Robust throttle control of automotive engines: theory and experiment (original) (raw)
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Robust control of a throttle body for drive by wire operation of automotive engines
IEEE Transactions on Control Systems Technology, 2000
In recent years, ever more stringent requirements in terms of emissions control, driveability, and safety of automobiles have led to the development of the drive by wire (DBW) concept, a new architecture for engine control systems, with the purpose of managing air, fuel and ignition in an integrated way. The throttle control plays an important role in the development of DBW systems. Despite its apparent simplicity, the position control of the throttle valve is quite a complex problem, due to application constraints and system characteristics. Very high robustness must be linked with limited cost, as required by a mass production device. A cascaded control structure including a nonlinear trajectory generator filter is adopted, allowing each different control problem to be solved with the most suitable control algorithm and implementation technology. In this regard, the use of variable structure control techniques is the key element to reaching the solution. Extensive simulation tests are reported to show the performance of the proposed control algorithm. A throttle step from 0.5 to 89.5 indicates good position tracking under realistic operating conditions, with a position error smaller than 1. The same simulation is performed at a battery voltage of 9 V to check the controller robustness. A prototype controller is presented. The experimental implementation of the controller for a step from 2.5 to 85.5 indicates a very smooth position trajectory with a maximum dynamic position error of 7. A small throttle step from 1 to 7 (which contains the nonlinearity of the limp home mode spring) was also tested and resulted in very good position response with the maximum position error of 2. Application specifications are fully satisfied both in terms of control performance and controller cost.
Automotive engine speed control: A robust nonlinear control framework
IEE Proceedings - Control Theory and Applications, 2001
A controller-design procedure based on sliding-mode techniques is presented for speed control in an automotive engine. Only the engine-speed and manifold-pressure measurements are available to the control law. It is assumed that the load-torque disturbance on the engine is not known, while uncertainties in the system parameters are also taken into consideration. The engine acceleration is estimated through a high-gain observer. A comprehensive nonlinear simulation model is used to assess the performance of the closed-loop system. It is shown that the slidingmode controller can achieve the full range of setpoint speeds. In addition, the closed-loop system is robust with respect to both initial speed and changes in the load torque.
In modern vehicles, electronic throttle (ET) has been widely utilized to control the airflow into gasoline engine. To solve the control difficulties with an ET, such as strong nonlinearity, unknown model parameters and input saturation constraints, an adaptive sliding-mode tracking control strategy for an ET is presented. Compared with the existing control strategies for an ET, input saturation constraints and parameter uncertainties are adequately considered in the proposed control strategy. At first, the nonlinear dynamic model for control of an ET is described. According to the dynamical model, the nonlinear adaptive sliding-mode tracking control method is presented, where parameter adaptive laws and auxiliary design system are employed. Parameter adaptive law is given to estimate the unknown parameter with an ET. An auxiliary system is designed, and its state is utilized in the tracking control method to handle the input saturation. Stability proof and analysis of the adaptive sliding-mode control method is performed by using Lyapunov stability theory. Finally, the reliability and feasibility of the proposed control strategy are evaluated by computer simulation. Simulation research shows that the proposed sliding-mode control strategy can provide good control performance for an ET.
Electronic Throttle Control System: Modeling, Identification and Model-Based Control Designs
Engineering, 2013
Electronic throttle control (ETC) system has worked its way to become a standard subsystem in most of the current automobiles as it has contributed much to the improvement of fuel economy, emissions, drivability and safety. Precision control of the subsystem, which consists of a dc motor driving a throttle plate, a pre-loaded return spring and a set of gear train to regulate airflow into the engine, seems rather straightforward and yet complex. The difficulties lie in the unknown system parameters, hard nonlinearity of the pre-loaded spring that pulls the throttle plate to its default position, and friction, among others. In this paper, we extend our previous results obtained for the modeling, unknown system parameters identification and control of a commercially available Bosch's DV-E5 ETC system. Details of modeling and parameters identification based on laboratory experiments, data analysis, and knowledge of the system are provided. The parameters identification results were verified and validated by a real-time PID control implemented with an xPC Target. A nonlinear control design was then proposed utilizing the input-output feedback linearization approach and technique. In view of a recent massive auto recalls due to the controversial uncontrollable engine accelerations, the results of this paper may inspire further research interest on the drive-by-wire technology.
