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System, apparatus, and methods are disclosed for controlling one or more actuators of an air handling system of an internal combustion engine. The one or more actuators are controlled in response to one or more feedforward references that are adjusted by a reference governor that predicts one or mor

System, apparatus, and methods are disclosed for controlling one or more actuators of an air handling system of an internal combustion engine. The one or more actuators are controlled in response to one or more feedforward references that are adjusted by a reference governor that predicts one or more operating parameters and imposes constraints on the one or more feedforward references to reduce the potential for violating limits on the one or more operating parameters.

대표청구항 ▼

1. A method comprising: operating a system including an internal combustion engine and an air handling system, the air handling system including an exhaust system and an intake system, the intake system structured to provide a charge flow to the internal combustion engine, wherein the charge flow in

1. A method comprising: operating a system including an internal combustion engine and an air handling system, the air handling system including an exhaust system and an intake system, the intake system structured to provide a charge flow to the internal combustion engine, wherein the charge flow includes a fresh air flow and an exhaust gas recirculation (EGR) flow;determining one or more feedforward references for the charge flow and the EGR flow based on a first set of operational parameters of the system;adjusting the one or more feedforward references in response to a second set of operational parameters predictive of one or more of a transient condition and a disturbance of the system;determining one or more control commands for one or more actuators of the air handling system that control at least one of the charge flow and the EGR flow based on the adjusted one or more feedforward references and a current reference of each of the one or more actuators; andpositioning the one or more actuators of the air handling system in response to the one or more control commands. 2. The method of claim 1, wherein the one or more feedforward references indicate an EGR valve position and an exhaust throttle position. 3. The method of claim 2, wherein the EGR valve positon includes a high pressure EGR valve position and a low pressure EGR valve position. 4. The method of claim 1, wherein determining and adjusting the one or more feedforward references and determining the one or more control commands are repeated over a plurality of time periods over which the first set of operational parameters and the second set of operational parameters are time variant. 5. The method of claim 1, wherein the adjusted one or more feedforward references and the current reference of each of the one or more actuators are provided to a feedback controller that determines the one or more control commands in response to a difference between the adjusted one or more feedforward references and the current reference of each of the one or more actuators. 6. The method of claim 5, further comprising adjusting the one or more feedforward references in response to the second set of operational parameters with a reference governor. 7. The method of claim 6, wherein the reference governor is configured to adjust the one or more feedforward references in response to one or more physical constraints on the output of the internal combustion engine. 8. The method of claim 7, wherein the one or more physical constraints include a NOx limit. 9. The method of claim 7, wherein the reference governor includes a predictive model to predict at least one operating parameter based on the second set of operational parameters and the at least one operating parameter is subject to the one or more physical constraints. 10. The method of claim 6, wherein the one or more feedforward references are determined from one or more reference tables based on the first set of operational parameters. 11. The method of claim 1, wherein the first and second sets of operational parameters each include at least one of an air to fuel ratio, a mass air flow, an ambient air pressure, an EGR mass flow rate, a compressor mass flow rate, a turbine mass flow rate, a charge flow, an EGR fraction, an exhaust manifold pressure, an intake manifold temperature, an intake manifold pressure, and an engine-out NOx state. 12. A system, comprising: an internal combustion engine;an air handling system including an exhaust system and an intake system, the intake system structured to provide a charge flow to the internal combustion engine, the air handling system including an exhaust gas recirculation (EGR) system connecting the intake system and the exhaust system, the air handling system including a plurality of actuators for controlling the charge flow, an exhaust flow, and an EGR flow; anda controller operatively coupled with the air handling system and the internal combustion engine;wherein the controller is structured to perform the following operations during operation of the engine: determine one or more feedforward references for the charge flow and the EGR flow based on a first set of operational parameters of the system;adjust the one or more feedforward references in response to a second set of operational parameters;determine one or more control commands for one or more actuators of the air handling system that control at least one of the charge flow, the exhaust flow and the EGR flow based on the adjusted one or more feedforward references; andcontrol positioning of the plurality of actuators of the air handling system based at least in part upon the one or more control commands. 13. The system of claim 12, wherein the controller includes a reference governor that is configured to receive the one or more feedforward references and the second set of operational parameters, determine the adjusted one or more feedforward references, and output the adjusted one or more feedforward references to a feedback controller. 14. The system of claim 13, wherein the feedback controller is configured to receive current references for the plurality of actuators and the adjusted one or more feedforward references, the feedback controller further being configured to determine the one or more control commands for the plurality of actuators in response to a difference between the current references and the adjusted one or more feedforward references. 15. The system of claim 12, wherein the plurality of actuators includes at least one EGR valve in the EGR system and an exhaust throttle in the exhaust system. 16. The system of claim 15, wherein the at least one EGR valve includes a low pressure EGR valve in a low pressure EGR loop and a high pressure EGR valve in a high pressure EGR loop. 17. The system of claim 12, wherein: the exhaust system includes a turbocharger and an exhaust throttle;the EGR system includes a low pressure EGR loop including a low pressure EGR valve and a high pressure EGR loop including a high pressure EGR valve;the plurality of actuators include actuators associated with each of the turbocharger, the exhaust throttle, the low pressure EGR valve, and the high pressure EGR valve; andwherein the controller is configured to control a position of the plurality of actuators in response to the one or more control commands. 18. An apparatus, comprising: an electronic controller in operative communication with a plurality of sensors operable to provide signals indicative of operational parameters of a system, the system including an engine and an air handling system operationally coupled to the engine, the air handling system including an exhaust system and an intake system connected by an exhaust gas recirculation (EGR) system, the intake system structured to provide a charge flow to the engine, wherein the electronic controller includes: a real-time system condition module structured to determine a first set of operational parameters and a second set of operational parameters of the system based upon the signals provided by the plurality of sensors;a reference generation module structured to determine one or more feedforward references for the charge air flow and an EGR flow in response to the first set of operational parameters;a reference governor module structured to determine adjustments to the one or more feedforward references in response to the second set of operational parameters;a feedback control module structured to determine one or more actuator control commands in response to the one or more adjusted feedforward references and current references for the charge flow and the EGR flow; andan air handling system controls module structured to control a position of the one or more actuators in response to the one or more actuator control commands. 19. The apparatus of claim 18, wherein the second set of operational parameters includes an actual engine out NOx amount and an engine out NOx constraint and the one or more actuator control commands are provided to position the one or more actuators to control an EGR valve in the EGR system and an exhaust throttle in the exhaust system. 20. The apparatus of claim 18, wherein the exhaust system includes an EGR loop including an EGR valve, wherein the at least one of the air handling system control command and the air handling system diagnostic command further comprises an EGR valve position command.