混合动力汽车电子节气门的模糊自适应PID控制

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混合动力汽车电子节气门的模糊自适应PID控制 Powered By Docstoc
					    15               1                                                                                                                Vol. 15 No. 1
    2010     2                          JOURNAL OF HARBIN UNIVERSITY OF SCIENCE AND TECHNOLOGY                                          Feb. 2010




                                                                                                                          PID

                                        A                                                                       150040N



                           .                PID                                                           PID
                                                                                                                          PID
                                                                 .                                              PID
                                                                               PID                                        .
                           .                 e               e          PID          e
                                    . U468. 3                        . A                            . 1007- 2683R2010N01- 0001- 04


              Fuzzy Adaptive PID Control for Electronic Throttle Applied
                            in Hybrid Power Automotive

                                                WU Xiao-gang         WANG Xu-dong                   JING Ji-min
                     g School of Electrical and Electric Engineering Harbin University of Science and Technology Harbin 150040 ChinaN


         AbstractHThe non-linear dynamic model of electronic throttle applied in hybrid power automotive is estab-
lished firstly. Aiming at the problem that conventional PID algorithm is not effective enough for non-linear control
system and fuzzy control algorithm can not eliminate static error a fuzzy adaptive PID algorithm is put forward for
target position tracking control of electronic throttle. The experiment results show that the fuzzy adaptive PID algo-
rithm has better adaptability and lower potion tracking error than common PID control and the control effect is satis-
fying.
         Key wordsHelectronic throttlee fuzzy controle adaptive PID controle position tracking




                                                                                                                                              1
0                                                                                                                                                 .
                                                                                                                                PID
                                                                                                                                           PID
                                                                                     2
                                、                                                        .
                                        .
                                                                                     3 -5
                                                                        、                      .        PID
                                                                                                   PID
                                                                                             6 -7
                                    、                                                               .                            PID
                                        .
                 . 2009 - 03 - 20
                 .                                  R208180N e                                            R11531z03N
                 .             R1981—               E-mail. wuxiaogang@ yahoo. cne
                               R1958—                    .
 2                                                                                                                                                                                   15

       .                                                                                                               2               .
                                                                                                                                                     .
                                                                      PID                                 m S Rθ = K S Rθ - θ0 N + DsgnRθ - θ0 N                                          R10N
                                     .                                                              m S Rθ                                       N·mN eK S                                 e θ0
                                                                                                                            R°n e θ                                         °n e D
1                                                                                                           .

                                                                                                                 (·
                                                                                                                T/ N m)
                                                                                                                  D
               1            .
                                                                                                                           兹min
                                                                     节气门体                                         0                         兹Q                         兹max 兹/°
                   + Ubat
                                                 齿轮箱       节气门        弹簧                                        -D
           u


                                                               Uc                                                                 2
               控制电路
                                                                                           1. 2
                                                                                                                                                                                    、
                                 1
                                                                                                        、                                                .                           “
                                                                                                                                                             10
                                                                                                +                      +                         ”                          3         .



                                                                                                    {
                                                                            .                           K d ω + K f sgnRω                                    ω≠0
                                                    8 -9
                                                           .                               Fk =                 F S sgnF e                       Fe > FS ω = 0                            R11N
                           di a                                                                                    Fe                            F e ≤F S ω = 0
                        La      + Ra ia = ua - Kv ωm                              R1N
                           dt
                                                                                                    Fk                                       RNN eF e
                                          u a = K ch u                            g2N
                                                                                           RNN eF S                                              RNN.
                                          mm = Kt ia                              R3N
                                                                                                                                                                        k
                                m app = m m - m S - m L                           R4N
                                                                                                                      F k Rω = K d ω + K f sgnRω                                          12N
                                   dω m
                                 J      = m app - m f                             R5N               F k Rω                                   NN eω                                         °n e
                                    dt
                                                                                           Kd                                         e Kf                                      .
                                          dθ m
                                               = ωm                               R6N                       k
                                           dt


