variable can also be determined for transient operation of the power device based on the adapted power device model. In the context of the present technical teaching, a power device is understood in particular to mean a device that is configured to provide power, in particular electrical and / or mechanical power, or to convert or consume power.The power device can thus be designed as a power supply device or as a power conversion device. A power supply device is preferably understood to be a device that provides power, for example, electrical and / or mechanical power, using electrical, mechanical, chemical, or electrochemical energy—or another form of energy. A power conversion device is preferably understood to be a device that uses or consumes power, for example, electrical or mechanical power, to convert or store energy, for example, to provide chemical energy in the form of certain substances such as hydrogen or methanol, or electrochemical energy, using electrical energy.The power device can be an internal combustion engine, a combined internal combustion engine-generator device, i.e. a genset, a fuel cell, an energy storage device, for example a battery, or an electrolyzer. However, the power device can also be a larger, complex system, for example comprising a plurality of the aforementioned devices, or in particular also a data center or a microgrid. The power device can also be a controllable or regulatable load on an electrical network. In one embodiment, the predetermined time interval is a period from the start time to an end time chronologically subsequent to the start time, where ^^^^ denotes the start time and ^^^^ denotes the end time.In the context of the present technical teaching, a manipulated variable is preferably understood to mean a variable suitable for controlling an actuator of the power device. Furthermore, a manipulated variable and / or a plurality of manipulated variables are denoted below by the formula symbol ^⃗^. Where ^⃗^ =. for a single manipulated variable and ^⃗^ =[^^1 … ^^^^]^^for a plurality of manipulated variables with a first manipulated variable ^^1 and an i-th manipulated variable ^^^^, where ^^ ≥ 2. It is possible for the manipulated variable to be directly suitable for controlling the actuator, for example because it is given as a specific voltage or current that can be directly switched to the actuator in order to control it; alternatively, it is possible for the manipulated variable to be suitable for deriving, in particular calculating, at least one further variable for directly controlling the actuator. For example, the manipulated variable can be a fuel mass to be introduced into a combustion chamber of an internal combustion engine, which can be converted into at least one control variable for controlling an injector. The at least one actuator can be an actuator or actuator of the power device.In particular, the actuator can be an actuator of an engine block of an internal combustion engine, for example an injector, a valve, or a flap. However, the actuator can also be an actuator outside the power device, in particular outside an engine block, for example an actuator provided to influence an externally provided cooling circuit, for example a valve, a pump, or the like, or an actuator of a transmission or an electrical device to which the power device is operatively connected. In the context of the present technical teaching, a manipulated variable is preferably understood to mean a value of the manipulated variable or of the plurality of manipulated variables that is set and / or predetermined within a specific period of time or at a specific point in time. Furthermore, a manipulated variable is denoted below by the formula symbol ^⃗^(^^), where ^^ denotes the specific period of time or the specific point in time.Furthermore, regardless of the number of manipulated variables, the manipulated value—in particular, represented in vector form—is referred to. In the predetermined time interval [^^^^, ^^^^], a manipulated value ^⃗^(^^^^) is specified at a plurality of times ^^^^ with ^^^^ ≤^^^^ ≤ ^^^^. Therefore, the plurality of manipulated values ​​in the predetermined time interval are represented in a matrix of the form. shown. In the context of the present technical teaching, a measured variable is preferably understood to be a variable that can be detected and / or measured by means of a sensor. Furthermore, a measured variable and / or a plurality of measured variables is denoted below by the formula symbol ^⃗^. Here, ^⃗^ = ^^1 applies to a single measured variable and ^⃗^ =[^^1 … ^^^^]^^ applies to a plurality of measured variables with a first measured variable ^^1 and a j-th measured variable ^^^^, where ^^ ≥ 2 applies. In the context of the present technical teaching, a measured value is preferably understood to be a value of the measured variable detected at a specific point in time. Furthermore, a measured value is denoted below by the formula symbol ^⃗^(^^), where at time ^^, which characterizes the specific period of time or the specific point in time of the control value, the measured value is detected, for example, in a control device.Furthermore, regardless of the number of measured variables, the measured value—in particular, represented in vector form—is referred to. In the predetermined time interval [^^^^, ^^^^], a measured value ^⃗^(^^^^) is recorded at the plurality of times ^^^^ with ^^^^ ≤^^^^ ≤ ^^^^. Therefore, the plurality of measured values ​​in the predetermined time interval are represented in a matrix of the form. shown. In the context of the present technical teaching, a reconstruction measured value is preferably understood to be a measured value manipulated taking into account the dynamic behavior of the at least one sensor. Furthermore, a reconstruction measured value is denoted below by the formula symbol ^⃗^^^(^^), where ^^ indicates the point in time that characterizes the specific period of time or the specific point in time of the control value. Furthermore, the reconstruction measured value - in particular represented in vector form - is referred to regardless of the number of measured variables. In the predetermined time interval [^^^^, ^^^^], a reconstruction measured value ^⃗^^^(^^^^) is determined for the plurality of points in time ^^^^ with ^^^^ ≤^^^^ ≤ ^^^^. Therefore, the plurality of reconstruction measured values ​​in the predetermined time interval are stored in a matrix of the form represented. In the context of the present technical teaching, a vector is preferably understood to be a combination of at least one variable