CN107701315B - Electronic throttle control method based on self-adaptive sliding mode technology - Google Patents

Electronic throttle control method based on self-adaptive sliding mode technology Download PDF

Info

Publication number
CN107701315B
CN107701315B CN201710981759.6A CN201710981759A CN107701315B CN 107701315 B CN107701315 B CN 107701315B CN 201710981759 A CN201710981759 A CN 201710981759A CN 107701315 B CN107701315 B CN 107701315B
Authority
CN
China
Prior art keywords
throttle
angle theta
sliding mode
throttle valve
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201710981759.6A
Other languages
Chinese (zh)
Other versions
CN107701315A (en
Inventor
王海
刘林峰
何平
郁明
姜苍华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hefei University of Technology
Original Assignee
Hefei University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hefei University of Technology filed Critical Hefei University of Technology
Publication of CN107701315A publication Critical patent/CN107701315A/en
Application granted granted Critical
Publication of CN107701315B publication Critical patent/CN107701315B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D9/00—Controlling engines by throttling air or fuel-and-air induction conduits or exhaust conduits
    • F02D9/08—Throttle valves specially adapted therefor; Arrangements of such valves in conduits
    • F02D9/10—Throttle valves specially adapted therefor; Arrangements of such valves in conduits having pivotally-mounted flaps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D11/00—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated
    • F02D11/06—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance
    • F02D11/10—Arrangements for, or adaptations to, non-automatic engine control initiation means, e.g. operator initiated characterised by non-mechanical control linkages, e.g. fluid control linkages or by control linkages with power drive or assistance of the electric type
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/0002—Controlling intake air
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/02—Circuit arrangements for generating control signals
    • F02D41/14—Introducing closed-loop corrections
    • F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
    • F02D41/1406—Introducing closed-loop corrections characterised by the control or regulation method with use of a optimisation method, e.g. iteration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D41/00—Electrical control of supply of combustible mixture or its constituents
    • F02D41/0002—Controlling intake air
    • F02D2041/0022—Controlling intake air for diesel engines by throttle control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/02—Input parameters for engine control the parameters being related to the engine
    • F02D2200/04—Engine intake system parameters
    • F02D2200/0404—Throttle position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D2200/00—Input parameters for engine control
    • F02D2200/60—Input parameters for engine control said parameters being related to the driver demands or status
    • F02D2200/602—Pedal position

Abstract

The invention discloses an electronic throttle control method based on a self-adaptive sliding mode technology. The method comprises collecting foot pedal angle theta in real timedAnd current throttle output angle thetatAnd calculating a system error e; calculating the optimal control voltage u of the throttle valve through a self-adaptive robust sliding mode control algorithm, and converting the duty ratio T set by a motor driver according to a formula T (u/12); the driver drives the throttle valve from the duty ratio T obtained by the electronic control unit to obtain an output throttle valve output angle thetat1. The invention overcomes the problem of uncertainty of the parameters of the electronic throttle valve in the prior art, solves the problems of the existence of gear clearance torque, the increase of the nonlinear characteristic of an electronic throttle valve control system and low control precision, and realizes the rapid and accurate control of the throttle valve of nonlinear dynamics.

