GM-Integrated Engine Controller - Engine and Vehicle simulation · 2015-08-20 · Integrated Engine/Controller Simulation Control Actions (Fueling, VNT, EGR control …) 0 10 20 30

1Integrated Engine & Control System Simulation

GT-Suite Users ConferenceY. He11/15/05

Integrated Simulation of the Integrated Simulation of the

Engine and Control System of a Engine and Control System of a

Turbocharged Diesel EngineTurbocharged Diesel Engine

Yongsheng He, Chan-Chiao Lin, Anupam GangopadhyayGeneral Motors Corporation

GT-Suite Users Conference

November 15, 2005



OutlineOutline�� IntroductionIntroduction�� Model DescriptionModel Description

� Engine� Controller� Integration

�� Results and DiscussionResults and Discussion� Steady states� Step transients� FTP cycle

�� SummarySummary



IntroductionIntroduction�� MathMath--based control development in automotive industrybased control development in automotive industry

� Much of control design and development process could be done off-line using computer simulations

� Dramatically reduce development time and risk

�� Physical plant/engine model neededPhysical plant/engine model needed� 0D model for control design� 1D model for control analysis

�� Integrated engine and control system model valuable Integrated engine and control system model valuable � Accurately evaluate control algorithms� Explore different control strategies & study parameter sensitivity

� Before experiments conducted� Before hardware selected and built



Model Description: Engine Model Description: Engine �� Detailed engine model using GTDetailed engine model using GT--Power Power

� Calibrated and validated (SAE 2005-01-3857)� Steady-state and transient

� Turbocharged 4.9L V6 Diesel

T

IC

EC

ITV EGRV

PEXH, TEXH, O2

MAP, O2

MAF

C

500 1000 1500 2000 25000

50

100

150

200

250

300

350

Bra

ke T

orqu

e (N

m)

Engine Speed (rpm)

Simulation Experiment

Torque

1.0

1.2

1.4

1.6

1.8

2.0

0 50 100 150 200 250Time (s)

MA

P (b

ar)

Experiment Simulation



Nozzle Base

Position

PID Control

(rpm)eN

3 ( / )desQ mm st

)( kPapbaro

Correction

)( CTair )( CTcool

+

)( kPapboost

VNT (%)pos

Target Boost

(rpm)eN

3 ( / )desQ mm st

)( kPapbaro

)( CTair )( CTcool

+−

+

,VNT (%)pos FF

,VNT (%)pos FB

PID Control

,VNT (%)pos act

−

Limiting+ _VNTduty cyc

(Low –level)

Model Description: Controller Model Description: Controller �� Comprehensive controller model in Comprehensive controller model in SimulinkSimulink

� Reproduce production-like ECM algorithms � Rapid Prototyping Controller operated as the ECM with production

calibrations and verified on chassis dyno (SAE 2005-01-1344)

� An example – VNT control

Simplified block diagram of VNT control function



fuel temp (C)

coolant temp (C)

mph

Intake_oxy_frac_out

Exh_tmp_K_out

Pexh_bar_out

MAP_eng_out

MAF_eng_out

fqc_q_desired_out

pos_itv_target_out

power_eng_out

BMEP_eng_out

trq_eng_out

turbo_speed_out

Exh_oxy_frac_out

pos_vnt_target_out

pos_egr_target_out

PPS (%)

Intake tmp (K)

rpm

EGR cooler tmp (K)

EGR lift (%open)

VNT pos (%close)

fuel (mm^3/st)

eng spd (rpm)

baro (bar)

IAT (K)

EGR cooler out temp (K)

MAF (kg/s)

MAP (bar)�

Pexh (bar)

Exh tmp (K)

Intake O2 frac

Exh O2 frac

Turbo spd (rpm)

Trq (Nm)

BMEP (bar)

Power (kW)

Diesel Engine

MAF (kg/s)

MAP (bar)

PPS (%)

rpm_eng

mph_veh

Baro (bar)

fuel_temp (C)

tmp_air_intake (K)

coolant_temp (C)

egr_target_lift (%)

vnt_position (%)

itv_position (%)

fuel (mm^3/st)

Controller (ECM)

Baro (bar)

Model Description: IntegrationModel Description: Integration�� Focus on fuel quantity, EGR, and VNT controlFocus on fuel quantity, EGR, and VNT control

� Low-level control assumed to be perfectly achieved� Simplifications made (e.g. fuel rail pressure control by-passed)



Model Validation: Vehicle TestingModel Validation: Vehicle Testing�� Series of different cruising and acceleration conditionsSeries of different cruising and acceleration conditions

� Selected for validation: 5 steady-state (S), 3 step transients (ST)

0 100 200 300 400 500 600 700 800 900 1000 11000

20

40

60

80

Ped

al (%

)

0 100 200 300 400 500 600 700 800 900 1000 1100500

1000

1500

2000

2500

3000

Eng

ine

spee

d (r

pm)

0 100 200 300 400 500 600 700 800 900 1000 11000

20

40

60

80

Veh

icle

spe

ed (m

ph)

Time (sec)

(a)

(b)

(c)

PPS

RPM

MPH

S4S2 S3 S1 S5

ST3 ST1 ST2



S1 S2 S3 S4 S50

10

20

30

40

Fue

l (m

m3 /s

t)

SimulationExperiment

S1 S2 S3 S4 S50

20

40

60

80

100

120

EG

R li

ft (%

)

S1 S2 S3 S4 S520

40

60

80

100

120

VN

T p

ositi

on (%

)

