电子节气门开度鲁棒自适应控制器设计

顾友超¹，杨君^1*，王明杰²，王健¹，尹承城³，张文文⁴

1.山东交通学院汽车工程学院，山东 济南  250357；2.山东交通学院机动车检测实验中心，山东 济南  250100；

3.山东地矿新能源有限公司，山东 济南  250013；4.山东女子学院数据科学与计算机学院，山东 济南  250300

摘要：为解决电感和负载转矩扰动对电子节气门鲁棒自适应控制的影响，将电感的影响等效为未知常值电压，将负载转矩扰动的影响等效为白噪声，建立电子节气门动态方程，并基于李亚普诺夫函数设计电子节气门开度鲁棒自适应控制策略。以某电子节气门为例，在电子节气门控制仿真系统中依次输入常数信号、阶跃信号、正弦信号，分别模拟汽车匀速行驶、急加速、连续变速3种工况，进行数值仿真验证。结果表明：该控制策略可将电感和负载转矩扰动对电子节气门开度控制精度的影响控制在抑制水平内；3种工况下节气门开度均能快速、精确地跟踪目标开度，且达到稳态后跟踪误差基本维持在0°附近。

关键词：节气门开度；鲁棒自适应控制；电感；仿真

Design of robust adaptive controller for electronic throttle opening

GU Youchao¹, YANG Jun^1*, WANG Mingjie², WANG Jian¹,YIN Chengcheng³, ZHANG Wenwen⁴

1.School of Automotive Engineering, Shandong Jiaotong University, Jinan 250357, China;

2.Motor Vehicle Testing Center, Shandong Jiaotong University, Jinan 250100, China;

3.Shandong GEO-Mineral New Energy Co., Ltd., Jinan 250013, China;

4. Institute of Data Science and Computer Science, Shandong Women′s University, Jinan 250300, China

Abstract：In order to solve the influence of inductance and load torque disturbance on electronic throttle robust adaptive control, the influence of inductance is equivalent to unknown constant voltage, and the influence of load torque disturbance is equivalent to white noise. The dynamic equation of electronic throttle is established, and a robust adaptive control strategy is designed based on Lyapunov function. Taking an electronic throttle valve as an example, the constant signal, step signal and sine signal are inputted into the electronic throttle control simulation system to simulate three conditions of uniform speed driving, rapid acceleration and continuous speed change on the vehicle respectively, and carry out numerical simulation verification. The results show that the control strategy can restrain the influence of inductance and load torque disturbance on the control precision of electronic throttle opening below the suppression level. Under the working conditions, the throttle can track the opening of the target quickly and accurately, and the tracking error is basically near 0° after the throttle reaches the steady state.

Keywords:throttle opening; robust adaptive control; inductance; simulation