EGR valve control method and apparatus, vehicle, and storage medium

Abstract

Embodiments of the present disclosure disclose an EGR valve control method and apparatus, a vehicle, and a storage medium. The method comprises: acquiring an operating parameter of an engine, and, on the basis of the operating parameter, determining an operating working condition of the engine; in response to the engine being in a transient working condition, determining a current EGR rate and a required target EGR rate of an EGR valve; on the basis of a difference between the current EGR rate and the target EGR rate, determining a target degree of openness of the EGR valve; based on the target degree of openness, controlling the EGR valve. By means of the present method, the flexibility of control of the degree of openness of an EGR valve can be increased, causing oil consumption of the engine to be reduced during the transient working condition of the vehicle, and improving operating smoothness of the engine.

Description

EGR valve control method and device, vehicle, and storage medium Technical Field

[0001] The present disclosure relates to, but is not limited to, the field of engine technology, and in particular to an EGR valve control method and device, a vehicle, and a storage medium. Background Art

[0002] With the increasing use of vehicles and rising fuel consumption, automakers are beginning to research and mass-produce gasoline engines with exhaust gas recirculation (EGR) systems to further improve the thermal efficiency of gasoline engines and reduce harmful exhaust emissions. EGR systems are divided into low-pressure EGR and high-pressure EGR systems. Using a high-pressure EGR control strategy directly would severely impact engine combustion control because the engine control unit (ECU) would be unable to determine when EGR gas enters the cylinder.

[0003] Compared with high-pressure EGR, low-pressure EGR can better reduce fuel consumption, but its efficiency needs to be further improved.

[0004] Summary of the Invention

[0005] In view of this, the embodiments of the present disclosure provide at least one EGR valve control method and device, a vehicle, and a storage medium.

[0006] In a first aspect, an embodiment of the present disclosure provides an EGR valve control method, the method comprising:

[0007] Acquiring operating parameters of the engine, and determining an operating condition of the engine according to the operating parameters;

[0008] In response to the engine being in a transient operating condition, determining a current EGR rate of the EGR valve and a required target EGR rate;

[0009] determining a target opening of the EGR valve according to a difference between the current EGR rate and the target EGR rate;

[0010] The EGR valve is controlled based on the target opening degree.

[0011] In some embodiments, determining the target opening of the EGR valve according to the difference between the current EGR rate and the target EGR rate includes:

[0012] performing proportional-integral control on the opening of the EGR valve according to a difference between the current EGR rate and the target EGR rate, to obtain a first opening value corresponding to proportional control in the proportional-integral control and a second opening value corresponding to integral control in the proportional-integral control;

[0013] A target opening of the EGR valve is determined according to the first opening value and the second opening value.

[0014] In some embodiments, performing proportional-integral control on the opening of the EGR valve based on the difference between the current EGR rate and the target EGR rate to obtain a first opening value corresponding to proportional control in the proportional-integral control and a second opening value corresponding to integral control in the proportional-integral control includes:

[0015] Obtaining a first time required for the EGR valve to reach a preset pressure difference, and a second time required for the gas to reach the EGR valve;

[0016] determining a proportional control factor according to a difference between the current EGR rate and the target EGR rate;

[0017] Based on the difference, the proportional control factor, the first time, and the second time, the first opening value corresponding to the proportional control in the proportional-integral control is obtained; and / or,

[0018] determining an integral control factor according to a difference between the current EGR rate and the target EGR rate;

[0019] The second opening value corresponding to the integral control in the proportional integral control is obtained based on the difference, the integral control factor, the first time, and a preset opening value.

[0020] In some embodiments, the difference includes a difference; and obtaining the first opening value corresponding to the proportional control in the proportional-integral control based on the difference, the proportional control factor, the first time, and the second time includes:

[0021] determining a preset weight based on a ratio of the second time to the first time;

[0022] The product of the difference, the proportional control factor and the preset weight is determined as the first opening value corresponding to the proportional control in the proportional-integral control.

[0023] In some embodiments, the difference includes a difference; and obtaining the second opening value corresponding to the integral control in the proportional integral control based on the difference, the integral control factor, the first time, and a preset opening value includes:

[0024] determining a product of the difference, the integral control factor, and the first time;

[0025] The second opening value corresponding to the integral control in the proportional integral control is obtained based on the sum of the product and the preset opening value.

[0026] In some embodiments, the preset opening value includes a historical second opening value.

[0027] In some embodiments, the operating parameters of the engine include a current engine speed and a current cylinder density of the engine, and the method further includes:

[0028] determining a target cylinder density based on a current speed of the engine;

[0029] determining a required EGR rate under steady-state operating conditions according to the current speed and the target cylinder density;

[0030] In response to the engine being in a transient operating condition, determining a target EGR rate required by the EGR valve includes:

[0031] In response to the engine being in a transient operating condition, a target EGR rate required under the transient operating condition is determined based on the target cylinder density, a current cylinder density of the engine, and the required EGR rate under the steady-state operating condition.

[0032] In a second aspect, an embodiment of the present disclosure provides a control device for an EGR valve, the device comprising:

[0033] a first determining module configured to obtain operating parameters of the engine and determine an operating condition of the engine according to the operating parameters;

[0034] a second determination module configured to determine a current EGR rate of the EGR valve and a required target EGR rate in response to the engine being in a transient operating condition;

[0035] a third determination module configured to determine a target opening of the EGR valve according to a difference between the current EGR rate and the target EGR rate;

[0036] A control module is configured to control the EGR valve based on the target opening.

