Method and system for sliding mode control of a turbocharger

• US 6,904,353 B1
• Filed: 12/18/2003
• Issued: 06/07/2005
• Est. Priority Date: 12/18/2003
• Status: Active Grant

• Current Assignee: Garrett Transportation I Inc. (Garrett Motion, Inc.)
• Original Assignee: Honeywell International Inc.
• Inventors: Barthelet, Pierre, Kolavennu, Soumitri N.
• Primary Examiner(s): Vo, Hieu T.
• Application Number:
  US10/740,340
• Publication Number:
  US 20050137777A1
• Time in Patent Office: 537 Days
• Field of Search: 701/102, 701/101, 701/115, 701/100, 701/99, 606/00, 606/02, 606/051, 123/568.16
• US Class Current: 701/102
• CPC Class Codes: F02D 2041/1423 Identification of model or controller parameters
• CPC Class Codes: F02D 41/0007 for control of turbo-charged or super-charged engines control of the pumps per se F02B37/12
• CPC Class Codes: F02D 41/1403 Sliding mode control
• CPC Class Codes: Y02T 10/12 Improving ICE efficiencies

Abstract

A method for defining a sliding mode control system for a turbocharger system is provided. The method includes perturbing a turbocharger actuator and measuring turbocharger boost pressure output from the perturbation. The perturbation and measurements are repeated for a plurality of states of operation of the turbocharger. System parameters identified for each of the plurality of states from the plurality of perturbations and measurements. A sliding mode control law may be defined for each of the plurality of states from the system parameters. A sliding mode control system for controlling the boost pressure of a turbocharger is also provided. An actuator for controlling the boost pressure is electrically controlled by a sliding mode controller to stabilize the turbocharger system toward a setpoint on a sliding surface. The control law is determined from a plurality of linear models from a plurality of operating states of the turbocharger system.

Claims

1. A sliding mode control system for controlling the boost pressure of a turbocharger system comprising:

an actuator for controlling the boost pressure, the actuator position being configured to be electrically controlled;

a sliding mode controller, the actuator being responsive to the sliding mode controller, the sliding mode controller satisfying a control law that stabilizes the turbocharger system toward a sliding surface, s, defined by a line on a phase plane diagram of boost pressure state, the control law being determined from a plurality of linear models, each model defined by one of a plurality of operating states of the turbocharger system.

2. The sliding mode control system according to claim 1, wherein the actuator is a electromechanical variable nozzle turbine system.

3. The sliding mode control system according to claim 1, wherein the actuator is a electromechanical waste gate valve.

4. The sliding mode control system according to claim 1, wherein the sliding mode controller further comprises satisfying the control law defined by ds/dt=0.

5. The sliding mode control system according to claim 4, wherein the sliding mode controller further comprises satisfying the control law defined by ds²/dt?−

η

|s|, wherein η

is a positive constant.

6. The sliding mode control system according to claim 5, wherein the sliding surface, s, is defined between bounds, wherein the gain is decreased while the turbocharger system is operating between the bounds.

7. The sliding mode control system according to claim 1, further comprising an observer for estimating a derivative of the boost pressure state, and providing the estimated state to the sliding mode controller.

8. The sliding mode control system according to claim 7, wherein the observer comprises a state estimator based on a model of the turbocharger system.

9. The sliding mode control system according to claim 7, wherein the observer comprises a state estimator based on a series of integrators.

10. A method of defining a sliding mode control algorithm for a turbocharger system having an actuator for controlling boost pressure, comprising:

perturbing the actuator from a steady state;

measuring the boost pressure output from the perturbation;

repeating the perturbing and measuring steps for a plurality of states of operation;

identifying system parameters for each of the plurality of states from the plurality of perturbations and measurements, wherein the system parameters are coefficients of a linear turbocharger system model;

defining a sliding mode control law for each of the plurality of states to stabilize the turbocharger system toward a sliding surface, s, defined by a line on a phase plane diagram of the boost pressure.

11. The method according to claim 10, wherein the step of perturbing comprises introducing a pseudo random binary sequence to the actuator.

12. The method according to claim 10, wherein the step of perturbing comprises perturbing for a time at least two times the time constant of the system response.

13. The method according to claim 10, wherein the step of identifying system parameters further comprises identifying coefficients of a linear turbocharger system model of at least a second order.

14. The method according to claim 10, wherein the step of identifying system parameters comprises solving for system parameters by an optimization equation.

15. The method according to claim 14, wherein the step of identifying system parameters by an optimization equation comprises minimizing the square error between the measured boost pressure and the boost pressure modeled as a function of the actuator perturbation.

16. The method according to claim 10, wherein the step of defining the sliding mode control law further comprises controlling ds/dt=0.

17. The method according to claim 16, wherein the step of defining the sliding mode control law further comprises controlling ds²/dt?−

η

|s|, wherein η

is a positive constant.

18. The method according to claim 10, further comprising defining an observer for estimating a derivative of the output state.

19. The method according to claim 18, wherein the step of defining an observer comprises defining an observer including a state estimator based on a model of the turbocharger system.

20. The method according to claim 18, wherein the step of defining an observer comprises defining an observer including a state estimator based on a series of integrators.