Discrete time feedback linearization method for dynamical adaptive control of electronic throttle

Abstract

The throttle system is an electromechanical system represented by a nonlinear dynamical model. In construction some nonlinearityes exist into the throttle. The most significant nonlinearity is a dead-zone. It has its origin in a security position of the throttle position. There are other nonlinearities e.g. Coulomb friction and nonlinearities related to wear. The work is focused on the control of the position of the throttle. Discrete-time designs of electronic throttle control systems are required for implementation on electric traction borne computers. This paper presents an nonlinear, discrete-time control system design method. These is the discrete-time feedback linearization method. First, the system dynamics is transformed into linear, time-invariant form. Next, the pole placement control techniques it is applied to the transformed control problem. In the presence of parametric variations, and perturbation the linearized system is modified. Next, we propose to use the adaptive dynamical control to minimize the consequences of these parametric variations. The resulting control scheme is applied on the original system and its effectiveness is evaluated by simulation tests.