Dynamic hysteresis modeling method for Hammerstein structure-based electronic throttle body

Abstract

The invention discloses a dynamic hysteresis modeling method for a Hammerstein structure-based electronic throttle body. The method comprises the following steps of S1, building a dynamic nonlinear model of the electronic throttle body based on a Hammerstein model; S2, inputting a quasi-static sine excitation signal u(t) to the electronic throttle body, and measuring an output signal y(t) of a system; S3, according to input and output signals (u,y), performing identification to obtain parameters of an equivalent static hysteresis nonlinear subsystem H*; S4, according to the H* obtained by identification, designing an inverse compensator H*-1; and S5, connecting the H*-1 with the electronic throttle body in series for enabling a static hysteresis nonlinear subsystem H to obtain compensation, and identifying an equivalent dynamic linear subsystem G* by new input and output signals (u',y'). The built Hammerstein model can effectively describe a dynamic hysteresis characteristic of the ETBsystem.

Description

technical field [0001] The invention relates to a dynamic hysteresis modeling method of an electronic throttle based on a Hammerstein structure, and belongs to the technical field of electronic throttle modeling. Background technique [0002] Since the 1980s, the Electronic Throttle Body (ETB) has been more and more widely used in automobiles. Compared with the traditional mechanical throttle, ETB can quickly and accurately control the opening of the throttle and play Optimum engine performance, improving vehicle dynamics and economy. [0003] The ETB system consists of a DC motor, a reduction gear mechanism, a throttle plate, a return spring, a position sensor, etc., and exhibits strong nonlinear characteristics. Its nonlinearity mainly comes from: 1) discontinuous return spring torque; 2) viscous friction and Coulomb friction between components; 3) gap between gears. Different from the hysteresis characteristics of actuators such as piezoelectric ceramics, this system is...

AI Technical Summary

Problems solved by technology

For such a strongly nonlinear electromechanical system, it is very difficult to establish an accurate physical model

Some published ETB modeling studies (such as "YUAN X F, WANG Y N, WU LH. SVM-Based Approximate Model Control for Electronic Throttle Valve [J]. IEEE Transactions on Vehicular Technology, 2008, 57(5): 2747-2756. ""RAJAEI N, CHEN X, ZHENG M. Estimation of spring torque in an electronic throttle valve[C] / / Proceeding of IEEE Vehicle Power and Propulsion Conference, Lille, France: IEEE Press, 2010:1-6.") can only Identifying few parameters that are easy to measure, unable to obtain precise values ​​for all parameters

Literature "THOMASSON A,ERIKSSON L.Model-based throttle control using static compensators and pole placement[J].Oil&Gas Science and Technology,2011,66(4):717-727.""SALEM A,JENS B,MICHAEL T.Electronic throttle simulation using nonlinear Hammerstein model[C].SAE TRANSACTIONS,USA:AMERICAN TECHNICAL PUBLISHERS LID,2007,115(7):12-21.""ANSON L,WITT T,JAN S P,et al.Electronic Throttle Control System:Modeling, Identification and Model-Based Control Designs[J].Engineering,2013,5(7):587-600." "SCATTOLINI R, SIVIERO C, MAZZUCCO M, et al. Modeling and identification of an electromechanical internal combustion engine throttle body[J] .Control Engineering Practive,1997,5(9):1253-1259."A simplified model is used to approximate the nonlinear behavior caused by friction and springs in the system, but this method is difficult to describe different working conditions The response of the ETB under the environment, not to mention the transient behavior during the transition of the engine state (such as the literature "Xiao Shougao. Research and Simulation of Electronic Throttle Valve Control System [D]. Xi'an: Chang'an University, 2011: 1-6.XIAO S G. The Research and Simulation of Electronic Throttle Control System [D]. Xian: Chang'an University, 2011: 1-6 (in Chinese)." and "Chen Fengxiang, Liu Ling, Zhang Tong. Based on Active Disturbance Rejection Control Technology Electronic throttle control[J].Chinese Science and Technology Papers,2014,9(10):1188-1191,1196.CHEN F X,LIU L,ZHANGT.Control of electronic throttle based on active disturbance rejection control of technique [J]. China Sciencepaper, 2014, 9(10): 1188-1191, 1196 (in Chinese). "mentioned)

Literature "Song Tonghao. Electronic Throttle Control Based on Backstepping [D]. Changchun: Jilin University, 2009, 2-5. SONG T H. Electronic Throttle Control Based on Backstepping [D]. Changchun: Jilin University, 2009: 2- 5(in Chinese).” The parameters were identified, but due to the excessive approximation used in the identification process, the error between the simulation results and the actual curve is relatively large

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