KR20050088861A - Predictive pid control for an automobile throttle valve actuator - Google Patents

Predictive pid control for an automobile throttle valve actuator Download PDF

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Publication number
KR20050088861A
KR20050088861A KR1020040014415A KR20040014415A KR20050088861A KR 20050088861 A KR20050088861 A KR 20050088861A KR 1020040014415 A KR1020040014415 A KR 1020040014415A KR 20040014415 A KR20040014415 A KR 20040014415A KR 20050088861 A KR20050088861 A KR 20050088861A
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KR
South Korea
Prior art keywords
throttle valve
pid controller
predictive
actuator
controller
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KR1020040014415A
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Korean (ko)
Inventor
이정재
이장명
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부산대학교 산학협력단
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Priority to KR1020040014415A priority Critical patent/KR20050088861A/en
Publication of KR20050088861A publication Critical patent/KR20050088861A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • B66C11/02—Trolleys or crabs, e.g. operating above runways with operating gear or operator's cabin suspended, or laterally offset, from runway or track
    • B66C11/04—Underhung trolleys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C7/00—Runways, tracks or trackways for trolleys or cranes
    • B66C7/08—Constructional features of runway rails or rail mountings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/02—Travelling gear incorporated in or fitted to trolleys or cranes for underhung trolleys or cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/01—General aspects of mobile cranes, overhead travelling cranes, gantry cranes, loading bridges, cranes for building ships on slipways, cranes for foundries or cranes for public works
    • B66C2700/011—Cable cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/01—General aspects of mobile cranes, overhead travelling cranes, gantry cranes, loading bridges, cranes for building ships on slipways, cranes for foundries or cranes for public works
    • B66C2700/012—Trolleys or runways

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
  • Control Of Throttle Valves Provided In The Intake System Or In The Exhaust System (AREA)

Abstract

본 발명은 전자식 스로틀 밸브 엑츄에이터(5) 제어에 예측 PID 제어기(3)를 적용하였다. 예측 PID 제어기(3)는 엑츄에이터(5)의 다음 상태를 추정함으로써 기존의 PID 제어기에 비해서 외란에 강인하고 빠른 응답 특성을 가지기 때문에 차량의 가감속 및 선회시 또는 정속도 유지시에 스로트 밸브(6)의 안정적인 제어를 보장해준다. 먼저 페달(1)의 위치가 페달 위치 센서(2)에 의해서 예측 PID 제어기(5)에 들어가면 제어기는 PWM(Pulse Width Modulation) 펄스를 H-Bridge DC 모터 드라이버(4)로 내보내고 이에 따라 스로틀 밸브 엑츄에이터(5)가 회전하게 되며 큰 토크를 내기 위해서 감속기어(7)를 거쳐서 스로틀 밸브(6)를 움직이게 된다. 스로틀 밸브 센서(8)에 의해서 스로틀 밸브의 위치 값은 다시 예측 PID 제어기로 피드백 되어서 안정적으로 스로틀 밸브(6)가 제어 되도록 한다. The present invention applies the predictive PID controller 3 to the control of the electronic throttle valve actuator 5. The predictive PID controller 3 is robust against disturbance and has a fast response characteristic by estimating the next state of the actuator 5, and thus has a throat valve (when the vehicle is accelerating and decelerating and turning or maintaining a constant speed). 6) to ensure stable control. First, when the position of the pedal (1) enters the predicted PID controller (5) by the pedal position sensor (2), the controller sends a pulse width modulation (PWM) pulse to the H-Bridge DC motor driver (4) and accordingly the throttle valve actuator (5) rotates and the throttle valve (6) is moved through the reduction gear (7) to produce a large torque. The position value of the throttle valve is fed back to the predictive PID controller by the throttle valve sensor 8 so that the throttle valve 6 can be stably controlled.

Description

예측 PID 제어기를 이용한 자동차 스로틀 밸브 엑츄에이터 제어 {Predictive PID Control for an Automobile Throttle Valve Actuator}Predictive PID Control for an Automobile Throttle Valve Actuator

기존의 기계식 스로틀 밸브는 차량의 부하 변화에 대해서 적절하게 반응하지 못하며 또한 차량의 급선회시와 같은 경우는 차량의 전복을 방지하기 위하여 속도를 제한할 필요가 있지만 기계식 스로틀 밸브는 단순히 사용자가 밟는 페달의 위치에 따라서 스로틀 밸브를 제어하기 때문에 이러한 기능을 수행할 수가 없다. 따라서 보다 안정적이고 부드러운 차량 속도의 제어를 위해서 전자식 스로틀 밸브가 필요하며 또한 이러한 전자식 스로틀 밸브의 엑츄에이터를 고속, 고정도로 제어하기 위해서 우수한 성능의 제어기를 필요로 하게 되었다.Conventional mechanical throttle valves do not respond appropriately to changes in the load of the vehicle.In addition, in case of rapid turning of the vehicle, it is necessary to limit the speed in order to prevent the vehicle from overturning. This function cannot be performed because the throttle valve is controlled according to the position. Therefore, an electronic throttle valve is required to control the vehicle speed more stably and smoothly, and a high performance controller is required to control the actuator of the electronic throttle valve with high speed and high accuracy.

