Throttle System Research Articles

Adaptive synergetic control for electronic throttle valve system

AbstractThis study has developed adaptive synergetic control (ASC) algorithm to control the angular position of moving plate in the electronic throttle valve (ETV) system. This control approach is inspired by synergetic control theory. The adaptive controller has addressed the problem of variation in systems parameters. The control design includes two elements: the control law and adaptive law. The adaptive law is developed based on Lyupunov stability analysis of the controlled system, and it is responsible for estimating the potential uncertainties in the system. The effectiveness of the proposed adaptive synergetic control has been verified by numerical simulation using MATLAB/Simulink. The results showed that the ASC algorithm could give good tracking performance in the presence of uncertainty perturbations. In addition, a comparison study has been made to compare the tracking performance of ASC and that based on conventional synergetic control (CSC) for the ETV system. The simulated results showed that the performance of ASC outperforms that based on CSC. Moreover, the results showed that the estimation errors between the actual and estimated uncertainties are bounded and there is no drift in the developed adaptive law of ASC.

Signal Compensation Control With DDPG-Based Tuning Strategy for Electronic Throttle System

The electronic throttle system (ETS) is one of the important components of an automobile engine that adjust the engine air intake to directly affect the combustion power of the engine. In practical scenarios, Proportional-Integral-Derivative (PID) is a common and effective method. However, the traditional PID is difficult to satisfy the ETS performance requirements, e.g., the system response overshoot is not allowed to exist. Moreover, the controller gains are also difficult to tune manually. To tackle the above-mentioned issues, we propose a signal compensation control framework with an adaptive gain tuning strategy for the electronic throttle system, which consists of an upper-level to tune controller gains and a lower-level signal compensation controller to eliminate the nonlinear terms. The main feature of the signal compensation controller relies on two nonlinear compensators to remove the strong nonlinearity and uncertainty in the actual throttle system. Furthermore, we develop an adaptive gain tunning strategy based on Deep Deterministic Policy Gradient (DDPG) algorithm, and we analyze the corresponding stability and convergence properties of the proposed method. Finally, we illustrate the proposed algorithm on benchmarks and the tracking control problem using the real-world experiment platform of the ETS to show the effectiveness of the proposed algorithm.

Extended state observer design for uncertainty estimation in electronic throttle valve system

AbstractThe Electronic Throttle Valve (ETV) is the core part of automotive engines which are recently used in control-by-wire cars. The estimation of its states and uncertainty is instructive for control applications. This study presents the design of Extended State Observer (ESO) for estimating the states and uncertainties of Electronic Throttle Valve (ETV). Two versions of ESOs have been proposed for estimation: Linear ESO (LESO) and Nonlinear ESO (NESO). The model of ETV is firstly developed and extended in state variable form such that the extended state stands for the uncertainty in system parameters. The design of both structures of ESOs are developed and a comparison study has been conducted to show the effectiveness of the proposed observers. Numerical simulation has been conducted to assess the performance of observers in estimating the states and uncertainties of ETV. The simulated results showed that both full order and reduced order models of ETV have the same transient characteristics. Moreover, the effectiveness of two versions of observers has been examined based on Root Mean Square of Error (RMSE) indicator. The results showed that the NESO has less estimation errors for both states and uncertainties than LESO.

Networked control design for an engine throttle valve system

In this paper, the design and the implementation of a stabilising feedback law for an engine throttle valve system are investigated while taking into account the digital communication over the vehicle network. In particular, the digital communication between sensors, controller, and actuators is studied using the event-triggered theory. Considering the sampled-data nature of the closed-loop system, the emulation approach is used to synthesise the control law to stabilise the plant in the continuous-time domain. Next, we provide a systematic methodology to derive, both, time-triggering and event-triggering rules such that the closed-loop stability is preserved. The approach is illustrated by simulation on the dynamic model of the throttle valve system.