[0037] In some embodiments, the third determination module is further configured to perform proportional-integral control on the opening of the EGR valve according to the difference between the current EGR rate and the target EGR rate, to obtain a first opening value corresponding to the proportional control in the proportional-integral control, and a second opening value corresponding to the integral control in the proportional-integral control; and determine the target opening of the EGR valve according to the first opening value and the second opening value.

[0038] In some embodiments, the third determination module is further configured to obtain a first time required for the EGR valve to reach a preset pressure difference, and a second time for the gas to reach the EGR valve; determine a proportional control factor based on the difference between the current EGR rate and the target EGR rate; obtain the first opening value corresponding to the proportional control in the proportional-integral control based on the difference between the current EGR rate and the target EGR rate, the proportional control factor, and the first time and the second time; and / or determine an integral control factor based on the difference between the current EGR rate and the target EGR rate; obtain the second opening value corresponding to the integral control in the proportional-integral control based on the difference between the current EGR rate and the target EGR rate, the integral control factor, the first time and the preset opening value.

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

[0040] In some embodiments, the third determination module is further configured to determine the product of the difference, the integral control factor and the first time; and obtain the second opening value corresponding to the integral control in the proportional integral control based on the sum of the product and the preset opening value.

[0041] In some embodiments, the preset opening value includes a historical second opening value.

[0042] In some embodiments, the operating parameters of the engine include a current engine speed and a current cylinder density of the engine, and the apparatus further includes:

[0043] a fourth determination module configured to determine a target cylinder density based on a current speed of the engine;

[0044] a fifth determining module configured to determine a required EGR rate under steady-state conditions based on the current speed and the target cylinder density;

[0045] The second determination module is further configured to, in response to the engine being in a transient operating condition, determine a target EGR rate required under the transient operating condition based on the target cylinder density, a current cylinder density of the engine, and the required EGR rate under the steady-state operating condition.

[0046] In a third aspect, an embodiment of the present disclosure provides a vehicle, comprising:

[0047] a processor; a memory for storing instructions executable by the processor;

[0048] The processor is configured to execute the method described in the first aspect.

[0049] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which implements the method described in the first aspect when the computer program is executed by a processor.

[0050] The technical solutions provided by the embodiments of the present disclosure may have the following beneficial effects:

[0051] The disclosed embodiment obtains the operating parameters of the engine to determine the operating conditions of the engine. Under the transient operating conditions of the vehicle, the target opening value of the EGR valve is determined according to the difference between the current EGR rate of the vehicle and the target EGR rate, and the opening of the EGR valve is flexibly controlled, so that the actual EGR rate is always close to the target EGR rate. This can reduce the engine fuel consumption of the vehicle under transient operating conditions and further improve the thermal efficiency of the vehicle. On the other hand, when the engine is in the best working condition, the vehicle controls the related injection and ignition actions to proceed smoothly, thereby preventing engine knock damage or stalling during driving.

[0052] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings herein are incorporated into and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and, together with the specification, are used to explain the technical solutions of the present disclosure.

[0054] FIG1 is a diagram illustrating an example structure of an EGR system provided by an embodiment of the present disclosure;

[0055] FIG2 is a flow chart of a method for controlling an EGR valve according to an embodiment of the present disclosure;

[0056] FIG3 is a schematic diagram of a control device for an EGR valve provided in an embodiment of the present disclosure;

[0057] FIG4 is a schematic diagram of a hardware entity of a vehicle provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the technical solutions of the present disclosure are further elaborated in detail below with reference to the accompanying drawings and embodiments. The described embodiments should not be regarded as limiting the present disclosure. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0059] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0060] The terms "first / second / third" involved in the present disclosure are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understandable that "first / second / third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0061] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present disclosure pertains. The terms used herein are for the purpose of describing the present disclosure only and are not intended to limit the present disclosure.

[0062] The EGR system is part of the automotive power system and is an exhaust gas recirculation system. Figure 1 is an example diagram of the structure of a low-pressure EGR system provided by an embodiment of the present disclosure. As shown in Figure 1: 1 is an engine cylinder; 2 is a supercharger, which is used to supercharge the exhaust gas from the cylinder and then discharge it; 3 is a three-way catalytic converter, which is used to convert harmful gases in the exhaust gas discharged by the engine into harmless gases; 4 is a gasoline engine particulate filter, which is used to filter particles from the gas discharged from the cylinder; 5 is an EGR cooler; 6 is an EGR valve, wherein the EGR valve 6 may include a mechanical EGR valve and an electronically controlled EGR valve; 7 is an air flow meter; 8 is a supercharger, which is used to pressurize the mixed gas and send it into the cylinder; 9 is an intercooler, wherein the intercooler 9 may include a water-cooled intercooler.

