Fuzzy strategy with anti-overshoot technique for electronic throttle control

Transcription

1 Proceedngs of the 05 Internatonal Conference on Industral Engneerng and Oeratons Management Duba, UAE, March 5, 05 Fuy strategy wth antovershoot technque for electronc throttle control Anurak Jansr, Suwla Phumho, Poomyos Payakkawan, Drek Tongaram, Pthuk Keattun, Boonchu Ruengong and Chrasak Promrayoon Faculty of Technology and Innovaton, Bangkok Thonbur Unversty, Leabklongtaweewatana Rd., Taweewatana, 070 Thaland Ptkhate Sooraksa Deartment of Comuter Engneerng, Faculty of Engneerng, Kng Mongkut s Insttute of Technology Ladkrabang Chalongkrung Rd., Ladkrabang, 050 Thaland kstkh@kmtl.ac.th Abstract Electronc throttle actuator s a nonlnear devce whch conssts several effects of delay tme, transmsson frcton, throttle late frcton and return srng load. Each of the effects s a artcular roblem for accurate control of electronc throttle controller, but the bg roblem one s a return srng load. It can lead the actuator to overshoot and undershoot behavors. To elmnate the behavors, ths aer resents a fuy strategy base on orgnal desgn and antovershoot technque. Frst, the fuy strategy s a dscrete fuy PI controller whch rovdes easy tunng, robustness and rad develoment. Second, the antovershoot technque s an antwndu algorthm wth smle archtecture. Both of the resented are desgned followng cascade feedback control scheme, and also embedded nto mcrocontroller ch for real exerment. In addton, ths aer also reveals a sngle hase drver crcut for hardware setu. Accordng to the exerment results, wth best arameters for controller, the fuy strategy wth antovershoot technque can carred out effectvely, and guarantee a erformance by usng standard crtera such as an ntegral of square error (ISE), an ntegral of absolute error (IAE), an overshoot max (OM) and a settlng tme max (STM). Keywordselectronc throttle control; fuy control; fuy strategy; antwndu; antovershoot; I. INTRODUCTION Nowadays, varous vehcles are commercally used n both ublc transortaton and rvate transortaton. Such the vehcles are motor bkes, cars, trans, boats as well as arcrafts. They are drven by nternal combuston engne that s ether stroke or stroke systems. Most of the engnes are controlled by ntellgent electronc control unt (ECU) for modern trend, hgh erformance, rad tunng, easy mantenance, safety, low fuel economy and less envronment olluton []. Wth hgh erformance ont, ower of engne s deended on ar to fuel rato nsde cylnder for combuston rocess. Obvously, ar mass and fuel mass are mortance. In regulaton of ar mass, Ths research s suorted by Thaland Research Fund under grant RJ PhD/7/550. an electronc throttle valve (ET) s oerated, and the ET s also controlled by ECU. Therefore, the engne erformance s deended on a resonse of the ET []. In a last decade, to control the ET ractcally, several electronc throttle control strateges have been roosed. Fashons of classcal roortonalntegraldervatve (PID) controller wth and wthout comensators are resented that the comensators are: a feedforward table, a nonlnear frcton, a lmhome frcton and a srng load. From classcal control to modern control, an adatve technque and selftunng algorthms are emloyed to oerate wth PID controller smultaneously. In the area of robust control, a smle sldng mode and a secondorder sldng mode controllers are used. Furthermore, the granular comutng (rc) as: fuy logc, neuron network and genetc algorthm are aled to suort classc/modern controllers, and to erform tself. Recently, 0 and 0, control strateges for ET have been nterestng for contrbuton. The trackng control of nonlnear hysteretc system s roosed that s based on ntellgent fuy logc desgn. It also works wth closeloo Backroagaton tunng for center values []. The