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P
TDC
e
(k)
P
BDC
e
(k)
1
n
, (2)
where is the eective compression ratio and n is the
polytropic constant. The principles of ideal gas equation
and mass conservation law are the foundation of (2), which
are also used in [15] to devise a mean-value measurement
model of the RGF.
2.2 Statistical properties of RGF
The RGF sample collection process is conducted on a test
engine which is provided by Toyota Motor Corporation.
The engine is installed in a test cell and connected to
a dynamometer. The electronic control unit (ECU) runs
as a standard commercial controller and accepts throttle
position command, fuel injection command, spark ad-
vance command and variable valve timing command from
dSPACE (DS1106) by CAN interface. The sampling exper-
iments are conducted by cutting o the ECU feedback and
setting the fuel injection, the VVT and the spark advance
commands to be constants. The statistical properties of
the RGF sample are exhibited in Fig. 3 with the engine
speed 1000[rpm] and the external load 30[Nm]. For the
O.O68 O.OJ O.OJ2 O.OJ4 O.OJ6 O.OJ8 O.O8 O.O82 O.O84 O.O86 O.O88
O
O.1
O.2
O.8
O.4
O.6
RGF
P
r
o
b
a
b
i
l
i
t
y
d
e
n
s
i
t
y
f
u
n
c
t
i
o
n
=O.OJJ6,=O.OO42
(a) Probability density function of RGF sample
O 1 2 8 4 6 6 J 8 9 1O 11 12 18 14 16 16 1J 18
O.6
O.8
O.1
O.1
O.8
O.6
O.J
O.9
1
Lag
A
u
t
o
c
o
r
r
e
l
a
t
i
o
n
(b) Autocorrelation function of RGF sample
Fig. 3. RGF sample and statistical properties of A
purpose of revealing the general characteristics of the
RGF, other more experiments are also conducted with
the various working conditions shown in Table 1. The
statistical properties of RGF resulting from the various
operating conditions are displayed in Fig. 4 and Fig. 5.
From the probability density function of the RGF, it can
IFAC AAC 2013
September 4-7, 2013. Tokyo, Japan
595
be obtained that the RGF has Gauss distribution and
the corresponding distribution parameters and are
available. The autocorrelation functions explain that the
autocorrelation of one-step is bigger than other steps.
Consequently, it can be assumed that the RGF has Markov
properties.
Table 1. Working conditions
Engine speed[rpm] External load[Nm]
A 800 60
B 1000 60
C 1200 60
D 1400 60
E 1600 60
F 1200 30
G 1200 60
H 1200 90
I 1200 120
3. MAIN RESULTS
3.1 Statistical model of RGF
By the statistical property obtained above, the RGF can
be modeled as a discrete-time Markov chain. Next, the
Markovian predictive model of the RGF will be shown.
Given the state space S and the one-step transition prob-
ability matrix P of the RGF as shown in Section 3.3, the
one-step prediction model of the RGF at (k + 1)-th cycle
is obtained as follows:
r(k) = E[r(k + 1)|r(k) = s
i
] =
N
j=1
s
j
p
ij
, (3)
where r(k) is the model output in the k-th cycle. From
(3) it follows that r(k) is the one-step predictive value of
r(k + 1) in the mean value sense.
3.2 Controller design
Based on the physics, the dynamic equation of the residual
gas mass is given rstly. Since M
t
(k) consists of residual
gas M
r
(k), fresh air M
an
(k) and fresh fuel M
fn
(k), i.e.,
M
t
(k) = M
r
(k) +M
an
(k) +M
fn
(k). (4)
By substituting (4) into (1), a dynamic equation is given
as follows:
M
r
(k + 1) =(M
an
(k) +M
fn
(k) +M
r
(k))r(k + 1), (5)
which reects the cyclic variation of the residual gas mass.