                                                                                                                                             {
                                                                                                                                                 Kf           ω >0
                                           θ = Kl θm                              R7N
                                                                                                                        Fg ω =                    0           ω =0                        R13N
                                         m f = m f Rω                                 8N
                                                                                                                                                 - Kf         ω <0
                                         m S = m S Rθ                                 9N
       . u                                   gVNeua                                                                               F/N
RVNeKch                                   ei a                                  RANe                                                   Fs                         Fk
mm                          RN·mNems                                  RN·mNemL
                    RN·mNemapp                                         RN·mNemf                                                                                    (
                                                                                                                                                                  棕/ rad/s)
                       RN·mNeωm                                        Rrad / sNeθm
                                                                                                                                      -Fs
                            R°ne θ                                  °neRa
    RΩ La                                 RHNeKt                                eKv                                3                        、
                            eKl                            .
1. 1                                                                                       2                                                                                  PID

                                                                                                                  PID
                                                                            .
       1                                                               .                                                                           PID                                     3

                                                               .                                                 KI .                                                             k
                                                                                                                   ek NB NM NS ZO PS PM PB                                   ∈ -6 6
 .                                                                                                                 
                                                                                                                   ek NB NM NS ZO PS PM PB                                   ∈ -6 6
                                                                                    .                              K P . NB NM NS ZO PS PM PB                                ∈ -6 6
                                                                                                                   K D . NB NM NS ZO PS PM PB                                ∈ -6 6
              PID                     .                                                                            K I . NB NM NS ZO PS PM PB                                ∈ -6 6
                                                                                                                                                                              .
           PID                                                             4.                                                                 PID
                                                                                                             K
                                                                                                         KP 、 D                                              KI
                                  du/dt       Fuzzy%PD
                                                                                                                    1.                             Mamdani          .
                                          Fuzzy%1                                                                                     1                    PID
                                           KI KP         KD                                                                                a)
                                                                                                                                          ( KP 的模糊控制规则
           输入 + e                                                      被控 输出
                                            PID 控制器                                                                      e
                                                                       对象
                 -                                                                                                               NB           NM     NS      ZO         PS   PM       PB
                                                                                                             觶
                                                                                                             e      KP
                                                                                                                  NB             NB           NB     NM      NM         NM   NS       ZO
                     4                            PID                                                             NM             NB           NB     NM      NM         NS   ZO       PS
                                                                                                                  ZO             NB           NM     NS      ZO         PS   PM       PB
              PD                                                   .                                              PM             NS           ZO     PS      PM         PM   PB       PB

      U PD Rkn = K P          {   eg kn +
                                          T D eg kn - eg k - 1N
                                                    T                                           }=                PB             ZO

                                                                                                                                          ( KD 的模糊控制规则
                                                                                                                                           b)
                                                                                                                                              PS     PM      PM         PM   PB       PB


                         K P eg kn + K D eg kn - eg k - 1N R 14N                                                         e
                                                                                                                                 NB           NM     NS      ZO         PS   PM       PB
      . KP                            eT                                   e KD                              觶
                                                                                                             e      KP
                                                                                                                  NB             NS           NM     NM      NM         NM   NS       PS
 eK D = K P T D / T.
                                                                                                                  NM             NS           NM     NS      NM         NS   PS       PS
      PID                                       K K
                                            KP 、 I 、 D                                      e
                                                                                                                  NS             NS           NS     NM      NS         PS   PS       PM
      e                                                           k                                              ZO             NS           NM     NS      ZO         PS   PM       PS
                                               
                                   K P = F1 Re en                                                g15N             PS             NS           NM     NS      PS         PM   PS       PS
                                               
                                   K D = F2 Re en                                                g16N             PM             NS           NS     NS      PM         PM   PS       PS
                                                                                                                 PB             NS           NS     PM      PM         PM   PS       PS
                                   K I = F3 Re en                                                g17N
      . Fg ·                                        .                                                                                      c)
                                                                                                                                          ( KI 的模糊控制规则

PID                                                      .                                                         e         NB           NM        NS     ZO       PS       PM       PB

      U PID Rkn = U PD Rkn + U I Rkn =                                                                             K1        ZO           NS        NM     PB       PM       PS       ZO
                                                         k