A Neural Network NARMA-L2 Tracking Control for Electronic Throttle System*

<div class="section abstract"><div class="htmlview paragraph">In this paper, the Artificial Neural Network (ANN) control strategy based on the Nonlinear Auto Regressive Moving Average-Level 2 (<i>NARMA-L2</i>) technique has been used for tracking control of an electronic throttle body. The <i>NARMA-L2</i> nonlinear plant model is first identified offline by training using a set of input-output data pairs measured at different operating conditions. This data was collected from an actual operation of the throttle body running in a closed-loop control system on a prototype vehicle. The identified <i>NARMA-L2</i> plant model was then inverted and used to force the throttle output position to approximately track any reference inputs with multiple set-point changes at different operating conditions. The <i>NARMA-L2</i> model was reconfigured to be an equivalent model of a feed-forward controller that can cancel not only the actual dynamic behavior of the throttle body but also the nonlinearity effects. This type of controller has great potential to overcome the difficulty of developing an inverse dynamic model of the throttle body [<span class="xref">1</span>] and has the ability to compensate any un-modeled nonlinear dynamic changes that may be excited due to environmental changes. These changes can include load, temperature, humidity, and external disturbances with noise effects that may be introduced into the closed-loop control of the throttle body during real time operation in the vehicle. The resulting closed loop control system used the <i>NARMA-L2</i> architecture that have a multilayer perceptron neural network structure with the dynamic back-propagation algorithm becomes an implicit algebraic model that perfectly tracks any multiple set-point changes at different operating conditions. Testing results from real time implementation are provided to illustrate the new controller performance for tracking controls during actual operation on a prototype vehicle. The identified <i>NARMA-L2</i> neuro-controller shows more robustness and better performs as compared to other controllers developed in previous work [<span class="xref">1</span>-<span class="xref">3</span>].</div><div class="htmlview paragraph">* This work was done while the author was at IAV Automotive Engineering Inc, 15620 Technology Drive, Northville, MI 48168.</div><div class="htmlview paragraph">† Currently working with MAHLE Powertrain LLC, 14900 GalleonCourt, Plymouth, MI 48170.</div></div>

Study on the Model and Simulation of Single-Unit Isolated Grid Operation Using APROS

In order to solve the problem of imperfect control strategy and unstable control for steam turbine rotating speed of isolated grid operation in distributed generation system, based on APROS simulation support platform, the isolated grid system is divided into steam turbine system, energy-consuming system and throttle system to construct the model of single-unit isolated grid operation. The simulation results verify the accuracy of the steady-state model. The turbine energy-consuming system model can characterize the operating characteristics of the isolated grid, and the operating characteristics of the energy-consuming system will significantly affect the speed regulation of the turbine system. The establishment of the overall model lays foundation for the design and optimization of the control scheme of the single-unit isolated grid system.

Stability Analysis and Chaos Control of Electronic Throttle Dynamical System

This study addresses bifurcation analysis and controlling chaos in a vehicular electronic throttle. Using analysis techniques from nonlinear dynamics of an electronic throttle system based on bifurcation diagrams, we establish the existence of period-doubling and intermittency routes to chaos. The largest Lyapunov exponent is estimated from the synchronization to identify periodic and chaotic motions. Finally, the proposed continuous feedback control is employed to control chaos. To verify the effectiveness of the raised control strategy, we present a number of numerical simulations.

Adaptive full order sliding mode control for electronic throttle valve system with fixed time convergence using extreme learning machine

Adaptive full order sliding mode control for electronic throttle valve system with fixed time convergence using extreme learning machine

Composite Control Design for Systems With Uncertainties and Noise Using Combined Extended State Observer and Kalman Filter

The extended state observer (ESO) is used to estimate both the unmeasurable system states and acting lumped disturbance. Generally, high gains need to be selected in ESO to achieve fast convergence, which can make it sensitive to measurement noise. To address this limitation, a governing structure with a special combination of Kalman filter (KF) and ESO is proposed. The former serves as noise filtration while the latter is responsible for on-line reconstruction of states and disturbance. The two are connected as the system model used for the KF design contains a constantly updated estimate of the lumped disturbance obtained with the ESO. Finally, the resultant estimates are used to construct a composite disturbance rejection-based controller. To verify the new method, hardware experiments are performed on an electronic throttle system. Conducted quantitative comparison with conventional solution reveals advantages of the proposed approach in noise attenuation and control performance.