[0063] Based on the structure shown in Figure 1, when the engine is working, the exhaust gas discharged from the cylinder 1 is supercharged by the supercharger 2 and flows into the three-way catalytic converter 3, and the three-way catalytic converter 3 converts the harmful gases in the exhaust gas into harmless ones; when the EGR valve is closed, the exhaust gas after harmless conversion is filtered by the particulate filter 4 and all of it is discharged as exhaust gas; when the EGR valve is opened, part of the exhaust gas after harmless conversion is discharged as exhaust gas, and the other part of the exhaust gas passes through the EGR cooler 5 to reduce the exhaust gas temperature, flows through the EGR valve 6 into the pipeline and mixes with the air after passing through the air flow meter 7, and then the mixed gas is supercharged by the supercharger 8. The supercharged mixed gas is cooled by the intercooler 9 and then sent into the cylinder to reduce exhaust emissions and improve engine performance.

[0064] The EGR valve plays a crucial role in the EGR system. The opening of the EGR valve determines the flow of exhaust gas entering the pipeline, thereby changing the EGR rate. The size of the EGR rate affects the performance and emissions of the engine. Therefore, it is necessary to reasonably control the opening of the EGR valve to control the EGR rate. The EGR rate refers to the proportion of engine exhaust gas recirculated in the EGR system, that is, the ratio of the recirculated exhaust gas to the total intake air inhaled into the cylinder.

[0065] In this regard, an embodiment of the present disclosure provides an EGR valve control method. FIG2 is a schematic diagram of an implementation flow of an EGR valve control method provided by an embodiment of the present disclosure. As shown in FIG2 , the method includes the following steps:

[0066] S21, acquiring operating parameters of the engine, and determining an operating condition of the engine according to the operating parameters;

[0067] S22, in response to the engine being in a transient operating condition, determining a current EGR rate of the EGR valve and a required target EGR rate;

[0068] S23, determining a target opening of the EGR valve according to a difference between the current EGR rate and the target EGR rate;

[0069] S24: Control the EGR valve based on the target opening.

[0070] In the disclosed embodiments, the EGR valve control method includes various processing steps executed by the vehicle's ECU. The ECU is one of the core electronic components of modern vehicles and serves as the engine's integrated control device. Its function is to calculate, process, and judge various information input from the engine's sensors based on its stored programs, and then output instructions to control the actions of relevant actuators, achieving rapid, accurate, and automatic control of engine operation. For ease of description, the disclosed embodiments will be explained using a vehicle as an example.

[0071] In step S21, the vehicle obtains engine operating parameters and determines the engine operating condition based on the operating parameters. The operating parameters may include engine speed, cylinder density, engine torque, engine power, and engine temperature. For example, the vehicle obtains engine speed and cylinder density from the engine's crankshaft position sensor, engine torque from the throttle position sensor, and engine temperature from the temperature sensor via the ECU. Engine power can be calculated from the engine speed and torque.

[0072] After obtaining the operating parameters, the vehicle further determines the operating conditions of the engine based on the operating parameters. The operating conditions refer to the working state of the engine during operation, and the performance of the engine is different under different operating conditions. In the embodiment of the present disclosure, the operating conditions of the engine may include stable conditions and transient conditions. Under stable conditions, the engine has been preheated and entered into normal operation, and there is no change in speed or power within a certain period of time. The engine's intake, fuel injection, and ignition systems are all in a relatively stable state. Under such conditions, the engine's power performance, fuel economy, emission performance and other indicators can be well performed; under transient conditions, the engine's speed or load changes rapidly in a short period of time, and the engine's performance indicators may be greatly affected, such as power reduction, poor fuel economy, and increased emissions. Transient conditions may be caused by sudden acceleration due to sudden pedaling, or by sudden braking and deceleration.

[0073] It should be noted that in the embodiment of the present disclosure, when the engine is in a steady-state operating condition, there is no sudden change in performance, the engine speed and load remain basically unchanged, and the combustion process is relatively stable. Therefore, there is no need to additionally adjust the EGR rate for the steady-state operating condition; under transient operating conditions, the engine's intake, fuel injection, ignition and other systems will change, resulting in unstable engine performance, which seriously affects the engine's combustion control and makes the engine unable to be in the best working state. Therefore, it is necessary to adjust the EGR rate to help the engine adapt to changes under transient conditions, optimize and adjust the engine's performance, so that it can maintain a good working state under transient conditions.

[0074] In step S22, in response to the engine being in a transient operating condition, the vehicle determines the current EGR rate of the EGR valve, wherein the current EGR rate refers to the current actual EGR rate of the engine. The current EGR rate can be determined based on the parameter values ​​of the current operating state of the EGR valve. The parameter values ​​of the current operating state of the EGR valve here include the pressure before and after the EGR valve, the temperature, the EGR valve opening value, etc.

[0075] In the embodiment of the present disclosure, the vehicle also needs to determine the target EGR rate required by the EGR valve, wherein the target EGR rate refers to the EGR rate that the engine control system expects to achieve under the current operating conditions; the required target EGR rate can be determined based on the operating parameters obtained by the above-mentioned engine and the steady-state EGR rate of the engine, wherein the steady-state EGR rate is the EGR rate under steady-state conditions corresponding to the operating parameters of the engine. Exemplarily, a mapping (MAP) between the operating parameters of the engine and the EGR rate under steady-state conditions can be stored in the vehicle. Exemplarily, a calibration method can be used, such as sampling the operating parameters of the engine and the actual EGR rate under steady-state conditions corresponding to the operating parameters. Among them, the operating parameters can be the engine speed and the engine cylinder density, or the engine speed and the torque of the engine shaft, etc., which are not limited by the embodiment of the present disclosure.