                          K P eg kn + K I ∑ eg jn +
                                                        j =0                                             3
                          K D eg kn - eg k - 1N                                 =
                                                                                        k                                                                         PID
                                                
                          F1 Re en eg kn + F3 Re en ∑ eg jn +
                                                                                    j =0
                                                                                                                                          5
                                
                          F2 Re en eg kn - eg k - 1N R 18N
              PID
                                                                                                  KP
           KD            KI                  0e


               K
           KI 、 P             KD                               e


         K
     KP 、 I          KD                             .
                                                                           PID                                               5

                     e                                   
                                                         e                                          K
                                                                                                KP 、 D                                               CAN
4                                                                                                                                                                            15

                                                                                                .
    .                                                                                                                           .         7                                      PID
                                                                                                                                                     .
                              40
                              35             电子节气门目标开度                                                                                                                       .         6
                              30                                                                7                                    .                                 PID
               节气门开度 /%




                              25           电子节气门实际开度                                                      PID
                              20
                                                                                                                   .
                              15
                              10
                               5                                                           4
                               0
                                   0%%%%%0.2%%%%0.4%%%%0.6%%%%%0.8%%%%1.0%%%%1.2%%%%1.4
                                                        时间 /s
                            a)
                           ( 节气门目标开度曲线和实际开度曲线                                                                                   PID
                       3.5
                       3.0
                                                                                                    PID
                       2.5                                                                            PID
        位置跟踪误差 /%




                       2.0
                       1.5                                                                      .
                       1.0
                       0.5
                         0
                      -0.5
                      -1.0
                                                                                                                  PID                                                        .
                      -1.5
                                   0%%%%%0.2%%%%0.4%%%%0.6%%%%%0.8%%%%1.0%%%%1.2%%%%1.4
                                                        时间 /s                                                 .
                                                b)
                                               ( 跟踪误差曲线                                    1                                                  .
                                                                                                                  PID               J .                     R
                                                                                                                                                         2007 6N .1 - 4.
                          6                        PID
                                                                                           2                            .                Smith               / PID

                          35                                                                                      J .                               2007 22R3N .143 - 147.
                                                      电子节气门目标开度                            3                                                  .
                          30
                                                                                                                            J .                                   2009 14 R2 N . 118
              节气门开度 /%




                          25
                                      电子节气门实际开度                                                 - 125.
                          20
                                                                                           4                                .             Smith
                          15
                                                                                                    J .                     2007 14R4N .422 - 429.
                          10
                                                                                           5    WON Seok Oh YOUNG Tae Kim CHANG Sun Kim et al. Speed
                              5
                                                                                                Control of Induction Motor Using Genetic Algorithm Haled Fuzzy
                              0
                                  0%%%%%0.2%%%%0.4%%%%0.6%%%%%0.8%%%%1.0%%%%1.2%%%%1.4          Controller C / / Proceedings of the 25th Annual Conference of the
                                                       时间 /s                                    TFPP Industrial Electronics Society 1999 2 R29N .625 - 629.
                          ( 节气门目标开度曲线和实际开度曲线
                           a)                                                              6                                              .                      PID

                          1.6                                                                                           J .                              2007 9R9N .1543 - 1547.

                          1.4                                                              7                                              .                PID
                                                                                                    J .                                           2009 14R2N .59 - 62.
          位置跟踪误差 /%




                          1.2
                          1.0                                                              8    DAGCI O H. Sliding Mode Control of Electronic Throttle Valve
                          0.8                                                                       C / / Proceedings of the American Control Conference Anchor-
                          0.6                                                                   age 2002. 1996 - 1998.
                          0.4                                                              9    ERIKSON L NIELSEN L. Non-Linear Model-Based Throttle Con-
                          0.2                                                                   trol J . Progress in Technology 2004 110. 67 - 71.
                              0                                                            10             .                                                                      D .
                                  0%%%%%%0.2%%%%0.4%%%%0.6%%%%%0.8%%%%%1.0%%%%1.2%%%%1.4
                                                                                                      .                 2004. 23 - 26.
                                                        时间 /s
                                                b)
                                               ( 跟踪误差曲线
                                                                                                                                                              R          .             N
         7                                              PID

    6                                           PID

				
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