and / or at least one value, regardless of how the at least one variable and / or the at least one value is represented. In principle, any number or combination of variables and / or values ​​can be understood or represented as a vector with at least one component, wherein the number of vector components corresponds to the number of variables and / or values. In one embodiment, the power device model has a nominal model and a detailed model. Alternatively, the power device model consists of the nominal model and the detailed model. Preferably, the detailed model of the power device model is adapted based on the plurality of reconstruction measured values ​​and the plurality of control values.In one embodiment, a Gaussian process model is used as the power device model. Gaussian process models are particularly suitable for controlling a power device: Compared to polynomial-based models, they are easier to adapt to new or changed data points in the application field, and they exhibit more suitable and physically correct behavior in boundary regions of the given parameter space. Compared to physical models, they require significantly less computational effort. Furthermore, they enable the direct use of test bench data. In one embodiment, such a Gaussian process model is given by stored data points (Xb,Yb), obtained, for example, in test bench tests, where Xb ^ ℝn xmn are input variables for m different operating states and Yb ^ ℝ mxk are k output variables for the m different operating states.Preferably, the control values ​​^⃗^(^^) – of the predetermined time interval and / or other points in time – are used as the input variables Xb and the associated measured values ​​^⃗^(^^) and / or the associated reconstruction measured values ​​^⃗^^^(^^) as the output variables Yb. Furthermore, the Gaussian process model is characterized by a predetermined calculation scheme for an expected value E(X. u ) ^ ℝ l x k and a variance Var(Xu) for input variables not included in the original data set for l different operating states Xu ^ ℝn xl is given: with a mean function m(Xu), a predetermined variance ^^2, the identity matrix I, and a covariance function K, which depends on the Euclidean distance r between two points x1, x2 in the following way: with a predetermined distance parameter l and a predetermined signal variance ^^^^. Thus, in equations (4) and (5) K(Xu,Xb) ^ ℝl xm, K(Xb,Xb) ^ xm and Yb ^ℝ m x kThe mean function m(x) is preferably itself obtained as a Gaussian process model. In one embodiment, the nominal model is first calculated as a first Gaussian process model. In this case, first input variables ^^^^^^ ⊂ ^^^^ and associated first output variables ^^^^^^ ⊂ ^^^^ are selected to determine the first Gaussian process model, in particular an expectation value ^^^^(^^) and a variance ^^^^^^^^(^^) of the nominal model. Furthermore, for the purpose of determining the first Gaussian process model, it is preferably assumed that m(x) = 0 for its mean function, so that, starting from equations (4) and (5) for the nominal model, the equations ^^^^^^^^(^^^^) = ^^(^^^^,^^^^) + ^^2 − ^^(^^^^,^^^^^^)(^^(^^^^^^,^^^^^^) + ^^2^^)−1^^(^^^^^^, ^^^^), (9) apply. Particularly preferably, the first input variables ^^^^^^ and the first output variables ^^^^^^ are obtained from a steady-state operation of the power device. The thus obtained expectation value ^^^^(^^) of the first Gaussian process model is then used in a next step as the mean function m(x) in a second Gaussian process model, into which second input variables ^^^^^^ ⊂ ^^^^ and associated second output variables ^^^^^^ ⊂ ^^^^ are input, wherein the second Gaussian process model is used as the detailed model. Based on equations (4) and (5), the equations ^^^^(^^^^) = ^^^^(^^^^) + ^^(^^^^,^^^^^^)(^^(^^^^^^,^^^^^^) + ^^2^^)−1(^^^^^^ − ^^^^(^^^^^^)), (10)^^^^^^^^(^^^^) = ^^(^^^^,^^^^) + ^^2 − ^^(^^^^,^^^^^^)(^^(^^^^^^, ^^^^^^) + ^^2^^)−1^^(^^^^^^,^^^^).(11)Particular preference is given to the second input variables ^^^^^^ and the second output variables^^. ^^^^ obtained from transient operation of the power device. In one embodiment, the Gaussian process model according to equations (4) to (7), in particular the second Gaussian process model according to equations (6), (7), (10) and (11), is adapted during operation of the power device, especially during transient operation. For this purpose, newly measured data points (^^′ ′^^ , ^^^^ ) can be added during operation of the power device, or data points (Xb, Yb) identified as needing improvement – ​​in particular (Xb2, Yb2) – can be replaced by newly measured data points (^^′ ^^ , ^^′ ^^ ) are replaced. The newly measured data points (^^′ ^^ ,^^′ ^^ ) the majority of reconstruction measured values ​​and the majority of control values, whereby for the newly measured data points ( ^^′ ^^ , ^^′^^ ) = ൫^^[^^^^,^^^^], ^^ ^^[^^^^ ,^^^^] ൯ (12) applies. In one embodiment, a model-based predictive control method for the operation of the power device is carried out on the basis of the power device model. According to a further development of the invention, it is provided that, based on the plurality of control values, a plurality of temporally successive simulation values ​​of the at least one measured variable are determined by means of the power device model, in particular by means of the nominal model, on the basis of the plurality of control values. The plurality of measured values ​​are manipulated by means of the plurality of simulation values, the plurality of control values, and the plurality of measured values ​​in order to obtain the plurality of reconstruction measured values.The simulation values ​​are not influenced by the dynamic behavior of the at least one sensor, since the simulation values ​​are preferably calculated based on the nominal model and thus based on stationary operating data, so that the dynamic behavior of the at least one sensor is advantageously taken into account when the measured values ​​are manipulated based on the reconstruction measured values. In the context of the present technical teaching, a simulation value is preferably understood to mean a value of the measured variable determined using the power device model. Furthermore, a simulation value is denoted below by the formula symbol ^⃗^^^(^^), where ^^ denotes the time of the associated control value. Furthermore, the simulation value—preferably represented in vector form—is referred to independently of the number of measured variables.In the predetermined time interval [^^^^, ^^^^], a simulation value ^⃗^^^(^^^^) is determined for the plurality of time