Description

Electronic throttle control method based on self-adaptive sliding mode technology
Technical Field
The invention relates to an electronic throttle control method, in particular to an electronic throttle control method based on a self-adaptive sliding mode technology.
Background
Under the background of increasingly severe competition of global automobile enterprises, how to improve the autonomous research and development capability of automobile electric control systems in China by a scientific method and means to realize transformation from a large consumption country to a strong manufacturing country in China is a major opportunity and challenge faced by people at present. As an important means for the continuous development of the automobile industry, the use of the automobile electric control technology can effectively improve the dynamic property, the comfort, the driving safety and the like of the automobile.
The traditional throttle valve is mechanical and is rigidly connected, namely, a driver directly controls the air inflow by stepping on an accelerator pedal, and the control mode can not only realize the accurate control of the air inflow, but also bring serious safety problems to the misoperation of the driver. The advent of electronic throttles has addressed this challenge well. Different from the traditional throttle valve, the opening of the electronic throttle valve is not directly determined by a driver by stepping on an accelerator pedal, but an Electronic Control Unit (ECU) calculates the corresponding optimal opening of the throttle valve according to the total torque required under the current running condition of the vehicle, and then controls a motor to rotate a throttle valve plate to the corresponding opening, so that the engine can be ensured to be in the optimal working state when the vehicle is in different working conditions, the exhaust emission is reduced, and the running stability of the vehicle is improved. Since the traditional air throttle can not meet various requirements of people on the performance of vehicles, the problems of the electronic air throttle and the control thereof are brought forward.
Compared with a traditional mechanical throttle valve, the electronic throttle valve has incomparable advantages compared with the traditional throttle valve. In recent years, many domestic and foreign documents show that research on an electronic throttle control algorithm tends to be mature, but unfortunately, the electronic throttle is influenced by the action of return spring torque, damping torque, viscous friction torque, packaging machine driving torque, gear clearance torque and disturbance in the rotating process and nonlinear uncertain factors, so that many researches are not comprehensive in consideration and analysis of problems existing in the control of the electronic throttle, further, a designed controller cannot ensure the robustness of the controller, and the control accuracy of the controller is poor. In addition, the long-term use of the electronic throttle valve can cause the problems of oil stain and carbon deposition on a throttle valve plate, motor aging, poor mechanical transmission characteristic of a gear, throttle valve parameter change and the like.
In recent years, a paper of front flow optimization algorithm based on detailed order of fuzzy-PID controller for electronic throttle valve ("electronic throttle Drosophila optimization algorithm based on fractional order fuzzy PID controller" -Nonlinear Dynamics, 2013,73(1-2):611-619.), was published by Sheng Wang and Bao Yan in the journal of Nonlinear Dynamics, and the parameters of the controller were optimized and designed by applying the Drosophila optimization algorithm. It is noted that the influence of the non-linear factor of the backlash torque on the control performance of the controller is not considered in the design process of the controller.
Subsequently, YadavA K and Gaur P apply electronic throttle control to speed control of a hybrid vehicle, and a self-learning fuzzy PID controller is proposed in a paper, "Robust adaptive speed control of an uncertain hybrid electric vehicle with variable-gradient electronic throttle" — Nonlinear Dynamics 2014,76(1):305-321 ] published in the journal of Nonlinear Dynamics, and a model reference system based on a sliding mode control mechanism is designed to obtain better robustness. Unfortunately, the use of the sign function may cause high frequency jitter in the sliding mode control, which in turn affects the control performance of the controller.
Pan Yao Dong and Ozguner U and Dagci O H in IEEE Transactions on Industrial Electronics journal paper Variable-Structure Control of electronic Throttle Valve ("electronic Throttle Variable Structure Control" -IEEE Industrial Electronics Proc., 2008,55(11): 3899-. It should be noted that only the effect of coulomb friction is considered for the friction torque, and the effect of stick-slip friction is neglected.
Based on the above analysis, although many scholars have proposed various control algorithms for the electronic throttle, the existing electronic throttle control method has the following disadvantages:
1. in the design process of the controller, the method only focuses on certain nonlinear characteristic existing in the electronic throttle control system, and the influence of other nonlinear characteristics, disturbance and uncertain factors on the performance of the controller is weakened.
2. Researchers have rarely considered the effect of throttle blade drag torque on controller performance.