본 발명에서는 스로틀 밸브 위치 센서에서 페달의 위치를 예측 PID 제어기로 보내면 예측 PID 제어기에서는 H-Bridge 모터 드라이버에 전자식 스로틀 밸브용 DC 모터를 제어하기 위한 PWM(Pulse Width Modulation) 파형을 내보낸다. 스로틀 밸브의 위치는 다시 예측 PID 제어기로 피드백되고 페달 입력과 현재 밸브 위치의 차이에 따라서 예측 PID 제어기가 동작하게 된다. 예측 제어기에서는 스로틀 밸브 엑츄에이터의 다음 상태를 추정함으로써 보다 정확하고 빠르게 엑츄에이터의 위치 제어를 구현하게 된다.In the present invention, when the position of the pedal is sent from the throttle valve position sensor to the predictive PID controller, the predictive PID controller sends a pulse width modulation (PWM) waveform for controlling the DC motor for the electronic throttle valve to the H-bridge motor driver. The position of the throttle valve is fed back to the predictive PID controller and the predictive PID controller operates according to the difference between the pedal input and the current valve position. The predictive controller realizes the position control of the actuator more accurately and quickly by estimating the next state of the throttle valve actuator.

도 1은 페달(1)의 위치가 페달 위치 센서(2)에 의해서 예측 PID 제어기(5)에 들어가면 제어기는 PWM(Pulse Width Modulation) 펄스를 H-Bridge DC 모터 드라이버(4)로 내보내고 이에 따라 스로틀 밸브 엑츄에이터(5)가 회전하게 되며 큰 토크를 내기 위해서 감속기어(7)를 거쳐서 스로틀 밸브(6)를 움직이게 된다. 스로틀 밸브 센서(8)에 의해서 스로틀 밸브의 위치 값은 다시 예측 PID 제어기로 피드백 되어서 안정적으로 스로틀 밸브(6)가 제어 되도록 한다.1 shows that when the position of the pedal 1 enters the predictive PID controller 5 by the pedal position sensor 2, the controller sends a pulse width modulation (PWM) pulse to the H-bridge DC motor driver 4 and accordingly the throttle. The valve actuator 5 rotates and the throttle valve 6 moves through the reduction gear 7 to produce a large torque. The position value of the throttle valve is fed back to the predictive PID controller by the throttle valve sensor 8 so that the throttle valve 6 can be stably controlled.

도 2는 스로틀 밸브의 외관을 나타낸다. 스로틀 밸브(1)를 움직이기 위한 엑츄에이터(2)가 옆에 부착되어 있고, 밸브의 위치값을 얻기 위한 스로틀 위치 센서(3)가 반대편에 부착되어 있다.2 shows the appearance of a throttle valve. An actuator 2 for moving the throttle valve 1 is attached to the side, and a throttle position sensor 3 for obtaining the position value of the valve is attached to the opposite side.

도 3는 스로틀 밸브의 내부 구조를 나타낸다. 자동차의 엔진은 스로틀 밸브를 통해서 들어오는 공기의 유입량(4)에 따라서 제어되게 되는데, 엑츄에이터(1)가 움직이면 감속기어(2)에 의해서 스로틀 밸브(3)가 움직이게 되고 이에 따라서 엔진 내부에 들어가는 공기량(4)이 조절되게 된다.3 shows the internal structure of the throttle valve. The engine of the vehicle is controlled according to the inflow amount of air (4) coming through the throttle valve. When the actuator (1) moves, the throttle valve (3) is moved by the reduction gear (2) and accordingly the amount of air entering the engine ( 4) will be adjusted.