Noting that r(k+1) is not available at the kth cycle, the
predictive value r(k) should be used in (5). Substituting
(3) into (5), we get
M
r
(k + 1) =(M
an
(k) +M
fn
(k) +M
r
(k)) r(k)
=(M
r
(k) + M
fn
(k)) r(k)
+(M
an
(k) +
M
an
(k)
d
) r(k), (6)
where M
fn
(k) denotes a part of M
fn
(k) for the purpose
of residual gas mass uctuation attenuation, and
M
an
(k)
d
A
B
O
D
L
O.O498
O.O669
O.O826
O.O991
O
O.1
O.2
O.8
O.4
O.6
Working conditions
RGF
P
r
o
b
a
b
i
l
i
t
y
d
e
n
s
i
t
y
f
u
n
c
t
i
o
n
A( m=0.0804, s =0.0037) B( m=0.0785, s =0.0049)
C( m=0.0792, s =0.0062) D( m=0.080, s =0.0079)
E( m=0.0797, s =0.0099)
(a) Probability density functions
A
B
C
D
E
0
1
2
3
4
5
6
7
8
9
10
1
0.5
0
0.5
1
Working conditions
Lag
A
u
t
o
c
o
r
r
e
l
a
t
i
o
n
f
u
n
c
t
i
o
n
(b) Autocorrelation functions
Fig. 4. Statistical properties of RGF under cases A-E
denotes another part to maintain the air-fuel ratio.
Therefore, we can obtain the following proposition 1.
Proposition 1. For system (5), by choosing appropriately
design parameters {(s
i
) > 0, s
i
S} and satisfy
(0, min
s
i
S
(s
i
)), (7)
N
j=1
(s
j
)p
ij
r
2
(k) (s
i
) + > 0, (8)
there exist M
fn
(k) as
M
fn
(k) =
N
j=1
(s
j
)p
ij
r
2
(k) (s
i
) +
N
j=1
(s
j
)p
ij
r(k)
(M
r
(k) M
r0
) +
1 r(k)
r(k)
M
r0
, (9)
such that
lim
k
E(M
r
(k) M
r0
)
2
D, (10)
where
D
M
an
(k) r(k)(
d
+ 1)
min
s
i
S
(s
i
)(1 )
d
, (11)
IFAC AAC 2013
September 4-7, 2013. Tokyo, Japan
596
l
G
H
!
O.O661
O.O82J
O.11O8
O
O.O6
O.1
O.16
O.2
O.26
O.8
O.86
O.4
Working conditions
RGF
P
r
o
b
a
b
i
l
i
t
y
d
e
n
s
i
t
y
f
u
n
c
t
i
o
n
l| =O.OJ98,=O.OO66)
G| =O.OJ92,=O.OO62)
H| =O.OJ9J,=O.OO69)
!| =O.OJ92,=O.OOJ8)
(a) Probability density functions
F
G
H
I
0
1
2
3
4
5
6
7
8
9
10
0.5
0
0.5
1
Working conditions
lag
A
u
t
o
c
o
r
r
e
l
a
t
i
o
n
f
u
n
c
t
i
o
n
(b) Autocorrelation functions
Fig. 5. Statistical properties of RGF under cases F-I
= 1
max
s
i
S
(s
i
)
. (12)
Moreover, the right hand side of (10) can be regulated by
{(s
i
) > 0, s
i
S} and .
