Electronic Throttle Control with Finite-Time Disturbance Rejection
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Solution Overview
Problem
Electronic throttle systems face challenges in achieving fast transient response, high static position precision, and robustness due to disturbances and uncertainties from factors like transmission frictions, return springs, gear backlash, and environmental changes, leading to non-smooth nonlinearities and adverse effects such as chattering phenomena.
Innovation Solution
A control strategy using continuous terminal sliding mode control combined with a finite-time high-order sliding mode observer to estimate system states and lumped disturbances, ensuring continuous control motion and finite-time convergence, thereby improving both dynamic and static performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional PID control or discontinuous sliding mode control is used, then the control structure is simple or convergence is achieved, but chattering phenomena occur and transient response performance deteriorates
Solution Approach 1:
The patent transforms the discontinuous sign function into a continuous saturation function by changing the mathematical parameter representation. The saturation function σ(s) = ssat(s/φ) where φ is a boundary layer thickness parameter, replaces the discontinuous sign function while maintaining the switching control特性, thereby eliminating chattering while preserving robustness
Solution Approach 2:
The patent introduces a terminal sliding mode surface as an intermediary between the system state and the control input. This intermediate surface s = c1∫e dt + c2e² + c3e³ + x2 acts as a mediator that guides the system state to converge to the equilibrium point while the continuous control law u = −ρ⁻¹(λs + f + z3 − k1sign(s)|s|α2) operates on this surface to achieve smooth convergence without chattering
2Measurement precision
If disturbance observation is added to improve disturbance rejection, then control precision improves, but system complexity increases
Solution Approach 1:
The patent merges the disturbance observer with the terminal sliding mode controller into a unified control framework. The extended state observer estimates the lumped disturbance z3, which is then directly integrated into the control law u = −ρ⁻¹(λs + f + z3 − k1sign(s)|s|α2). This combination achieves precise disturbance rejection while avoiding the complexity of separate independent observer and controller systems
Solution Approach 2:
The patent implements feedback by using the estimated disturbance z3 from the observer to adjust the control input in real-time. The control law incorporates z3 as a feedback term that compensates for the lumped disturbance, creating a closed-loop disturbance rejection mechanism that improves precision without requiring complex additional hardware
Data Source
AI summary
A nonlinear disturbance rejection control apparatus and method for electronic throttle control systems are invented to control the electronic throttle system and to achieve a continuous finite-time disturbance rejection control goal. A control sub-apparatus and method are proposed with an observing sub-apparatus and method for controlling the opening angle of an electronic throttle valve. A mathematical model of the electronic throttle system is analyzed and a control-oriented model is presented with the formation of a lumped disturbance. With combination of the continuous terminal sliding mode control method and the output feedback control method, based on the finite-time high-order sliding mode observer, the preferred control performance is guaranteed, where both the dynamic and static performance of the system is effectively improved.