도 4는 예측 PID 제어기의 구조를 나타낸다. 제어하고자 하는 목표값(1)이 설정되면 예측기(2)에서 M 횟수만큼 다음 상태를 추정하고 그 결과가 PID 제어기(3)로 들어가게 된다. M=0 일때 제어기는 이상적인 보통의 PID(3) 상태와 같지만 M > 0이면 M번의 예측을 수행함으로써 목표값에 빠르게 수렴하고 외란에 강한 특성을 가진다.4 shows the structure of a predictive PID controller. When the target value 1 to be controlled is set, the predictor 2 estimates the next state by M times, and the result enters the PID controller 3. When M = 0, the controller is like an ideal normal PID (3) state, but if M> 0, the controller converges quickly to the target value and has a strong characteristic of disturbance by performing M predictions.

도 5는 예측 PID 제어기(1)와 퍼지 제어기(2) 그리고 PID 제어기(3)를 사용하여 스로틀 밸브를 제어할 때, 스텝 입력(4)에 따른 출력 특성 곡선을 나타낸다. 예측 PID 제어기(1)를 사용했을 때가 가장 작은 오버슈트를 가지면서도 목표치에 빠르게 수렴함을 알 수 있다.5 shows the output characteristic curve according to the step input 4 when controlling the throttle valve using the predictive PID controller 1, the fuzzy controller 2 and the PID controller 3. It can be seen that when the predictive PID controller 1 is used, it quickly converges to the target value while having the smallest overshoot.

도 6은 예측 PID 제어기(1)와 퍼지 제어기(2), PID 제어기(3)의 외란에 따른 응답 특성을 나타낸다. 0°를 유지하고 있는 스로틀 밸브를 90° 정도로 강하게 회전시키는 외란을 주었을 때 원래값(0°)에 다시 수렴하는 특성을 관찰한 그래프이다. 예측 PID 제어기(1)가 가장 빠르게 수렴하는 것으로 보아 외란에 강한 특성을 가짐을 알 수 있다.6 shows response characteristics according to disturbances of the predicted PID controller 1, the fuzzy controller 2, and the PID controller 3. It is a graph that observes the characteristic of convergence back to the original value (0 °) when disturbance is made to strongly rotate the throttle valve holding 0 ° to about 90 °. It can be seen that the predictive PID controller 1 has a strong characteristic against disturbances as it converges fastest.

본 발명에서는 예측 PID 제어기를 이용해서 자동차 스로틀 밸브 엑츄에이터의 다음 상태를 예측함으로써 엑츄에이터를 빠르게 정확하게 제어할 수 있으며 외란에 강인한 특성을 가지므로 자동차의 속도를 일정하게 유지하거나 필요 이상으로 증가되지 않도록 제어해야 할 때 퍼지 제어기나 PID 제어기를 적용한 경우보다 우수한 성능을 나타난다.In the present invention, it is possible to control the actuator quickly and accurately by predicting the next state of the vehicle throttle valve actuator by using a predictive PID controller, and it is robust to disturbance, so the speed of the vehicle must be kept constant or controlled so as not to increase more than necessary. It shows better performance than the case of applying fuzzy controller or PID controller.

도 1은 전자식 스로틀 밸브 전체 구성도      1 is an overall configuration of the electronic throttle valve

도 2는 전자식 스로틀 밸브 외관      2 is an electronic throttle valve appearance

도 3은 전자식 스로틀 밸브 내부 구조      3 shows the internal structure of the electronic throttle valve

도 4는 예측 PID 제어기 구조      4 is a prediction PID controller structure

도 5는 예측 PID 제어기, 퍼지 제어기, PID 제어기의 스텝 응답 특성 설험 결과 그래프      5 is a graph illustrating the results of step response characteristics of the predictive PID controller, the fuzzy controller, and the PID controller.

도 6은 예측 PID 제어기, 퍼지 제어기, PID 제어기의 스텝 응답 특성 실험 결과 그래프      6 is a graph showing the results of step response characteristics of a predictive PID controller, a fuzzy controller, and a PID controller.

Claims (1)

자동차용 전자식 스로틀 바디 제어 장치에 있어서, 예측 PID 제어기를 이용하여 빠른 목표값 추종과 고속, 고정밀로 제어할 수 있는 것을 특징으로 하는 자동차 스로틀바디 제어 장치.An electronic throttle body control apparatus for a vehicle, wherein the vehicle throttle body control apparatus is capable of fast target value tracking and high speed and high precision control using a predictive PID controller.
KR1020040014415A 2004-03-03 2004-03-03 Predictive pid control for an automobile throttle valve actuator KR20050088861A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020040014415A KR20050088861A (en) 2004-03-03 2004-03-03 Predictive pid control for an automobile throttle valve actuator

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Application Number Priority Date Filing Date Title
KR1020040014415A KR20050088861A (en) 2004-03-03 2004-03-03 Predictive pid control for an automobile throttle valve actuator

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KR20050088861A true KR20050088861A (en) 2005-09-07

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