[0076] In step S23, the vehicle determines a target opening of the EGR valve based on the difference between the current EGR rate and the target EGR rate. In the disclosed embodiment, the difference between the current EGR rate and the target EGR rate can be the difference between the current EGR rate and the target EGR rate, or the ratio between the current EGR rate and the target EGR rate.

[0077] In some embodiments, a vehicle may input the difference between the current EGR rate and the target EGR rate into an EGR valve opening calculation model to obtain a target EGR valve opening output. The EGR valve opening calculation model may be trained using a deep learning network. For example, a network, such as a convolutional neural network (CNN) or a deep learning network (DNN), may be trained and parameterized based on training sample data and label values ​​to obtain the EGR valve opening calculation model. The training sample data comprises accumulated sample EGR rate differences between actual and desired EGR rates under various instantaneous operating conditions, and the label value is a preset EGR valve opening. The preset opening value may be determined experimentally. For example, based on a sample EGR rate difference, the EGR valve opening may be manually adjusted to determine EGR valve performance, thereby finding an optimal EGR valve opening as the preset EGR valve opening corresponding to the sample EGR rate difference.

[0078] In other embodiments, the vehicle may further determine the target opening of the EGR valve according to a difference between the current EGR rate and the target EGR rate based on a control theory method.

[0079] In step S24 , the vehicle controls the EGR valve based on the target opening degree.

[0080] In the disclosed embodiment, the target opening of the EGR valve can be greater or less than the initial opening of the EGR valve. For example, when accelerating, the vehicle controls the EGR valve in a positive direction, increasing the opening. Similarly, when decelerating, the vehicle controls the EGR valve in a negative direction, decreasing the opening.

[0081] In related technologies, under transient operating conditions, since the volume of the pipe through which the EGR exhaust gas flows is very high, the pressure difference between the two ends drops by 50%-90%, resulting in a very long time for the exhaust gas of the EGR system to travel from the EGR valve to the cylinder. At low speed and low load operating points, the delay time reaches 2-3 seconds, which seriously affects the combustion control of the engine and makes the engine unable to operate in the best working state.

[0082] It can be understood that in the embodiment of the present disclosure, under transient operating conditions, the vehicle determines the target opening value of the EGR valve according to the difference between the current EGR rate of the vehicle and the target EGR rate, and flexibly controls the opening of the EGR valve, so that the actual EGR rate is always close to the target EGR rate. This can reduce the engine fuel consumption of the vehicle under transient operating conditions and further improve the thermal efficiency of the vehicle. On the other hand, when the engine is in the best working state, the vehicle controls the related injection and ignition actions to proceed smoothly, thereby preventing engine knock damage or stalling during driving.

[0083] In some embodiments, determining the target opening of the EGR valve according to the difference between the current EGR rate and the target EGR rate includes:

[0084] performing proportional-integral control on the opening of the EGR valve according to a difference between the current EGR rate and the target EGR rate, to obtain a first opening value corresponding to proportional control in the proportional-integral control and a second opening value corresponding to integral control in the proportional-integral control;

[0085] A target opening of the EGR valve is determined according to the first opening value and the second opening value.

[0086] As previously mentioned, the vehicle can determine the target EGR valve opening based on the difference between the current EGR rate and the target EGR rate using control theory methods. In this embodiment, the vehicle utilizes PI control (Proportional-Integral Control), a control theory method. PI control includes proportional control and integral control. Proportional control adjusts the output by comparing the desired value with the actual value, quickly responding to error changes. Integral control adjusts the deviation value through integration, eliminating static errors and improving control accuracy.

[0087] In the disclosed embodiment, the vehicle performs the proportional-integral control on the opening of the EGR valve according to the difference between the current EGR rate and the target EGR rate to obtain the corresponding proportional control value and integral control value, and obtains the first opening value corresponding to the proportional control (for example, EGRp) and the second opening value corresponding to the integral control (for example, EGRi).

[0088] In the embodiment of the present disclosure, the vehicle determines the target opening of the EGR valve based on the first opening value and the second opening value. For example, the sum of the first opening value and the second opening value is determined as the target opening, as shown in the following formula (1): EGRpct=EGRi+EGRp (1)

[0089] It can be understood that the embodiment of the present disclosure determines the target opening value of the EGR valve through proportional control and integral control based on the difference between the current EGR rate and the target EGR rate. Since the method based on control theory is efficient and accurate, it can enable the vehicle to quickly respond to changes in the EGR rate under transient working conditions and improve control accuracy.

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

[0091] Obtaining a first time required for the EGR valve to reach a preset pressure difference, and a second time required for the gas to reach the EGR valve;

[0092] determining a proportional control factor according to a difference between the current EGR rate and the target EGR rate;

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

[0094] determining an integral control factor according to a difference between the current EGR rate and the target EGR rate;

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

[0096] In the embodiment of the present disclosure, the vehicle obtains the first time t1 required for the EGR valve to reach a preset pressure difference, and the second time t2 for the gas to reach the EGR valve. It should be noted that the above-mentioned first time t1 and second time t2 can both be calibrated values ​​and stored in the vehicle. The first time t1 and the second time t2 can be calibrated separately. For example, the time data t1, t2 and the corresponding air flow data measured at several points are first collected, the collected data are cleaned, sorted and filtered, and then the pre-processed data are preliminarily analyzed, and a suitable mathematical model is selected to describe the relationship between time t1, t2 and air flow respectively. The selected model is used to fit the pre-processed data to obtain t1 and t2 data.

