Modeling,parameter estimation and nonlinear control of automotive electronic throttle using a Rapid-Control Prototyping technique |
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Authors: | R Grepl B Lee |
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Institution: | 1.Mechatronics Laboratory, Faculty of Mechanical Engineering,Brno University of Technology,Brno,Czech Republic;2.Department of Mechanical and Automotive Engineering,Keimyung University,Daegu,Korea |
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Abstract: | An electronic throttle consists of a DC motor, spur gears, a return spring, a position sensor, power electronics and an electronic
control unit. Fast and precise position control of this electromechanical system is relatively difficult due to very high
friction and the strong nonlinearity of the spring. Simple application of linear control, such as PID, fails. In this paper,
two new controller structures suitable for different reference signal types are described. The key component of the position
controller is the friction compensator based on either/both feedforward or feedback principles. The quality of the resulting
behavior was measured using several criteria including the measure of control activity around the equilibrium position. The
control activity directly influences the vibration, the noise and the wear of the servo system. The proposed controllers demonstrated
superior behavior compared with other published structures. |
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Keywords: | |
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