CN108252812A - Control system of electronic throttle valve based on Dynamic sliding mode algorithm - Google Patents
Control system of electronic throttle valve based on Dynamic sliding mode algorithm Download PDFInfo
- Publication number
- CN108252812A CN108252812A CN201611236818.9A CN201611236818A CN108252812A CN 108252812 A CN108252812 A CN 108252812A CN 201611236818 A CN201611236818 A CN 201611236818A CN 108252812 A CN108252812 A CN 108252812A
- Authority
- CN
- China
- Prior art keywords
- control
- sliding mode
- electronic throttle
- dynamic sliding
- throttle valve
- 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.)
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Classifications
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- 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
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- 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
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- 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
- F02D41/24—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means
- F02D41/26—Electrical control of supply of combustible mixture or its constituents characterised by the use of digital means using computer, e.g. microprocessor
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Computer Hardware Design (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)
Abstract
The invention discloses a kind of control system of electronic throttle valve based on Dynamic sliding mode algorithm, including PC machine, control panel, driving plate, electronic throttle and sensor, control panel and PC machine, driving plate is connected with sensor, programming has dynamic sliding mode control algorithm in control panel, by receiving the control instruction of PC machine and the data of sensor, position-force control of the control signal to the next driving plate driving electronic throttle direct current generator so as to fulfill electronic throttle is exported after carrying out corresponding operation, the control system output jitter of the present invention is small, error is small, high safety and reliability.
Description
Technical field
This patent is related to a kind of control system of electronic throttle valve, more specifically, sliding based on dynamic more particularly, to one kind
The control system of electronic throttle valve of modulo n arithmetic.
Background technology
Traditional air throttle is different from, automotive electronics air throttle can pass through electronic control unit（ECU）It realizes to air throttle
The accurate control of aperture makes engine be in best working condition.It is special that external many automakers are proposed various controls
Property good electronic throttle and its corresponding electronic control system, form control system of electronic throttle valve（ETCS）.Using electricity
Sub- air throttle control system, throttle valve aperture is precisely controlled, can not only improve fuel economy, reduces discharge, together
When, system response is rapid, can obtain satisfied handling；On the other hand, it can be achieved that idle speed control, cruise control and vehicle are steady
Fixed control etc. it is integrated, simplify Control system architecture, meet dynamic property of the automobile under various complex working conditions, economy and steady
Qualitatively demand.At present, although the control system of electronic throttle valve application that each cart is looked forward at home is very extensive, from state
For the throttle controller of interior production, overall development level is not still high, with advanced states such as external Japan, the U.S., Germany
Family compares, and still has larger gap.
Due to the presence of the factors such as resetting spring, frictional damping, gear clearance and intake resistance, make electronic throttle system
System brings the difficulty of control with very strong non-linear.Simple pid control algorithm has larger applied to electronic throttle
It buffets, also can be there are larger control error, therefore preferable control effect can not be generated, and by interference observer and dynamic
Sliding mode control algorithm is combined, and shows huge superiority.
Invention content
To solve the above problems, this patent proposes a kind of control system of electronic throttle valve based on Dynamic sliding mode algorithm.
This patent solves its technical problem using following technical solution：
The control system of electronic throttle valve based on Dynamic sliding mode algorithm of this patent, including control object electronic throttle, driving
Plate, sensor, control panel and the PC machine for input control instruction；The PC host computers are connected with the control panel, the biography
Sensor is connected with the control panel, and the core control program of the control panel programming is dynamic sliding mode control algorithm.
The control system of electronic throttle valve based on Dynamic sliding mode algorithm of this patent, the control panel include 8 road A/D input and output
Port, 8 tunnel output port of power source, 2 road rate-adaptive pacemaker ports, 2 road frequency collection ports and all the way RS485 interfaces be used for it is upper
PC machine communicates.
The control system of electronic throttle valve based on Dynamic sliding mode algorithm of this patent, the sensor are passed for Hall-type angle
Sensor is used to acquire the angular position of the electronic throttle, can acquire 0 ° of -180 ° of corner, and precision is 0.088 °.
The control system of electronic throttle valve based on Dynamic sliding mode algorithm of this reality patent, the driving plate are used to drive electronics
Throttle motor, model L298N, supply voltage 12V, driving current 2A, maximum drive power are 25W.
The control system of electronic throttle valve based on Dynamic sliding mode algorithm of this patent, the dynamic sliding mode control algorithm include
One Nonlinear Disturbance Observer feedovers as input, for observing and eliminating when the system unmodel parts and Nonlinear perturbations
Caused by error, the dynamic sliding mode control algorithm is to be resolved into complicated nonlinear system no more than system based on the method for inversion
The subsystem of exponent number, and virtual controlling amount and Li Yapu love functions are separately designed, ensure progressive steady under system global sense
It is gradually counter to shift whole system onto in the case of fixed, complete the design of control law.To solve the method for inversion when to virtual controlling amount derivation
The item number expansion issues of appearance, the dynamic sliding mode control algorithm use dynamic surface control method, design First-order Integral wave filter
The derivative of virtual controlling amount is calculated, lengthy and jumbled differential term is eliminated, makes entire controller in the case where design parameter is relatively simple
Also good control effect can be realized.
The advantageous effect of this patent is：Online observation, compensation are carried out to the unmodel parts of system by interference observer
System disturbance, then joint inversion dynamic surface sliding mode control algorithm, simplifies differential term, so as in letter using First-order Integral wave filter
Sliding-mode surface handoff gain is also reduced while having changed controller parameter design, buffeting is eliminated, reduces systematic error.
Description of the drawings
Fig. 1 is the hardware the general frame of the control system of electronic throttle valve based on Dynamic sliding mode algorithm of this patent.
Fig. 2 is the function structure chart of dynamic sliding mode control algorithm in this patent.
Fig. 3 is the structure chart of electronic throttle in this patent.
In figure：1st, control panel, 2, driving plate, 3, electronic throttle, 4, sensor, 5, PC machine, 6, self-defined condition module,
7th, algoritic module, 8, air throttle mathematical model module, 9, second-order equation module, 10, interference observer module, 11, First-order Integral
Filter module, 12, direct current generator, 13, motor output gear, 14, intermediate gear, 15, terminal driven gear, 16, air throttle
Valve block, 17, return spring.
Specific embodiment
The invention will be further described in the following with reference to the drawings and specific embodiments.
As shown in figures 1 and 3, this patent embodiment includes a kind of electronic throttle system based on Dynamic sliding mode algorithm,
Wherein control panel 1 is connected with PC machine 5, driving plate 2 and sensor 4, passes through PC machine input control order to control panel, control panel 1
Output port provides corresponding control signal to driving plate 2, and driving plate 2 drives the direct current generator 12 of electronic throttle, passes through electricity
Machine output gear 13, intermediate gear 14 and extreme gear 15 complete the transmission process from direct current generator 12 to air throttle valve block 16,
The effect of return spring 17 is that throttle valve valve block 16 resets, and the angular position that air throttle valve block 16 is acquired by sensor 4 is defeated
Enter to control panel 1.
As shown in Fig. 2, self-defined operating mode 6, First-order Integral wave filter 11 are filtered into front and rear result, air throttle mathematical model
Input item of the error that 8 output feedback and interference observer 10 observes as control algolithm module 7, algoritic module 7 calculate
Go out control rate driving air throttle mathematical model 8, the output of air throttle mathematical model 8 feeds back to algoritic module 7 so as to fulfill whole again
The position-force control of a electronic throttle system.
The foregoing is merely the embodiments of this patent, not thereby limit the scope of the claims of this patent, every special using this
The equivalent structure or equivalent flow shift that sharp specification and accompanying drawing content are made directly or indirectly is used in other relevant skills
Art field similarly includes in the protection domain of this patent.
Claims (6)
1. a kind of control system of electronic throttle valve based on Dynamic sliding mode algorithm, which is characterized in that including control object electronics section
Valve, driving plate, sensor, control panel and the PC machine for input control instruction；The PC host computers and the control panel phase
Even, the sensor is connected with the control panel, and the core control program of the control panel programming is dynamic sliding mode control algorithm.
2. a kind of control system of electronic throttle valve based on Dynamic sliding mode algorithm according to claim 1, it is characterised in that：
The control panel includes 8 road A/D input/output ports, 8 tunnel output port of power source, 2 road rate-adaptive pacemaker ports, 2 road frequency collections
Port and all the way RS485 interfaces are used to communicate with upper PC machine.
3. a kind of control system of electronic throttle valve based on Dynamic sliding mode algorithm according to claim 1, it is characterised in that：
The sensor is used to acquire the angular position of the electronic throttle for Hall-type angular transducer, can acquire 0 ° -180 °
Corner, precision are 0.088 °.
4. a kind of control system of electronic throttle valve based on Dynamic sliding mode algorithm according to claim 1, it is characterised in that：
The driving plate is for driving electronic throttle door motor, model L298N, supply voltage 12V, driving current 2A, most
Big driving power is 25W.
5. a kind of control system of electronic throttle valve based on Dynamic sliding mode algorithm according to claim 1, it is characterised in that：
The dynamic sliding mode control algorithm includes a Nonlinear Disturbance Observer and feedovers as input, for observing and eliminating because of system
Unmodel parts and Nonlinear perturbations and caused by error, the dynamic sliding mode control algorithm is will be complicated non-based on the method for inversion
Linear system resolves into the subsystem no more than systematic education, and separately designs virtual controlling amount and Li Yapu love functions, protects
It is gradually counter to shift whole system onto in the case of asymptotically stability under card system global sense, complete the design of control law.
6. to solve the method for inversion in the item number expansion issues to occurring during virtual controlling amount derivation, the dynamic sliding mode control algorithm
Using dynamic surface control method, design First-order Integral wave filter calculates the derivative of virtual controlling amount, eliminates lengthy and jumbled differential term, makes
Entire controller can also realize good control effect in the case where design parameter is relatively simple.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611236818.9A CN108252812A (en) | 2016-12-28 | 2016-12-28 | Control system of electronic throttle valve based on Dynamic sliding mode algorithm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611236818.9A CN108252812A (en) | 2016-12-28 | 2016-12-28 | Control system of electronic throttle valve based on Dynamic sliding mode algorithm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108252812A true CN108252812A (en) | 2018-07-06 |
Family
ID=62719689
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611236818.9A Pending CN108252812A (en) | 2016-12-28 | 2016-12-28 | Control system of electronic throttle valve based on Dynamic sliding mode algorithm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108252812A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113341725A (en) * | 2021-06-18 | 2021-09-03 | 曲阜师范大学 | Sliding mode control method of multi-mode electronic throttle valve |
-
2016
- 2016-12-28 CN CN201611236818.9A patent/CN108252812A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113341725A (en) * | 2021-06-18 | 2021-09-03 | 曲阜师范大学 | Sliding mode control method of multi-mode electronic throttle valve |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180706 |
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| WD01 | Invention patent application deemed withdrawn after publication |