[0097] In the disclosed embodiment, the vehicle determines a proportional control factor (e.g., fp(EGRerr)) based on the difference between the current EGR rate and the target EGR rate (e.g., EGRerr). For example, a mapping table of EGR rate differences and proportional control factors may be stored in the vehicle. The vehicle can then obtain the proportional control factor corresponding to the difference between the current EGR rate and the target EGR rate by looking up the table. Table 1 below shows a mapping table of EGR rate differences and proportional control factors:

[0098] Table 1

[0099] Among them, fp(EGRerr) is a proportional control curve based on EGRrerr, obtained by experimental calibration. For example, the curve is calibrated according to the following standard when the EGR rate increases within 3 seconds. Specifically, when the EGR difference is determined, the proportional control factor value is controlled, and the response characteristics of the system, such as the adjustment accuracy, adjustment time, and adjustment error, are observed. The parameter value that optimizes the system performance is selected as the calibration value.

[0100] In the disclosed embodiment, an integral control factor (e.g., fi(EGRerr)) is determined based on the difference between the current EGR rate and the target EGR rate, EGRRerr. For example, a mapping table of EGR rate differences and integral control factors may also be stored in the vehicle. The vehicle can then obtain the integral control factor corresponding to the difference between the current EGR rate and the target EGR rate by looking up the table. Table 2 below shows a mapping table of EGR rate differences and integral control factors:

[0101] Table 2

[0102] Among them, fi(EGRerr) is an integral control curve based on EGRrerr, which is obtained by experimental calibration. For example, the curve is calibrated according to the following standard when the EGR rate decreases in 0.3 seconds. Specifically, when the EGR difference is determined, the integral control factor value is controlled to observe the response characteristics of the system, such as the adjustment accuracy, adjustment time, and adjustment error, and the parameter value that optimizes the system performance is selected as the calibration value.

[0103] In the embodiment of the present disclosure, the vehicle obtains a first opening value corresponding to the proportional control in the proportional-integral control based on the difference between the current EGR rate and the target EGR rate, the proportional control factor, and the first time and the second time; and / or obtains a second opening value corresponding to the integral control in the proportional-integral control based on the above-mentioned difference, the integral control factor, the first time and the preset opening value. In this step, the proportional control factor, the first time and the second time for adjusting the EGR rate difference are introduced to calculate the first opening value corresponding to the proportional control, and the integral control factor, the first time and the preset opening value for adjusting the EGR rate difference are introduced to calculate the second opening value corresponding to the integral control. According to these relevant parameters that can adjust the opening, the vehicle can adjust the EGR rate from multiple aspects, thereby calculating more accurate first opening values ​​and second opening values.

[0104] It should be noted that the preset opening value in the embodiments of the present disclosure may be a historical opening value or a preset fixed value. The preset fixed value may be set based on actual needs and is not limited herein. For example, the preset opening value may also be determined based on the number of times the EGR valve control method has been executed. For example, when the control method is first executed, the preset opening value may be a preset fixed value of 0. However, in each subsequent execution, the preset opening value may be set to a historical opening value, such as the second opening value obtained from the previous execution of the EGR valve control method.

[0105] It can be understood that the embodiment of the present disclosure first determines the proportional control factor and the integral control factor respectively on the basis of having obtained the difference between the current EGR rate and the target EGR rate, the preset opening value, and the first time and the second time, and then determines the first opening value corresponding to the proportional control and the second opening value corresponding to the integral control respectively, and introduces parameters for adjusting the EGR rate difference, which helps to improve the accuracy of calculating the target opening of the EGR valve.

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

[0107] determining a preset weight based on a ratio of the second time to the first time;

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

[0109] In the embodiment of the present disclosure, the difference between the current EGR rate and the target EGR rate may be a difference value between the current EGR rate and the target EGR rate.

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

[0111] Wherein, a is a weight coefficient, a is a positive number, and the specific value is set according to actual needs and is not limited here. For example, a can be 24.

[0112] In the embodiment of the present disclosure, the vehicle determines the product of the difference EGRerr, the proportional control factor fp(EGRerr), and the preset weight Gain as the first opening EGRp corresponding to the proportional control in the proportional-integral control, as shown in the following formula (3): EGRp = EGRerr*Gain*fp(EGRerr) (3)

[0113] It can be understood that in the embodiment of the present disclosure, the first opening value corresponding to the proportional control is obtained by multiplying the proportional control factor by the product of the EGR rate difference and the time weight coefficient, wherein the time weight coefficient determines the rate at which the opening value changes over time, and the proportional control factor is used to further fine-tune the control opening value result. This method can quickly respond to changes in the system's EGR rate and improve the system's adaptability to different working conditions.

[0114] In some embodiments, the difference includes a difference; and obtaining the second opening value corresponding to the integral control in the proportional integral control based on the difference, the integral control factor, the first time, and a preset opening value includes:

[0115] determining a product of the difference, the integral control factor, and the first time;

[0116] The second opening value corresponding to the integral control in the proportional integral control is obtained based on the sum of the product and the preset opening value.

[0117] In the embodiment of the present disclosure, the difference between the current EGR rate and the target EGR rate may be a difference value between the current EGR rate and the target EGR rate.