Proof 1. Dene the stochastic Lyaponov function to be
V (k, r(k) = s
i
) = (s
i
)(M
r
(k) M
r0
)
2
. (13)
By (13), we have
E[V (k + 1, r(k + 1))/r(k) = s
i
] V (k, s
i
)
=
N
j=1
(s
j
)p
ij
( r(k)(M
r
(k) + M
fn
(k) +M
an
(k)
+
M
an
(k)
d
) M
r0
)
2
(s
i
)(M
r
(k) M
r0
)
2
j=1
(s
j
)p
ij
( r(k)(M
r
(k) + M
fn
(k)) M
r0
)
2
+
1
4
N
j=1
(s
j
)p
ij
r
2
(k)(M
an
(k) +
M
an
(k)
d
)
2
(s
i
)(M
r
(k) M
r0
)
2
. (14)
Introducing u(k) and D(k) as follows:
u(k) = r(k)M
fn
(k) (1 r(k))M
r0
, (15)
and
D(k) =
1
4
N
j=1
(s
j
)p
ij
r
2
(k)(M
an
(k) +
M
an
(k)
d
)
2
. (16)
Substituting (15) and (19) into (14), we have
E[V (k + 1, r(k + 1))/r(k) = s
i
] V (k, s
i
)
=((
N
j=1
(s
j
)p
ij
r
2
(k) (s
i
) +)
1
2
(M
r
(k) M
r0
)
+
N
j=1
(s
j
)p
ij
r(k)
(
3
j=1
(s
j
)p
ij
r
2
(k) (s
i
) +)
1
2
u(k))
2
+
( (s
i
))
N
j=1
(s
j
)p
ij
r(k)
N
j=1
(s
j
)p
ij
r
2
(k) (s
i
) +
u
2
(k)
(M
r
(k) M
r0
)
2
+D(k). (17)
Based on (7), (8) and (9), we get
E[V (k + 1, r(k + 1))/r(k) = s
i
] V (k, s
i
)
(M
r
(k) M
r0
)
2
+D(k)
=
(s
i
)
V (k, s
i
) +D(k)
max
s
i
S
(s
i
)
V (k, s
i
) +D(k), (18)
where
D(k) =
1
4
N
j=1
(s
j
)p
ij
r
2
(k)(M
an
(k) +
M
an
(k)
d
)
2
. (19)
By using the same line in [12], we can obtain
EV (k, r(k))
k
V (0, r(0)) +
k1
i=0
ki1
D(i)
=
k
V (0, r(0)) + (1
k1
)D. (20)
Since (0, 1), by letting k , we get
lim
k
E(M
r
(k) M
r0
)
2
D. (21)
Noting that D is a function of {(s
i
) > 0, s
i
S} and ,
therefore, D can be regulated by choosing dierent values
of {(s
i
) > 0, s
i
S} and .
3.3 Experimental validation
The purpose of the experiment is to verify that the cyclic
variation of the residual gas mass by using the proposed
feedback controller is became smaller. Working conditions
A and B are considered in the experiments. In A, the
engine speed is 1000rpm, the external load is 30Nm,
and the water temperature is 353K, the throttle angle
is 3.4deg., spark advance is 27.5deg., the new fuel intake
M
fn
(k)[mmL] is constrained in an interval [9, 12.5], M
r0
is
0.0017g. In B, the engine speed is 1200[rpm], the external
load is 60Nm, and the water temperature is 353K, the
throttle angle is 5.6deg., spark advance is 26.5deg., the
new fuel intake M
fn
(k)[mmL] is constrained in an interval
[14, 20], M
r0
is 0.0025g. The state spaces and one-step
transition probability matrices of A and B are given as
follows:
IFAC AAC 2013
September 4-7, 2013. Tokyo, Japan
597
S
A
= {s
1
, s
2
, s
3
} = {0.0852, 0.077, 0.0687}, (22)
P
A
=
, (23)
S
B
= {s
1
, s
2
, s
3
} = {0.0858, 0.0793, 0.0723}, (24)
P
B
=
. (25)
Open-loop controller and feedback controller denote M
fn
(k)
is 0 and feedback controller (9), respectively. For the feed-
back controller (9), we choose = 0.499 and (s
1
) =
(s
2
) = (s
3
) = 0.5. The control performances of the
feedback controller and the open-loop controller are exhib-
ited in the following. The response curves of residual gas
O 2O 4O 6O 8O 1OO 12O 14O 16O 18O 2OO
1.4
1.6
1.8
2
2.2
2.4
Cycle
R
e
s
i
d
u
a
l
g
a
s
m
a
s
s
M
r
(
k
)
Open-loop controller
Feedback controller
1O
-2
(a) Residual gas mass samples of A
O 2O 4O 6O 8O 1OO 12O 14O 16O 18O 2OO
9
1O
11
12
18
14
16
Cycle
F
r
e
s
h
f
u
e
l
m
a
s
s
M
f
n
(
k
)
Open-loop controller
Feedback controller
(b) Fresh fuel of A
Fig. 6. Control performances of A
mass and fresh fuel mass by using the open-loop controller
and feedback controller are given in Fig. 6. From the
corresponding probability density functions as shown in
Fig. 7, we can see that the feedback controller decreases the
dispersion of residual gas mass as observed in (a), although
the dispersion of fresh fuel mass is slightly increased as
shown in (b). Based on Fig. 8 and Fig. 9, we can obtain
that the control performances of B has similar behavior to
A. The performance indexes of A and B are given in Table
2, where
J(N) =
N
k=1
(M
r
(k) M
r0
)
(M
r
(k) M
r0
). (26)
From Table 2, we have that the dispersions of residual gas
mass with the feedback controller are all decreased more
than 10%.