3. The control accuracy and the response speed of the electronic throttle valve are not obviously improved.
Disclosure of Invention
The invention aims to solve the technical problem that the non-linear characteristic of an electronic throttle control system is increased aiming at the problem of throttle parameter uncertainty and the existence of gear backlash torque in the prior art, and provides an electronic throttle control method based on the self-adaptive sliding mode technology, which can overcome the throttle parameter uncertainty and the non-linear characteristic of the electronic throttle control system under different working conditions and has high response speed and robust tracking performance.
In order to solve the problems in the prior art, the invention provides an electronic throttle control method based on an adaptive sliding mode technology, which comprises the following steps of collecting position signals of a pedal and a throttle, and comprises the following steps:
step 1, stepping on an accelerator pedal and making the pedal have an angle thetad≥1°；
Step 2, adjusting the pedal angle thetadAnd current throttle output angle θtSampling with a sampling period delta t;
step 3, firstly obtaining the pedal angle theta according to the step 2dAnd current throttle output angle θtUsing the formula e ═ thetat-θdCalculating a system error e, then calculating the optimal control voltage u of the throttle valve through a self-adaptive robust sliding mode control algorithm, and converting the optimal control voltage u into a duty ratio T set by a motor driver according to a formula T (u/12);
step 4, the duty ratio T obtained after conversion is transmitted to a motor driver, the motor driver outputs voltage U to drive the throttle valve, and an ideal throttle valve output angle theta is outputt1；
Step 5, setting the inspection termination condition as thetat1＝θdChecking the ideal throttle output angle theta obtained in the step 4t1Whether the value satisfies the inspection end condition, and if so, the pedal angle thetadAnd the output desired throttle output angle thetat1If the numerical values are equal, the operation is ended; and if the inspection termination condition is not met, returning to the step 2 and repeating the steps 2-5 until the inspection termination condition is met.
Preferably, the adaptive robust sliding mode control algorithm in step 3 includes the following steps:
(1) solving a sliding mode function S, wherein the expression is as follows:
Figure BDA0001437903550000031
in the formula
Figure BDA0001437903550000032
Is the first derivative of the system error e, and c is the sliding mode normal number;
(3) obtaining an optimal control voltage u, wherein the expression is as follows:
Figure BDA0001437903550000041
in the formula, τfa0Is the nominal friction torque of the throttle system; tau isspa0Is the spring restoring moment of the system; a is0Is a system nominal parameter 1; b0Is the system nominal parameter 2;
Figure BDA0001437903550000042
for the current throttle output angle thetatThe first derivative of (a);
Figure BDA0001437903550000043
is the pedal angle thetadThe first derivative of (a);
Figure BDA0001437903550000044
is the pedal angle thetadThe second derivative of (a);
Figure BDA0001437903550000045
for the upper bound estimates of the total undetermined set in the system,
Figure BDA0001437903550000046
wherein the content of the first and second substances,
Figure BDA0001437903550000047
for the upper bound estimate of the aggregate that was always undetermined in the system for the last sampling period,
Figure BDA0001437903550000048
is composed of
Figure BDA0001437903550000049
The first derivative of (a) is,
Figure BDA00014379035500000410
ξ1is the learning rate; k is a set convergence rate normal number; sat(s) is a boundary sign function expressed as
Figure BDA00014379035500000411
Wherein sign(s) is a sign function,
Figure BDA00014379035500000412
ξ2is a set boundary normal.
Preferably, the sampling period Δ t in step 2 is 0.001 second.
Compared with the prior art, the invention has the beneficial effects that:
(1) the problem of uncertainty of parameters of the electronic throttle valve in the prior art is solved;
(2) the problems that the non-linear characteristic of the electronic throttle control system is increased and the control precision is low due to the existence of the gear clearance torque are solved;
(3) the method realizes the quick and accurate control of the electronic throttle valve with nonlinear dynamics.
Drawings
Fig. 1 is a flowchart of a control method in the present invention.
Fig. 2 is a schematic diagram of a basic structure of a control system in the embodiment of the present invention.
FIG. 3 is a graph of step signal tracking for an electronic throttle system controlled using the present invention.
FIG. 4 is a graph of step signal error for an electronic throttle system controlled using the present invention.
FIG. 5 is a graph of sinusoidal signal tracking for an electronic throttle system controlled using the present invention.
FIG. 6 is a graph of sinusoidal error for an electronic throttle system controlled using the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which are illustrative only and are not to be construed as limiting the invention.
Fig. 1 is a flowchart of a control method in the present invention. As can be seen from the figure, the control method comprises the steps of collecting position signals of the pedal and the throttle valve, and mainly comprises the following steps:
step 1, stepping on an accelerator pedal and making the pedal have an angle thetad≥1°。
