Fuzzy Modeling and Control of a spark Ignition Engine Idle Mode

Hazem Mohamed Mohamed * , Said Munzir * , Mohd Zaki Abdulmuin and Sayoud Hameida **
' Abstract In this paper a MIMO nonlinear discrete time model of the idle mode of an SI engine is first developed using fuzzy logic model in the form of a nonlinear radial basis function expansion. The inputs are the throttle angle and the ignition advance and the outputs are the idle speed and manifold pressure. The model is validated using nonlinear correlation tests for MIMO systems. Phase portrait analysis is used to study the global dynamic behavior of the plant, in order to find periodic motions and equilibrium points of the system. Optimal state trajectories are used as entries to a fuzzy logic expansion to approximate the distorted control surface of the plant. The resulting FAM or fuzzy controller smoothens the control surface, and consequently, the transitions of the state trajectories from a different initial condition to another in its path to the equilibrium. Both the model and controller parameters are optimized using a modem version of an evolutionary algorithm, called covariance matrix adaptation-Evolution Strategies (CMAES). Keywords Idle mode, nonlinear control 1.Introduction In engine control systems idle mode control is a stand a lone control module and it's the most frequent encountered operating condition of SI engines especially in city driving conditions. In this mode the engine is running on its minimum speed and minimum torque, suffering different disturbances (air condition, automatics transmission shift, power steering, ...etc), the situation becomes worse due to significant parameter changes over the time life of the engine. The key factors to be considered for idle mode control [l] are: engine speed set point, accessory load disturbances, control authority and actuator limitation, available measurement, variations in engine characteristics over the entire operating range.

* Process control and automation center Faculty of Engineering -University of Malaya 50603 Kuala Lumpur * * Faculty of Engineering-Universiti Multimedia 63 100 Cyberjaya- Selangor- Malaysia

For wide ranges of speed changes and under sever loading condition the plant exhibits a nonlinear behavior, in addition uncertainties in their parametric and unparametric forms may exists and linear approaches may fail to solve the problem. As for nonlinear system the conventional control design methodologies available are scares and mainly depend on the mathematical model available, most of these methodologies require a linear in control (x = f(x)+g(x) U, x is the state vector and U is the control vector) mathematical form. In cases where such form is not available the only available approach to solve the problem is the unconventional approaches such as fuzzy control. Fuzzy controllers can compensate for nonlinearities, and give a robust stable i performance for the plant being controlled. 2.Engine Model Typical dynamic models of SI engines idle mode employ two principle states and two control inputs [l]. The two states are the engine speed and the manifold pressure, and the two control inputs are the quantity of air breathed by the engine and ignition timing. In accordance, the plant can be viewed as a black box with two inputs, throttle angle and spark timing, and the two outputs are engine speed and manifold pressure. For identification purpose the engine is first calibrated to run near its idle mode under open loop condition. Throttle angle was calibrated to 6 degrees and ignition timing in the range of 8-10 degrees before TDC, air flow is only allowed to be breathed through the intake manifold. To excite the different modes of the plant and reveals engine nonlinearities, a series of random and variable magnitude input signals are given to the engine, through an open ECU. Engine speed and manifold pressure responses are then recorded. Both of the inputs and outputs of the plant interact with each other to yield the nonlinear discrete form: y(t) = g( y"' ,u'-l ) + &(t) (1) where: ~(t= ) [ y d t ) , y2(0 , . . . , yq(t917, the output vector, u(t) = [ ul(t) , u2( t ) , . . . ,U,(?) ]* the input vector, &(t) =
[E2(t)

, ~ ~ ,. ( t ). Ey(t)]7' ,The residuals vector, g = [ gl , g2 ,...,g, jr , a vector

0-7803-6355-8/00/ $10.00 Q 2000 IEEE

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function expansion, in this case a is a set of linear parameters. The parameters to be optimized in the previous are the centers of the radial basis function xi the spread factor a : , and the set of the linear parameters a . 4.Model Parameters Optimization Evolution strategise is an instant of stochastic search techniques that emulate evolution of natural biological processes. These techniques have demonstrated their ability to handle global optimization problems, of multimodal, discontinuous and noisy nature, without any Jacobian or Hessian needed, which make them qualified candidates for system identification and control optimization problems. A general outline of the ES algorithm is given below: t: =o
Initialize

2) , ... , yi(t-nJ ] delayed output vector, u:-' = [ui(t-I) , ui(t-2) , . . .,ut (t-nJ 1, delayed input

-ne)], vector, E, - [ q(t-l),q(t-2 ),...,c(t delayed error, 4=2, r=2. Combining y"' , U ' ' in the regression vector 4 , Equation 1 can be written in the form:
Y(0 = g(4, B) + 4 0 (2) The nonlinear function, g (1 can be expanded to:
g ( p Ye)= c a k g k
Then: (4) where g k 's are called basis function, (radial basis function is used here)$, is called the dilation or the scale parameter y k is a transnational parameter (centers in radial construction are coordinate parameters, 4 is the input vector or the regressors vector Sjoberg et al( 1995). The parameters vector 4 is composed of the parameters set ak ,p k ,,yk .
ak

