ZHANG Yang

張 揚

English

八戸工業大学博士（工学）thesi

ZHANG, Yang

7836

張, 揚

Hachinohe Institute of Technology Repository / 八戸工業大学学術リポジトリ

                                                   ⮬ື㌴䜶䞁䝆䞁䛾䝻䝞䝇䝖ไᚚ䛻㛵䛩䜛◊✲㻌ᙇ  ᥭせ  ᪨஧㓟໬Ⅳ⣲ࡢ᤼ฟࡀᑡ࡞࠸♫఍ࡘࡲࡾపⅣ⣲ᆺ♫఍ࢆసࡿࡇ࡜ࡀồࡵࡽࢀ࡚࠸ࡿ㸬௒᪥㸪ୡ⏺ࡢ஌⏝㌴ಖ᭷ྎᩘࡣ൨ྎࢆ㉺࠼ࡓ࡜ゝࢃࢀ࡚࠸ࡿ㸬⮬ື㌴࡟࠾ࡅࡿ┬࢚ࢿࣝࢠ࣮ᢏ⾡ࡢಁ㐍ࡀᙉࡃồࡵࡽࢀ࡚࠸ࡿ㸬ࡇࡢၥ㢟࡟ᛂ࠼ࡿࡓࡵ࡟㸪ḟୡ௦⮬ື㌴࡜࿧ࡤࢀࡿ㟁Ẽ⮬ື㌴㸪ࣁ࢖ࣈࣜࢵࢻ㌴㸪࢔࢖ࢻࣝࢫࢺࢵࣉ㌴࡞࡝ࡢ㛤Ⓨࡀ࡞ࡉࢀ࡚࠸ࡿ㸬ࡋ࠿ࡋ࡞ࡀࡽࢥࢫࢺࡸ฼౽ᛶ࡟࠾࠸࡚ࡲࡔ࢞ࢯࣜࣥ㌴࡟ࡣཬࡤ࡞࠸㸬ᖺᗘ࡟࠾ࡅࡿ᪥ᮏᅜෆࡢ⮬ື㌴ಖ᭷ྎᩘࡣ㸪㸪ྎ࡛࠶ࡾ㸪ࡑࡢ୰࡛⣙㸣ࡣ࢞ࢯࣜࣥ㌴࡛࠶ࡿ㸬⡿ᅜ⎔ቃ┬ࡢㄪᰝ⤖ᯝ࡟ࡼࡿ࡜㸪⮬ື㌴࡛⇞↝࡟ࡼࡾ⏕ࡌࡓ࢚ࢿࣝࢠ࣮ࡢ⣙㸣ࡣ㸪࢚ࣥࢪࣥ࡞ࡽࡧ࡟ࡑࡢ࢔࢖ࢻࣜࣥࢢ࡟ࡼࡾᦆኻࡋ࡚࠸ࡿ࡜࠸࠺㸬≉࡟ᕷ⾤ᆅࢆ㐠㌿ࡍࡿ㝿ࡢಙྕᚅࡸ῰⁫ࡣከࡃࡢ࢚ࢿࣝࢠ࣮ࢆᾉ㈝ࡍࡿ㸬ࡑࡢࡓࡵ㸪࢔࢖ࢻࣜࣥࢢ࡟㛵ࡍࡿ◊✲ࡣ⮬ື㌴ࡢ┬࢚ࢿࣝࢠ࣮ᢏ⾡ࡢษࡾཱྀ࡜ぢࡽࢀ࡚࠸ࡿ㸬࢔࢖ࢻࣜࣥࢢࡢᅇ㌿ᩘࢆUSPୗ㝆ࡍࡿࡇ࡜࡛㸪ࡢ⇞㈝పῶࡀヨ⟬ࡉࢀࡿ㸬ᮏ◊✲ࡣ㸪࢔࢖ࢻࣜࣥࢢࡢప㏿໬ࢆไᚚᢏ⾡ࡢ㠃࠿ࡽ㏣ồࡍࡿ㸬ప㏿໬ࡢㄢ㢟࡜ࡋ࡚㸪እ஘࡟ᑐࡋ࡚ࣟࣂࢫࢺ࡞ไᚚࢩࢫࢸ࣒ࡢᵓ⠏ࡀ㔜せ࡜࡞ࡿ㸬㍺㏦㐜ࢀ㸪⾜⛬㐜ࢀ㸪ᅇ㌿ᩘࡢ᳨ฟ㐜ࢀ࡞࡝ࡢࡴࡔ᫬㛫ࡢᙳ㡪ࡀ኱ࡁࡃ࡞ࡿࡇ࡜㸪⇞↝ࣃ࣮ࢪࡸ࢚࢔ࢥࣥᢞධࡉࡽ࡟ࡣࢫࢸ࢔ࣜࣥࢢࡢᤣ࠼ษࡾ࡞࡝ࢺࣝࢡእ஘ࡢᙳ㡪ࢆཷࡅ࡚࢚ࣥࢫࢺࢆᘬࡁ㉳ࡇࡋࡸࡍࡃ࡞ࡿࡇ࡜ࡀᣲࡆࡽࢀࡿ㸬ᮏㄽᩥࡣ㸪➨❶࠿ࡽ➨❶࡟ᩚ⌮ࡉࢀ࡚࠸ࡿ㸬➨  ❶࡛ࡣ㸪◊✲ࡢ⫼ᬒ࡜࢔࢖ࢻࣝᅇ㌿ᩘࡢప㏿໬ࡀࡶࡓࡽࡍຠᯝ࡜ᢏ⾡ㄢ㢟࡟ࡘ࠸࡚㏙࡭࡚࠸ࡿ㸬࢔࢖ࢻࣝࢫࢺࢵࣉࡲ࡛ᐇ᪋ࡏࡎ࡜ࡶప㏿໬࡟ࡼࡿຠᯝࡣ኱ࡁࡃ㸪ࡑࡋ࡚࢚ࣥࢫࢺ㜵Ṇࡢࡓࡵ࡟ࣟࣂࢫࢺไᚚᢏ⾡ࡢ඘ᐇࡀᚲせ࡛࠶ࡿ࡜ࡋ࡚࠸ࡿ㸬➨  ❶࡛ࡣ㸪᧯స㔞࡛࠶ࡿ㟁Ꮚࢫࣟࢵࢺࣝ㛤ᗘ࠿ࡽไᚚ㔞࡛࠶ࡿ࢚ࣥࢪࣥᅇ㌿ᩘࡲ࡛ࢆグ㏙ࡍࡿࣔࢹࣜࣥࢢࢆᐇ᪋ࡋ࡚࠸ࡿ㸬≀⌮ᘧ࠿ࡽࣀ࣑ࢼࣝࣔࢹࣝ࡜ࡋ࡚㸲ࡘࡢ≧ែ㔞ࢆྵࡵࡓ≧ែ᪉⛬ᘧࡀㄏᑟࡉࢀ㸪ࡇࡇ࡛⿵ൾࡍ࡭ࡁእ஘࡜ࡋ࡚㸪⇞ᩱࣃ࣮ࢪ'㸪ࢫࢸ࢔ࣜࣥࢢᤣษࡾࢺࣝࢡ'㸪⇞↝⾜⛬ࡢฟຊኚື'ࢆㄢ㢟タᐃࡋ࡚࠸ࡿ㸬ࡇࢀࡽࢆ㐃ືࡋ࡚ไᚚᑐ㇟࡜ࡋ࡚ࡢ≉ᛶࢆࢩ࣑࣮ࣗࣞࢩࣙࣥ࡟ࡼࡾ☜ㄆࡋ࡚࠸ࡿ㸬➨  ❶࡛ࡣ㸪እ஘⿵ൾ࡟ᚲせ࡞ไᚚୖࡢㄢ㢟ࢆ᫂☜࡟ࡋ࡚࠸ࡿ㸬ࡑࡢ୍ࡘࡣ㟁Ꮚࢫࣟࢵࢺࣝ࡟ࡼࡿ྾Ẽไᚚࡢᛂ⟅ᛶࢆྥୖࡉࡏࡿࡇ࡜㸪஧ࡘ࡜ࡋ࡚㟁Ꮚࢫࣟࢵࢺࣝࡢไᚚ㛤ᗘ࡟ࡣ㝈⏺ࡀ࠶ࡿࡇ࡜࡛࠶ࡿ㸬௨㝆ࡢ❶࡛ࡇࢀࡽࡢゎỴ⟇ࢆㅮࡌ࡚࠸ࡃࡀ㸪➨  ❶࡟࠾࠸࡚ࢮࣟⅬ⿵ൾἲ࡜ᣊ᮰᮲௳௜ࡁ——————————————————————————————––– Ꮫ఩グ␒ྕ࡜Ꮫ఩㸸༤➨ 48ྕ,  ༤ኈ㸦ᕤᏛ㸧 ᤵ୚ᖺ᭶᪥   㸸ᖹᡂ 23ᖺᗘ 3᭶ 19᪥ ᤵ୚᫬ࡢᡤᒓ  㸸኱Ꮫ㝔ᕤᏛ◊✲⛉ᶵᲔࢩࢫࢸ࣒ᕤᏛᑓᨷ༤ኈᚋᮇㄢ⛬ 3᭶ 19᪥自動車エンジンのロバスト制御に関する研究張　　揚̶ 173 ̶⿵ൾἲࡀㄢ㢟࡜࡞ࡿࡇ࡜ࢆᣦ᦬ࡋ࡚࠸ࡿ㸬 ➨  ❶࡛ࡣ㸪ࢫࣛ࢖ࢹ࢕ࣥࢢ࣮ࣔࢻไᚚࡢᑟධࢆࡣ࠿ࡗ࡚࠸ࡿ㸬ᛂ⟅ᛶࡢᨵၿ࡟ᑐࡍࡿຠᯝ࡟ࡘ࠸࡚㸪ᚑ᮶ࡢ 6PLWK ⿵ൾἲ࡟ẚ࡭࡚ࢫࣛ࢖ࢹ࢕ࣥࢢ࣮ࣔࢻไᚚࡀࡼࡾඃࢀ࡚࠸ࡿࡇ࡜ࢆ㸪ࢩ࣑࣮ࣗࣞࢩ࡛ࣙࣥ☜ㄆࡋ࡚࠸ࡿ㸬➨  ❶࡛ࡣ㸪ࢫࣛ࢖ࢹ࢕ࣥࢢ࣮ࣔࢻไᚚ࡟࠾ࡅࡿࢮࣟⅬ⿵ൾἲ࡜㛵㐃ࡍࡿࢳࣕࢱࣜࣥࢢᢚไἲࢆᥦ᱌ࡋ࡚࠸ࡿ㸬ࡇࢀ࡟ࡼࡾ➨  ❶࡛⏝࠸ࡓᚑ᮶ࡢࢫࣛ࢖ࢹ࢕ࣥࢢ࣮ࣔࢻไᚚ࡜ẚ㍑ࡋ࡚㸪㸱✀ࡢእ஘࡟ᑐࡍࡿ࢚ࣥࢪࣥᅇ㌿ᩘࡢኚືࢆ  ⛬ᗘ࡟ᢚไ࡛ࡁࡿࡇ࡜ࢆࢩ࣑࣮ࣗࣞࢩ࡛ࣙࣥ☜ㄆࡋ࡚࠸ࡿ㸬➨  ❶࡛ࡣ㸪ᣊ᮰᮲௳௜ࡁࡢࢫࣛ࢖ࢹ࢕ࣥࢢ࣮ࣔࢻไᚚࡢタィἲࢆᥦ᱌ࡋ࡚࠸ࡿ㸬ࡇࡇ࡛ࡢ╔║ࡣ㸪┠ᶆࡢධຊ್࡜ᐇ㝿࡟సືࡋࡓධຊ್ࡢ೫ᕪࢆ᪂ࡓ࡞≧ែ㔞࡜ࡋ࡚ไᚚࣔࢹࣝ࡟⦅ධࡉࡏࡿ᪉ἲ࡛࠶ࡿ㸬ࡇࢀ࡟ࡼࡾไᚚ⣔ࡢᏳᐃᛶ࡬ࡢᙳ㡪ࡀᠱᛕࡉࢀࡓࡀ㸪ࢩ࣑࣮ࣗࣞࢩ࡛ࣙࣥⰋዲ࡞⤖ᯝࡀᚓࡽࢀ࡚࠸ࡿ㸬➨  ❶࡛ࡣ㸪ᐇ⏝໬࡟ྥࡅ࡚㞳ᩓ᫬㛫ࢩࢫࢸ࣒࡛ࡢタィἲࢆ᳨ウࡋ࡚࠸ࡿ㸬ࡲࡎᴟ㓄⨨ἲ࡟ᇶ࡙࠸࡚㞳ᩓ᫬㛫ࢧ࣮࣎⣔ࢆタィࡋ㸪ḟ࡟ไᚚධຊࡢᣊ᮰᮲௳࡟ᑐࡍࡿ⿵ൾࢤ࢖ࣥࢆồࡵࡿᡭ㡰ࢆᥦ᱌ࡋ࡚࠸ࡿ㸬ࡇࡢ㞳ᩓ᫬㛫ࢩࢫࢸ࣒࡟࠾࠸࡚㸪⌧⾜ࡢ᭱▷ไᚚ࿘ᮇ࡛࠶ࡿ >PV@࡛ࡶࢫࣛ࢖ࢹ࢕ࣥࢢ࣮ࣔࢻไᚚ࡟ࡼࡿእ஘࡟ᑐࡍࡿࣟࣂࢫࢺᛶࡢ㧗ࡉࡀ☜ㄆࡉࢀ࡚࠸ࡿ㸬➨❶࡛ࡣ㸪ᮏ◊✲ࢆ௨ୗࡢࡼ࠺࡟ࡲ࡜ࡵ࡚࠸ࡿ㸬⮬ື㌴࢚ࣥࢪࣥ࡟࠾࠸࡚࢔࢖ࢻࣝᅇ㌿ᩘࡢప㏿໬ࢆࡣ࠿ࡿࡓࡵ࡟㸪ࣟࣂࢫࢺᛶࢆྥୖࡉࡏࡿไᚚࢩࢫࢸ࣒ࢆᥦ᱌ࡋ࡚࠸ࡿ㸬ไᚚࢩࢫࢸ࣒ࡢ᰾࡜ࡋ࡚㸪ࢫࣛ࢖ࢹ࢕ࣥࢢ࣮ࣔࢻไᚚࢆᑟධࡋ࡚࠸ࡿ㸬ࢮࣟⅬ⿵ൾἲ࡜ࢳࣕࢱࣜࣥࢢᢚไἲࢆᥦ᱌ࡋ࡚㸪ࢫࣛ࢖ࢹ࢕ࣥࢢ࣮ࣔࢻไᚚࡢᛂ⟅ᛶࢆࡉࡽ࡟㧗ࡵ࡚࠸ࡿ㸬㟁Ꮚࢫࣟࢵࢺࣝ㛤ᗘࡢ㝈⏺ࢆ⪃៖ࡋ࡚㸪ᣊ᮰᮲௳௜ࡁࡢࢫࣛ࢖ࢹ࢕ࣥࢢ࣮ࣔࢻไᚚࡢタィἲࢆᥦ᱌ࡋ࡚࠸ࡿ㸬㞳ᩓ᫬㛫ࢩࢫࢸ࣒࡟ᒎ㛤ࡋ࡚㸪ᐇ⏝ⓗ࡞ไᚚ࿘ᮇ࡟࠾࠸࡚ไᚚᛶ⬟ࢆ☜ㄆࡋ࡚࠸ࡿ㸬 ௨ୖ࡟ࡼࡗ࡚㸪⮬ື㌴࢚ࣥࢪࣥࡢ࢔࢖ࢻࣜࣥࢢᅇ㌿ᩘไᚚ࡟ࢫࣛ࢖ࢹ࢕ࣥࢢ࣮ࣔࢻไᚚࢆ㐺⏝ࡍࡿࡇ࡜࡛㸪እ஘࡟ᑐࡍࡿ࢚ࣥࢪࣥᅇ㌿ᩘࡢኚືࢆᚑ᮶ࡢ  ⛬ᗘ࡟ᢚไ࡛ࡁࡿࡇ࡜࠿ࡽ㸪ప㏿໬ࡀࡣ࠿ࢀࡿ࡜ࡋ࡚࠸ࡿ㸬୺ᣦᑟᩍဨ ᰩ ཎ ఙ ኵ 主指導教員　栗　原　伸　夫　̶ 174 ̶八戸工業大学紀要　第 31 巻 A Study on Automotive Engine Robust Control  Yang ZHANG  Abstract   In recent years, environment and energy problems are becoming increasingly serious in the automotive industry. Idling accounts for about 20% in the 10-15 mode fuel economy tests of actual automotives. If the idling speed is decreased by 100 rpm by improving the control method, fuel consumption will decrease by 2–5%. However, this decrease results in more dead time, worse response, and unstable idling speed because dead time has an inversely-proportional relationship with engine speed. At worst it would cause the engine to misfire and stall. Recently, sliding mode control (SMC) is regarded as the solution to the problem of improving system robustness, because sliding mode control is a type of variable structure control where the dynamics of a nonlinear system are altered via application of a high-frequency switching control. It is an important robust control approach, which can provide an adaptive approach to tackle parametric systems, uncertain parametric systems and uncertain disturbance systems.   Therefore, SMC is employed to improve robustness of engine idle control in this study.  