基于MPC-DRPID的电子节气门控制  

Electronic Throttle Control Based on MPC-DRPID

作　　者：张振东[1] 孟威 徐浦 毕珂珂 ZHANG Zhendong;MENG Wei;XU Pu;BI Keke(Department of Mechanical Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China)

机构地区：[1]上海理工大学机械工程学院,上海200093

出　　处：《控制工程》2023年第6期961-968,989,共9页Control Engineering of China

基　　金：国家自然科学基金资助项目(51275309)。

摘　　要：为了提高汽车发动机中电子节气门控制系统的动态性能和抗扰能力,根据电子节气门的机械结构建立非线性模型,针对节气门的非线性特性,设计跛行角补偿器进行补偿。同时,提出了一种串级结构的模型预测控制-抗扰PID(modelpredictivecontrol-disturbance rejection PID,MPC-DRPID)复合控制器。内环采用具备主动抗扰能力的DRPID控制器,该控制器可实时补偿总扰动,将系统补偿为具有理想动态响应特性的期望模型;外环将DRPID与节气门视为广义对象,采用输入扰动模型的无偏模型预测控制来优化内环的控制性能,同时提升系统的抗扰性能。该复合控制方案不需要复杂的模型信息,可在模型存在不确定性和不定扰动的情况下具有良好的伺服性和鲁棒性,且该复合控制方案不易发生模型失配,内环控制器参数整定简便,符合工程实际。仿真和实测均表明了该方案的优越性。In order to improve the dynamic performance and anti-interference ability of the electronic throttle control system in automobile engine,a nonlinear model is established according to the mechanical structure of the electronic throttle.Aiming at the nonlinear characteristics of the throttle,a limp angle compensator is designed.At the same time,a cascade structure model predictive control-disturbance rejection PID(MPC-DRPID) compound controller is proposed.The inner loop adopts DRPID controller with active disturbance rejection capability,which can compensate the total disturbance in real time and compensate the system to a desired model with ideal dynamic response characteristics.The outer loop treats DRPID and throttle as generalized objects,and optimizes the inner loop and improve anti-disturbance performance through unbiased MPC with input disturbance model.This composite control scheme does not require complex model information,can have good servo performance and robustness in the presence of uncertainties and uncertain disturbances in the model.Moreover,the parameter tuning of inner loop controller is simple and suitable for engineering.Both simulation and measurement show the superiority of the scheme.

关 键 词：电子节气门 自抗扰 复合控制 模型预测控制 

分 类 号：TP273.3[自动化与计算机技术—检测技术与自动化装置]