/-I

(4,p kY y k) u(t> =xq&(t)+dt)

(3)

= {iil(o),..., iip(0)) E I'

Evaluate f ( 2 ,(o))y...yf(2p (0))

M 4 )= K ( 1 4 -yk

1 pk)) and

T(P'" = 0) do Recombine: P ' ( t ):= r,(P(t))

While Mutatue: Evaluate:

3.The Fuzzy model A fuzzy expansion for is used here due to its good approximation capabilities, which combines both of the advantages radial basis fimction of characterizing local properties and advantages of sigmoidal nonlinearities in characterizing global properities. of A fuzzy model or a fuzzy expansion with the product operator, center average defudier and Gaussian membership hnction [2] takes the form:

Select t=(t+l) End z,is an individual (search point, P is the population of individuals (search space), f(x) is the objective fbnction (x' corresponds to 8) r, ,m ,are recombination and mutation

f(Zl ),. ..,f(zp) P('+') := s,, ((F)UQ )

F(t>:= r&,(P' (t))

e),

operators, S,, is the selection operator. In our case here the objective variable is the vector of parameters 8 which during the search take the

The nonlinear term of previous expansion, which

6 ( k + 1) = 6,ye,(k) A 6 (7) form: where A 8 is a stochastic term called the mutation. Mutation is done by adding a normally distributed random vector to B(k) (which is A 8 in the equation). The objective function to be minimized here is given by:

min ( J ) = CJ~w - g(qWY 8 1 1 1

Can corresponds to the nonlinear part of the expansion of the function g ( @ , p i Y ywhich i) in this case will be in the form of a radial basis
0
I='

l N

(8)

A major part of the search process focus on the adjustment of the parameters of the normal distribution of the mutation vector A B . This is

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what is called self-adaptation, which is a peculiarity of ESs, where the strategy parameters are dynamically adapted during the search process. Parameters of the mutation distribution are called strategy parameters (different from the parameters to be optimized). A modem version of ESs that make use of the history (evolution path) of successful (or selected) mutations and independently of the problem dimension update the distribution parameters, is the covariance matrix adaptation Evolution strategies, CMAES. Given below the main equation of the CMAES: 1- @+I) =

4- dg) is the step size in generation g,

dg)

is also updated according to :

(e)(K) a(g)B(g)D(g)
+
W

(g+l) 'k

The object variable vector under optimization

D ( g )is an n x n (n is the length of the vector

8)diagonal matrix that scales the axis of the distribution of the random vector z. Diagonals elements of D are the square roots of the eigenvalues of the covariance matrix (C) of z. B(') determines the new orientation of the plane (hyper-elliposid) containing the axis of the distribution (a sort of transformation matrix). z,is a random vector of expectation 0 and I variance. 2= (1 - c ) ,, .c g +,, c , pF+')(p!,K+'))T
c('+l) is

d, 2 1-damping factor which determine the

is the expectation of a change rate of a,, (0,I) normally distributed random vector. Details of the algorithm can be found in [3] and[4]. For optimizing 0 a population A of 16 individuals is initialized, the number of parents = A / 2 . A 11986 evaluaiotns of the objective fbnction was enough to estimate the parameters of the plant model. For the controller parameters the evaluations number increases to (at least
100 n2Atimes) due to the distorted nature of the surface to be optimized.

in

the covariance matrix of

the

B(g)D(g)~p normally +l) distributed vector at generation (g+I).

random

5.Model validation Modeling results can be seen in Fig.1, where both the input and output signals are shown. A NARMAX first order model structure

(nu = 1, ny = l,nE1= 1,nE2= 1), for each

p:'+I) is the evolution path of the strategy,
c,determine the cumulating time for p , , c," normalize the variance of p , ,
C,

to align

sub-model of the MIMO model was found reasonable to represent the dynamics of the process, this can be realized from the correlation tests results shown in Fig. 2 The regressor vector is: 4r = [u,(k- 11, u*(k- b y , (k- 1),y,(k - 1) 1 where ul (k - 1) ,the first input (throttle angle),

c, (z ) ( ~ ~ + and ' ) zf+') variances,

u2(k - 1) , the second input (spark timing). y , (k - 1) ,

the first output (engine peed), y 2(k- 1) , the second output(manifo1d pressure).A fuzzy expansion of 9 terms was able to represent the plant dynamics as shown in Fig. 1 .To check for model structure adequacy, nonlinear correlation tests [ 5 ] are applied to check for the correlation between model residuals and both the input and the output. The

i=l

rate of covariance matrix C.

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two

correlation

functions

used:

where:<(t) = &'i(t)

+ . . . . . . +EZs(t)
* * *

rl(t) = Y,(t)E,(t) +

+Y, ( t ) E q ( t )

s(t)= U21(f)+ . . . . .