First, the digital engine model is constructed as a control object. the model concludes air intake, manifold, combustion, torque produce. The intake air flow is adjusted to reach a certain engine speed by adjusting the angle and position of the electronic throttle. The basic input is the equivalent electronic throttle opening angle ș, which is restricted within a finite opening scale and the controlled output is engine speed Ne [rpm]. Because of the inversely-proportional relationship between the dead time L and the engine speed Ne [rpm], the dead time is derived from the feedback of the output of the system which used to handle with the Smith compensator. In view of the disturbances in an actual engine, three disturbances are loaded into the engine model. Two disturbances, D1 and D2, are added as transitional disturbances before and after the dead time, taking evaporative purge and stationary steering into consideration. The measured engine speed influctuation D3 is also added as a steady disturbance to simulate the combustion fluctuation of an actual engine. Model parameters is set based on a 1.8L,4-cylinder engine.  And then the control subject should be analyzed systematically. In the case of engine robust control, the dead-time is supposed to be compensated because it show inverse proportion relation with engine speed, namely, it will get bigger at lower idling speed. For this reason, Pade approximation is used for the compensation. At second,  responsiveness should be improved, that is, settling time is expected to be shortened. Because the two disturbances D1 and D2 in this study are both bias power disturbances and unmatched disturbances for sliding mode control. They cannot be compensated totally. That is the reason why the step response is also utilized for simulating the D1 quick-rising and D2 breakdown in Yang G̶ 175 ̶自動車エンジンのロバスト制御に関する研究（張）simulations. Since the compensation