基于双向伺服力反馈的电子节气门控制系统  

Electronic Throttle Control System Based on Bilateral Servo with Force Feedback

作　　者：巩明德[1] 田博[1] 王辉[1] 

机构地区：[1]吉林大学机械科学与工程学院,长春130025

出　　处：《农业机械学报》2013年第5期1-6,24,共7页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金资助项目(50975118);吉林大学科学前沿与交叉学科创新项目(200903168)

摘　　要：针对目前电子节气门控制系统中存在的缺乏驾驶临场感、非线性和未建模动态不确定性等缺点,结合临场感主从遥操纵理论,提出基于双向伺服力反馈控制策略的电子节气门控制系统。驾驶员目标开度与节气门实际开度位置偏差经动态鲁棒补偿器控制电驱油门踏板角位移,使驾驶员感知反馈力;同时位置偏差通过基于等效控制的模糊滑模控制器控制电子节气门实际开度,使其准确跟踪目标开度。通过仿真验证了所设计的控制策略的有效性。试验采用电控六自由度驾驶模拟器,结果表明,所设计的电子节气门控制系统能够精确修正开度位置偏差,增强驾驶临场感,具有较强的鲁棒性和自适应性。To eliminate the lack of driving tele-presence,the errors from nonlinearity and dynamic modeling uncertainty,the control algorism based on the bilateral servo with force feedback and the theory of master-slave tele-manipulation was presented for electronic throttle system.The position deviation between ideal angle and real angle was used as input signal.The dynamic robust compensator controlled the accelerator pedal by-wire to make driver＇s perception of feedback force.The fuzzy sliding mode controller based on equivalent controlled the real angle of electronic throttle to track the ideal angle.The simulation presents effectiveness of the designed control algorism.The experimental results on the electronic 6-DOF driving simulator show that the control algorism can eliminate the position errors rapidly and accurately,provides driving tele-presence and enhances the robustness and adaptive ability.

关 键 词：电子节气门 控制系统 力反馈 鲁棒控制 滑动模态控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]