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1 Introduction 1

1.1 Control Systems for IC Engines 1

1.1.1 Relevance of Engine Control Systems 1

1.1.2 Electronic Engine Control Hardware and Software 2

1.2 Overview of SI Engine Control Problems 3

1.2.1 General Remarks 3

1.2.2 Main Control Loops in SI Engines 5

1.2.3 Future Developments 7

1.3 Overview of CI Engine Control Problems 9

1.3.1 General Remarks 9

1.3.2 Main Control Loops in Diesel Engines 11

1.3.3 Future Developments 15

1.4 Structure of the Text 16

1.5 Notation 17

2 Mean-Value Models 21

2.1 Introduction 22

2.2 Cause and Effect Diagrams 24

2.2.1 Spark-Ignited Engines 25

2.2.2 Diesel Engines 28

2.3 Air System 30

2.3.1 Receivers 30

2.3.2 Valve Mass Flows 31

2.3.3 Engine Mass Flows 35

2.3.4 Exhaust Gas Recirculation 37

2.3.5 Superchargers 40

2.4 Fuel System 52

2.4.1 Introduction 52

2.4.2 Wall-Wetting Dynamics 53

2.4.3 Gas Mixing and Transport Delays 63

2.5 Mechanical System 64

2.5.1 Torque Generation 64

2.5.2 Engine Speed 74

2.6 Thermal Systems 79

2.6.1 Introduction 79

2.6.2 Engine Exhaust Gas Enthalpy 80

2.6.3 Thermal Model of the Exhaust Manifold 82

2.6.4 Simplified Thermal Model 83

2.6.5 Detailed Thermal Model 84

2.7 Pollutant Formation 91

2.7.1 Introduction 91

2.7.2 Stoichiometric Combustion 92

2.7.3 Pollutant Formation in SI Engines 93

2.7.4 Pollutant Formation in Diesel Engines 99

2.7.5 Control-Oriented NO Model 101

2.8 Pollutant Abatement Systems 105

2.8.1 Introduction 105

2.8.2 Pollution Abatement Systems for SI Engines 105

2.8.3 Pollution Abatement Systems for Diesel Engines 118

3 Discrete-Event Models 129

3.1 Introduction to DEM 130

3.1.1 When are DEM Required? 130

3.1.2 Discrete-Time Effects of the Combustion 130

3.1.3 Discrete Action of the ECU 132

3.1.4 DEM for Injection and Ignition 135

3.2 The Most Important DEM in Engine Systems 138

3.2.1 DEM of the Mean Torque Production 138

3.2.2 DEM of the Air Flow Dynamics 143

3.2.3 DEM of the Fuel-Flow Dynamics 146

3.2.4 DEM of the Back-Flow Dynamics of CNG Engines 155

3.2.5 DEM of the Residual Gas Dynamics 157

3.2.6 DEM of the Exhaust System 160

3.3 DEM Based on Cylinder Pressure Information 162

3.3.1 General Remarks 162

3.3.2 Estimation of Burned-Mass Fraction 163

3.3.3 Cylinder Charge Estimation 165

3.3.4 Torque Variations Due to Pressure Pulsations 170

4 Control of Engine Systems 173

4.1 Introduction 174

4.1.1 General Remarks 174

4.1.2 Software Structure 175

4.1.3 Engine Operating Point 178

4.1.4 Engine Calibration 179

4.2 Air/Fuel Ratio Control System 181

4.2.1 Feedforward Control System 181

4.2.2 Feedback Control System 186

4.3 Control of an SCR System 206

4.4 Engine Thermomanagemeut 211

4.4.1 Introduction 211

4.4.2 Control Problem Formulation 212

4.4.3 Feedforward Control System 214

4.4.4 Experimental Results 216

A Appendix A 223

A.1 Modeling of Dynamic Systems 223

A.2 System Description and System Properties 232

A.3 Model Uncertainty 238

A.4 Control System Design for Nominal Plants 241

A.5 Control System Design for Uncertain Plants 250

A.6 Controller Discretization 253

A.7 Controller Realization 262

A.7.1 Gain Scheduling 263

A.7.2 Anti Reset Windup 264

A.8 Further Reading 264

B Appendix B 267

B.1 Modeling of the Idle Speed System 268

B.1.1 Introduction 268

B.1.2 System Structure 269

B.1.3 Description of Subsystems 270

B.2 Parameter Identification and Model Validation 277

B.2.1 Static Behavior 277

B.2.2 Dynamic Behavio 281

B.2.3 Numerical Values of the Model Parameters 283

B.3 Description of Linear System 285

B.4 Control System Design and Implementation 287

References 291