[0118] In the embodiment of the present disclosure, the vehicle determines the second opening value EGRi corresponding to the proportional control in the proportional-integral control based on the sum of the product of the difference EGRerr, the integral control factor fi(EGRerr), the first time t1, and a preset opening value (e.g., EGRil), as shown in the following formula (4): EGRi=EGRerr*t1*fi(EGRerr)+EGRil (4)

[0119] It can be understood that in the embodiment of the present disclosure, the second opening value corresponding to the integral control is obtained by multiplying the product of the integral control factor, the EGR rate difference, and the first time with the preset opening value, wherein the time coefficient plays the role of smoothing control in the integral control, and the preset opening value serves as the target reference value to guide the output of the controller, and the integral control factor further adjusts the control opening value result. This method plays the role of optimizing the performance of the EGR system and enhancing the stability and adaptability of the system.

[0120] In addition, in the embodiment of the present disclosure, the proportional control factor in forward control (i.e., the target EGR rate is greater than the current EGR rate) is smaller than the proportional control factor in reverse control (the target EGR rate is less than the current EGR rate), and the proportional control factor in forward control is positively correlated with the difference in EGR rate, while the proportional control factor in reverse control is negatively correlated with the difference in EGR rate, and the rate of change of the proportional control factor in forward control is smaller than the rate of change of the control factor in reverse control, as shown in Table 1 above.

[0121] Similarly, in the embodiment of the present disclosure, the integral control factor during forward control is smaller than the integral control factor during reverse control, and the integral control factor during forward control is positively correlated with the difference in EGR rate, while the proportional control factor during reverse control is negatively correlated with the difference in EGR rate. The rate of change of the proportional control factor during forward control is smaller than the rate of change of the control factor during reverse control, as shown in Table 2 above.

[0122] Based on the characteristics of the proportional and integral control factors in different control directions, it can be seen that during forward control, the rate of change of the proportional and integral control factors is relatively small, resulting in smooth changes in the first and second opening values, and the corresponding target opening value of the EGR valve also exhibits a smooth change trend. However, during reverse control of the EGR valve, the rate of change of the proportional and integral control factors is relatively large, resulting in rapid changes in the first and second opening values, and the corresponding target opening value of the EGR valve also exhibits a rapid change trend. This approach achieves a smooth increase and rapid decrease in the actual EGR rate, while tracking the target EGR rate. This not only allows the engine to operate optimally when the actual EGR rate changes smoothly, stabilizes combustion, and reduces engine fuel consumption, but also allows the EGR rate to be rapidly reduced under certain operating conditions when the actual EGR rate is excessive and combustion is unstable, thereby reducing engine stall or flameout.

[0123] In some embodiments, the preset opening value includes a historical second opening value.

[0124] In the disclosed embodiment, the historical second opening value may be the second opening value outputted in the previous sampling cycle, or may be the second opening value outputted in the sampling cycle prior to the previous sampling cycle. It is understood that in the disclosed embodiment, the preset opening value includes the historical second opening value. By adding the historical second opening value to the current second opening value calculation, the EGR valve second opening value is made more reasonable, better accounting for the system's past behavior, enhancing the system's adaptability, and continuously approaching the system's actual EGR rate toward the target EGR rate, thereby improving system stability.

[0125] In some embodiments, the operating parameters of the engine include a current engine speed and a current cylinder density of the engine, and the method further includes:

[0126] determining a target cylinder density based on a current speed of the engine;

[0127] determining a required EGR rate under steady-state operating conditions according to the current speed and the target cylinder density;

[0128] In response to the engine being in a transient operating condition, determining a target EGR rate required by the EGR valve includes:

[0129] In response to the engine being in a transient operating condition, a target EGR rate required under the transient operating condition is determined based on the target cylinder density, a current cylinder density of the engine, and the required EGR rate under the steady-state operating condition.

[0130] In the disclosed embodiment, the vehicle determines the target cylinder density based on the current engine speed. For example, the engine speed can be monitored to infer the cycle time in the cylinder, thereby calculating or selecting a suitable target cylinder density. This target density should be able to enable the normal operation and efficiency of the engine.

[0131] In the disclosed embodiment, the vehicle determines the required EGR rate under steady-state operating conditions based on the current engine speed and target cylinder density. As previously described, the steady-state EGR rate under the current engine operating parameters can be obtained from a calibrated mapping relationship between the engine operating parameters and the steady-state EGR rate. Therefore, in the disclosed embodiment, the current engine operating parameters are the current engine speed and the target cylinder density, and the steady-state EGR rate can be obtained from the corresponding mapping relationship.

[0132] In the embodiment of the present disclosure, in response to the engine being in a transient operating condition, the vehicle determines the target EGR rate required under the transient operating condition based on the target cylinder density, the current cylinder density of the engine, and the required EGR rate under the steady-state operating condition, as shown in the following formula (5):

[0133] in, and It is a preset constant value, which can be set according to actual needs and is not limited here. For example, It can be 200, It can be 50. Among the engine operating parameters, cylinder density has a significant impact on the EGR rate. The target cylinder density represents the ideal or desired state of the gas in the cylinder. Moreover, the steady-state EGR rate is usually determined under stable operating conditions, when the engine state is relatively stable and the various parameters change little. Using these parameters to determine the transient target EGR rate can improve the calculation accuracy and stability.