points ^^^^ with ^^^^ ≤^^^^ ≤ ^^^^. Thus, the plurality of simulation values ​​in the predetermined time interval are stored in a matrix of the form. In one embodiment, the majority of reconstruction measurements are calculated using the equation calculated, wherein the function ^^ models the dynamic behavior of the at least one sensor. Preferably, the majority of simulation values ​​are calculated using equation (4) as Additionally, a variance of the simulation value is optionally calculated using equation (5) as In one embodiment, the plurality of temporally successive simulation values ​​of the at least one measured variable are determined using the nominal model of the power device model based on the plurality of control values. For this purpose, the plurality of simulation values ​​are preferably calculated using equation (8) as In addition, a variance of the majority of simulation values ​​is optionally calculated using equation (9) as calculated. According to a further development of the invention, it is provided that a sensor dead time of the sensor and / or a time response of the sensor is calculated based on the power device model. The majority of measured values ​​are manipulated based on the sensor dead time and / or the time response. Advantageously, the dynamic behavior of the at least one sensor is taken into account in a simple manner using the sensor dead time and / or the time response. In the context of the present technical teaching, a sensor dead time is preferably understood to mean a time period between a measurement of a measured variable at the sensor and a recording of the measured value of the measured variable in a control device.Alternatively or additionally, in the context of the present technical teaching, the sensor dead time is also understood to mean a dead time of the measured variable, that is to say in particular a dead time that occurs between the occurrence or onset of a change and the effect of the change on the measured variable. For example, to detect nitrogen oxide formation in a combustion chamber of an internal combustion engine, a quantity of nitrogen oxide is measured by means of a sensor in an exhaust gas path of the internal combustion engine, so that the sensor dead time here corresponds to a travel time of an exhaust gas containing the nitrogen oxides from the combustion chamber to the sensor. The sensor dead time is dependent on a position of the at least one sensor relative to the control device, wherein the sensor dead time typically increases proportionally with a length of a signal conductor that connects the at least one sensor to the control device for data transmission.Therefore, the manipulated variable of the at least one manipulated variable and the measured value of the at least one measured variable are shifted in time by the sensor dead time. Furthermore, the sensor dead time is denoted below by the formula symbol ^^^⃗, where an i-th sensor dead time ^^^^ is assigned to an i-th sensor for measuring the i-th measured variable ^^^^. In the context of the present technical teaching, a time response is understood to mean, in particular, a PT1-filtered response. A PT1-filtered response of the sensor is understood to mean that the sensor exhibits a proportional response with a first-order delay when detecting a measured variable. Furthermore, the time response is denoted below by the formula symbol ^ ^^^^^^^⃗^, where an i-th time response ^^^^^^ is assigned to an i-th sensor for measuring the i-th measured variable ^^^^.Particularly preferably, the sensor dead time and / or the time response is determined based on the plurality of simulation values ​​and the plurality of measured values, in particular by comparing the plurality of simulation values ​​with the plurality of measured values. In a preferred embodiment, the plurality of reconstruction measured values ​​are determined taking the sensor dead time into account using the equation. determined, with particular ^^^⃗ Using the function ^^a majority of simulation values ​​and the majority of measured values ​​are compared to determine the sensor dead time. Alternatively, the reconstruction measured values ​​are calculated taking into account the time behavior using the equation determined, where preferably ^^^^ = ℎ൫^^[^^ ,^^^^ and using function ℎ, the majority of simulation values ​​and the majority of measured values ​​are compared to determine the time response. Alternatively, the reconstruction measured values ​​are calculated taking into account the sensor dead time and the time response using the equation determined. According to a further development of the invention, it is provided that a manipulated variable parameter selected from a group consisting of a power device speed, a fuel introduction quantity, a fuel introduction time, a fuel introduction pressure, a power device torque, a charge air pressure, an air mass quantity, an exhaust gas recirculation rate, a combustion air ratio, and a combination of at least two of the aforementioned manipulated variable parameters is used as the at least one manipulated variable. In one embodiment, the manipulated variable consists of the power device speed, the fuel introduction quantity, the fuel introduction time, the fuel introduction pressure, the charge air pressure, and the air mass quantity. The manipulated variable vector thus has six components—in particular, six lines.According to a further development of the invention, it is provided that the at least one measured variable is a measured variable parameter selected from a group consisting of a NO. x - quantity, an exhaust gas temperature, a particle concentration, a CO quantity, a quantity of unburned hydrocarbons, a combustion chamber pressure, a combustion air mass flow, a combustion air pressure, a combustion air temperature, a compressor speed, and a combination of at least two of the above-mentioned measured variables. In a preferred embodiment, the measured variable consists of the NO x-amount, exhaust gas temperature, particulate concentration, CO amount, unburned hydrocarbons amount, combustion chamber pressure, combustion air mass flow, combustion air pressure, combustion air temperature, and compressor speed. Thus, the measured variable vector has ten components – specifically, ten lines. Preferably, the NO x -amount using a NO x-Sensor measured and / or determined. Alternatively or additionally, the exhaust gas temperature is measured and / or determined using an exhaust gas temperature sensor. Alternatively or additionally, the particle concentration is measured and / or determined using a