A method of controlling exhaust gas recirculation in a compression ignition engine, comprising:
- a) sensing a fuelling rate for the engine;
- b) sensing a rotational speed of the engine;
- c) sensing an exhaust manifold absolute pressure and an intake manifold absolute pressure of the engine and computing a pressure drop between the exhaust manifold and the intake manifold;
- d) determining a volumetric efficiency of gas flow through the engine as a function of the rotational speed and the pressure drop;
- e) determining a % EGR as a function of the rotational speed and the fuelling rate for the engine;
- f) determining a temperature of gases in the exhaust manifold as a function of the rotational speed and the fuelling rate for the engine;
- g) sensing an intake air temperature of air drawn into the intake manifold;
- h) computing a fluid density of the exhaust gas based on an absolute pressure in the exhaust manifold, a molar mass of the exhaust gas and the temperature of the exhaust gas;
- h) computing a volumetric flow of exhaust gas through the EGR valve;
- i) deriving a variable based on the volumetric flow, the fluid density of the exhaust gas and the pressure drop to locate a required EGR valve position;
- and
- j) moving the EGR valve to the required position.