Theoretical Investigation on Performance Characteristics of Aerostatic Journal Bearings with Active Displacement Compensator

Active aerostatic bearings are capable of providing negative compliance, which can be successfully used to automatically compensate for deformation of the machine tool system in order to reduce the time and improve the quality of metalworking. The article considers an aerostatic radial bearing with external combined throttling systems and an elastic displacement compensator, which is an alternative to aerostatic bearings with air flow rate compensators. The results of the mathematical modeling and theoretical research of stationary and nonstationary modes of operation of bearings with slotted and diaphragm throttling systems are presented. A counter-matrix sweep method has been developed for solving linear and nonlinear boundary value problems in partial derivatives with respect to the function of the square of the pressure in the bearing gap and inter-throttling bearing cavities for any values of the relative shaft eccentricity. A numerical method is proposed for calculating the dynamic quality criteria, and the transfer function of the dynamic compliance of a bearing with small displacements is considered as a linear automatic control system with distributed parameters. An experimental verification of the theoretical characteristics of the bearing was carried out, which showed a satisfactory correspondence among the compared data. It is shown that bearings with a throttle system have the best quantitative and qualitative load characteristics. The possibility of optimal determination of the values of a number of important parameters that provide the bearing with optimal performance and a high stability margin is established. It is shown that bearings with an elastic suspension of the movable sleeve allow one to compensate for significant movements, which can be larger than the size of the air gap by an order of magnitude or more. In these conditions, similar bearings with air flow compensators would be obviously inoperative.

Theoretical study of throttle valve system operation in the hydropneumatic shock absorber of the transport and technological machinery undercarriage

In the Arctic zones, there are almost no asphalt roads, which is why in winter people have to move along roads with deep snow, and in summer — through wetlands and boggy mud of the thawing tundra. To transport passengers and goods in such conditions, special machinery with increased cross-country ability is required. When a transport and technological machine (TTM) moves along a road with a variable profile, its suspension executes oscillations, which are damped by shock absorbers. They ensure movement smoothness and stability of contact patches, which is achieved by providing the shock absorbers with the required hydraulic characteristic. Therefore, it is reasonable to equip the TTM suspension with shock absorbers with a controlled throttle valve system in order to adjust damping characteristics depending on external factors. In this paper, we describe a new design of the throttle valve system used in the hydropneumatic shock absorber and analyze its operation.

Stackelberg Game Theory-Based Optimization of High-Order Robust Control for Fuzzy Dynamical Systems

A novel class of high-order robust controls is presented for uncertain fuzzy systems in this article. The optimal tunable parameters are also obtained based on the Stackelberg game theory. First, a dynamical system structure is formulated with uncertainty. The uncertain portion in the system is bounded, nonlinear, and time-varying which is within prescribed fuzzy set. Thus, this is a fuzzy system. Then, the proof based on the Lyapunov minimax approach shows that the novel high-order robust controls are able to assure deterministic system performance, which is uniform boundedness and ultimate uniform boundedness. Furthermore, the optimal choice of the tunable parameters in the control is considered. We creatively apply the Stackelberg strategy to solving the optimization problem. Two parameters are regarded as leader and follower in a sequential game, respectively. Based on the Stackelberg game rules, we are able to design different cost functions for different parameters. The cost functions include both performance measures and control cost. Finally, the simulations of an electronic throttle system are presented for demonstration.

A continuum model with traffic interruption probability and electronic throttle opening angle effect under connected vehicle environment

The electronic throttle system is the key component of the intelligent control system of connected and automated vehicles (CAVs). Although CAVs are expected to be commercialized in the near future, in practice the disturbances and interruptions are not uncommon along the road. In this paper, we propose a new continuum model considering the traffic interruption probability and the electronic throttle opening angle effect. Based on the linear stability analysis, the stability condition of the proposed model is obtained. The KdV-Burgers equation of the new continuum model is further obtained in the nonlinear analysis. The density solution obtained by solving the above equation can be used to describe the evolution characteristics of traffic flow near the neutral stability curve. Results show that the traffic interruption probability and the electronic throttle opening angle effect has a considerable impact on the stability of traffic flow.