dscretetme enhanced mnmal control synthess algorthm s resented whch conssts of drect adatve scheme, dscretetme adatve ntegral acton and adatve robust term []. The multadatve controller by usng PID control, feedforward comensaton and nonlnearty comensaton s descrbed [5]. As the recent roosed ublcatons, ther method can regulate the ET effectvely wthout both untracked and overshoot behavors from mosed by drver. Nevertheless, ths aer resents the dfferent methods of an ET controller and antovershoot technque. A smle fuy PI structure welldesgned n [6] s mlemented for ET controller. Wth a fuy PI controller n [6] have thoroughly roved and wellunderstood many years ago for smle structures, easy tunng, excellent trackng erformance and hgh robustness. The smle antwndu desgn n [7] s also mlemented for antovershoot technque. Moreover, we descrbe and develo the sngle hase motor drver crcut for hardware setu n real ractcal. The 7

2 exerment results emloy standard crtera: ISE, IAE, OM and STM for erformance ndex. The organaton of ths aer s as follows. Secton deals wth the ntroducton and Secton detals the ET structure. The desgn of the fuy PI controller wth antovershoot technque s addressed n Secton. Exerment and results are resented n Secton whle the concluson s rovded n Secton 5. II. ELECTRONIC THROTTLE ALE The electronc throttle valve s conssted of three dynamc arts: an electrc motor, a gearbox and a return srng. There are extremely nfluencng to desgn recsely control algorthm. The ET structure s shown n Fg.. v nd I m Motor m earbox out 5v Ar Throttle Plate Intake Manfold Fgure. Electronc throttle valve structure. Return Srng In motor art, the mathematcal model of electrc art can be descrbed by, and mechanc art: Lm Rm b 0 () d b Lm Rm () dt b () slm Rm Tm Tb TJ Tl 0 () d Tm b J Tl 0 (5) dt Tm Tl (6). Js b Durng a motor s oerated, n the gearbox art, both transmsson frcton and backlash nonlnear behavors are occurred. They can be defnte as delayedtme behavor. Torque from the motor through the gearbox controls a throttle late to ether oen or close; conversely, a force from a return srng drves throttle late n ooste drecton. The return srng s huge load that s based on nonlnear behavor. From the three arts, the ET s erformed base on hysteress characterstc. For more understandng, both the backlash nonlnear and the nonlnear return srng can be shown characterstcs n Fg.. D 0 D T s 5 m a 90 Fgure. (a) A nonlnear return srng, (b) A backlash characterstc. III. CONTROLLER DESIN Classcal feedback analog control s a PID controller that s wdely used n many ndustral rocesses. To transform the analog PI to a dscrete PI, a relatonsh between sform and form [6] s emloyed as y 0 b s (7). T Usng (7) to a conventonal PI ncremental control, U where PI KT K e KT ekt K e KT ekt and x (8) are controller gans. From [6], fuy logc theory and the PI control are combned; hence, the dscrete fuypi controller (FPIC) s establshed. Tycally, a rocess of fuy control system conssts of essentally arts such as fufcaton, fuy nference and defufcaton. The FPIC s derved by usng an error and a rate of error for fufcaton rocess, four rule bases and mnmax Mamdan s method for fuy nference rocess and a center of area calculaton for defufcaton rocess. In fufcaton rocess, nut membersh functons are shown n Fg.. Fgure. Regons of the fuy PI controller nut. As the defufcaton rocess, t s a fuy controller outut management that a center of area technque s used for controller outut calculaton. Thus, the fnal formulas of each nut regon are defufered as followng: u u L Kekt K ev kt kt L K ev kt Lekt K ev kt kt L K ekt kt. K ev kt L kt. K e kt L Area Area u 0 5 Area u 0 5 Area v 7