particle sensor. Alternatively or additionally, the CO quantity is measured and / or determined using a CO sensor. Alternatively or additionally, the quantity of unburned hydrocarbons is measured and / or determined using a hydrocarbon sensor. Alternatively or additionally, the combustion chamber pressure is measured and / or determined using a combustion chamber pressure sensor. Alternatively or additionally, the combustion air mass flow is measured and / or determined using a combustion air mass sensor. Alternatively or additionally, the combustion air pressure is measured and / or determined using a combustion air pressure sensor.Alternatively or additionally, the combustion air temperature is measured and / or determined using a combustion air temperature sensor. Alternatively or additionally, the compressor speed is measured and / or determined using a speed sensor. According to a development of the invention, the method is carried out cyclically. Advantageously, the power device model is thus continuously adapted, wherein a model error of the power device model is continuously reduced. In one embodiment, the method is carried out at a first predetermined frequency. Preferably, the power device model, in particular the detailed model, is adapted at the first predetermined frequency. In one embodiment, the method is carried out at a first predetermined frequency of at most 1 Hz, wherein the detailed model is adapted at this first predetermined frequency.According to a further development of the invention, it is provided that the sensor dead time and / or the time response is determined once or cyclically. Advantageously, the determination of the reconstruction measured values ​​is thus continuously adapted, whereby the model error of the power device model is continuously reduced. In one embodiment, the sensor dead time is determined using a second predetermined frequency. In one configuration, the sensor dead time and / or the time response is determined using a second predetermined frequency of at most 1 / 60 Hz. Thus, by means of the sensor dead time and / or the time response, a dynamic excitation of the at least one sensor is advantageously taken into account in a suitable manner. According to a further development of the invention, it is provided that the second predetermined frequency is at most as high as the first predetermined frequency.According to a further development of the invention, the predetermined time interval has a duration of 10 seconds to 150 seconds, preferably 30 seconds to 100 seconds, preferably 50 seconds to 80 seconds. According to a further development of the invention, after an adaptation of the power device model, the power device is operated with the plurality of control values ​​in an evaluation time interval. In this case, a plurality of model values ​​of the at least one measured variable are calculated using the power device model—in particular using the detailed model—based on the plurality of control values.Furthermore, a second plurality of measured values ​​are acquired by means of the sensor in the evaluation time interval, wherein the second plurality of measured values ​​are manipulated by means of the power device model, taking into account the dynamic behavior of the at least one sensor, whereby a second plurality of reconstruction measured values ​​is obtained. Subsequently, the model error of the power device model—in particular of the detailed model—is determined based on the plurality of model values ​​and the second plurality of reconstruction measured values, wherein the power device model is evaluated based on the model error. In the context of the present technical teaching, a model value is preferably understood to be a value of the measured variable calculated using the power device model.Furthermore, a model value is referred to below with the formula symbol ^⃗^^^(^^), where ^^ indicates the point in time which characterizes the specific time period or the specific point in time of the manipulated variable. Furthermore, the model value is referred to - in particular represented in vector form - regardless of the number of measured variables. The evaluation time interval is preferably a period of time from the evaluation start time to an evaluation end time which follows the evaluation start time, where ^^^^^^ denotes the evaluation start time and ^^^^^^ the evaluation end time. Furthermore, the predetermined time interval and the evaluation time interval are of equal length, so that ^^^^^^ − ^^^^^^ = ^^^^ − ^^^^ applies. In the evaluation time interval [^^^^^^, ^^^^^^] a model value is determined at the majority of points in time ^^^^ with ^^^^^^ ≤^^^^ ≤ ^^^^^^. Therefore, the majority of model values ​​in the evaluation time interval are stored in a matrix of the form shown. Furthermore, the majority of control values ​​in the evaluation time interval is represented by ^^[^^^^ ,^^^^] = ^^[^^^^^^ ,^^^^^^]. The second majority of measured values ​​in the evaluation time interval is represented by ^^[^^^^^^ ,^^^^^^] and the second majority of reconstruction measured values ​​by ^^[ ^^ ^^^^^^ ,^^^^^^]In one embodiment, the model error is calculated using the equation evaluated, where ^^ denotes the model error and ‖∙‖ any norm. The power device model is better, the smaller the model error is. The object is also achieved by creating a method for operating the power device. The power device is operated in the predetermined time interval with a transient operating characteristic, wherein a plurality of temporally successive control values ​​of the at least one control variable of the power device are specified in the predetermined time interval. By means of a sensor, a plurality of temporally successive measured values ​​of the at least one measured variable are recorded in the predetermined time interval. Based on the plurality of control values, a plurality of temporally successive simulation values ​​of the at least one measured variable are determined by means of the power device model.The power device model is then adapted based on the plurality of simulation values, the plurality of control values, and the plurality of measured values. The power device is then operated based on the adapted power device model. Due to the dynamic behavior of the at least one sensor, the measured values ​​recorded at a specific time do not reflect the actual values ​​of the at least one measured variable at the location of the at least one sensor at that specific time. Therefore, the control value and the measured value at that specific time cannot be used as data points for adapting