vii
TABLE OF CONTENTS
CHAPTER
1
2
TITLE
PAGE
DECLARATION
ii
DEDICATION
iii
ACKNOWLEDGEMENTS
iv
ABSTRACT
v
ABSTRAK
vi
TABLE OF CONTENTS
vii
LIST OF TABLES
x
LIST OF FIGURES
xi
LIST OF ABBREVIATIONS
xiii
LIST OF SYMBOLS
xiv
LIST OF APPENDICES
xvi
INTRODUCTION
1
1.1
1.2
1.3
1.4
1
6
10
10
Background of the problem
Background of the Study
Objectives of the Research
Scope of the Study
LITERATURE REVIEW
12
2.1
Introduction
12
2.2
Engine Control
13
viii
2.3
3
2.2.1
Engine Modeling
13
2.2.2
Air-Fuel Ratio
16
2.2.3
Exhaust Gas Recirculation
17
Mean Value Modeling of Engine model
18
2.3.1
Introduction
18
2.3.2
The Mean Value Model
19
2.3.2.1 The Intake Manifold Subsystem
19
2.3.2.2 The Crankshaft Subsystem
20
2.3.2.3 The Fuel Supply Subsystem
21
2.3.2.4 Air-Fuel Ratio Measurement
22
2.4
Overview of the previous controller method
22
2.5
Conclusion
26
METHODOLOGY
27
3.1
Introduction
27
3.2
Engine Mathematical Model
28
3.2.1
Fueling System
29
3.2.2
Engine Speed Dynamic
29
3.2.3
Air Flow System
30
3.3
3.4
3.5
3.6
System Engine Identification
30
3.3.1
Experiment
32
3.3.2
Model Selection
32
3.3.3
Model Estimation
32
3.3.4
Model Validation
33
PID Controller
33
3.4.1
34
PID Modeling for Engine Model
Fuzzy Logic Controller (FLC)
36
3.5.1
37
Membership Function and Control Base
Conclusion
42
ix
4
5
RESULT AND DISCUSSION
43
4.1
Introduction
43
4.2
PID Controller
46
4.3
Fuzzy Logic Controller (FLC)
48
4.4
Comparison Result
49
CONCLUSION AND FUTUREWORK
51
5.1
Conclusion
51
5.2
Futurework
52
REFERENCES
53
Appendices A-D
58-61
x
LIST OF TABLES
TABLE NO.
TITLE
PAGE
1.1
PID value for Kp, Ki and Kd
35
1.2
Fuzzy set linguistic term for input
38
1.3
Fuzzy set linguistic term for output
39
1.4
Fuzzy rules
40
1.5
Comparison between PID controller and FLC
50
xi
LIST OF FIGURES
FIGURE NO.
TITLE
1.1
Air pollutant emission load from all sources, 2005-2011
1.2
Progression of the European Union emission standards
for PETROL cars
1.3
3
5
Conversion efficiency of a TWC due to engine lambda
or air to fuel ratio 14.7
1.4
PAGE
6
Schematic view of a spark ignition engine and the
subsystems
7
1.5
The engine simulation model
9
2.1
Block diagram of the simulation model
14
2.2
Typical three-way catalytic converter efficiency curves
17
3.1
The engine simulation model
28
3.2
Workflow of System Identification Function
31
3.3
PID controller structure model
34
3.4(a)
Input membership function of error
37
3.4(b)
Input membership function of change in error
38
3.5
Output membership function fuzzification process
39
3.6
Rule Viewer for fuzzy logic controller
41
3.7
Surface viewer for Fuzzy Logic Controller
42
4.1
Throttle angle variation
44
4.2
Speed at 2000 rpm
45
4.3
Pressure at Intake Manifold
45
xii
4.4
AFR without applying PID controller
46
4.5
AFR when applying the PID controller
47
4.6
AFR without applying FLC
48
4.5
AFR when applying the FLC
49
xiii
LIST OF ABBREVIATIONS
AFR
-
Air Fuel Ratio
FLC
-
Fuzzy Logic Control
CO
-
carbon monoxide
HC
-
Hydrocarbons
NOx
-
Nitrogen Oxides
PID
-
Proportional Integral Differentiator
PI
-
Proportional Integral
PD
-
Proportional Differentiator
e
-
system error
ECU
-
Electronic control units
TWC
-
Three way catalytic
EGR
-
Exhaust gas recirculation
DBW
-
Drive-by wire
MVE
-
Mean Value Engine
RBF
-
Radial basis function
MPC
-
Model predictive Control
SI
-
Spark Ignition
IC
-
Internal combustion
AFFC
-
Adaptive Feed Forward Controller
APC
-
Adaptive Posicast Controller
FCS
-
Fuzzy Control system
RPM
-
Revolutions Per Minute
xiv
LIST OF SYMBOLS
-
mass rate of air in the intake manifold
-
mass of air in the intake manifold
-
mass rate air entering the intake manifold
-
mass rate of air leaving the intake manifold and entering the combustion
MAX -
the maximum flow rate corresponding to full open throttle
TC
-
Normalized throttle characteristic
PRI
-
Normalized pressure influence function
α
-
the throttle angle
-
intake manifold pressure
-
atmosphere pressure
-
constant value
-
gas constant
-
gas temperature
-
intake manifold volume
-
engine angular velocity
-
volumetric efficiency
-
fuel rate entering the combustion chamber
-
command fuel rate
-
effective fueling time constant
-
desired air fuel ratio
-
intake to torque production delay
-
compression to torque production delay
-
normalized air fuel ratio influence function
AFI
xv
CI
-
normalized compression influence function
-
the maximum torque production capacity of an engine given that
AFI=CI=1
A/F
-
actual air fuel ratio of the mixture in the combustion chamber
CA
-
tuning parameter of cylinder advance at the Top Dead Center
MTB -
minimum tuning such that best torque acquire
-
effective inertia of the engine
-
engine indicated torque
-
engine friction torque
-
accessories torque
-
Cost function
-
Ricatti gain
-
expected states
xvi
LIST OF APPENDICES
APPENDIX
TITLE
A
Engine’s dynamics represent in MATLAB-SIMULINK
B
Engine’s fuel injection and throttle angle
represent in MATLAB-SIMULINK
C
50
51
The PID Controller and engine model
represent in MATLAB-SIMULINK
D
PAGE
52
The Fuzzy Logic Controller and engine model
represent in MATLAB-SIMULINK
53