Fixed Time Prescribed Performance Control For Automobile Electronic Throttle With Limited Control

Electronic throttle is an important part of automobile engine control system,the amount of the air flow into the engine cylinder depends on the opening of electronic throttle valve plate,thus affect the dynamic characteristic of the automobile.In order to improve the driving comfort and safety,fuel economy and reduce the exhaust emissions of the vehicle,the electronic throttle system valve plate position tracking control is required to have high precision and dynamic performance.Considering the nonlinearity and parameter uncertainty of the electronic throttle,and the system input voltage to meet the safety limit requirements of the limit conditions,the research in this thesis is committed to the position tracking control of electronic throttle system with limited control based on the prescribed performance control theory and the fixed time convergence theory.According to the strict requirements of the electronic throttle control system for transient and steady state performance,a prescribed performance fixed time controller is designed by combining the prescribed performance control strategy with the fixed time stability theory.By choosing the appropriate default performance function and its parameters to ensure that the system tracking error is not dependent on the initial error and disturbances and have the fixed convergence time,and the steady-state error is limited in the predefined limits.At the same time,considering the request of the drive motor control voltage limiter,an auxiliary dynamic system is introduced to deal with the saturation constraint control problem.Finally,the effectiveness and superiority of the designed controller are verified by MATLAB simulation and the hardware in the loop simulation platform based on d SPACE.Considering the nonlinear and parameter uncertainty of the throttle system,an adaptive prescribed performance fixed time servo controller is designed by using the adaptive technology to adjust the system parameters online.In order to further improve the transient performance of the system,the auxiliary function is improved.Through the real-time adjustment of the controller parameters,the robustness of the control system to the parameter changes and load disturbances during operation is guaranteed.Finally,the simulation of MATLAB and the hardware in the loop simulation platform based on d SPACE is experimentally,and compared with the controllers proposed in the existing references,the simulation and experimental results show that the controller designed in this thesis make the electronic throttle system have a better transient steady-state tracking performance.