the power device model.Typically, the simulation values ​​are not influenced by the dynamic behavior of the at least one sensor, since the simulation values ​​are preferably calculated based on the nominal model and thus based on steady-state operating data, so that the dynamic behavior of the at least one sensor is advantageously taken into account when adapting the power device model. Thus, the power device model is advantageously adapted during transient operation of the power device. In addition, optimal control values ​​of the at least one control variable can also be determined for transient operation of the power device based on the adapted power device model. Particularly preferably, a Gaussian process model with a nominal model according to equations (6) to (9) and a detailed model according to equations (6), (7), (10), and (11) is used as the power device model.The plurality of simulation values ​​is calculated using equation (16). Furthermore, the detailed model is adapted based on the plurality of simulation values, the plurality of control values, and the plurality of measured values, with the newly measured data points being used for the adaptation. In addition, the power device is operated based on the detailed model. According to a further development of the invention, the plurality of measured values ​​are manipulated using the plurality of simulation values, the plurality of control values, and the plurality of measured values ​​to obtain a plurality of reconstruction measured values. The power device model is then adapted based on the plurality of reconstruction measured values ​​and the plurality of control values.Advantageously, the dynamic behavior of the at least one sensor is taken into account in the reconstruction measured values, so that the reconstruction measured values ​​of the specific time and the control values ​​of the specific time can be used as data points for adapting the power device model. In one embodiment, the plurality of reconstruction measured values ​​is calculated using equation (14). The object is also achieved by providing a control device that is configured to carry out a method according to the invention or a method according to one or more of the previously described embodiments. The control device is preferably designed as a computing device, particularly preferably as a computer, or as a control unit, preferably as a control unit of an internal combustion engine.In connection with the control device, in particular those advantages are realized which were already described above in connection with the method for operating the power device. The control device is preferably configured to operate the power device. In one embodiment, the control device is configured to operate an internal combustion engine, an internal combustion engine-generator combination device, i.e. a genset, a fuel cell, an energy storage device, for example a battery, an electrolyzer, a data center or microgrid, or another controllable or regulatable load on an electrical network. In one embodiment, the control device is configured to operate, i.e. preferably control, the power device with a control value of the at least one control variable.In one embodiment, the control device is configured to detect, determine, or receive the plurality of measured values ​​of the at least one measured variable. The object is also achieved by creating a power arrangement comprising a power device, at least one sensor, at least one actuator, and a control device according to the invention or a control device according to one or more of the previously described embodiments. In connection with the power arrangement, the advantages already described above in connection with the method and the control device are realized in particular. The control device is preferably operatively connected to the power device in order to control the power device. Furthermore, the control device is operatively connected to the at least one sensor and the at least one actuator.Preferably, the at least one sensor is configured to measure the plurality of measured values ​​of the at least one measured variable and to transmit them to the control device, wherein the control device is configured to detect the plurality of measured values. Alternatively or additionally, the at least one actuator is configured to be controlled by means of the plurality of manipulated variables of the at least one manipulated variable. In one embodiment, it is provided that the power device is designed as an internal combustion engine, an internal combustion engine-generator combination device, i.e., a genset, a fuel cell, an energy storage device, for example, a battery, an electrolyzer, a data center, or a microgrid, or as another controllable or regulatable load on an electrical network.The object is also achieved by providing an internal combustion engine with at least one combustion chamber, at least one sensor, at least one actuator, and a control device according to the invention or a control device according to one or more of the previously described embodiments. In connection with the internal combustion engine, the advantages already described above in connection with the method and the control device are realized in particular. The invention is explained in more detail below with reference to the drawing.4 shows a schematic representation of a second embodiment of the method for operating the power device in the form of a flow chart, and Figure 5 shows a schematic representation of a detail of the method according to Figure 4. Fig. 1 shows a schematic representation of an embodiment of an internal combustion engine 1 with at least one combustion chamber 3 and an embodiment of a control device 5. The internal combustion engine 1 additionally has a fuel valve 7, an inlet valve 9.1, an outlet valve 9.2 and at least one sensor 11.The fuel valve 7 is arranged in a combustion air path 13 – also called a charge air path – along a combustion air flow direction 15 – also called the charge air flow direction – fluidically upstream of the inlet valve 9.1. The fuel valve 7, the inlet valve 9.1, and the outlet valve 9.2 are designed as actuators. Optionally, the internal combustion engine 1 also has a turbocharger device 17 with a turbine 19 and a compressor 21. The turbine 19 is arranged in an exhaust gas path 23 along an exhaust gas flow direction 25 fluidically downstream of the outlet valve 9.2. Furthermore, the compressor 21 is arranged in the combustion air path 13 along the combustion air flow direction 15 fluidically upstream of the fuel valve 