3 kt. Kekt kt. K e kt u 0 5 L Area 5 u 0 5 L Area 6 u kt L Area 7 u kt 0 Area 8, 9 kt L Area 0 u valve s a HITACHI SERA5760 model that s entered n NISSAN SUNNY. Two electrcal sules are: a man suly s volts for all arts; a controller suly s 5 volts. All equments of the electronc throttle control system are shown n Fg. 7. feed PWM 5v PWM v The overall of dscrete fuypi control systems are shown n Fg. ; aarently, t s adjusted by four arameters: error gan, rate of error gan, outut gan and nut membersh length L. r kt y kt e kt Fuy D/A Clock A/D ET Sensor yt ref dspc 5 Regulator LM7805 Isolator TLP50 Mosfet Drver IRF80 Battery Fgure 6. Electronc throttle control organaton. ET Fgure. Blnear dscrete fuypi control system. Accordng to the ET hysteress characterstc wth the huge load of srng as mentoned n Secton II, there s dramatcally dffcult to control angle of throttle late n case of unt ste acceleraton nut because the overshoot behavor of resonse sgnal s aeared. Therefore, to elmnate the overshoot behavor, an antwndu technque s aled to combne wth the dscrete fuypi controller. The system s llustrated n Fg. 5. Fgure 7. Exermental settng. Fuy Ku Lmt yt ut Fgure 5. Dscrete fuypi control wth outut antwndu system. 50 ohm PWM 5 TLP50 DC Motor IRF80 50ohm Fgure 8. Sngle hase motor drver. N007 I. IMPLEMENTATION AND RESULTS The electronc throttle control system s organed on sngle nut sngle outut (SISO) feedback control strategy as shown n Fg. 6. In desgn for exermental as Fg. 6, a dspc0f00 mcrocontroller s used for the controller art to generate PWM control sgnal for TLP50 solator, and the both dscrete fuy PI and antwndu formulas are embedded nto the mcrocontroller. The TLP50 solator s aled to amlfy the control sgnal from 5 volts to volts. An IRF80 MOSFET s emloyed for motor drvng; also, the MOSFET can source hgh current u to 8 ameres. The sngle hase motor drvng crcut s descrbed n Fg. 8. The seres of electronc throttle Fgure 9. The mcrocontroller and the motor drver. 7

4 For all arameters n exermentaton, a samle tme of controller s mllsecond; the controller gans are: =0.0, =0.0, =.05; the PWM control =, L =50 and sgnal s 00 H. Three throttle nut stuatons are: sngleram acceleraton, sne acceleraton and multste acceleraton as shown n Fg Fgure 0. (a) sngleram acceleraton, (b) sne acceleraton and (c) multste acceleraton. Frst testng, the dscrete fuypi controller wthout antwndu s used, and the arameters are set as: =0.0, (a) =, L =50 and (b) =0.0, =0.0. From the results, Fg. and Fg. show tracked resonses of sngleram acceleraton and sne acceleraton resectvely durng 5 seconds. In Fg., a reference voltage s slowly ncreased from volt to volts n 7 seconds, and s slghtly decreased down to volt. There s average of tracked error s 0.05 volt. In Fg., a reference voltage s smoothly sne wave on 0. H. There s average of tracked error s volt. Fg. shows transent resonse of multste acceleraton. Each ste s added by a volt every seconds that the rse tme of ste s 50 mllseconds. In the same for ste down, the reference voltage s decreased by a volt every seconds. There s overshoot behavors are aeared because of srng force; consequently, the average of error s 0.08 volt. Second testng, the dscrete fuypi controller wth antwndu s used, and the arameters are set as: K =0.0, K =0.0, K u =, L =50 and K w =.05. Obvously, most of arameters are same values excet the K w ; therefore, the tracked resonses of sngleram acceleraton and sne acceleraton are smlar. But, for multste acceleraton, the transent resonse s dfferent. The overshoot behavors are elmnated as shown n Fg., and the average of error s 0.07 volt. For erformance ndexes (J) are shown n Table (c) Fgure. Sngleram acceleraton nut Fgure. Sne acceleraton nut Tme (Second) Fgure. Transent resonse of multste acceleraton nut s controlled by FPIC wthout antovershoot technque Fgure. Transent resonse of multste acceleraton nut s controlled by FPIC wth antovershoot technque. 75

