Robust Position Control of an Electromechanical Actuator for Automotive Applications

Authors: Markus Reichhartinger, Martin Horn

Abstract:

In this paper, the position control of an electronic throttle actuator is outlined. The dynamic behavior of the actuator is described with the help of an uncertain plant model. This motivates the controller design based on the ideas of higher-order slidingmodes. As a consequence anti-chattering techniques can be omitted. It is shown that the same concept is applicable to estimate unmeasureable signals. The control law and the observer are implemented on an electronic control unit. Results achieved by numerical simulations and real world experiments are presented and discussed.

Keywords: higher order sliding-mode, throttle actuator, electromechanicalsystem, robust and nonlinear control.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1072513

References:

[1] T. Aono and T. Kowatari, "Throttle-control algorithm for improving engine response based on air-intake model and throttle-response model," IEEE Transactions on Industrial Electronics, vol. 53, no. 3, pp. 915-921, June 2006.
[2] M. Corno, M. Tanelli, S. Savaresi, and L. Fabbri, "Design and validation of a gain-scheduled controller for the electronic throttle body in ride-by-wire racing motorcycles," Control Systems Technology, IEEE Transactions on, vol. 19, no. 1, pp. 18 -30, jan. 2011.
[3] O. Dagzi, Y. Pan, and U. Ozguner, "Sliding mode control of electronic throttle valve," in Proceedings of the American Control Conference, 2002, pp. 1996-2001.
[4] J. Deur, D. Pavkovi'c, N. Peri'c, M. Jansz, and D. Hrovat, "An electronic throttle control strategy including compensation of friction and limphome effects," IEEE Transactions on Industry Applications, vol. 40, pp. 821-834, 2004.
[5] M. Reichhartinger and M. Horn, "Application of higher order slidingmode concepts to a throttle actuator for gasoline engines," IEEE Transactions on Industrial Electronics, vol. 56, no. 9, pp. 3322-3329, Sept. 2009.
[6] D. Pavkovi'c, J. Deur, M. Jansz, and N. Peri'c, "Adaptive control of automotive electronic throttle," Control Engineering Practice, vol. 14, pp. 121-136, 2006.
[7] K. Nakano, U. Sawut, K. Higuchi, and Y. Okajima, "Modelling and observer-based sliding-mode control of electronic throttle systems," Transactions on Electrical Eng., Electronics, and Communications, vol. 4, no. 1, pp. 22-28, 2006.
[8] R. Scattolini, C. Sivierob, M. Mazzuccoa, S. Riccia, L. Poggiob, and C. Rossi, "Modeling and identification of an electromechanical internal combustion engine throttle body," Control Engineering Practice, vol. 5, pp. 1253-1259, 1997.
[9] D. Pavkovi'c, J. Deur, M. Jansz, and N. Peri'c, "Experimental identification of an electronic throttle body," in Proceedings of 10th European Conference on Power Electronics and Applications, 2003.
[10] P. Zhang, C. Yin, and J. Zhang, "Sliding mode control with sensor fault tolerant for electronic throttle," in Proc. IEEE International Conference on Automation Science and Engineering CASE -06, 2006, pp. 568-573.
[11] Y. Pan, U. Ozguner, and O. H. Dagci, "Variable-structure control of electronic throttle valve," IEEE Transactions on Industrial Electronics, vol. 55, no. 11, pp. 3899-3907, Nov. 2008.
[12] M. Vasak, I. Petrovic, and N. Peric, "State estimation of an electronic throttle body," in Proc. IEEE International Conference on Industrial Technology, vol. 1, 2003, pp. 472-477 Vol.1.
[13] V. Utkin, J. Guldner, and J. Shi, Sliding Mode Control in Electromechanical Systems. CRC Press, Taylor and Francis Group, 2009.
[14] A. Davila, J. Moreno, and L. Fridman, "Optimal lyapunov function selection for reaching time estimation of super twisting algorithm," in Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on, 2009, pp. 8405 -8410.
[15] J. A. Moreno, 11th IEEE Workshop on Variable Structure Systems, Plenaries and Semiplenaries, L. Fridman, Ed., 2010.
[16] A. Levant, "Principles of 2-sliding mode design," Automatica, vol. 43, no. 4, pp. 576 - 586, 2007.
[17] J. Moreno and M. Osorio, "A lyapunov approach to second-order sliding mode controllers and observers," in Decision and Control, 2008. CDC 2008. 47th IEEE Conference on, 2008, pp. 2856 -2861.
[18] A. Polyakov and A. Poznyak, "Reaching time estimation for supertwisting second order sliding mode controller via lyapunov function designing," Automatic Control, IEEE Transactions on, vol. 54, no. 8, pp. 1951 -1955, 2009.
[19] S. K. Spurgeon, "Sliding mode observers: a survey," International Journal of Systems Science, vol. 39, pp. 751-764, 2008.
[20] J. Davila, L. Fridman, and A. Levant, "Second-order sliding-mode observer for mechanical systems," Automatic Control, IEEE Transactions on, vol. 50, no. 11, pp. 1785 - 1789, 2005.
[21] A. Levant, "Robust exact differentiation via sliding mode technique," automatica, vol. 34, no. 3, pp. 379-384, 1998.
[22] ÔÇöÔÇö, "Higher-order sliding modes, differentiation and output-feedback control," International Journal of Control, vol. 76, pp. 924-941, 2003.