基于扰动估计的电子节气门离散快速终端滑模控制及实验性能分析  

Discrete-time fast terminal sliding mode control and performance analysis for electronic throttle with disturbance observer

作　　者：龙云 姚崇[2] 宋恩哲 马骋 董全[1] LONG Yun;YAO Chong;SONG En-zhe;MA Cheng;DONG Quan(College of Power and Energy Engineering,Harbin Engineering University,Harbin 150001,China;Yantai Research Institute and Graduate School,Harbin Engineering University,Yantai 264000,China)

机构地区：[1]哈尔滨工程大学动力与能源工程学院,黑龙江哈尔滨150001 [2]哈尔滨工程大学烟台研究(生)院,山东烟台264000

出　　处：《电机与控制学报》2023年第3期158-166,共9页Electric Machines and Control

基　　金：国家自然科学基金(51879056)。

摘　　要：针对电子节气门数字控制中不确定性与扰动导致的控制精度低问题,提出一种新型离散快速终端滑模控制器。首先,基于欧拉离散化方法建立节气门离散模型,并考虑全部参数的不确定性以及进气扰动。采用延迟估计器对系统扰动总集进行估计,并补偿到控制器中,使滑动变量的稳态性能提升至采样步长的高阶精度。然后,基于离散滑模到达条件设计改进离散快速终端滑模控制率。理论证明了所提出的控制器拥有更佳的稳态精度,并揭示了采样步长和关键控制参数对系统性能的影响规律。最后,设计两种实验测试信号,与传统离散滑模控制进行对比,结果表明所提出的控制器拥有更快的响应速度和更高的控制精度,尤其是节气门连续小角度变化时动态跟踪性能良好。In order to solve the problem of low control accuracy caused by uncertainty and disturbance in digital control for electronic throttle,a novel discrete-time fast terminal sliding mode controller was proposed.Firstly,the discrete-time model of electronic throttle was established based on the Euler discretization method,which considers uncertainties of all parameters and the intake disturbance of engines.The delay estimator was used to estimate the lumped disturbance of the system and compensate it to the controller,so that the steady-state of the sliding variable can be improved to the high-order accuracy of the sampling period.Then,based on the arrival condition of the discrete-time sliding mode,an improved discrete-time fast terminal sliding mode control law was designed.It is theoretically proved that the proposed control method has higher control accuracy.Meanwhile,relationship of the sampling period and the control parameters with the control performance was investigated.Finally,two experimental test signals were designed and compared with the traditional discrete-time sliding mode control.The results show that the proposed controller has faster response speed and higher control accuracy,especially the dynamic tracking performance under the continuous small angle change of throttle.

关 键 词：电子节气门 滑模控制 离散滑模 快速终端滑模 扰动估计 数字控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]