Abstract
A kind of double closed-loop servo control strategy is presented in this paper to realize accurate and fast position tracking of throttle valve for the automobile electronic throttle control system (ETCS). The control structure includes an extended state observer (ESO) compensating for the total disturbances resulted from nonlinearities of friction and return springs and uncertainties of some physical parameters, and two PI-type controllers with disturbance compensators of the outer position loop and the inner current loop. The proposed scheme is featured by transforming the control gains determination for the two PID-type controllers into the derivation of state feedback gains. And the transformation is carried on by means of the augmented deviation equations constructed by the ESO-estimated unmeasurable current and angular velocity of throttle. And control parameters of the two feedback loop controllers and ESO can be instructively determined by solving the linear matrix inequalities (LMIs) obtained from the Lyapunov stability analysis of the whole closed-loop system. The feasibility of the proposed strategy is validated in both simulation and hardware-in-the loop (HIL) test platform.
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