7.Optionally, the internal combustion engine 1 also has an exhaust gas recirculation device 27 with an exhaust gas recirculation path 29 and an exhaust gas recirculation flap 31 designed as an actuator, wherein the exhaust gas recirculation path 29 fluidly connects the exhaust gas path 23 to the combustion air path 13. Furthermore, the exhaust gas recirculation flap 31 is configured to block and / or release the exhaust gas recirculation path 29. The control device 5 is preferably configured to operate the internal combustion engine at a power device speed, a power device torque, a charge air pressure, an air mass quantity, and / or a combustion air ratio. Alternatively or additionally, the control device 5 is operatively connected to the fuel valve 7 in a manner not explicitly shown and configured to control it in order to adjust a fuel introduction quantity, a fuel introduction time, and / or a fuel introduction pressure.Alternatively or additionally, the control device 5 is operatively connected to the exhaust gas recirculation flap 31 in a manner not explicitly shown and is configured to control it in order to set an exhaust gas recirculation rate. Particularly preferably, the at least one sensor 11 is selected from a group consisting of a NOx sensor 11.1, an exhaust gas temperature sensor 11.2, a particle sensor 11.3, a CO sensor 11.4, a hydrocarbon sensor 11.5, a combustion chamber pressure sensor 11.6, a combustion air mass sensor 11.7, a combustion air pressure sensor 11.8, a combustion air temperature sensor 11.9, a rotational speed sensor 11.10, and a combination of at least two of the said sensors 11. The control device 5 is connected to the NOx sensor 11.1 in a manner not explicitly shown in such a way that a NO measured and / or determined by the NOx sensor 11.1. x -Amount of NO x-Sensor 11.1 is transmitted to the control device 5. Alternatively or additionally, the control device 5 is connected to the exhaust gas temperature sensor 11.2 in a manner not explicitly shown in such a way that an exhaust gas temperature measured and / or determined by the exhaust gas temperature sensor 11.2 is transmitted from the exhaust gas temperature sensor 11.2 to the control device 5. Alternatively or additionally, the control device 5 is connected to the particle sensor 11.3 in a manner not explicitly shown in such a way that a particle concentration measured and / or determined by the particle sensor 11.3 is transmitted from the particle sensor 11.3 to the control device 5. Alternatively or additionally, the control device 5 is connected to the CO sensor 11.4 in a manner not explicitly shown in such a way that a CO quantity measured and / or determined by the CO sensor 11.4 is transmitted by the CO sensor 11.4 is transmitted to the control device 5. Alternatively or additionally, the control device 5 is connected in a manner not explicitly shown to the hydrocarbon sensor 11.5 for data transmission such that a quantity of unburned hydrocarbons measured and / or determined by the hydrocarbon sensor 11.5 is transmitted from the hydrocarbon sensor 11.5 to the control device 5. Alternatively or additionally, the control device 5 is connected in a manner not explicitly shown to the combustion chamber pressure sensor 11.6 for data transmission such that a combustion chamber pressure measured and / or determined by the combustion chamber pressure sensor 11.6 is transmitted from the combustion chamber pressure sensor 11.6 to the control device 5. Alternatively or additionally, the control device 5 is connected in a manner not explicitly shown to the combustion air mass sensor 11.7 for data transmission such that a quantity of unburned hydrocarbons measured and / or determined by the combustion air mass sensor 11.5 is transmitted from the combustion chamber pressure sensor 11.6 to the control device 5.7 measured and / or determined combustion air mass flow is transmitted from the combustion air mass sensor 11.7 to the control device 5. Alternatively or additionally, the control device 5 is connected to the combustion air pressure sensor 11.8 in a manner not explicitly shown in such a way that a combustion air pressure measured and / or determined by the combustion air pressure sensor 11.8 is transmitted from the combustion air pressure sensor 11.8 to the control device 5. Alternatively or additionally, the control device 5 is connected to the combustion air temperature sensor 11.9 in a manner not explicitly shown in such a way that a combustion air temperature measured and / or determined by the combustion air temperature sensor 11.9 is transmitted from the combustion air temperature sensor 11.9 to the control device 5.Alternatively or additionally, the control device 5 is connected to the speed sensor 11.10 in a manner not explicitly shown in such a way that a compressor speed measured and / or determined by the speed sensor 11.10 is transmitted from the speed sensor 11.10 to the control device 5. Furthermore, the control device 5 is configured to carry out a method for operating the power arrangement 1. The method is illustrated in Figs. 2 to 5 using flowcharts. Fig. 2 shows a schematic representation of a first exemplary embodiment of a method for operating a power device, for example the internal combustion engine 1, in the form of a flowchart. Identical and functionally identical elements are provided with the same reference numerals in all figures, so that reference is made to the preceding description in this respect.In a step S1, a plurality of temporally consecutive control values ​​^^[^^^^,^^^^] of at least one control variable of the power device are specified for a predetermined time interval [^^^^, ^^^^]. In one embodiment, the predetermined time interval [^^^^, ^^^^] has a duration of 10 seconds to 150 seconds, preferably 30 seconds to 100 seconds, preferably 50 seconds to 80 seconds. Preferably, a control variable parameter selected from a group consisting of the power device speed, the fuel injection quantity, the fuel injection time, the fuel injection pressure, the power device torque, the charge air pressure, the air mass quantity, the exhaust gas recirculation rate, the combustion air ratio, and a combination of at least two of the aforementioned control variable parameters is used as the at least one control variable.In a step S2, the power device is operated in a transient operating sequence in the predetermined time interval [^^^^, ^^^^] based on the plurality of control values ​​^^[^^^^ ,^^^^].In a step S3, a plurality of temporally successive measured values ​​are measured by means of the at least one sensor 11. at