Research On Advanced Control Theory And Application Of Automotive Electronic System

Since the 21 st century,with the great growth of the number of vehicles,the problems of energy shortage and environmental pollution have become more and more serious.In order to cope with the global shortage of fossil energy and the increasing environmental problems,the automotive industry continues to carry out technological innovation in the field of energy.The performance of the automotive electronic system directly affects the dynamic performance,comfort and safety of the vehicle during driving.The performance improvement of the automotive electronic system and the introduction of various new control functions can also improve the fuel economy and exhaust emission of the vehicle without changing the main mechanical components of the existing engine.Therefore,the role of automotive electronic system is extremely significant.In order to realize the precise control of automotive electronic system,it is necessary to design corresponding control algorithms for automotive electronic system to meet the requirements of each executive component in the process of vehicle operation.At present,electromechanical and electrohydraulic actuator components are mostly used in automotive electronic systems.From the perspective of system modeling,there are nonlinear friction,electromagnetic torque,spring torque and hydraulic characteristics in automotive electronic systems.The existence of these nonlinearity makes the control design of automotive electronic system a challenging problem.In addition,the operation condition of automotive electronic system is complex and the operation environment is abominable in practice,which makes the system have various influencing factors such as parameter uncertainty and external disturbance,which often has an adverse impact on the performance of the system.Because the traditional linear control methods have been unable to meet the higher and higher performance requirements,the researches on advanced automotive electronic system control algorithm have become the key to improve the system performance,which have important theoretical and practical significance.This dissertation focuses on typical automotive electronic systems(fuel quantity actuator system in diesel fuel injection pump,electronic throttle system in air-intake system,camless engine valve acutuation system and electrohydraulic system in the controlled trajectory rapid compression and expansion machine),and this dissertation considers the nonlinear analysis and modeling of automotive electronic system;output position regulation problem under the influence of time-varying disturbance;disturbance rejection control problem with measurement noise;and fast motion tracking control of electrohydraulic system with uncertainty.Advanced composite control strategies based on backstepping control,combination of sliding mode control and active disturbance rejection control,combination of Kalman filter and disturbance estimation feedforward compensation techniques,combination of internal model principle and sliding mode control are studied and further verified by simulations and experiments.The results show that the designed control scheme can effectively improve the dynamic response,steady-state tracking accuracy,robustness against disturbances and system performance under the existences of measurement noise and disturbance at the same time.The main results and contributions are summarized as follows:(1)Position tracking control problem of fuel actuator system.Firstly,the nonlinear characteristics of rotating electromagnet and return spring in the system are analyzed and modeled,and the mathematical model of fuel quantity actuator system is obtained.Then,based on the model,an extended state observer is introduced to estimate the angular velocity of the fuel quantity actuator and the lumped disturbance of the system,and then a backstepping control law based on disturbance estimation and feedforward compensation is proposed.(2)Further,a composite backstepping control method based on generalized proportional integral observer(GPIO)is proposed for fuel quantity actuator system under time-varying disturbance.In order to further improve the control performance in the presence of time-varying disturbance,a generalized proportional integral observer is introduced to estimate the time-varying disturbance,and then a feedback controller is designed with combination of the backstepping method to form a composite control scheme.(3)For fuel quantity actuator system under time-varying disturbance,in order to further improve the robustness and reduce the computational burden of the GPIO,an output feedback sliding mode control method of fuel actuator based on reduced-order generalized proportional integral observer is proposed.Finally,the feasibility and effectiveness of the proposed control method are verified by simulation and experimental tests.The proposed control scheme shows a satisfactory performance in transient response and strong robustness against time-varying disturbances.(4)A composite control method based on extended state observer and Kalman filter is proposed for a class of systems with simultaneous disturbance and measurement noise.Usually,the extended state observer needs to use high gains to achieve a rapid convergence of the estimates,which makes the observer very sensitive to measurement noise.In order to handle this problem,a structure combining Kalman filter(KF)and extended state observer(ESO)is proposed.The former serves as noise filtration while the latter is responsible for on-line reconstruction of states and disturbance.Such self-reinforcing topology has a synergistic effect on the entire control system as both the estimated lumped disturbance and the estimates of unmeasurable state variables,needed for feedback controller synthesis,are less corrupted with noise(without sacrificing system responsiveness),which has direct beneficial influence on the overall control performance.Finally,the resultant estimates are used to construct a composite disturbance rejection-based controller.In order to verify the proposed method,experiments are carried out on the hardware experimental platform of electronic throttle valve.Through the quantitative comparison with the traditional method,the advantages of this method in noise attenuation and disturbance rejection control performance are shown.(5)Aiming at the fast motion tracking problem of electrohydraulic systems,a finite-time exact differentiator based high-order sliding mode control design method is proposed.Nonlinearities and parameter variations in electro-hydraulic system will degrade the control performance of linear controllers.Therefore,an output feedback based high-order sliding mode control for electro-hydraulic system is proposed in this dissertation.When only the piston position can be measured,the derivatives of the tracking error,which are used to construct the high-order sliding mode controller,can be obtained by using a finite time exact differentiator.Compared with the traditional sliding mode control,the high-order sliding mode can achieve a finite-time convergence of the system tracking error,and improve the control accuracy.In order to verify the tracking performance of the proposed method,the simulation test is carried out for the camless engine valve actuation system.(6)In order to improve the tracking accuracy of electrohydraulic systems under the periodic motion scenario,an internal model principle based sliding mode control design methods is proposed.The internal model principle is introduced into the sliding mode surface design to effectively eliminate the main error component related to the reference frequency in the tracking error,so that the controller can obtain a better performance in steady state.In order to verify the control performance of the proposed method,considering the tracking problem of 20 Hz sinusoidal reference signal of electrohydraulic system in the controlled trajectory rapid compression and expansion machine,a group of simulation tests are carried out.The results show that the proposed control strategy is very effective and provides an excellent steady-state tracking performance.