for this two disturbances depends on the responsiveness improvement, also the magnitude and settling time are both supposed to be eliminated by the compensation method. At third, the input of engine model is opening angle of electronic control throttle. The angle shouled be bounded to prevent throttle plate not to strike the intake air pipe. For this reason, the control input is bounded, as a result, it raises the possibility of destroy the stability of engine control system. Thus the resolvement should be considered to compensate the control input even if it is bounded. Finally, the control subject above was discussed based on continuous model. But in practice, using microcomputer such as DSP chips to implement the controller becomes more and more important nowadays. It means the discrete-time controller is also required. Especially, the principle in continuous-time sliding mode control is different from the discrete-time sliding mode control. The states can approach the switching hyperplane in discrete-time SMC but cannot stay on it in reality. It means the quasi-sliding mode exists. So it is necessary that  discrete-time SMC controller verified based on discretized engine model. Accordingly, for the aforementioned control subjects, integral SMC is modified. The derivation of  reference input is added to increase the zero of system so that the responsiveness can be improved. And for the control input constraint,  the combination which connects the compensation gain derived from control input difference with the variable switching gain expressed by a monotonous decrease function is proposed. The multiplier effect is expected to compensate the bounded control and also eliminate the chattering in continuous engine model. And also, the discrete-time SMC is applied to engine speed robust control. Discrete-time controller is designed based on discretized engine model, but the simulation is carried on used the combination of continuous engine model and zero-order hold, in which three disturbances can be loaded as if in continous controller.  To confirm the control performances, the simulations were carried out in Matlab/Simulink under D1, D2 and D3 disturbances. From simulation results, the engine speed with SMC controller did not cause steady-state error with regards to fuel disturbance D1 and torque disturbance D2 although throttle opening was confined, and also maintained robustness during engine speed fluctuation D3. And the magnitudes of D1, D2 are both eliminated. Settling time is also shortened. In short, control performance of the proposed control methods is clearly verified by simulation results.  In the study, from the point of view on automotive fuel economy, engine robust control is investigated to improve the responsiveness against the disturbances which always give rise to engine stall. According to the simulation results, it is verfied that the disturbanes can be compensated more by the proposed sliding mode control logic than results by the other control methods, so idling speed can be lowered to achieve fuel economy effectively. In the future work, it is essential to embed the control logic into microcomputer for automotive engine to verify the control effect by the experiment. And also, the subject in sliding mode control theory such as output feedback is to be investigated.  Professor(Chairperson) Nobuo KURIHARAProfessor(Chairpe son）  NOBUO KURIHARA̶ 176 ̶八戸工業大学紀要　第 31 巻

A Study on Automotive Engine Robust Control

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自動車エンジンのロバスト制御に関する研究

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