least one measured variable in the predetermined time interval [^^^^, ^^^^]. Preferably, each control value of the plurality of control values Measured value of the plurality of measured values ​​^^[^^^^ ,^^^^] is assigned. Preferably, a measured value parameter selected from a group consisting of the NOx quantity, the exhaust gas temperature, the particle concentration, the CO quantity, the quantity of unburned hydrocarbons, the combustion chamber pressure, the combustion air mass flow, the combustion air pressure, the combustion air temperature, the compressor speed, and a combination of at least two of the mentioned measured value parameters is used as the at least one measured value. In a step S4, the plurality of measured values ​​^^[^^^^,^^^^] are manipulated by means of a power device model ^^^^ taking into account a dynamic behavior of the at least one sensor 11, whereby a plurality of temporally successive reconstruction measured values is obtained. Preferably, each control value of the plurality of control values ​​^^[^^^^ ,^^^^] is assigned a reconstruction measurement value of the plurality of reconstruction measurement values ^^ ,^^^^] assigned. Preferably, the power device model ^^^^ has a nominal model and a detailed model. Particularly preferably, a Gaussian process model according to equations (4) to (7) is used as the power device model ^^^^, wherein a first Gaussian process model according to equations (6) to (9) is used as the nominal model and a second Gaussian process model according to equations (6), (7), (10) and (11) is used as the detailed model. In a step S5, the power device model ^^^^ is based on the plurality of reconstruction measurement values and the majority of control values Preferably, the majority of reconstruction measurements and the majority of control values ​​^^[^^^^ the detailed model of the power device model ^^^^ – the second Gaussian process model – is adapted. Particularly preferably, the detailed model of the power device model ^^^^ is adapted based on newly measured data points, wherein equation (12) applies to the newly measured data points. In a step S6, the power device is operated based on the adapted power device model ^^^^. Particularly preferably, steps S1 to S6 are carried out cyclically. In this case, the power device model ^^^^, in particular the detailed model, is adapted with a first predetermined frequency of at most 1 Hz. Fig. 3 shows a schematic representation of step S4 of the method according to Fig. 2. In an optional step S7, based on the plurality of control values ​​^^[^^^^ a plurality of temporally consecutive simulation values ​​^^[ ^^^^^^ ,^^^^]of the at least one measured variable is determined by means of the power device model ^^^^, in particular by means of the nominal model. Preferably, the plurality of simulation values ​​^^[ ^^ ^^^^ ,^^^^]calculated using equation (15). The majority of simulation values ​​^^[ ^^ ^ ^^^,^^^^] calculated using the nominal model based on equation (17). In an optional step S8, a sensor dead time ^^^⃗ of the at least one sensor 11 and / or a time response ^ ^^^^^^^⃗^ of the at least one sensor 11 is calculated based on the power device model ^^^^, preferably based on the plurality of measured values ​​^^[^^^^ ,^^^^] and the plurality of simulation values ​​^^ ^^[^^^^,^^^^]. Particularly preferably, the sensor dead time ^^^⃗ and / or the time response ^ ^^^^^^^⃗^ is determined once or cyclically, preferably with a second predetermined frequency of at most 1 / 60 Hz. In an optional step S9, the plurality of measured values manipulated by means of the majority of simulation values ​​^^ ^^[^^^^ ,^^^^] , the majority of control values ​​^^[^^^^,^^^^] and the majority of measured values ​​^^[^^^^ ,^^^^] in order to obtain the majority of reconstruction measured values ​​^^[ ^^ ^ ^^^,^^^^] Preferably, the majority of reconstruction measurements ^^[ ^^ ^^^^ ,^^^^]calculated using equation (14). The majority of measured values ​​is particularly preferred manipulated based on the sensor dead time ^^^⃗ and / or the time behavior ^ ^^^^^^^⃗^, whereby the majority of reconstruction measurements ^^[ ^^ ^ ^^^,^^^^]is calculated using equation (14) and / or one of equations (17). Fig. 4 shows a schematic representation of a second embodiment of the method for operating the power device in the form of a flow chart. The steps S1 to S3, S6 and S7 are designed analogously to Fig. 2 and Fig. 3, wherein step S7 is mandatory. In a step S10, the power device model ^^^^ is calculated using the plurality of simulation values , the plurality of control variables ^^[^^^^ ,^^^^] and the plurality of measured values. Particularly preferably, the detailed model of the power device model ^^^^ is adapted using newly measured data points, wherein equation (20) applies to the newly measured data points. Fig. 5 shows a schematic representation of step S10 of the method according to Fig. 4. Steps S5, S8 and S9 are designed analogously to Fig. 2 and Fig. 3, wherein these steps are each optionally provided in the method according to Fig. 4. Overall, it can be seen that the first embodiment of the method, which is designed according to Fig. 2 and Fig. 3 and which has all steps S1 to S10 as mandatory steps, is identical to the second embodiment of the method, which is designed according to Fig. 4 and Fig. 5 and which has all steps S1 to S10 as mandatory steps.

Claims

CLAIMS 1. A method for operating a power device, wherein ˗ die Leistungsvorrichtung in einem vorbestimmten Zeitintervall ([^^^^, ^^^^]) mit einem transient operating pattern, where ˗ eine Mehrzahl an zeitlich aufeinanderfolgenden Stellwerten ) mindestens einer Stellgröße (^⃗^) der Leistungsvorrichtung in dem vorbestimmten Zeitintervall ([^^^^, ^^^^]) is specified, where ˗ mittels mindestens eines Sensors (11) eine Mehrzahl an zeitlich aufeinanderfolgenden Measured values ​​(^^ [^^^^ ,^^^^] ) at least one measured variable (^⃗^) in the predetermined Z eitintervall ([^^^^, ^^^^]) erfasst wird, wobei ˗ die Mehrzahl an Messwerten (^^[^^^^ ,^^^^]) mittels eines Leistungsvorrichtungs-Modells (^^^^) taking into account a dynamic behavior of the at least one sensor (11), whereby a plurality of temporally successive reconstruction measured values ​​(^^ [ ^^ ^ ^^^ ,^^^^] ) of the at least one measured value (^⃗^) is obtained, where ˗ das Leistungsvorrichtungs-Modell (^^^^) anhand der Mehrzahl an Rekonstruktions- Measured values the majority of control values ​​(^^ [^^^^,^^^^] ) is adjusted, where ˗ die Leistungsvorrichtung basierend auf dem angepassten Leistungsvorrichtungs-Modell (^^^^) is operated.

