Fault Tolerant Control of Electronic Throttles with Friction Changes

Haiying Qi,Clifford Mayhew,Yujia Zhai,J Barry Gomm,Shuangxin Wang,Dingli Yu,Qian Zhang

doi:10.3390/electronics8090918

Abstract

To enhance the reliability of the electronic throttle and consequently the vehicles driven by the internal combustion engines, a fault tolerant control strategy is developed in this paper. The proposed method employs a full-order terminal sliding mode control in conjunction with an adaptive radial basis function network to estimate change rate of the fault. Fault tolerant control to abrupt and incipient changes in the throttle viscous friction torque coefficient and the throttle coulomb friction torque coefficient is achieved. Whilst the throttle position is driven to track the reference signal, the post-fault dynamics are guaranteed to converge to the equilibrium point in finite time, and the control is smooth without chattering. A nonlinear Simulink model of an electronic throttle is developed with real physical parameters and is used for evaluation of the developed method. A significant change of the throttle friction torque is simulated, and the fault tolerant control system keeps system stability and tracking the reference signal in the presence of the fault.

Highlights

Electronic throttle is an actuator to regulate the throttle plate opening to control airflow rate into the air manifold for air/fuel ratio control in automotive engines
We develop a fault tolerant control system for electronic throttle based on a throttle model
The novelty and the contributions of the work in this paper are: (a) in the developed full order TSMC (FOTSMC), the requirement for knowing the upper bound of the considered fault change rate is relaxed; (b) the friction fault that often occurs in real electronic throttle system is tolerated, whilst the throttle position tracking control is achieved; (c) closed-loop system stability with post-fault dynamics and the convergence of the adaptive radial basis function (RBF) network estimation are guaranteed with Lyapunov theory

Summary

Introduction

Electronic throttle is an actuator to regulate the throttle plate opening to control airflow rate into the air manifold for air/fuel ratio control in automotive engines. A sliding mode observer is employed in the paper to estimate throttle position and compare it with sensor output for fault detection. We develop a fault tolerant control system for electronic throttle based on a throttle model. Throttle position tracking control with stabilization of post-fault dynamics is achieved by employing a developed FOTSMC. The novelty and the contributions of the work in this paper are: (a) in the developed FOTSMC, the requirement for knowing the upper bound of the considered fault change rate is relaxed; (b) the friction fault that often occurs in real electronic throttle system is tolerated, whilst the throttle position tracking control is achieved; (c) closed-loop system stability with post-fault dynamics and the convergence of the adaptive RBF network estimation are guaranteed with Lyapunov theory.

Electronic Throttle Modeling

Full-Order Terminal Sliding Mode Control

Fault Diagnosis and Fault Tolerant Control

Simulation Studies

Conclusions