Robust Control of an Electronic Throttle System

Via Switched Chattering Control: Benchmark Experiments

Yolanda Vidal, Leonardo Acho, Francesc Pozo
Control,
Co t o , Dynamics
y a cs and
a d Applications
pp cat o s (Co
(CoDAlab)
ab) | U
Universitat
e s tat Politècnica
o tèc ca de Cata
Catalunya
u ya
A robust controller with chattering is proposed based on a simplified model of an electronic throttle
system.
y The chattering g term pprovides robustness against g un-modeled nonlinearities,, e.g.,
g , limp-home
p
y
ary

y, p
nonlinearity, p
parameter dispersion, , and friction p p
phenomena. As the simplified y
model of the throttle system
mma

can be seen to correspond to a horizontal one-degree-of-freedom robot manipulator, the proposed

um

controller is based on a previously designed robust control for regulation of robot manipulators with
Su

friction. Moreover, this controller uses only position measurements as the throttle benchmark unit does not
have velocity measurements. The conceived controller is then tested in the Benchmark throttle numerical
platform
l tf offered
ff d by
b the
th host
h t conference
f andd their
th i affiliates.
ffili t

1 Th
1. Throttle
ttl system
t 2 M
2. Modeling
d li
Dynamic
D i model
d l off a throttle
th ttl system
t [1],
[1]

x1: position of the throttle valve.

x2: velocity of the throttle valve.
valve
{ai, i=1..4}
i=1 4} : system parameters.
parameters

Term a1x1 represents the spring force.

force
Term a2sgn(x2) captures the Coulomb friction force.
force
Term a3x2 captures,
captures among others,
others the viscous force.
force

3. Control design
g ((I)) 4. Control design
g ((II))
The viscous and the spring force terms can be omitted Theorem: The control law [2
[2,3]
3]
to obtain a simplified model that is only used for
control design [3]:
(1)
is assumed unknown. globally
l b ll asymptotically
t ti ll stabilizes
t bili the system
th t (1)
d th
around iti xd.
d i d position
the desired
is the position of the throttle valve.
valve
are given
g positive
p
i th
is the velocity
l it off th
the throttle
th ttl valve.
l
constants,, with .
This second-order system corresponds to a horizontal
d ff d
one-degree-of-freedom b t manipulator.
robot i l t The control parameter is tuned on-line
on line by trial and error.
error

5 Numerical simulations
5. ······ xd
x

Signal

Zoom

Control

[ ] K. Nakano,, U. Sawut,, K. Higuchi,

[1] g , Y. Okajima,
j , Modelingg and Observer-Based Sliding-Mode
g Control of Electronic Throttle Systems,
y , ECTI Tran.
on Elec. Eng., Electronics, and Communications, 4(1), 22-28, 2006.
Ref.

[2] Y. Orlov, J. Alvarez, L. Acho, L. Aguilar, Global Position Regulation of Friction Manipulators via Switched Chattering Control, Int. Journal of
R

Control 76 (14),
Control, (14) 1146-1452,
1146-1452 20032003.
[[3]] Y. Vidal,, L. Acho,, F. Pozo,, Robust control of an electronic throttle system
y via switched chattering
g control: benchmark experiments.
p Proceedings
g
of IFAC Workshop on Engine and Powertrain Control, Simulation and Modeling, IFP, France, 2009.