+U2,(t)

For validation the model was simulated using the vector: 4 =[24(k-1),u,(k-l),j@-l),j2(k-l)]. It can be seen from Fig. 2, that the correlation functions p g , , and =p@ are within the 95% confidence interval which implies that both inputs and outputs are not correlated with the residuals of the model. This simply implies that the proposed model structure is able to reproduce the dynamics of the systems for a different set of inputs. 6.Controller Design Idle mode control is a stabilizing problem, (i.e. = f ( x , u , t ) find the control vector U for i such that: i 0 as t 00 ). Such control problems can be handled using phase plane analysis, to analysis global behavior of the plant in order to find equilibrium points, limit cycles, controllable states consequently analyzing stability of the system. An approximate method to perform such analysis is the cell to cell mapping. Applying this concept, the two dimensional state space of the of the plant is discretized to intervals (called cells) of variable size depending upon the distance from the equilibrium point [6] the input space is also divided, but to equal intervals. Instead of the continuous variable x, we have the cell z. The point mapping x=f(x, U,t) can be approximated by the cell mapping z(n) =C(z(n-I), u(n), z (n)). The equilibrium point of the system ( f = 0 in the continuous case (point map) and z = c(z) in the cell state space or a p - 1periodic motion). The equilibrium point and periodic motions (limit cycles) are detected using a simple version of the unraveling algorithm[6]. All possible control actions and load values are applied to all possible initial conditions of interest, (From 450 to 1200 r.p.m. for the speed and 16 to 105 kPa. for the manifold pressure). An exhaustive search is done to sort the resulting outputs and isolate those states which are not controllable or tend to repeat them selves, only those who can converge to equilibrium are considered. Equilibrium point of the plant was found to be 750-760 for the

speed and 35-36 kPa for the manifold pressure. Optimal state trajectories are listed in an optimal control table (OCT). The OCT can be used as a direct digital control, but this is not an efficient solution, due to oscillations, steady state error and chattering effect (which result from abrupt control action, as the control surface is completely a distorted one). The distorted control surface of the optimal control table can be approximated (smoothed) by a fuzzy logic expansion. The fuzzy logic expansion has the same form as the one used for modeling, but this time it's in the form of a f u z z y controller (with some abuse of ontation). The inputs to the controller are the speed, manifold pressure and torque disturbance (the premises of the fuzzy rule), outputs of the controller are the ignition timing and throttle angle (the consequent of the rule). Parameters of the fuzzy expansion are also optimized using the CMA-ES. A fuzzy system of 35 rules could represent the control surface (hyper-surface) of the system. Simulation of the designed control system shows that, for different operating conditions over the controllable space of the plant, the states converge to the equilibrium point Fig. 4 even if some parameters are changed, which is an implication of the robustness of the system Fig.3. 7.Conclusion In this paper a MIMO nonlinear black box model is developed for A SI engine idle mode, with first order model structure. Adequacy of the model structure is checked for using correlation test, and the model structure is adequate to reproduce the dynamics of the plant. Use of Evolution strategies was demonstrated for the purpose model and controller parameter optimization. A direct digital controller in the form of a fuzzy logic exparpion was simulated and found able to stabilize the system over its controllable state space and drive the states smoothly to the equilibrium point even if the parameters of the plants changes. In addition the memory needed by an FLC is negligible in comparison of that one needed by an OCT.. Stability of the system controlled by the FLC is approved through phase plan analysis, in other word we don't need to justify the stability of the system from fuzzy control point of view, only test the approximation accuracy of the fuzzy expansion. References Sun, J. "Engine [ l ] Cook, J.A., Grizzle, J.W., Control", The Control Handbook, CRC Press, pp. 1261- 1274 (1 996)

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[2] Wang, L.X. 'I Adaptive Fuzzy systems and Control Prentice-Hall Inc., Englewood Cliffs N.J.,lst edition 1994. [3] Hansen,N. and Ostermeier, A.(2000). ompletely Derandomized Self-Adaptation in Evolution Strategies. Evolutionary Computation, Special Issue on Self-Adaptation [4] Hansen, N. and A. Ostermeier (1997)." Convergence properties of evolution strategies with the derandomized covariance matrix adaptation:The, U " @ \lambda)-CMA-ES'. In EUFIT97, 5th Europ.Congr.on Intelligent Techniques and Soft Computing, Proceedings, Aachen, pp.650-654. Verlag Mainz, Wissenschaftsverlag Throttle angle
'I,

[5] S.A. Billings and Q.M. Zhu, "Model Validation Tests for Multivariable Nonlinear

Zhu, "Model [5] S.A. Billings and Q.M. Validation Tests for Multivariable Nonlinetir Models Including Neural Networks", Int. J. of Control, Vol. 62, No. 4, 1995, pp. 749-766. [6] Smith S.M, Nokleby, R B. and Comar, D J" A computational approach fuzzy logic ontrollers design and analysis using cll state space method. In Kandel (Eds),Fuzzy control systems),pp397427 CRC Press 1994 Ignition timing

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