Adaptive Throttle Control for Speed Tracking
Vehicle System Dynamics, 1994
Electronic throttle control is an important part of every advanced vehicle control system. In this paper we design an adaptive control scheme for electronic throttle that achieves good tracking of arbitrary constant speed commands in the presence of unknown disturbances. The design is based on a simplified linear vehicle model which is derived from a validated nonlinear one. The designed control scheme is simulated using the validated full order nonlinear vehicle model and tested on an actual vehicle. The simulation and vehicle test results are included in this paper to show the performance of the controller. Due to the learning capability of the adaptive control scheme, changes in the vehicle dynamics do not affect the performance of the controller in any significant manner.
A robust automotive controller design
International Journal of Modelling, Identification and Control, 2008
This paper describes an application of the block control and sliding mode control techniques to form a stabilising controller for an internal combustion engine with a throttle driven by a DC motor. This combined approach enables the inherent non-linearities of the engine to be compensated and high-level external disturbances to be rejected. Also, the control system utilises a generalised observer for non-linear plants, which incorporates a high gain technique.
Arduino Based Electro-Mechanical Throttle Controller for Automotive Applications
ARPN journal of engineering and applied sciences, 2015
This paper introduces an electro-mechanical throttle actuator and implements its real time Proportional-IntegralDerivative (PID) based position controllers using an Arduino Uno microcontroller and Matlab/Simulink® software. The Arduino Uno acts as an inexpensive USB based Data Acquisition System. It is controlled by a Matlab/Simulink program in a host computer to perform PID based throttle controller tasks. The throttle actuator is based on a linear actuation DC motor which is directly connected to the engine throttle lever using a metal cable. Initial PID parameters are obtained experimentally using combinations of relay feedback method and Ziegler Nicholl formula. The performance of throttle actuator controller is assessed in terms of percent overshoot, settling time and steady state error. The results show that the Proportional-Derivative (PD) and Proportional-Derivative-Plus-Conditional-Integral (PDPCI) controllers have adequately improved Proportional (P) controller performance...
Control Strategy for Aftermarket Electronic Throttle Control
Mobility and Vehicle Mechanics, 2019
This paper presents the development of electronic throttle control, provided for use in an experimental light hybrid-electric vehicle that was a final product of ongoing student project. Originally, the IC-engine throttle system was operated using mechanical linkages and cable, which was enhanced by developing a new system containing sensors and actuators. Therefore prototype of such a system had to enable the possibility of exerting control of both IC engine, powering the rear axle, and two electric hub motors, powering the front axle, by using the single accelerator pedal. This way full exploitation of hybrid drive potentials can be enabled.
Integral Sliding Mode Control Design for Electronic Throttle Valve System
˜Al-œKhawarizmi engineering journal, 2015
One of the major components in an automobile engine is the throttle valve part. It is used to keep up with emissions and fuel efficiency low. Design a control system to the throttle valve is newly common requirement trend in automotive technology. The non-smoothness nonlinearity in throttle valve model are due to the friction model and the nonlinear spring, the uncertainty in system parameters and non-satisfying the matching condition are the main obstacles when designing a throttle plate controller. In this work, the theory of the Integral Sliding Mode Control (ISMC) is utilized to design a robust controller for the Electronic Throttle Valve (ETV) system. From the first instant, the electronic throttle valve dynamics is represented by the nominal system model, this model is not affected by system parameters uncertainty and the non-smooth nonlinearities. This is a consequence of applying the integral sliding mode control. The ISMC consists of two part; the first is the nominal contr...
Throttle Actuator Controller for Automotiveapplications (Simulation Study)
2015
Throttle is the mechanism by which the flow of a fluid is managed by opening and closing the valve. This throttle body is mounted in the engine and used to control engine power by regulating the amount of airflow into the engine’s combustion chamber. In driving situation, the throttle valve is connected to the accelerator paddle, controlled by the driver through mechanical linkage which enables the driver to control the speed of the car [1].