Model-Based Throttle Control using Static Compensators and IMC based PID-Design
Model-Based Throttle Control using Static Compensators and IMC based PID-Design
Andreas Thomasson and Lars Eriksson
Vehicular Systems, Dept. of Electrical Engineering,
Linköping University, SE-581 83 Linköping, Sweden
Abstract:
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 the speed and accuracy
of the controller that positions the throttle plate. The throttle control
problem is complicated by two strong nonlinear effects, friction and
limp-home torque. This paper proposes the use of two, simultaneously active,
static compensators to counter these effects and approximately linearize the
system. A PID controller is designed for the linearized system, where IMC
design is applied to design the PD controller and a gain scheduled I-part is
added for robustness against model errors. A systematic procedure for
generating compensator and controller parameters from open loop experiments
is also developed. The controller performance is evaluated both in
simulation, on a TC-benchmark problem, and experimentally. A robustness
investigation pointed out that the limp-home position is an important
parameter for the controller performance, this is emphasized by the
deviations found in experiments. The proposed method for parameter
identification achieves the desired accuracy.
Andreas Thomasson and Lars Eriksson
2009
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