[0134] It should be noted that the engine operating parameters in the embodiment of the present disclosure may also be torque, intake flow, etc., and the torque or intake flow may be used to participate in the calculation of the transient target EGR rate in the same manner as the cylinder density.

[0135] It can be understood that the embodiment of the present disclosure first determines the target cylinder density based on the current speed, then determines the steady-state required EGR rate, and finally obtains the target EGR rate suitable for the optimal working state of the engine under transient conditions based on the target cylinder density, the current cylinder density and the steady-state required EGR rate, thereby achieving better engine performance and engine thermal efficiency control.

[0136] FIG3 is a schematic diagram of a control device for an EGR valve provided in an embodiment of the present disclosure. As shown in FIG3 , the control device 300 for an EGR valve includes:

[0137] The first determining module 301 is configured to obtain operating parameters of the engine and determine the operating condition of the engine according to the operating parameters;

[0138] A second determination module 302 is configured to determine a current EGR rate of the EGR valve and a required target EGR rate in response to the engine being in a transient operating condition;

[0139] a third determining module 303 configured to determine a target opening of the EGR valve according to a difference between the current EGR rate and the target EGR rate;

[0140] The control module 304 is configured to control the EGR valve based on the target opening.

[0141] In some embodiments, the third determination module 303 is further configured to perform proportional-integral control on the opening of the EGR valve according to the difference between the current EGR rate and the target EGR rate, and obtain a first opening value corresponding to the proportional control in the proportional-integral control, and a second opening value corresponding to the integral control in the proportional-integral control; and determine the target opening of the EGR valve according to the first opening value and the second opening value.

[0142] In some embodiments, the determination module 303 is further configured to obtain a first time required for the EGR valve to reach a preset pressure difference, and a second time for the gas to reach the EGR valve; determine a proportional control factor based on the difference between the current EGR rate and the target EGR rate; obtain the first opening value corresponding to the proportional control in the proportional-integral control based on the difference between the current EGR rate and the target EGR rate, the proportional control factor, the first time and the second time; and / or determine an integral control factor based on the difference between the current EGR rate and the target EGR rate; obtain the second opening value corresponding to the integral control in the proportional-integral control based on the difference between the current EGR rate and the target EGR rate, the integral control factor, the first time and the preset opening value.

[0143] In some embodiments, the determination module 303 is further configured to determine a preset weight based on the ratio of the second time to the first time; and determine the product of the difference, the proportional control factor and the preset weight as the first opening value corresponding to the proportional control in the proportional-integral control.

[0144] In some embodiments, the determination module 303 is further configured to determine the product of the difference, the integral control factor and the first time; and obtain the second opening value corresponding to the integral control in the proportional integral control based on the sum of the product and the preset opening value.

[0145] In some embodiments, the preset opening value includes a historical second opening value.

[0146] In some embodiments, the operating parameters of the engine include a current engine speed and a current cylinder density of the engine, and the apparatus further includes:

[0147] a fourth determination module configured to determine a target cylinder density based on a current speed of the engine;

[0148] a fifth determining module configured to determine a required EGR rate under steady-state conditions based on the current speed and the target cylinder density;

[0149] The second determination module 302 is further configured to determine, in response to the engine being in a transient operating condition, a target EGR rate required under the transient operating condition based on the target cylinder density, the current cylinder density of the engine, and the required EGR rate under the steady-state operating condition.

[0150] FIG4 is a schematic diagram of a vehicle hardware entity provided by an embodiment of the present disclosure. As shown in FIG4 , the hardware entity of the vehicle 400 includes: a processor 401, a communication interface 402, and a memory 403, wherein:

[0151] Processor 401 generally controls the overall operation of computer device 400 .

[0152] The communication interface 402 enables the computer device to communicate with other terminals or servers through a network.

[0153] Memory 403 is configured to store instructions and applications executable by processor 401. It can also cache data to be processed or processed by processor 401 and various modules in computer device 400 (e.g., image data, audio data, voice communication data, and video communication data). This can be implemented using flash memory (FLASH) or random access memory (RAM). Data can be transmitted between processor 401, communication interface 402, and memory 403 via bus 404. Processor 401 is configured to execute some or all of the steps in the above-described vehicle operation control method.

[0154] Correspondingly, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, part or all of the steps in the above method are implemented.

[0155] It should be understood that “one embodiment” or “an embodiment” mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present disclosure. Therefore, “in one embodiment” or “in an embodiment” appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In addition, in the various embodiments of the present disclosure, the size of the serial numbers of the above-mentioned steps / processes does not mean the order of execution. The execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure. The serial numbers of the embodiments of the present disclosure are for description only and do not represent the advantages and disadvantages of the embodiments.

[0156] It should be noted that, in this document, the terms "comprise," "include," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0157] In the several embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0158] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0159] In addition, all functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0160] Those skilled in the art will understand that all or part of the steps of implementing the above-mentioned method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above-mentioned method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, and other media that can store program codes.

[0161] Alternatively, if the above-mentioned integrated unit of the present disclosure is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0162] The above description is merely an embodiment of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this disclosure should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection of the claims.

Claims

1. An exhaust gas recirculation (EGR) valve control method, characterized in that, The method includes: Obtaining the operating parameters of the engine and determining the operating condition of the engine according to the operating parameters; In response to the engine being in an instantaneous condition, determining the current EGR rate of the EGR valve and the target EGR rate required; Determining the target opening of the EGR valve according to the difference between the current EGR rate and the target EGR rate; Controlling the EGR valve based on the target opening.

