Self-tuning Backstepping Control With Kalman-like Filter For High-precision Control Of Automotive Electronic Throttle

In recent years,in order to meet the requirements of engine performance and emission,electronic throttle control system has been widely used in modern automobile engines.Electronic throttle control system can control the accuracy of fuel/air(F/A)ratio by optimizing the throttle opening and adjusting the amount of fuel injection.Accurate control of the electronic throttle system improves engine performance,reduces emissions,and improves engine adaptability to road conditions.However,the non-Gaussian white noise in the sensor circuit and the variation of vehicle driving conditions seriously affect the control accuracy of AET system,which makes the control design more challenging.Therefore,this paper selects Bosch electronic throttle as the research object,builds a mathematical model of electronic throttle,designs a self-tuning Backstepping controller based on Kalman filter,and verifies the effectiveness of the control method through performance analysis.Firstly,the mathematical model of the electronic throttle system is built.In the process of modeling,the three nonlinear factors of electronic throttle reset spring,gear structure and friction are analyzed,and the state space expression which can reflect the dynamic characteristics of electronic throttle is finally obtained.Then,through the acquisition and processing of the noise signal,it is verified that the noise affecting the position sensor measurement is non-Gaussian white noise,and a Kalman like filter is designed for the influence of non-Gaussian white noise on the position sensor measurement.Aiming at the nonlinear and parameter uncertainty of electronic throttle system,a Backstepping controller is designed,and a self-tuning algorithm based on fuzzy control is used to adjust the parameters of the Backstepping controller in real time.The parameter configuration of the Backstepping controller is optimized under the condition of varying driving conditions,so as to improve the control accuracy of the electronic throttle system.Finally,the experimental platform of electronic throttle control system based on dSPACE is built,and the controller comprehensive test is performed in the real-time environment.The analysis and test show that good tracking performance can be obtained by using the designed control scheme.