Continuous finite‐time TSM control for electronic throttle system

This article examines the position tracking difficulties of the electronic throttle (ET) system and presents a continuous finite-time terminal sliding mode (TSM) control method. The development of this control method involves two procedures: (i) designing a global finite-time observer to estimate the derivative and higher order derivatives of the ET system output, and the total disturbances; and (ii) construction of a continuous finite-time TSM controller based on observer estimations, to ensure the realisation of fast finite-time convergence of system output with a comparatively smooth control action. Comprehensive stability proof, simulation study, and experimental implementation are provided to affirm the applicability of the proposed method.

Robust tracking control for vehicle electronic throttle using adaptive dynamic sliding mode and extended state observer

• The mathematical modelling of automotive engine electronic throttle (EET) system is obtained by considering the nominal model and parameter uncertainty component and all the system uncertainties are detailedly analyzed, then a modified extended state observer (ESO) is adopted to estimate the lumped uncertainty online. • An adaptive dynamic sliding mode (ADSM) feedback control scheme with ESO techniques is designed to achieve a robust closed-loop tracking performance. By adopting the ESO and designing the dynamic secondary sliding surface (DSSS), the chattering phenomenon of the conventional sliding mode can be significantly alleviated. • The additional dynamics introduced in the sliding mode can improve the system stability. A detailed theoretical stability analysis for the whole closed-loop EET control system is presented by innovatively combining the observer dynamics with the feedback control system. • The real-time experimental results from the DSP-based EET experimental platform are given with performance comparisons with other controllers, and both the excellent performance and robustness of the proposed control are achieved. • The robust adaptive dynamic sliding mode control scheme for EET systems will provide the automotive engineers with a good candidate of robust EET controller in practical applications. The proposed control technique can also be applied to other automotive systems for achieving excellent control performance. This article proposes an extended state observer (ESO)-based robust adaptive dynamic sliding mode (ADSM) tracking control for an automobile engine electronic throttle (EET) system. The newly developed control scheme exhibits the following three attractive characteristics. First, a modified ESO is adopted to estimate the lumped uncertainty online. Second, an ADSM feedback control is then designed to achieve a robust closed-loop tracking performance. Third, the switching gain is adaptively updated by the adaptive law to eliminate the need of the uncertainty information. The stability proof combining the observer with the feedback control is presented in detail. High tracking precision and robustness of the proposed control are verified by extensive experimental results with comparison of existing adaptive sliding mode control and conventional robust controllers.

Design of Terminal Sliding Position Control for Electronic Throttle Valve System: a Performance Comparative Study

This research article presents the design of two sliding mode control schemes represented by sliding mode backstepping controller (SMBC) and terminal sliding mode controller (TSMC) to control robustly the angular position of electronic throttle (ET) plate. The stability analysis of throttle valve system controlled by SMBC and TSMC has been studied and the asymptotic convergence of angular position errors based on each controller has been proved. In addition, the finite-time convergence concerning the sliding variable of the terminal sliding mode control strategy has been investigated and addressed. Moreover, the paper has taken into account the constrained control effort dictated by the limited supply battery. The effectiveness of the proposed sliding mode control schemes for throttle valve system has been verified using computer simulations on MATLAB format. Accordingly, the comparison in performance is established between the proposed control schemes and the results based on computer simulations have showed that the terminal sliding mode controller outperforms the sliding mode backstepping controller in terms of robustness and transient characteristics.

Immune Feedback Strategy in an Electronic Throttle Control System

The control strategy for improving the emission performance of engine transition condition is explored to enhance the dynamic response characteristics of the electronic throttle control system of automobile engines. A strong nonlinear relationship exists among the return spring, gear backlash, throttle shaft, and throttle body friction of the electronic throttle electromechanical system, thereby affecting the dynamic response characteristics of the engine electronic throttle under various operating conditions. On the basis of the nonlinear electronic throttle electromechanical system, a corresponding mathematical model is established to study the electronic throttle control system. Then, fuzzy and immune feedback control algorithms are applied to the motion control of the electronic throttle system on the basis of intelligent control because of its advantages of strong anti-disturbance ability, strong robustness, and applicability to nonlinear control systems. The immune feedback control algorithm is characterized by a rapid response in the control system. The influence of nonlinearity of the electronic throttle system on the control effect is discussed in this paper. The fuzzy immune PID controller is designed on the basis of the classical control algorithm PID for control precision and response of the system. The fuzzy control algorithm's adaptability to the nonlinear system improves the response performance of the electronic throttle system, and the immune feedback algorithm enhances the response efficiency of the control system. The response characteristics of electronic throttle is further explored. Experimental results show that the response speed of the fuzzy immune PID control system and speed adjustment of the dynamic characteristics of indicators have clear advantages over those of the PID and fuzzy PID control system. The controller is conducive to the improvement of the electronic throttle response characteristics. Improving the power, economy, and emissions of vehicles has important significance.

