电子节气门的连续非奇异终端滑模控制

doi:10.13229/j.cnki.jdxbgxb.20210988

摘要/Abstract

摘要：

针对电子节气门的转角开度控制，为克服传统滑模控制存在的抖振问题及信号微分难以直接求取问题，提出一种新型的连续非奇异终端滑模控制方法。建立电子节气门系统的数学模型，从滑模面和控制律两方面改进节气门的控制性能，即在滑模面设计过程中，有目的地引入系统状态的幂指数项，以保证系统的全局有限时间收敛，并去除传统终端滑模对控制器参数选取的约束条件。在控制律设计过程中，引入低通滤波环节，在保证系统稳定性条件下，推导出其连续控制律，并解决了状态变量微分求取的问题。通过与传统一阶和二阶滑模的理论和仿真性能对比，证明本文方法在抖振抑制、响应速度、控制精度方面的优越性。

关键词: 控制工程, 电子节气门, 滑模控制, 稳定性, 控制奇异性

Abstract:

In order to solve the problems of the chattering and signal derivation for the traditional sliding mode control（SMC） approach， a novel continuous non-singular terminal sliding approach is proposed to realize the angle control of electronic throttles（ET）. Based on the mathematical model of the ET system， its control performance is improved in the aspect of sliding surface and control law. During the design of the sliding surface， the finite-time convergence can be achieved by introducing the power index terms concerning the system states. Meanwhile， it removes the constraint condition of the controller parameter for the traditional SMC approach. During the design of the control law， a continuous control law can be achieved by introducing the low pass filtering in the premise of the system stability. Meanwhile， it solves the problem of signal derivation of system states. Comparative study and simulations with the traditional first-order SM and second-order SM proves the superiorities of the proposed approach in chattering elimination， fast response and control accuracy.

Key words: control engineering, electronic throttle, sliding mode control（SMC）, stability, control singularity

中图分类号:

TP273

王艳敏,张伟琦,段广鑫,葛杨. 电子节气门的连续非奇异终端滑模控制[J]. 吉林大学学报(工学版), 2023, 53(7): 2127-2135.

Yan-min WANG,Wei-qi ZHANG,Guang-xin DUAN,Yang GE. Continuous non-singular terminal sliding mode control of electronic throttle[J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(7): 2127-2135.

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参考文献 22

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参数	单位	最小值	最大值
θ₀	rad	0.113	0.113
k_d	N·m·s/rad	0.8×10^-4	3.7×10^-4
k_m	N·m	0.56×10^-1	0.95×10^-1
k_k	N·m	0.97×10^-4	0.43×10^-3
k_e	V·s/rad	0.5×10^-5	0.2×10^-1
k_s	N·m /rad	0.247×10^-1	0.687×10^-1
R	Ω	2.8	2.8
L	H	0.9×10^-3	0.9×10^-3
J_m	kg·m²	0.5×10^-4	1.6×10^-4
J_th	kg·m²	0.9×10^-5	4.6×10^-5
N	-	18	18

控制策略	四次阶跃信号下响应时间/s				转角开度稳态误差/（°）	电压振荡最大幅值/V
控制策略	1	2	3	4	转角开度稳态误差/（°）	电压振荡最大幅值/V
C?NTSM	0.15	0.18	0.17	0.18	0.003	0.8
1?SM	0.23	0.32	0.35	0.32	0.006	7.1
2?SM	0.18	0.28	0.25	0.21	0.018	1.8