An Electronic Throttle Control Strategy Including Compensation of Friction and Limp-Home Effects

Deur, Joško; Pavković, Danijel; Perić, Nedjeljko; Jansz, Martin; Hrovat, Davor

doi:10.1109/tia.2004.827441

Cited by 119 publications

(108 citation statements)

References 20 publications

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“…The normal force cascade control system is extended with a relatively fast nonlinear compensator of Coulomb friction in order to speed up the closed-loop response according to the concept proposed in [8] for the position control system. The compensator comprises a relay term acting upon the force control error e F , and having the magnitude equal to the estimated Coulomb friction torque.…”

Section: Control System Structurementioning

confidence: 99%

Design of Normal Force Control System for a Pin-on-Disk Tribometer including Active and Passive Suppression of Vertical Vibrations

2013

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Original scientific paperThis paper presents the design of a computer-controlled pin-on-disk tribometer for friction characterization of various friction sliding pairs. The tribometer setup comprises two high-bandwidth servomotors for the control of the rotating disk and the normal load-related spindle drive, as well as a high-precision tri-axial piezoelectric force sensor for normal and tangential forces measurement. Since the spindle drive system is characterized by notable compliance effects, the normal force cascade control system is designed with the aim of vertical vibrations active damping. In order to compensate for the unevenness of the rotating disk surface and associated high-level perturbations in the specimen normal force, the normal force control system is extended with a feedforward compensator of the disk unevenness disturbance, and a dedicated leaf spring suspension system is designed. The effectiveness of the proposed system of vertical vibrations damping is verified experimentally.Key words: Vibration suppression, Normal force control, Pin-on-disk tribometer Projektiranje sustava regulacije vertikalne sile tribometra s uzorkom na disku uključujući aktivno i pasivno prigušenje vertikalnih vibracija. Učlanku je prikazan dizajn računalom upravljanog tribometra s uzorkom na disku za karakterizaciju različitih kliznih parova. Postav tribometra sadrži dva električna servomotora visokih dinamičkih performansi koji se koriste za regulaciju rotacijskog diska i navojnog vretena za generiranje normalne sile, te tro-osni piezoelektrični senzor za mjerenje normalne i tangencijalne sile. Kako je pogon navojnog vretena karakteriziran značajnom elastičnošću, kaskadni sustav regulacije sile je projektiran s ciljem aktivnog prigušenja vertikalnih vibracija. U svrhu kompenzacije značajnih neravnina površine rotacijskog diska i s njima povezanih velikih amplituda perturbacija normalne sile na uzorak, sustav regulacije normalne sile proširuje se unaprijednim kompenzatorom poremećaja uslijed neravnina površine diska, te za tu svrhu namijenjenim sustavom ovjesa s lisnatim oprugama. Učinkovitost predloženog sustava za prigušenje vertikalnih vibracija provjerena je eksperimentalnim putem.Ključne riječi: prigušenje vibracija, regulacija vertikalne sile, tribometar s uzorkom na disku

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Section: Control System Structurementioning

confidence: 99%

Design of Normal Force Control System for a Pin-on-Disk Tribometer including Active and Passive Suppression of Vertical Vibrations

2013

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“…The return spring exercises a torque on the throttle plate that pulls it toward the limp-home position. A process model for the electronic throttle body is shown in Figure 2, see Scattolini et al (1997), Deur et al (2004). The model is a standard linear electric dc-motor, augmented with friction and limp-home torque components.…”

Section: Control Oriented Throttle Modelmentioning

confidence: 99%

“…This gives fewer parameters which simplifies the tuning procedure. With these simplifications the controller fulfills the requirements in the TC benchmark problem in , similar to those in Deur et al (2004).…”

Section: Introductionmentioning

confidence: 98%

“…Strategies for overcoming these difficulties have been addressed in several papers. A model based friction compensator was presented in Eriksson and Nielsen (2000) and a nonlinear control strategy with both friction and limp-home compensation is proposed in Deur et al (2004). Another approach was made in Vašak et al (2006), where a control law based on the solution of an optimal control problem was demonstrated.…”

Section: Introductionmentioning

confidence: 99%

“…This is a combination of ideas presented in Eriksson and Nielsen (2000) and Deur et al (2004). The proposed controller uses a Coulomb friction model, which is less complex than the friction models usually proposed in the literature, and a PID-controller with fewer degrees of freedom.…”

Section: Introductionmentioning

confidence: 99%

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Model-Based Throttle Control using Static Compensators and Pole Placement

Thomasson

Eriksson

2011

Oil Gas Sci. Technol. – Rev. IFP Energies nouvelles

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Résumé -Commande des gaz basée sur un modèle utilisant des compensateurs statiques et un placement de pôles -Au sein des moteurs à allumage commandé modernes, les gaz sont régulés par le boîtier de commande électronique (ECU ; Electronic Control Unit), qui permet la régulation directe par l'ECU du flux d'air et ainsi du couple moteur. Cela conduit à des exigences élevées quant à la vitesse et à la précision du régulateur qui positionne le papillon des gaz. Le problème de commande des gaz est compliqué par deux forts effets non linéaires, le frottement et le couple de mode de secours ("limp-home''). Cet article propose l'utilisation de deux compensateurs statiques, actifs simultanément, pour contrer ces effets et linéariser approximativement le système. Un régulateur PID est conçu pour le système linéarisé, où un placement de pôles est appliqué pour concevoir le régulateur PD et une partie I à gains paramétrés est ajoutée pour la robustesse par rapport aux erreurs de modèle. Un mode opératoire systématique destiné à générer les paramètres du compensateur et du régulateur à partir d'expériences en boucle ouverte est également développé. Les performances du régulateur sont évaluées à la fois par simulation, sur un problème de référence de commande des gaz, et expérimentalement. Une étude de robustesse a montré que la position de mode de secours constitue un paramètre important pour les performances du régulateur, ceci étant souligné par les écarts trouvés au cours des expériences. La méthode proposée pour l'identification des paramètres atteint la précision désirée. Abstract -Model-Based Throttle Control using Static Compensators and Pole Placement -In modern spark ignited engines, the throttle is controlled by the Electronic Control Unit (ECU), which gives the ECU direct control of the air flow and thereby the engine torque. This puts high demands on

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References

2014

Modeling and Control of Engines and Drivelines

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An Electronic Throttle Control Strategy Including Compensation of Friction and Limp-Home Effects

Cited by 119 publications

References 20 publications

Design of Normal Force Control System for a Pin-on-Disk Tribometer including Active and Passive Suppression of Vertical Vibrations

Design of Normal Force Control System for a Pin-on-Disk Tribometer including Active and Passive Suppression of Vertical Vibrations

Model-Based Throttle Control using Static Compensators and Pole Placement

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