Extreme-learning-machine-based FNTSM control strategy for electronic throttle

A novel extreme-learning-machine-based robust control scheme for automotive electronic throttle systems with uncertain dynamics is presented in this paper. It is shown that the well-known extreme learning machine (ELM) is used to estimate the upper bound of the lumped uncertainty while a fast nonsingular terminal sliding mode feedback controller is designed to achieve global stability and finite-time convergence for the closed-loop system. Although the ELM used in this paper has the same structure as the one in the conventional least-square-based ELM used for pattern classifications, i.e., the input weights are randomly chosen, the ELM adopted in the closed-loop control system is designed to achieve global control purpose. The output weights of the ELM will be adaptively adjusted in Lyapunov sense from the perspective of global stability of the closed-loop system, rather than local optimization in conventional ELM. The proposed control can thus not only realize the finite-time error convergence but also needs no prior knowledge of lumped uncertainty. Simulation results are demonstrated to verify the excellent tracking performance of the proposed control in comparison with other existing control methods.

A Robust Adaptive Chattering-Free Sliding Mode Control Strategy for Automotive Electronic Throttle System via Genetic Algorithm

A robust adaptive chattering-free sliding mode (ACFSM) control method for electronic throttle (ET) system is proposed in this paper. It is well known that nonlinearities in the throttle system including friction, return-spring, limp-home (LH) and gear backlash affect the control accuracy of the throttle valve. Compared with the traditional sliding mode control methods, the ACFSM control not only overcomes the influence of nonlinearities and parameter uncertainties in the ET system, but also eliminates chattering in nature such that excellent throttle tracking performance and robustness are maintained. The proposed ACFSM control method is superior to the traditional sliding mode control in the following two aspects: 1) The chattering-free sliding mode control method is able to attenuate the control chattering without weakening the output tracking performance and robustness. 2) The upper bounds of the uncertainty and disturbance are not required any more in control design. They are online estimated by the adaptive law in the sense of Lyapunov. Moreover, due to the difficulty in selecting proper control parameters, the genetic algorithm (GA) is introduced to optimate the control parameters for the ACFSM controller prior to practical implementation. The comparative experimental results are given to demonstrate the excellent control performance of the proposed ACFSM control.

A Proportional Plus a Hysteretic Term Control Design: A Throttle Experimental Emulation to Wind Turbines Pitch Control

Pitch control is a relevant issue in wind turbines to properly operate the angle of the blades. Therefore, this control system pitches the blades usually a few degrees every time the wind changes in order to keep the rotor blades at the required angle thus controlling the rotational speed of the turbine. All the same time, the control of the pitch angle is not easy due to the system behavior being highly nonlinear. Consequently, the main objective of this paper is to depict an easy to implement control design based on a proportional controller and a hysteretic term to an emulator pitch control system in wind turbines. This emulator is just an automotive throttle device. This mechanical body dynamically captures some hard non-linearities presented in pitch wind turbine mechanisms, such as backlash, asymmetrical non-lineal effects, friction, and load variations. Even under strong non-linear effects that are difficult to model, a proportional controller and a hysteretic term may satisfy the main control design objective. Hence, a recent control design is developed and applied to a throttle system. We invoke the Lyapunov theory to confirm stability of the resultant closed-loop system. In addition, the proposed control approach is completely implemented by using operational amplifiers. Hence, no digital units are required at all. Moreover, the cost of the developed experimental platform and its outcomes are inexpensive. According to the experimental results, the controller performance seems acceptable, and validating of the control contribution too. For instance, a settling-time of about 0.03 s to a unit step-response is obtained.