汽车电子节气门的模型参考-扰动观测复合控制

Vehicle Electronic Throttle Compound Control Based on Model-Reference Adaptive Control and Disturbance Observer

为了提高电子节气门在外界扰动和参数不确定情况下的控制精度,提出了模型参考自适应控制与扰动观测器结合的复合控制方法。分析了电子节气门控制系统的工作原理,建立了电子节气门数学模型。以典型二阶系统为参考模型,给出了控制律构造方法,使用Lyapunov稳定性推导了控制律参数的自适应律,因而设计了模型参考自适应控制器。为了消除外界扰动和系统参数不确定性,设计了扰动观测器对扰动和参数进行实时估计。将模型参考自适应控制器与扰动观测器结合,提出了复合控制器的构造方法。经仿真和实验验证,存在外界扰动和参数不确定性时,复合控制器的控制精度和控制速度均优于模型参考自适应控制器,说明了复合控制器在电子节气门控制中的有效性,且复合控制器具有较强的鲁棒性。

In order to improve control accuracy of electronic throttle under distance and parameters uncertain,compound control method combined model-reference adaptive control and disturbance observer is proposed.Working principle of electronic throttle control system is analyzed,and its model is built.Setting characteristic 2 order system as referencing model,construction method of control law is provided.Adaptive law of control law parameters is derived by Lyapunov stability,so that model-reference adaptive controller is designed.To eliminate the influence of disturbance and parameter uncertain,disturbance observer is designed to estimate disturbance and parameter online.Combining model-reference adaptive controller and disturbance observer,structure method of compound controller is put forward.It is clarified by simulation and trial that under the condition of distance and parameters uncertain,control accuracy and speed of compound controller are optimal to model-reference adaptive controller,which indicates validity of compound controller on electronic throttle control.Besides,robustness of compound controller is very strong.