汽车电子节气门自适应模糊滑模控制器

Adaptive fuzzy sliding mode controller for auto electronic throttle

为了实现汽车电子节气门开度的精确和快速控制,设计了一种基于积分滑模面的模糊滑模控制器。针对节气门强非线性特性,建立了电子节气门系统的数学模型。将切换函数作为输入,利用模糊系统的万能逼近特性,实现对理想控制律的逼近,并基于Lyapunov方法设计自适应律对控制器参数进行实时调节。同时,针对电子节气门阀片角速度无法直接测量设计了扩张状态观测器,实现了节气门开度变化的准确估计。利用dSPACE搭建了电子节气门系统快速控制原型实验平台,仿真和实验结果均表明所设计的控制器对节气门期望开度的跟踪精确,具有较快的响应速度,并有效地削弱了抖振现象,提高了系统的动态性能。

In order to achieve precise and fast control of automotive electronic throttle valve opening,a fuzzy sliding mode controller based on integral sliding surface is designed.A mathematical model of the electronic throttle system is established for the nonlinear characteristics of the throttle.The switching function is used as input,and the ideal control law is approximated by using the universal approximation property of the fuzzy system.The adaptive law is designed based on the Lyapunov method to update the parameters of the controller on line.At the same time,an extended state observer is designed to accurately estimate the throttle opening change because the angular velocity of the electronic throttle valve can’t be measured directly.The dSPACE is used to build a rapid control prototype experimental platform for electronic throttle system.Both simulation and experimental results have demonstrated that the designed controller not only accurately tracks the expected opening of the throttle valve,but also has the fast response speed,which effectively weakens the chattering phenomenon and improves the dynamic performance of the system.