S1 S2 S3 S4 S50

0.02

0.04

0.06

0.08

0.1

MA

F (k

g/s)

S1 S2 S3 S4 S51

1.05

1.1

1.15

1.2

MA

P (b

ar)

S1 S2 S3 S4 S51

1.1

1.2

1.3

1.4

Exh

Pre

ssur

e (b

ar)

(a)

(b)

(c)

(d)

(e)

(f)

Simulation Results: SteadySimulation Results: Steady--StateState



S1 S2 S3 S4 S5400

500

600

700

800

Exh

Tem

pera

ture

(K)

Simulation

Experiment

S1 S2 S3 S4 S50.16

0.18

0.2

0.22

0.24

Inta

ke O

xyge

n Fr

actio

n

S1 S2 S3 S4 S50.05

0.1

0.15

0.2

0.25

Exh

aust

Oxy

gen

Frac

tion

S1 S2 S3 S4 S50

1

2

3

4x 10

4

Turb

ine

Spe

ed (r

pm)

(a)

(b)

(c)

(d)

Simulation Results: SteadySimulation Results: Steady--StateState



Model Validation: Vehicle TestingModel Validation: Vehicle Testing�� Series of different cruising and acceleration conditionsSeries of different cruising and acceleration conditions

� Selected for validation: 5 steady-state (S), 3 step transients (ST)

0 100 200 300 400 500 600 700 800 900 1000 11000

20

40

60

80

Ped

al (%

)

0 100 200 300 400 500 600 700 800 900 1000 1100500

1000

1500

2000

2500

3000

Eng

ine

spee

d (r

pm)

0 100 200 300 400 500 600 700 800 900 1000 11000

20

40

60

80

Veh

icle

spe

ed (m

ph)

Time (sec)

(a)

(b)

(c)

PPS

RPM

MPH

S4S2 S3 S1 S5

ST3 ST1 ST2



0 5 10 15 20 251500

2000

2500

3000

Eng

ine

Spe

ed (r

pm)

0 5 10 15 20 250

20

40

60

80

Ped

al (%

)

0 5 10 15 20 250

20

40

60

80

100

120

EG

R L

ift (%

)

Time (sec)

0 5 10 15 20 250

20

40

60

80

Fue

l (m

m3 /s

t)


0 5 10 15 20 250

20

40

60

80

100

120

VN

T P

ositi

on (%

)

0 5 10 15 20 250

0.05

0.1

0.15

MA

F (k

g/s)

Time (sec)

(a)

(b)

(c)

(d)

(e)

(f)

Simulation Results: Step Transient Simulation Results: Step Transient (ST2)(ST2)



0 5 10 15 20 251

1.1

1.2

1.3

1.4

1.5

Inta

ke P

ress

ure

(bar

)

0 5 10 15 20 251

1.2

1.4

1.6

1.8

2

Exh

aust

Pre

ssur

e (b

ar)

0 5 10 15 20 25200

400

600

800

1000

Exh

aust

Tem

pera

ture

(K)

Time (sec)

0 5 10 15 20 250.1

0.15

0.2

0.25

Inta

ke O

xyge

n F

ract

ion


0 5 10 15 20 25-0.1

0

0.1

0.2

0.3

Exh

aust

Oxy

gen

Fra

ctio

n

0 5 10 15 20 251

2

3

4

5

6x 10

4

Tur

bine

Spe

ed (r

pm)

Time (sec)

(a)

(b)

(c)

(d)

(e)

(f)

Simulation Results: Step Transient Simulation Results: Step Transient (ST2)(ST2)



Model Validation: FTP CycleModel Validation: FTP Cycle

0 200 400 600 800 1000 1200 14000

20

40

60

80P

edal

(%)

0 200 400 600 800 1000 1200 14000

1000

2000

3000

Eng

ine

spee

d (r

pm)

0 200 400 600 800 1000 1200 14000

20

40

60

Veh

icle

spe

ed (m

ph)

Time (sec)

(a)

(b)

(c)

PPS

RPM

MPH



Time (sec)

0

0.05

0.1

0.15

0.2

MA

F(k

g/s)

0 200 400 600 800 1000 1200 1400

Integrated Engine/Controller SimulationIntegrated Engine/Controller Simulation�� Control Actions (Control Actions (FuelingFueling, VNT, EGR control , VNT, EGR control ……))

0

10

20

30

40

50

60

70

Fuel

(mm

3/st

)

�� Engine Response (Engine Response (Mass Air FlowMass Air Flow, Intake/Exhaust Pressure , Intake/Exhaust Pressure ……))

ExperimentSimulation

ExperimentSimulation

FTP Cycle Simulation

FTP Cycle Simulation



SummarySummary�� An integrated model of the engine and control system has An integrated model of the engine and control system has

been developed. been developed. � Detailed engine model in GT-Power� Comprehensive controller model in Simulink

� Production-like ECM algorithms with production calibrations

�� The integrated engine and control system model has been The integrated engine and control system model has been extensively validated with satisfactory accuracy achieved.extensively validated with satisfactory accuracy achieved.� 5 Steady states� 3 Step transients� 1 FTP cycle



AcknowledgementAcknowledgement�� Maria Maria DruzhninaDruzhnina, General Motors, General Motors�� OguzOguz DagciDagci, General Motors, General Motors�� Luis Luis JerzyJerzy, General Motors, General Motors

Documents

GM-Integrated Engine Controller - Engine and Vehicle simulation · 2015-08-20 · Integrated Engine/Controller Simulation Control Actions (Fueling, VNT, EGR control …) 0 10 20 30