Step 2, adjusting the pedal angle thetadAnd current throttle output angle θtSampling is performed with a sampling period Δ t. In this example, Δ t is 0.001 second.
Step 3, firstly obtaining the pedal angle theta according to the step 2dAnd current throttle output angle θtUsing the formula e ═ thetat-θdAnd calculating a system error e, calculating the optimal control voltage u of the throttle valve by an adaptive robust sliding mode control algorithm, and converting the duty ratio T set by a motor driver according to a formula T (u/12).
The adaptive robust sliding mode control algorithm comprises the following steps:
(1) solving a sliding mode function S, wherein the expression is as follows:
Figure BDA0001437903550000051
in the formula
Figure BDA0001437903550000052
Is the first derivative of the systematic error e, and c is the sliding mode normal.
(2) Obtaining an optimal control voltage u, wherein the expression is as follows:
Figure BDA0001437903550000053
in the formula, τfa0Is the nominal friction torque of the throttle system; tau isspa0Is the spring restoring moment of the system; a is0Is a system nominal parameter 1; b0Is the system nominal parameter 2;
Figure BDA0001437903550000061
for the current throttle output angle thetatThe first derivative of (a);
Figure BDA0001437903550000062
is the pedal angle thetadThe first derivative of (a);
Figure BDA0001437903550000063
is the pedal angle thetadThe second derivative of (a);
Figure BDA0001437903550000064
for the upper bound estimates of the total undetermined set in the system,
Figure BDA0001437903550000065
wherein the content of the first and second substances,
Figure BDA0001437903550000066
for the upper bound estimate of the aggregate that was always undetermined in the system for the last sampling period,
Figure BDA0001437903550000067
is composed of
Figure BDA0001437903550000068
The first derivative of (a) is,
Figure BDA0001437903550000069
ξ1is the learning rate; k is a set convergence rate normal number; sat(s) is a boundary sign function expressed as
Figure BDA00014379035500000610
Wherein sign(s) is a sign function,
Figure BDA00014379035500000611
ξ2is a set boundary normal.
Step 4, the duty ratio T obtained after conversion is transmitted to a motor driver, the motor driver outputs voltage U to drive the throttle valve, and an ideal throttle valve output angle theta is outputt1。
Step 5, setting the inspection termination condition as thetat1＝θd. Checking the ideal throttle output angle theta obtained in the step 4t1Whether the value satisfies the inspection end condition, and if so, the pedal angle thetadAnd the output desired throttle output angle thetat1If the numerical values are equal, the operation is ended; and if the inspection termination condition is not met, returning to the step 2 and repeating the steps 2-5 until the inspection termination condition is met.
Fig. 2 is a schematic diagram of a basic structure of a control system in the embodiment of the present invention. As can be seen from the figure, the control system in the embodiment comprises a throttle pedal module, a single-chip microcomputer control module, a driver module and a throttle module. Wherein:
the accelerator pedal module is used for acquiring an angle analog voltage signal A of a pedal1When the accelerator pedal is stepped on, the sensor in the pedal can acquire a corresponding angle analog voltage signal A1。
A single chip microcomputer control module for simulating the angle of the pedal with a voltage signal A1And angle analog voltage signal A of throttle valve2Analog-digital conversion module through single chip microcomputerThe block acquires the pedal angle thetadAnd current throttle output angle θt. And then according to vehicle-mounted and road condition data information transmitted by an Electronic Control Unit (ECU) of an automobile engine, calculating the optimal control voltage u of the throttle valve through a self-adaptive robust sliding mode control algorithm, and converting the duty ratio T set by a motor driver according to a formula T (u/12).
And the driver module is used for driving the throttle valve according to the duty ratio T obtained by the electronic control unit, and after the duty ratio T sent by the single chip microcomputer is sent to the driver, the driver can regulate the voltage U according to the duty ratio T and then send the voltage U to the throttle valve module.
A throttle module for realizing an ideal throttle output angle thetat1After receiving the voltage U sent by the driver, the throttle valve rotates correspondingly, and the sensor in the throttle valve obtains a corresponding angle analog voltage signal A2And collected by a singlechip.
In order to verify the implementation effect of the invention, the self-adaptive robust sliding mode method is verified on an electronic throttle experimental platform. The curves shown in fig. 3, 4, 5 and 6 were obtained. From the four curves, it can be seen that the control method of the invention has stronger robustness to the uncertainty problem of the throttle parameters and the nonlinear characteristic of the electronic throttle control system, and can realize the fast and accurate control of the throttle.
The construction, features and functions of the present invention are described in detail in the embodiments illustrated in the drawings, which are only preferred embodiments of the present invention, but the present invention is not limited by the scope of the drawings, and all equivalent embodiments modified or modified according to the idea of the present invention should fall within the scope of the present invention without departing from the spirit of the present invention covered by the description and the drawings.

