Robust Oxygen Fraction Estimation for

Diesel Engines Utilizing Variable Intake

Valve Actuation
IFAC E-COSM12
Rueil-Malmaison, France
October 24, 2012

Presented By:
Greg Shaver
Authors:
Lyle Kocher
D. G. Van Alstine

Herrick Labs
School of Mechanical Engineering
Purdue University

Karla Stricker
Greg Shaver

Presentation Overview
Motivation for In-Cylinder Oxygen
Fraction Estimation

EGR VALVE
Intake Manifold

CAC

Oxygen Fraction Estimator

Development
Exhaust Manifold

Analysis Stability, Convergence,

and Robustness

Experimental Results

EGR Cooler

Exhaust

Conclusions

FRESH AIR

Presentation Overview
Motivation for In-Cylinder Oxygen
Fraction Estimation

EGR VALVE
Intake Manifold

CAC

Oxygen Fraction Estimator

Development
Exhaust Manifold

Analysis Stability, Convergence,

and Robustness

Experimental Results

EGR Cooler

Exhaust

Conclusions

FRESH AIR

Why Oxygen Fraction Estimation?

High Level Objective
control combustion process
torque, emissions, fuel consumption
SOC, CA50, Fcyl

In-cylinder O2 fraction - Fcyl

Influences
SOC (start of combustion) for premixed combustion

id 0.051Fcyl 1.14 P

2100
0.51 T

emissions production (NOx,CO,CO2,THC,PM)

Motivation for Oxygen Fraction Estimation

Gas Exchange Handshaking
EGR valve
position
VGT
position

mIVC

Gas Exchange
Process

Combustion Process

Fcyl
ECR
TIVC

Intake Valve
modulation

mixing
Fuel
Injection
Engine
speed

Exhaust gas
enthalpy

Torque

Conventional
combustion

Emissions

Advanced combustion
strategies (i.e. PCCI,
RCCI)

Fuel
consumption
Exhaust gas
enthalpy

Presentation Overview
Motivation for In-Cylinder Oxygen
Fraction Estimation

EGR VALVE
Intake Manifold

CAC

Oxygen Fraction Estimator

Development
Exhaust Manifold

Analysis Stability, Convergence,

and Robustness

Experimental Results

EGR Cooler

Exhaust

Conclusions

FRESH AIR

Oxygen Fraction Dynamics

In-Cylinder O2
Can not directly measure but can estimate

me Fim mres Fem

Fcyl
me mres
me
mres
Fem
Fim

trapped fresh charge mass

trapped residual mass
proxy can be measured post-turbine
production viable sensor not available

120We
me
N

mres
7

PemVevc

RTem

Oxygen Fraction Dynamics

RTim
FambWc FemWegr FimWe
Fim
PimVim
RTem
Feo We W f FemWegr FemWt
Fem

PemVem

vol
Wegr
Wf
Wc
Wt

- physically-based model
(incorporates impact of flexible
intake valve actuation)
- EGR Flow estimator
- ECM command
- mass airflow sensor
- analytical functions based
upon map data & man.
pressures and turbo speed
8

We

vol PimVd
RTim

Oxygen Fraction Dynamics

Fim kimWe

Fem 0
g

Fim kim FambWc

Wt Fem kem Feo We W f
g
W ( )

kimWegr

kem Wegr
A( )

g A g W

kim , kem ,We ,Wegr ,Wt ,Wc ,W f , Famb , Feo

kem

RTim
1
kim

0
mim PimVim

RTem
1

0
mem PemVem

me
Fcyl
me mres

mres
g
me mres
9

Oxygen Fraction Estimator

g A g W
g A g W L z z
g im Fim
g
g em Fem

kimWe
A
0

z Fuego

Fim
0 1
Fem

z Fem

0
0
A

kem Wegr Wt
em

me
mres

Fcyl
g
me mres me mres
kimWegr

Note: Error of

assumed in turbine flow estimate

10

Presentation Overview
Motivation for In-Cylinder Oxygen
Fraction Estimation

EGR VALVE
Intake Manifold

CAC

Oxygen Fraction Estimator

Development
Exhaust Manifold

Analysis Stability, Convergence,

and Robustness

Experimental Results

EGR Cooler

Exhaust

Conclusions

11

FRESH AIR

Oxygen Fraction Estimator Analysis

Estimator
Error:
Choose:

g g g g A g kem g em L Cg
kimWegr

kimWe kem Wegr Wt l

1 2 1 2
Lyapunov V g im g em
2
2
eqn.
2
candidate: V 2kimWeV kem g em g em lg em
2kimWe V
2
2
lg em
kem g em g em kem g em g em kem g em

V t V t0 e 2 kimWe

kem g em
l
kem
g em

2kimWe
12

Oxygen Fraction Estimator Analysis

kem gem
l
kem
gem

For practical purposes,

gem g em g em Fem Fem 0.5%

Utilize knowledge of the physical system

to find bounds for physical parameters

32 21
l
32 1312 , l 1350
0.5
Parameters for calibration:
Turbine mass estimate error:

kem
Where reflects
up to a 10% error
in turbine flow
estimate

Acceptable exhaust O2
estimation error: g em
13

is acceptable

Oxygen Fraction Estimator Analysis

1 2 1 2
V g im g em
2
2

V t V t0 e 2 kimWe

2kimWe
The time constant for the
stable error dynamics
can not be calibrated,
instead depends on
operating condition

14

Presentation Overview
Motivation for In-Cylinder Oxygen
Fraction Estimation

EGR VALVE
Intake Manifold

CAC

Oxygen Fraction Estimator

Development
Exhaust Manifold

Analysis Stability, Convergence,

and Robustness

Experimental Results

EGR Cooler

Exhaust

Conclusions

15

FRESH AIR

Experimental Hardware
Engine
2010 Cummins ISB

360 HP (268 kW)

Inline 6 Cylinder with 24 Valves
17.3:1 Compression Ratio
Common Rail Fuel Injection
Standard Air-Handling System
Hardware:
High Pressure EGR
Variable Geometry Turbocharger

Variable Valve Actuation System

16

Oxygen Fraction Estimator Results

2300 rpm & 522 N-m

Increase in
EGR fraction
from ~ 12%
to 24%

17

Oxygen Fraction Estimator Convergence

2300 rpm & 522 N-m

18

Presentation Overview
Motivation for In-Cylinder Oxygen
Fraction Estimation

EGR VALVE
Intake Manifold

CAC

Oxygen Fraction Estimator

Development
Exhaust Manifold

Analysis Stability, Convergence,

and Robustness

Experimental Results

EGR Cooler

Exhaust

Conclusions

19

FRESH AIR

Conclusions
In-Cylinder O2 fraction is critical to control of combustion processes
Model-based observer designed for in-cylinder O2 fraction estimation
Analysis
Exponential stability results demonstrated, but rate dependent on operating point
Robustness to turbine flow estimation/measurement uncertainty demonstrated
Lower gain bound derived from expected turbine flow error & acceptable Fem error

Experimental results shown for in-cylinder oxygen fraction estimator

Future work explore possible extension to:
Robustness to other uncertainties (e.g., EGR flow, fuel flow, etc.)
Tunable error convergence rates
Is there an upper gain bound? Very likely. What is it, and why?

20

EGR Flow Estimator

EGR Flow calculation from ECM
not reliable at higher EGR Flows
Developed high gain estimator
strategy based upon the intake
manifold filling dynamics
pim

im Rim
Vim

compTcac Weng Tim

im Rim
Vim

im Rim
Vim

egr egr

2
T

W
T

pim

comp cac
eng im

Vim pim

Wegr
im RimTegr
21