5 TABLE I. THE CRITERIONS OF ELECTRONIC THROTTLE CONTROL Stuaton IAE ISE OM STM (olt) (olt) (olt) (Second) SngleRam acceleraton Sne acceleraton MultSte acceleraton (FPIC wthout antovershoot technque) MultSte acceleraton (FPIC wth antovershoot technque) [] U. Montanaro, A. d aeta and. glo, Robust DscreteTme MRAC Wth Mnmal Synthess of an Electronc Throttle Body, IEEE/ASME Transactons on Mechatroncs, vol. 9, no.,. 557, Ar 0. [5] X. Jao, J. Zhang and T. Shen, An Adatve Servo Control Strategy for Automotve Electronc Throttle and Exermental aldaton, IEEE Transactons on Industral Electroncs, vol. 6, no., , Nov 0. [6]. Chen, and H. Yng, Stablty Analyss of Nonlnear Fuy PI Control Systems, Internatonal Conference on Industral Fuy Control and Intellgent Systems, Dec. 99,. 8. [7] P. He, Wndu n Control Its Effects and Ther Preventon, rd ed., Srngererlag London Lmted, 006,.6.. CONCLUSION In ths aer, the antovershoot technque usng antwndu structure s resented to combne wth the dscrete fuy PI controller n [6]. As the combned system, t s used to control the electronc throttle valve n all stuatons of nut: sngleram acceleraton, sne acceleraton and multste acceleraton, to elmnate the overshoot behavor. In real exerment, the dscrete fuy PI controller wth antovershoot technque s embedded nto a mcrocontroller, and the sngle hase motor drver crcut s descrbed. Accordng to exermental results, Fg. and Fg. show that the combned controller can track to the sngleram and sne acceleratve nuts effectvely, and Fg. also show that the overshoot roblem s elmnated exlctly. REFERENCES [] D. Wo, M. Ogawa, H. Oga and J. Kusaka, Develoment of SI Engne Control Educaton System, SICE Journal of Control, Measurement, and System Integraton, vol., no.,. 999, Mar 009. [] T. Aono and T. Kowatar, ThrottleControl Algorthm for Imroveng Engne Resonse Based on ArIntake Model and ThrottleResonse Model, IEEE Transactons on Industral Electroncs, vol. 5, no.,. 959, Jun 006. [] C. H. Wang and D. Y. Huang, A New Intellgent Fuy for Nonlnear Hysteretc Electronc Throttle n Modern Intellgent Automobles, IEEE Transactons on Industral Electroncs, vol. 60, no. 6,. 5, Jun 0. BIORAPHY Anurak Jansr was born n Chang Ma, Thaland. He receved the B.IT., M.Eng., and D.Eng. degrees from Kng Mongkut's Insttute of Technology Ladkrabang (KMITL), Bangkok, Thaland, n 00, 007, and 0, resectvely. He s currently a researcher and lecturer at the Faculty of Technology and Innovaton, Bangkok Thonbur Unversty. Hs man research nterests are controls and comuter softwares for robotc, vehcle and ndustral alcatons. Poomyos Payakkawan was born n 97 at the rovnce of Samutsongkram. He receved the B.Eng degree from the Deartment of Informaton Engneerng, Kng Mongkut s Insttute of Technology Ladkrabang, n 00, and the M. Eng degree from the Deartment of Control and Instrumentaton Engneerng, Kng Mongkut s Unversty of Technology Thonbur, n 007. He comleted hs doctoral degree n Electrcal Engneerng from the Faculty of Engneerng, KMITL. Hs research nterests are energy converson, control alcaton, rocess control, waste nto energy, yrolyss/gasfcaton rocess control, renewable energy and mcrowave. Suwla Phumho (formerly Areejt) was born n 980 n Thaland s Samutrakarn rovnce. In 00, he graduated summa cum laude wth a bachelor s degree n Electronc Engneerng from Mahanakorn Unversty of Technology (MUT). In 008, Mr. Phumho earned a master s degree n Informaton Engneerng from Kng Mongkut's Insttute of Technology Ladkrabang (KMITLX) and, n 0, comleted hs doctoral degree n Electrcal Engneerng from the Faculty of Engneerng, KMITL. Hs research nterests center around chaotc alcatons, mechatronc systems, control alcatons, ndustral rocess control, and renewable energy. 76