汽车电子节气门Back-stepping滑模控制器设计  

Design of Back-stepping Sliding Mode Controller for Electronic Throttle

作　　者：刘尚[1] 童亮[1,2] 谢明伟[1] 路艳群 LIU Shang TONG Liang XIE Ming-wei LU Yan-qun(Beijing Information Science and Technology University1 , Beijing 100192 ,P. R. China Beijing Collaborative Innovation Center of Electric Vehicles2 , Beijing 100192 ,P. R. China)

机构地区：[1]北京信息科技大学,北京100192 [2]北京电动车辆协同创新中心,北京100192

出　　处：《科学技术与工程》2017年第3期114-120,144,共8页Science Technology and Engineering

基　　金：国家自然科学基金(51275053);电动汽车北京实验室项目(PXM2013_014224_000005)资助

摘　　要：建立包含黏滞摩擦模型、复位弹簧模型及齿轮间隙模型的电子节气门系统的数学模型,并针对节气门系统的非线性特性设计了基于非线性终端滑模面的Back-steeping滑模控制器,可以提高系统收敛速度,降低系统误差并消除系统抖动。同时,针对控制系统中不确定扰动及电子节气门阀板角速度和电机电流不可测量变量设计了非线性扩张状态观测器,实现了系统不可测量变量和不确定扰动准确估计。通过搭建ds PACE快速控制原型环境,并针对电子节气门的实际应用工况对设计的控制器进行了实验验证。实验结果表明所设计Back-stepping滑模控制器对目标角度跟踪精度高,收敛速度快且无超调,可以满足电子节气门的控制要求。The mathematical model of electronic throttle was constructed to think about those problems of viscous friction,gear backlash and the nonlinear characteristics of spring. Back-stepping sliding mode controller was designed on the basis of the model,resolving the complicated nonlinear system to several subsystems to compensate the dynamic error. At the same time,directing at those problems about control system,such as,the need of valve plate angular velocity of electronic throttle,motor current variables and uncertain disturbance couldn＇t be measured,the nonlinear extension state observer was designed,realizing the accurate estimation of those variables couldn＇t be measured. The designed controller was verifed by means of establishing the environment of dsP ACE rapid control prototype and combined those two applied operating conditions of electronic throttle. The experimental result indicated that the Back-stepping sliding mode controller not only had a high tracking accuracy to the target angle,a fast convergence rate but also no overshoot,so it could satisfy the control requirement of the electronic throttle.

关 键 词：电子节气门 Back-stepping滑模控制 非线性扩张状态观测器 dsPACE快速控制原型 

分 类 号：U464.123[机械工程—车辆工程]