2. The method according to claim 1, wherein The determining the target opening of the EGR valve according to the difference between the current EGR rate and the target EGR rate includes: Performing proportional-integral control on the opening of the EGR valve according to the difference between the current EGR rate and the target EGR rate to obtain a first opening value corresponding to the proportional control in the proportional-integral control and a second opening value corresponding to the integral control in the proportional-integral control; Determining the target opening of the EGR valve according to the first opening value and the second opening value.

3. The method according to claim 2, wherein The performing proportional-integral control on the opening of the EGR valve according to the difference between the current EGR rate and the target EGR rate to obtain a first opening value corresponding to the proportional control in the proportional-integral control and a second opening value corresponding to the integral control in the proportional-integral control includes: Obtaining a first time required for the EGR valve to reach a preset pressure difference and a second time for the gas to reach the EGR valve; Determining a proportional control factor according to the difference between the current EGR rate and the target EGR rate; Obtaining the first opening value corresponding to the proportional control in the proportional-integral control based on the difference, the proportional control factor, the first time, and the second time; and / or, Determining an integral control factor according to the difference between the current EGR rate and the target EGR rate; Obtaining the second opening value corresponding to the integral control in the proportional-integral control based on the difference, the integral control factor, the first time, and a preset opening value.

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

5. The method according to claim 3, wherein The difference includes a difference value; the obtaining the second opening value corresponding to the integral control in the proportional-integral control based on the difference, the integral control factor, the first time, and a preset opening value includes: Determining the product of the difference value, the integral control factor, and the first time; Obtaining the second opening value corresponding to the integral control in the proportional-integral control based on the sum of the product and the preset opening value.

6. The method according to claim 5, wherein The preset opening value includes a historical second opening value.

7. The method according to any one of claims 1-6, characterized in that, The operating parameters of the engine include the current speed of the engine and the current cylinder density of the engine, and the method further includes: Determine the target cylinder density based on the current rotational speed of the engine; Determine the required EGR rate under steady-state conditions according to the current rotational speed and the target cylinder density; The determining the target EGR rate required for the EGR valve in response to the engine being in a transient condition includes: In response to the engine being in a transient condition, determine the target EGR rate required under the transient condition based on the target cylinder density, the current cylinder density of the engine, and the required EGR rate under the steady-state condition.

8. A control device for an EGR valve, characterized in that, The device includes: A first determination module, configured to obtain the operating parameters of the engine and determine the operating condition of the engine according to the operating parameters; A second determination module, configured to determine the current EGR rate and the target EGR rate required for the EGR valve in response to the engine being in a transient condition; A third determination module, configured to determine the target opening degree of the EGR valve according to the difference between the current EGR rate and the target EGR rate; A control module, configured to control the EGR valve based on the target opening degree.

9. The device according to claim 8, characterized in that, The third determination module is further configured to perform proportional-integral control on the opening degree of the EGR valve according to the difference between the current EGR rate and the target EGR rate, to obtain a first opening value corresponding to the proportional control in the proportional-integral control, and a second opening value corresponding to the integral control in the proportional-integral control; determine the target opening degree of the EGR valve according to the first opening value and the second opening value.

10. The device according to claim 9, characterized in that, The third determination module is further configured to obtain a first time required for the EGR valve to reach a preset pressure difference, and a second time for the gas to reach the EGR valve; determine a proportional control factor according to the difference between the current EGR rate and the target EGR rate; obtain the first opening value corresponding to the proportional control in the proportional-integral control based on the difference between the current EGR rate and the target EGR rate, the proportional control factor, the first time, and the second time; And / or, determine an integral control factor according to the difference between the current EGR rate and the target EGR rate; Obtain the second opening value corresponding to the integral control in the proportional-integral control based on the difference between the current EGR rate and the target EGR rate, the integral control factor, the first time, and a preset opening value.

11. The device according to claim 10, characterized in that, The difference includes a difference value; the third determination module is further configured to determine a preset weight based on the ratio of the second time to the first time; determine the product of the difference value, the proportional control factor, and the preset weight as the first opening value corresponding to the proportional control in the proportional-integral control.

12. The device according to claim 10, wherein The difference includes a difference value; the third determination module is further configured to determine the product of the difference value, the integral control factor, and the first time; obtain the second opening value corresponding to the integral control in the proportional-integral control based on the sum of the product and the preset opening value.

13. The device according to claim 12, characterized in that, The preset opening value includes a historical second opening value.

14. The device according to any one of claims 8-13, characterized in that, The operating parameters of the engine include the current speed of the engine and the current cylinder density of the engine. The device further includes: A fourth determination module configured to determine a target cylinder density based on the current speed of the engine; A fifth determination module configured to determine a required EGR rate under steady-state conditions according to the current speed and the target cylinder density; The second determination module is further configured to, in response to the engine being in an instantaneous condition, determine a target EGR rate required under the instantaneous condition based on the target cylinder density, the current cylinder density of the engine, and the required EGR rate under the steady-state condition.

15. A vehicle, characterized in that, Comprising: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the method according to any one of claims 1 to 7.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the method according to any one of claims 1 to 7 is implemented.

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