基于固定时间预设性能的汽车电子节气门伺服控制

Servo control for automobile electronic throttle based on prescribed performance with fixed adjusting time

针对汽车电子节气门控制系统对暂态性能和稳态性能的严格要求,将预设性能控制策略与固定时间稳定性理论相结合,设计了一种固定时间预设性能伺服控制器。该控制器在设计过程中根据实际节气门系统的动静态性能要求、结合固定时间收敛理论选取了预设性能函数及其参数,可以保证系统跟踪误差不依赖于初始误差以及扰动均具有固定的收敛时间、且其稳态误差被限定在预定义界内。设计中同时考虑了驱动电机控制电压的限幅要求,引入辅助动态系统处理控制器饱和约束性问题。控制器在提高控制系统暂态性能上的有效性及优越性通过仿真分析与比较得到了验证。

In view of electronic throttle systems with typical nonlinear characteristic and the strict requirement of transient performance and steady performance,a prescribed performance fixed-time controller is designed by combining the prescribed performance control strategy with the fixed-time stability theory.The controller design is based on the actual throttle system of dynamic and static performance requirements,combined with the fixed-time convergence theory to select the prescribed performance function and parameters,it can guarantee the system tracking error is not dependent on the initial error and disturbance and have the fixedconvergence time,and the steady-state error is limited in the predefined bounds.At the same time,considering the limiting requirements of the driving motorcontrol voltage,an auxiliary dynamic system is introduced to handle the saturation constraint of the controller.The effectiveness and superiority of the controller in improving the transient performance of the control system are verified by simulation analysis and comparison.