Claims (2)

1. An electronic throttle control method based on an adaptive sliding mode technology comprises the steps of collecting position signals of a pedal and a throttle, and is characterized by mainly comprising the following steps:
step 1, stepping on an accelerator pedal and enabling feet to movePedal angle thetad≥1°；
Step 2, adjusting the pedal angle thetadAnd current throttle output angle θtSampling with a sampling period delta t;
step 3, firstly obtaining the pedal angle theta according to the step 2dAnd current throttle output angle θtUsing the formula e ═ thetat-θdCalculating a system error e, then calculating the optimal control voltage u of the throttle valve through a self-adaptive robust sliding mode control algorithm, and converting the optimal control voltage u into a duty ratio T set by a motor driver according to a formula T (u/12);
step 4, the duty ratio T obtained after conversion is transmitted to a motor driver, the motor driver outputs voltage U to drive the throttle valve, and an ideal throttle valve output angle theta is outputt1；
Step 5, setting the inspection termination condition as thetat1＝θdChecking the ideal throttle output angle theta obtained in the step 4t1Whether the value satisfies the inspection end condition, and if so, the pedal angle thetadAnd the output desired throttle output angle thetat1If the numerical values are equal, the operation is ended; if the inspection termination condition is not met, returning to the step 2 and repeating the steps 2-5 until the inspection termination condition is met;
step 3, the adaptive robust sliding mode control algorithm comprises the following steps:
(1) solving a sliding mode function s, wherein the expression is as follows:
Figure FDA0002225641710000011
in the formula
Figure FDA0002225641710000012
Is the first derivative of the system error e, and c is the sliding mode normal number;
(2) obtaining an optimal control voltage u, wherein the expression is as follows:
Figure FDA0002225641710000015
in the formula, τfa0Is the nominal friction torque of the throttle system; tau isspa0Is the spring restoring moment of the system; a is0Is a system nominal parameter 1; b0Is the system nominal parameter 2;
Figure FDA0002225641710000014
for the current throttle output angle thetatThe first derivative of (a);
Figure FDA0002225641710000016
is the pedal angle thetadThe first derivative of (a);
Figure FDA0002225641710000013
is the pedal angle thetadThe second derivative of (a);
Figure FDA0002225641710000023
for the upper bound estimates of the total undetermined set in the system,
Figure FDA0002225641710000025
wherein the content of the first and second substances,
Figure FDA0002225641710000026
for the upper bound estimate of the aggregate that was always undetermined in the system for the last sampling period,
Figure FDA0002225641710000027
is composed of
Figure FDA0002225641710000028
The first derivative of (a) is,
Figure FDA0002225641710000024
ξ1is the learning rate; k is a set convergence rate normal number; sat(s) is a boundary sign function expressed as
Figure FDA0002225641710000021
Wherein sign(s) is a sign function,
Figure FDA0002225641710000022
ξ2is a set boundary normal.
2. The electronic throttle control method based on the adaptive sliding mode technique according to claim 1, wherein the sampling period Δ t in step 2 is 0.001 seconds.
CN201710981759.6A 2017-03-22 2017-10-18 Electronic throttle control method based on self-adaptive sliding mode technology Active CN107701315B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN2017101722244 2017-03-22
CN201710172224.4A CN106988896A (en) 2017-03-22 2017-03-22 Electronic Throttle Control method based on adaptive sliding mode technology

Publications (2)

Publication Number Publication Date
CN107701315A CN107701315A (en) 2018-02-16
CN107701315B true CN107701315B (en) 2020-07-21

Family

ID=59411696

Family Applications (2)

Application Number Title Priority Date Filing Date
CN201710172224.4A Pending CN106988896A (en) 2017-03-22 2017-03-22 Electronic Throttle Control method based on adaptive sliding mode technology
CN201710981759.6A Active CN107701315B (en) 2017-03-22 2017-10-18 Electronic throttle control method based on self-adaptive sliding mode technology

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN201710172224.4A Pending CN106988896A (en) 2017-03-22 2017-03-22 Electronic Throttle Control method based on adaptive sliding mode technology

Country Status (1)

Country Link
CN (2) CN106988896A (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109098862A (en) * 2018-07-31 2018-12-28 合肥工业大学 Electronic Throttle Control method based on continuous quickly non-singular terminal sliding mode technology
CN109184925B (en) * 2018-09-19 2021-08-03 合肥工业大学 Electronic throttle valve control method based on self-adaptive integral terminal sliding mode technology
CN109143868B (en) 2018-09-28 2021-08-31 东南大学 Nonlinear anti-interference control method and device for electronic throttle system
CN109335021B (en) * 2018-11-21 2022-03-25 中国航发西安动力控制科技有限公司 Adaptive control method for accelerator rod for test