2. The method according to claim 1, wherein ˗ anhand der Mehrzahl an Stellwerten (^^[^^^^ ,^^^^]) eine Mehrzahl an zeitlich consecutive simulation values ​​(^^ [ ^^ ^ ^^^,^^^^]) of the at least one measured variable (^⃗^) is determined by means of the power device model (^^^^), in particular by means of the nominal model, where ˗ die Mehrzahl an Messwerten (^^[^^^^ ,^^^^]) mittels der Mehrzahl an Simulationswerten (^^ [ ^^ ^ ^^^,^^^^] ), the majority of control values ​​(^^ [^^^^ ,^^^^] ) and the majority of measured values ​​are manipulated to obtain the majority of reconstruction measured values ​​(^^ [ ^^ ^ ^^^ ,^^^^] ) to obtain.

3. Method according to one of the preceding claims, wherein the Leistungsvorrichtungs-Modells (^^^^) eine Sensor-Totzeit (^^^⃗ ) des mindestens einen Sensors (11) und / oder ein Zeitverhalten (^^^^^^^^⃗^ ) des mindestens einen Sensors (11) berechnet wird, und wobei die Mehrzahl an Messwerten (^^[^^^^ ,^^^^]) anhand der Sensor-Totzeit (^^^⃗ ) und / oder des Zeitverhalten (^^^^^^^^⃗^ ) manipuliert werden, wobei vorzugsweise die Sensor-Totzeit (^^^⃗ ) und / oder das Zeitverhalten (^^^^^^^^⃗^ ) anhand der Mehrzahl an Simulationswerten (^^[ ^^ ^ ^^^ ,^^^^] ) and the majority of measured values, in particular by comparing the majority of simulation values ​​(^^ [ ^^ ^ ^^^ ,^^^^] ) with the majority of measured values is determined.

4. Method according to one of the preceding claims, wherein the at least one manipulated variable (^⃗^) is a manipulated variable parameter selected from a group consisting of a power device speed, a fuel injection quantity, a fuel injection time, a fuel injection pressure, a power device torque, a boost air pressure, an air mass quantity, an exhaust gas recirculation rate, a combustion air ratio, and a combination of at least two of said manipulated variable parameters. 5.Method according to one of the preceding claims, wherein a measured variable parameter selected from a group consisting of a NOx quantity, an exhaust gas temperature, a particle concentration, a CO quantity, a quantity of unburned hydrocarbons, a combustion chamber pressure, a combustion air mass flow, a combustion air pressure, a combustion air temperature, a compressor speed, and a combination of at least two of the aforementioned measured variable parameters is used as the at least one measured variable (^⃗^).

6. Method according to one of the preceding claims, wherein the method is carried out cyclically, in particular at a first predetermined frequency, wherein preferably the power device model (^^^^), in particular the detailed model, is adapted at the first predetermined frequency.

7. Verfahren nach einem der Ansprüche 3 bis 7, wobei die Sensor-Totzeit (^^^⃗ ) und / oder das Zeitverhalten (^^^^^^^^⃗^ ) einmal oder zyklisch, insbesondere mit einer zweiten vorbestimmtenFrequency, is determined.

8. The method according to claim 6 and 7, wherein the second predetermined frequency is at most as large as the first predetermined frequency.

9. The method according to any one of the preceding claims, wherein the predetermined time interval e ine Dauer von 10 Sekunden bis 150 Sekunden, insbesondere von 30 Sekunden bis 100 seconds, in particular from 50 seconds to 80 seconds.

10. Method for operating a power device, wherein ˗ die Leistungsvorrichtung in einem vorbestimmten Zeitintervall ([^^^^, ^^^^]) mit einem transient operating pattern, where ˗ eine Mehrzahl an zeitlich aufeinanderfolgenden Stellwerten ) mindestens einer Stellgröße (^⃗^) der Leistungsvorrichtung in dem vorbestimmten Zeitintervall ([^^^^, ^^^^]) is specified, where ˗ mittels mindestens eines Sensors (11) eine Mehrzahl an zeitlich aufeinanderfolgenden Measured values ) at least one measured variable (^⃗^) in the predetermined Z eitintervall ([^^^^, ^^^^]) erfasst wird, wobei ˗ anhand der Mehrzahl an Stellwerten ) eine Mehrzahl an zeitlich consecutive simulation values ​​(^^ [ ^^ ^ ^^^,^^^^] ) of the at least one measured variable (^⃗^) is determined by means of a power device model (^^^^), where ˗ das Leistungsvorrichtungs-Modell (^^^^) anhand der Mehrzahl an Simulationswerten (^^ [ ^^ ^ ^^^,^^^^] ), the majority of control values ) and the majority of measured values, where ˗ die Leistungsvorrichtung basierend auf dem angepassten Leistungsvorrichtungs-Modell (^^^^) is operated.

11. Control device (5) configured to carry out a method according to one of the preceding claims.

12. Power arrangement with a power device, a sensor (11), an actuator and a control device (5) according to claim 11.

13. Internal combustion engine (1) with a combustion chamber (3), a sensor (11), an actuator and a control device (5) according to claim 11.

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