O.O21 O.O19 O.O16 O.O18
O
O.1
O.2
O.8
O.4
O.6
O.6
O.J
Residual gas mass M
r
(k)
P
r
o
b
a
b
i
l
i
t
y
d
e
n
s
i
t
y
f
u
n
c
t
i
o
n
Open-loop controller
Feedback controller
(a) Probability density functions of residual gas mass of A
18 12 11 1O
O
O.1
O.2
O.8
O.4
O.6
O.6
O.J
O.8
Fresh fuel M
fn
(k)
P
r
o
b
a
b
i
l
i
t
y
d
e
n
s
i
t
y
f
u
n
c
t
i
o
n
Open-loop controller
Feedback controller
(b) Probability density functions of fresh fuel mass of A
Fig. 7. Probability density functions of control performances of A
Table 2. Performance Indexes of A and B
J(N) of A J(N) of B
Open-loop controller 1.8E 03 4.3E 03
Feedback controller 1.6E 03 3.6E 03
4. CONCLUSION
The regulation problem of the residual gas mass is ad-
dressed in this paper for improving the engine perfor-
mance. With the help of the experimental data analysis
for the statistical properties of RGF, a stochastic dynamic
model of the residual gas mass is developed for the design
of the control law. A feedback controller derived from
the stability theorem for discrete-time linear systems with
Markovian jumping parameters achieves the attenuation
for the residual gas mass regulation error. Unfortunately,
it follows from the experimental results that the disper-
sion of the residual gas mass is decreased by the feed-
back controller, whereas the dispersion of the fresh fuel is
slightly increased. Moreover, the feedback state variable,
the residual gas mass that can not be directly measured,
is calculated by the manifold temperature instead of the
unavailable cylinder temperature. The improved control
technique and enhanced control performance at these as-
pects will be our future works.
IFAC AAC 2013
September 4-7, 2013. Tokyo, Japan
598
O 2O 4O 6O 8O 1OO 12O 14O 16O 18O 2OO
1.6
1.8
2
2.2
2.4
2.6
2.8
8
8.2
8.4
Cycle
R
e
s
i
d
u
a
l
g
a
s
m
a
s
s
M
r
(
k
)
Open-loop controller
Feedback controller
1O
-2
(a) Residual gas mass samples of B
O 2O 4O 6O 8O 1OO 12O 14O 16O 18O 2OO
14
16
16
1J
18
19
2O
21
22
28
Cycle
N
e
w
f
u
e
l
i
n
t
a
k
e
M
f
n
(
k
)
Open-loop controller
Feedback controller
(b) RGF samples of B
Fig. 8. Control performances of B
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O.O2 O.O28 O.O2J O.O8
O
O.1
O.2
O.8
O.4
O.6
O.6
O.J
Residual gas mass Mr(k)
P
r
o
b
a
b
i
l
i
t
y
d
e
n
s
i
t
y
f
u
n
c
t
i
o
n
Open-loop controller
Feedback controller
(a) Probability density functions of residual gas mass of B
18.6 1J.6 16.6 16.6
O
O.1
O.2
O.8
O.4
O.6
O.6
O.J
O.8
O.9
1
Fresh fuel M
fn
(k)
P
r
o
b
a
b
i
l
i
t
y
d
e
n
s
i
t
y
f
u
n
c
t
i
o
n
Open-loop controller
Feedback controller
(b) Probability density functions of fresh fuel mass B
Fig. 9. Probability density functions of control performances of B
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IFAC AAC 2013
September 4-7, 2013. Tokyo, Japan
599