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001227385A (en) * 2000-02-14 2001-08-24 Unisia Jecs Corp Sliding mode control device for electric control throttle device
EP1170487A2 (en) * 2000-07-05 2002-01-09 Visteon Global Technologies, Inc. Electronic throttle control mechanism with reduced friction and wear
CN104018944A (en) * 2014-04-23 2014-09-03 重庆邮电大学 Electronic throttle valve adaptive backstepping control method based on Romberg sliding-mode observer
CN104696080A (en) * 2014-10-31 2015-06-10 重庆邮电大学 Observer-based intelligent dual-integral sliding-mode control method for electronic throttle valve

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001227385A (en) * 2000-02-14 2001-08-24 Unisia Jecs Corp Sliding mode control device for electric control throttle device
EP1170487A2 (en) * 2000-07-05 2002-01-09 Visteon Global Technologies, Inc. Electronic throttle control mechanism with reduced friction and wear
CN104018944A (en) * 2014-04-23 2014-09-03 重庆邮电大学 Electronic throttle valve adaptive backstepping control method based on Romberg sliding-mode observer
CN104696080A (en) * 2014-10-31 2015-06-10 重庆邮电大学 Observer-based intelligent dual-integral sliding-mode control method for electronic throttle valve

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
基于dSPACE的节气门控制系统半实物仿真研究;李刚;《中国优秀硕士学位论文全文数据库工程科技Ⅱ辑》;20150715(第7期);第7-17,38-40,41-44，52-54页 *
汽车电子节气门的自适应滑模控制;张金柱;《黑龙江工程学院学报》;20060930;第20卷(第3期);第41-43页 *

Also Published As

Publication number Publication date
CN107701315A (en) 2018-02-16
CN106988896A (en) 2017-07-28

Similar Documents

Publication Publication Date Title
CN107701315B (en) Electronic throttle control method based on self-adaptive sliding mode technology
CN107300863B (en) Longitudinal acceleration control method based on MAP graph and online calibration
CN106840097B (en) Road slope estimation method based on adaptive extended Kalman filtering
CN108528268B (en) Torque adjusting method of electric automobile self-adaptive cruise system
CN107117178B (en) Consider the vehicle mass estimation method of shift and road grade factor
CN110949366B (en) Terminal sliding mode control method of RBF neural network applying intelligent vehicle longitudinal speed control
CN109143868B (en) Nonlinear anti-interference control method and device for electronic throttle system
CN112660130A (en) New energy automobile sliding control system and method based on intelligent networking information and new energy automobile
WO2013123832A1 (en) Engine self-adaptive system and fuel saving method based on vehicle operating condition
CN109489991B (en) Method and system for calculating opening degree of accelerator pedal in electric vehicle performance test
CN106004515A (en) Automobile speed control method and system used for automatic parking of electric automobile
CN102818556A (en) Vehicle road gradient detection method and device thereof
CN108052002A (en) A kind of intelligent automobile automatic tracking method of improved fuzzy
CN109334451A (en) The throttle autocontrol method of the vehicle in highway driving based on bi-fuzzy control
CN106019938B (en) The control method of ACC system discrete time second order sliding mode control system based on data-driven
CN111284475A (en) Method and system for constant-speed cruise control of heavy truck
CN100374699C (en) Method and device for controlling the drive unit of a vehicle
CN111634280A (en) Energy-saving cruise driving application-oriented cloud control platform and prediction cruise control system
CN101975115B (en) Method for controlling throttle valve and EGR valve
CN102658810B (en) An intelligent wiper controlling apparatus based on fuzzy control and a control method thereof
Hu et al. Vehicle mass and road grade estimation based on adaptive forgetting factor RLS and EKF algorithm
CN104401325A (en) Dynamic regulation and fault tolerance method and dynamic regulation and fault tolerance system for auxiliary parking path
CN111661005A (en) Windscreen wiper control method based on rainfall sensor
CN1987483A (en) Speed homing method for four wheel driving electric automobile
CN101290241B (en) Abnormal instance fuel meter signal processing method

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant