CN109098862A - Electronic Throttle Control method based on continuous quickly non-singular terminal sliding mode technology - Google Patents
Electronic Throttle Control method based on continuous quickly non-singular terminal sliding mode technology Download PDFInfo
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- CN109098862A CN109098862A CN201810856093.6A CN201810856093A CN109098862A CN 109098862 A CN109098862 A CN 109098862A CN 201810856093 A CN201810856093 A CN 201810856093A CN 109098862 A CN109098862 A CN 109098862A
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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
-
- 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
-
- 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
- F02D2011/101—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 characterised by the means for actuating the throttles
- F02D2011/103—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 characterised by the means for actuating the throttles at least one throttle being alternatively mechanically linked to the pedal or moved by an electric actuator
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses a kind of Electronic Throttle Control methods based on continuous quickly non-singular terminal sliding mode technology to estimate the lump disturbance d of electronic throttle system using finite time accurate surveying devicelum.This method includes acquiring angle of foot board θ in real timerefWith electronic throttle output angle θtAnd calculate error e；Optimal Control voltage u is calculated by the continuous nonsingular fast terminal sliding mode control algorithm of electronic throttle, the duty ratio T of motor driver is calculated by T=u/12；Motor driver output voltage U drives electronic throttle, obtains desired electronic air throttle output angle θt1.The present invention overcomes electronic throttle parameter perturbation problems, solve the problems, such as that system control gain selection is difficult to and to control precision low, the fast convergence for guaranteeing error and the high-precision tracking performance under parameter perturbation, realize the fast and accurately control to electronic throttle.
Description
Technical field
The present invention relates to a kind of Electronic Throttle Control method, especially a kind of company based on finite time accurate surveying device
Continue the automotive electronics throttle control method of quick non-singular terminal sliding mode technology.
Background technique
With the rapid development of the automotive industry, more stringent requirements are proposed to automotive performance by people.Electronic throttle
The important component of (Automobile Electronic Throttle, AET) as automobile engine management system, control
The quality of effect processed directly affects the dynamic property of automobile entirety, safety and stability.Electronic Throttle Control technology at present
It is widely used in the control of automobile engine, the mechanical equipment of accelerator pedal is directly connected to instead of traditional air throttle, and
And this technology is transformation and an important channel for promoting automobile overall performance.
Traditional engine air throttle does not consider internal fuel efficiency and outside road feelings when obtaining throttle opening angle
Condition and weather condition, to largely effect on the whole work efficiency of engine.AET system can adjust the air inlet of engine simultaneously
Amount and fuel, can accurately control air-fuel ratio.The advantages of AET system, is that not only discharging fuel consumption and gas subtracts
It is few, while improving the driving performance and comfort level of automobile entirety.
Typical AET system includes direct current generator, back gear, air throttle and reseting spring device.Although mesh
Preceding researcher both domestic and external does a lot of work to electronic throttle research, but there is also the influences of some yet unresolved issues
The stability of system: spring in throttle body is non-linear and the components such as rack-and-pinion gap, friction, motor and air throttle
Parameter uncertainties and inside and outside interfere the problems such as.These all reduce the tracking accuracy of control system of electronic throttle valve.Cause
This, in order to realize the high precision tracking purpose of control system of electronic throttle valve, it is necessary to inhibit the uncertain and non-of above-mentioned parameter
Linearly.
The rational design being successfully processed depending on control strategy to parameter uncertainty and high nonlinearity.It is such as entitled
“LPV modelling and mixed constrained H2/H∞Control of an electronic throttle, "
S.Zhang, J.Yang, and G.Zhu, IEEE/ASME Trans.Mechatro., vol.20, no.5, pp.2120-2132,
Oct.2015. (" the LPV modeling of electronic throttle and mixed constraints H2/H∞Control ", S.Zhang, J.Yang, and G.Zhu,
" IEEE journal-electromechanics periodical ", in October, 2015, the 5th phase 2120-2132 of volume 20) article propose H2/H∞Optimal control
System, but its output tracking performance and robustness are not very well, especially when a wide range of Parameter uncertainties and disturbance occur
It waits.Furthermore ANN Control and fuzzy control can be used to handle the uncertain and non-linear of complexity, but used skill
Art cannot cover the entire operating condition of AET system.In addition self adaptive control can be used to estimating system information, but if be
System model has very big difference because of the uncertainty of equipment, and closed-loop characteristic is kept you can't get good.
Due to significant advantage of sliding formwork (SM) control in terms of keeping robust performance and improving interference rejection capability.SM control
It has been successfully applied to AET control system.However there are two main disadvantages for sliding formwork control: on the one hand, being opened using biggish fixation
Control gain is closed to inhibit uncertain and disturbance influence, leads to serious control shake and biggish control amplitude.Although
In such as entitled " Extended-state-observer-based double-loop integral sliding-mode
control of electronic throttle valve,”Y.Li,B.Yang,T.Zheng,Y.Li,M.Cui,and
S.Peeta,IEEE Trans.Intellig.Transp.Syst,vol.16,no.5,pp.2501-2510,Oct.2015.
(" the electronic throttle double loop integral sliding mode control based on extended mode observer ", " IEEE journal-intelligent transportation system "
The 5th 2501-2510 pages of the phase of volume 16 in October, 2015) article in can eliminate and be not required to using so-called boundary layer (BL) method
The buffeting wanted, but cost is to reduce tracking performance and robustness.On the other hand, line is used in the AET control system based on SM
Property sliding surface, can guarantee the finite time convergence control of closed-loop system, but output tracking error asymptotic convergence arrives in sliding mode
Zero just needs the infinite time.
In order to further increase the convergence rate of SM control, such as entitled " Non-singular terminal sliding
Mode control of rigid manipulators, " Y.Feng, X.Yu, and Z.Man, Automatica, vol.38,
No.12, pp.2159-2167, Dec.2002. (" the non-singular terminal sliding formwork control of rigid machine hand ", Y.Feng, X.Yu, and
Z.Man, " automation ", the 12nd 2159-2167 pages of phase of volume 38 in December, 2002) article in utilize nonlinear switching function,
A kind of famous terminal sliding mode (TSM) control and the terminal sliding mode (NTSM) without control singularity are proposed, when guaranteeing limited
Between convergence and improved high transient state and steady-state tracking precision, but its there are problems that buffet.This potential disadvantage is
It controlled by full-order sliding mode, controlled and continuous quickly non-singular terminal sliding formwork in conjunction with the continuous T SM of TSM and supercoil technology
(CFNTSM) control solves, and especially CFNTSM control is not only able to maintain the superiority of NTSM control, but also is able to achieve quickly
State restrain and buffeting can be effectively reduced, so that it is successfully applied to various actual Mechatronic Systems.
Based on the above analysis it is recognized that while oneself has many scholars to propose various control algolithms for electronic throttle, but
It is that there is also following deficiencies for existing Electronic Throttle Control method:
1. design controller, most author solves using the output tracking performance of sacrificial system and robustness as cost
The problems such as parameter uncertainty and high nonlinearity, while the real-time working condition bring model for also not accounting for vehicle driving becomes
Change.
2. system model has very big difference because of the uncertainty of equipment, the closed-loop characteristic of system is difficult to be maintained.
3. traditional sliding formwork (SM) control method is easy to produce the chattering phenomenon of large magnitude and although closed-loop system has
Time Convergence is limited, but output tracking error is difficult in finite time asymptotic convergence to zero.
Therefore, this field needs one kind can be realized to overcome the problems, such as air throttle parameter perturbation in AET system and guarantee to miss
The control method of the high-precision tracking performance of system under the fast convergence and parameter perturbation of difference, to realize to nonlinear kinetics
The fast and accurate control of electronic throttle.
Summary of the invention
For the above analysis, the present invention is to inspire with the remarkable advantage of CFNTSM technology, proposes one and solves very well
State a kind of Electronic Throttle Control method based on continuous quickly non-singular terminal sliding mode technology of problem, including foot pedal and section
The position signal acquisition of valve estimates that steps are as follows to system lump disturbance using observer:
Step 1, it steps on the throttle foot pedal, so that foot pedal opening angle θref≥1°；
Step 2, to foot pedal opening angle θrefWith current throttle output angle θtIt is sampled, sampling period 1ms；
Step 3, the foot pedal opening angle θ first obtained according to step 2refWith current throttle output angle θt, utilize formula
Calculation system error e=θt-θref, then pass through the continuous quick non-singular terminal sliding formwork based on finite time accurate surveying device
Control algolithm calculates the Optimal Control voltage u of air throttle, and converses accounting for for motor driver setting according to formula T=u/12
Sky ratio T；
Step 4, the duty ratio T obtained after conversion is sent to motor driver, motor driver output voltage U driving section
Valve obtains ideal air throttle output angle θt1；
Step 5, if inspection termination condition is θt1=θref, the obtained ideal air throttle output angle θ of checking procedure 4t1
Whether numerical value meets inspection termination condition, examines termination condition, i.e. foot pedal opening angle θ if metrefWith the ideal exported
Air throttle output angle θt1Numerical value is equal, then terminates to run；If not meeting inspection termination condition, return step 2 is simultaneously repeated
Termination condition is examined until meeting in step 2~5.
Preferably, the continuous quick non-singular terminal sliding formwork control described in step 3 based on finite time accurate surveying device is calculated
Method the following steps are included:
Step 3.1, the foundation of electronic throttle system mathematical model
The mathematical model for obtaining electronic throttle system according to system modelling is as follows:
In formula,For current throttle output angle θtSecond dervative；For current throttle output angle θtSingle order
Derivative；Jaet0For the rotary inertia nominal value of electronic throttle system；Baet0It is nominal for the damped coefficient of electronic throttle system
Value；For the coefficient of control input；τF, sp0For friction spring torque tauF, spNominal value, and τF, sp0=τf0+τsp0, wherein τf0For
The moment of friction τ of electronic throttle systemfNominal value, τsp0For the spring aligning torque τ of electronic throttle systemspIt is nominal
Value；dlumIt is disturbed for the lump of electronic throttle system；
Step 3.2, the design of second order finite time accurate surveying device
It is calculated by designing second order finite time accurate surveying deviceEstimated valueAnd dlumEstimated value
The design formula of second order finite time accurate surveying device is as follows:
In formula:
It is the first derivative of systematic error e, andWhereinIt is air throttle output angle θtSingle order
Derivative,It is foot pedal opening angle θrefFirst derivative；
v0It is the intermediate variable of second order finite time accurate surveying device 1；
v1It is the intermediate variable of second order finite time accurate surveying device 2；
λ0It for second order finite time accurate surveying device parameter 1, and is a positive number；
λ1It for second order finite time accurate surveying device parameter 2, and is a positive number；
λ2It for second order finite time accurate surveying device parameter 3, and is a positive number；
K is second order finite time accurate surveying device parameter 4, and is a positive number；
z0It is the output valve of second order finite time accurate surveying device 1, andWhereinIt is the first derivative of systematic errorEstimated value,It is the output valve z of finite time accurate surveying device 10First derivative；
z1It is the output valve of second order finite time accurate surveying device 2, andWhereinIt is electronic throttle
The lump of system disturbs estimated value dlumEstimated value,The output valve z of finite time accurate surveying device 21First derivative；
z2It is the output valve of second order finite time accurate surveying device 3, andWhereinIt is electronic throttle
The first derivative of system lump disturbanceEstimated value,It is the output valve z of finite time accurate surveying device 32Single order lead
Number；
Sign () is sign function；
Step 3.3, controller design
(1) sliding-mode surface function s, expression formula are asked are as follows:
Wherein:
λf1It is the scale parameter 1 of TSM control device, and is a positive number；
λf2It is the scale parameter 2 of TSM control device, and is a positive number；
α1It is the index parameters 1 of TSM control device, and has 1 < α1< 2；
α2It is the index parameters 2 of TSM control device, and α2> α1；
Sign () is sign function；
(2) Optimal Control voltage
U=u0+u1+u2
Wherein u0For equivalent control voltage, u1For reaching law control voltage, u2For dynamic offset voltage；u0、u1、u2Expression formula
It is as follows:
Sign () is sign function；
In formula:
k1It is TSM control device Reaching Law parameter 1, and is a positive number；
k2It is TSM control device Reaching Law parameter 2, and is a positive number；
α3It is the dynamic compesated control rule parameter of TSM control device, and 0 < α3< 1.
The beneficial effect of the present invention compared with the existing technology is:
1. proposing a kind of guarantee system trajectory in the new CFNTSM type sliding-mode surface of Finite-time convergence, controller adopted
With quick TSM type Reaching Law, finite time stability can be realized in the approach sliding-mode surface stage.
2. mission nonlinear and external disturbance are estimated and compensated by finite time accurate surveying device, thus can effectively avoid pair
The dependence of complicated uncertain information.
3. detailed give the stability for the closed loop system for combining observer dynamics with sliding formwork feedback control
Analysis.
Detailed description of the invention
Fig. 1 is the flow chart of control method in the present invention.
Fig. 2 is the basic structure schematic diagram of control system in embodiment in the present invention.
Fig. 3 is that the step signal that the amplitude after being controlled using the present invention electronic throttle system is continuously changed tracks
Curve graph.
Fig. 4 is that the step signal that the amplitude after being controlled using the present invention electronic throttle system is continuously changed tracks
Error curve diagram.
Fig. 5 is the trace plot of the sinusoidal signal after being controlled using the present invention electronic throttle system.
Fig. 6 is the sinusoidal signal tracking error curve figure after being controlled using the present invention electronic throttle system.
Fig. 7 is the trace plot for having disturbance to be inserted into after being controlled using the present invention electronic throttle system.
Fig. 8 is the tracking error curve for having disturbance to be inserted into after being controlled using the present invention electronic throttle system
Figure.
Specific embodiment
Clear, complete description is carried out to technical solution of the present invention below in conjunction with attached drawing.Obviously described to implement
Example is only a part of the embodiment of the present invention, and based on the embodiment of the present invention, those skilled in the art is not making creation
Property labour under the premise of the other embodiments that obtain, all belong to the protection scope of this patent.
Fig. 1 is the flow chart of control method in the present invention.It may be seen that control method of the present invention, including foot pedal and
The position signal acquisition of air throttle estimates that steps are as follows to electronic throttle system lump disturbance with using observer:
Step 1, it steps on the throttle foot pedal, so that foot pedal opening angle θref≥1°；
Step 2, to foot pedal opening angle θrefWith current throttle output angle θtIt is sampled, sampling period 1ms；
Step 3, the foot pedal opening angle θ first obtained according to step 2refWith current throttle output angle θt, utilize formula
Calculation system error e=θt-θref, then pass through the continuous quick non-singular terminal sliding formwork based on finite time accurate surveying device
Control algolithm calculates the Optimal Control voltage u of air throttle, and converses accounting for for motor driver setting according to formula T=u/12
Sky ratio T；
Step 4, the duty ratio T obtained after conversion is sent to motor driver, motor driver output voltage U driving section
Valve obtains ideal air throttle output angle θt1；
Step 5, if inspection termination condition is θt1=θref, the obtained ideal air throttle output angle θ of checking procedure 4t1
Whether numerical value meets inspection termination condition, examines termination condition, i.e. foot pedal opening angle θ if metrefWith the ideal exported
Air throttle output angle θt1Numerical value is equal, then terminates to run；If not meeting inspection termination condition, return step 2 is simultaneously repeated
Termination condition is examined until meeting in step 2~5.
Continuous quick non-singular terminal sliding mode control algorithm based on finite time accurate surveying device the following steps are included:
Step 3.1, the foundation of electronic throttle system mathematical model
The mathematical model for obtaining electronic throttle system according to system modelling is as follows:
In formula,For current throttle output angle θtSecond dervative；For current throttle output angle θtSingle order
Derivative；Jaet0For the rotary inertia nominal value of electronic throttle system；Baet0It is nominal for the damped coefficient of electronic throttle system
Value；For the coefficient of control input；τF, sp0For friction spring torque tauF, spNominal value, and τF, sp0=τf0+τsp0, wherein τf0For
The moment of friction τ of electronic throttle systemfNominal value, τsp0For the spring aligning torque τ of electronic throttle systemspIt is nominal
Value；dlumIt is disturbed for the lump of electronic throttle system；
In the present embodiment, electronic throttle system model parameters value is as shown in the table:
Step 3.2, the design of second order finite time accurate surveying device
It is calculated by designing second order finite time accurate surveying deviceEstimated valueAnd dlumEstimated value
The design formula of second order finite time accurate surveying device is as follows:
In formula:
It is the first derivative of systematic error e, andWhereinIt is air throttle output angle θtSingle order
Derivative,It is foot pedal opening angle θrefFirst derivative；
v0It is the intermediate variable of second order finite time accurate surveying device 1；
v1It is the intermediate variable of second order finite time accurate surveying device 2；
λ0For second order finite time accurate surveying device parameter 1 and it be a positive number；
λ1For second order finite time accurate surveying device parameter 2 and it be a positive number；
λ2For second order finite time accurate surveying device parameter 3 and it be a positive number；
K be second order finite time accurate surveying device parameter 4 and it be a positive number；
z0It is the output valve of second order finite time accurate surveying device 1, andWhereinIt is the first derivative of systematic errorEstimated value,It is the output valve z of finite time accurate surveying device 10First derivative；
z1It is the output valve of second order finite time accurate surveying device 2, andWhereinIt is electronic throttle
The lump of system disturbs estimated value dlumEstimated value,The output valve z of finite time accurate surveying device 21First derivative；
z2It is the output valve of second order finite time accurate surveying device 3, andWhereinIt is electronic throttle
The first derivative of system lump disturbanceEstimated value,It is the output valve z of finite time accurate surveying device 32Single order lead
Number；
Sign () is sign function；
In the present embodiment, second order finite time observer parameters value is as shown in the table:
Step 3.3, controller design
(1) sliding-mode surface function s, expression formula are asked are as follows:
Wherein:
λf1It is the scale parameter 1 of TSM control device, and is a positive number；
λf2It is the scale parameter 2 of TSM control device, and is a positive number；
α1It is the index parameters 1 of TSM control device, and has 1 < α1< 2；
α2It is the index parameters 2 of TSM control device, and α2> α1；
Sign () is sign function；
(2) Optimal Control voltage
U=u0+u1+u2
Wherein u0For equivalent control voltage, u1For reaching law control voltage, u2For dynamic offset voltage；u0、u1、u2Expression formula
It is as follows:
Sign () is sign function；
In formula:
k1It is TSM control device Reaching Law parameter 1, and is a positive number；
k2It is TSM control device Reaching Law parameter 2, and is a positive number；
α3It is the dynamic compesated control rule parameter of TSM control device, and 0 < α3< 1.
In the present embodiment, the parameters value of TSM control device is as shown in the table:
Fig. 2 is the basic structure schematic diagram of control system in embodiment in the present invention.It may be seen that the control in embodiment
System processed includes foot-operated plate module, MCU module, Drive Module, throttle module.
Foot-operated plate module cooperation upper angle sensor can obtain the foot pedal opening angle θ of inputref。
MCU module, for by the angle, θ of foot pedalrefWith the output angle θ of AET systemtIt is compared, then passes through base
In the Optimal Control voltage u that the continuous quick non-singular terminal sliding control algolithm of finite time accurate surveying device is calculated.
Drive Module is generated for driving AET system voltage U.
Throttle module, for realizing ideal air throttle output angle θt1, after receiving the voltage U that driver is sent, section
Valve will correspondingly rotate, while the angle of its output can also be acquired by angular transducer.
To verify implementation result of the invention, verified on electronic throttle experiment porch.Obtained as Fig. 3,
Fig. 4, Fig. 5, Fig. 6, Fig. 7 and curve shown in Fig. 8.Fig. 3 and Fig. 4 is to be controlled to electronic throttle system using the present invention respectively
The step signal aircraft pursuit course and tracking error curve figure that amplitude after system continuously changes.Fig. 5 and Fig. 6 is to electronic throttle respectively
Door system using the present invention controlled after sinusoidal signal trace plot and tracking error curve figure.Fig. 7 and Fig. 8 difference
It is the trace plot and tracking error curve for thering is disturbance to be inserted into after being controlled using the present invention electronic throttle system
Figure.
It is can be seen that from these curves the present invention overcomes air throttle parameter perturbation problem in the prior art, solves system
Control gain selection is difficult to and controls the low problem of precision, this method ensure that system under the fast convergence of error and parameter perturbation
High-precision tracking performance realizes the fast and accurately control to the air throttle of nonlinear kinetics.
Claims (2)
1. a kind of Electronic Throttle Control method based on continuous quickly non-singular terminal sliding mode technology, including foot pedal and solar term
The position signal acquisition of door, which is characterized in that steps are as follows is estimated to system lump disturbance using observer:
Step 1, it steps on the throttle foot pedal, so that foot pedal opening angle θref≥1°；
Step 2, to foot pedal opening angle θrefWith current throttle output angle θtIt is sampled, sampling period 1ms；
Step 3, the foot pedal opening angle θ first obtained according to step 2refWith current throttle output angle θt, calculated using formula
Systematic error e=θt-θref, then pass through the continuous quick non-singular terminal sliding formwork control based on finite time accurate surveying device
Algorithm calculates the Optimal Control voltage u of air throttle, and the duty ratio of motor driver setting is conversed according to formula T=u/12
T；
Step 4, the duty ratio T obtained after conversion is sent to motor driver, motor driver output voltage U drives solar term
Door, obtains ideal air throttle output angle θt1；
Step 5, if inspection termination condition is θt1=θref, the obtained ideal air throttle output angle θ of checking procedure 4t1Numerical value is
No satisfaction examines termination condition, examines termination condition, i.e. foot pedal opening angle θ if metrefWith the ideal air throttle exported
Output angle θt1Numerical value is equal, then terminates to run；If not meeting inspection termination condition, return step 2 and repeatedly step 2~
5, termination condition is examined until meeting.
2. a kind of Electronic Throttle Control side based on continuous quickly non-singular terminal sliding mode technology according to claim 1
Method, which is characterized in that the continuous quick non-singular terminal sliding mode control algorithm described in step 3 based on finite time accurate surveying device
The following steps are included:
Step 3.1, the foundation of electronic throttle system mathematical model
The mathematical model for obtaining electronic throttle system according to system modelling is as follows:
In formula,For current throttle output angle θtSecond dervative；For current throttle output angle θtSingle order lead
Number；Jaet0For the rotary inertia nominal value of electronic throttle system；Baet0For the damped coefficient nominal value of electronic throttle system；For the coefficient of control input；τf,sp0For friction spring torque tauf,spNominal value, and τf,sp0=τf0+τsp0, wherein τf0For electricity
The moment of friction τ of sub- throttle systemfNominal value, τsp0For the spring aligning torque τ of electronic throttle systemspNominal value；
dlumIt is disturbed for the lump of electronic throttle system；
Step 3.2, the design of second order finite time accurate surveying device
It is calculated by designing second order finite time accurate surveying deviceEstimated valueAnd dlumEstimated value
The design formula of second order finite time accurate surveying device is as follows:
In formula:
It is the first derivative of systematic error e, andWhereinIt is air throttle output angle θtSingle order lead
Number,It is foot pedal opening angle θrefFirst derivative；
v0It is the intermediate variable of second order finite time accurate surveying device 1；
v1It is the intermediate variable of second order finite time accurate surveying device 2；
λ0It for second order finite time accurate surveying device parameter 1, and is a positive number；
λ1It for second order finite time accurate surveying device parameter 2, and is a positive number；
λ2It for second order finite time accurate surveying device parameter 3, and is a positive number；
K is second order finite time accurate surveying device parameter 4, and is a positive number；
z0It is the output valve of second order finite time accurate surveying device 1, andWhereinIt is the first derivative of systematic error's
Estimated value,It is the output valve z of finite time accurate surveying device 10First derivative；
z1It is the output valve of second order finite time accurate surveying device 2, andWhereinIt is electronic throttle system
Lump disturb estimated value dlumEstimated value,The output valve z of finite time accurate surveying device 21First derivative；
z2It is the output valve of second order finite time accurate surveying device 3, andWhereinIt is electronic throttle system
The first derivative of lump disturbanceEstimated value,It is the output valve z of finite time accurate surveying device 32First derivative；
Sign () is sign function；
Step 3.3, controller design
(1) sliding-mode surface function s, expression formula are asked are as follows:
Wherein:
λf1It is the scale parameter 1 of TSM control device, and is a positive number；
λf2It is the scale parameter 2 of TSM control device, and is a positive number；
α1It is the index parameters 1 of TSM control device, and has 1 < α1<2；
α2It is the index parameters 2 of TSM control device, and α2>α1；
Sign () is sign function；
(2) Optimal Control voltage
U=u0+u1+u2
Wherein u0For equivalent control voltage, u1For reaching law control voltage, u2For dynamic offset voltage；u0、u1、u2Expression formula is such as
Under:
Sign () is sign function；
In formula:
k1It is TSM control device Reaching Law parameter 1, and is a positive number；
k2It is TSM control device Reaching Law parameter 2, and is a positive number；
α3It is the dynamic compesated control rule parameter of TSM control device, and 0 < α3<1。
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