Study Of Electronic Throttle Control System Based On Bilateral Servo With Force-Feedback

With the development of the automotive industry, the automotive traditionalmechanical regulation and control methods is gradually replaced by electronic controltechnology. In electronic throttle control system, sensor groups and actuator replacethe traditional mechanical connection between the accelerator and the throttle, thethrottle opening by the drive motor control in any conditions. Electronic throttle pedalinput signal as the driver’s torque demand, the engine management system tocoordinate the various functional modules based on torque control torque demand todetermine the final output torque, which determines the actual feed rate, and outputthe corresponding the control signal so that the throttle opening to reach the target.Electronic Throttle has advantages of good handling and stability, security, energyefficiency and compact structure to compare with the traditional throttle system,subsequently also exposes shortcomings, such as the lack of driving tele-presence andunmodeled dynamics uncertainties.With the Scientific Frontier and Cross Project of Jilin University(200903168), toeliminate the lack of driving tele-presence, the errors from nonlinearity and dynamicmodeling uncertainty, the control algorism based on the bilateral servo withforce-feedback and the theory of master-slave tele-manipulation was presented forelectronic throttle system. The position deviation between ideal angle and real anglewas used as input single. The dynamic robust compensator controls the acceleratorpedal by-wire to make driver’s perception of feedback force. The fuzzy PID controllercontrols the real angle of electronic throttle by regulating the position deviation toaccurately track the ideal angle.First, the nonlinear and characteristics of mechanical structure in the electronicthrottle system were analyzed. The mathematical model of the electronic acceleratorpedal in master side and the electronic throttle system in slave side were established.Secondly, by analyzing the main bilateral servo control strategy and the position-position difference control strategy is choosing for the electronic throttle system. Inthe master side, accelerator pedal controller based on dynamic robust compensation isdesigned. In the slave side, the fuzzy PID controller is designed. Finally, the Simulinktoolbox of the MATLAB is using for simulation on the above basis. The simulationmodels of the dynamic robust compensation control system on the master side, thePID control system and the fuzzy control system on the slave side are established andrunning respectively. The BOSCH electronic throttle and accelerator pedal are using asthe simulation and experimental object in the designed system. The author draws thefollowing conclusion: accelerator pedal control system based on dynamic robustcompensation has good regulation performance for unknown disturbances andimprovement for nonlinear and accuracy. Fuzzy PID control is suitable for the throttle system in slave side, as it has smaller overshoot and less response time and steadydeviation. System experiment which uses dynamic compensation control on themaster and fuzzy PID control on the slave presents effectiveness of the designedcontrol algorithm. The algorithm can eliminate the position errors rapidly andaccurately, provides driving tele-presence and enhances the robustness and adaptiveability.