基于Hammerstein结构的电子节气门动态非线性建模

杨新宇; 张臻; 谭清远; 陈翔; 周克敏

doi:10.13700/j.bh.1001-5965.2018.0198

基于Hammerstein结构的电子节气门动态非线性建模

doi: 10.13700/j.bh.1001-5965.2018.0198

1.
北京航空航天大学自动化科学与电气工程学院, 北京 100083
2.
温莎大学电气与计算机工程系, 温莎 N9B
3.
山东科技大学电气与自动化工程学院, 青岛 266590

基金项目:

国家自然科学基金 61433011

详细信息

作者简介:
杨新宇  女, 硕士研究生。主要研究方向:动态迟滞非线性建模与控制

张臻  男, 博士, 讲师。主要研究方向:智能结构动力学与控制、迟滞非线性系统建模与控制

谭清远  男, 博士研究生, 主要研究方向:非线性系统的建模、控制与优化在内燃机领域的应用

陈翔  男, 博士。主要研究方向:基于网络的控制系统、鲁棒及非线性系统控制、基于视觉的动态控制以及控制在工业和汽车领域的应用

周克敏  男, 博士, 教授, 博士生导师。主要研究方向:鲁棒控制、多目标优化、故障诊断与容错控制、迟滞非线性控制等

通讯作者:
张臻, E-mail: zhangzhen@buaa.edu.cn

中图分类号: TP273
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- 被引次数: 0
出版历程
- 收稿日期: 2018-04-10
- 录用日期: 2018-07-27
- 网络出版日期: 2018-12-20

Dynamic nonlinear system modeling of electronic throttle body based on Hammerstein structure

1.
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
2.
Department of Electrical and Computer Engineering, University of Windsor, Windsor N9B
3.
School of Electrical and Automation Engineering, Shandong University of Science and Technology, Qingdao 266590, China

Funds:

National Natural Science Foundation of China 61433011

More Information

Corresponding author: ZHANG Zhen, E-mail: zhangzhen@buaa.edu.cn

摘要

摘要:
为实现对配装于5.7 L汽油发动机的某型汽车电子节气门（ETB）系统的鲁棒控制，需先建立ETB系统的非线性逆模型以抵消动态迟滞非线性对系统控制性能的影响，针对该ETB系统非线性特性进行了研究，基于Hammerstein模型结构对ETB的动态迟滞非线性进行了建模。首先为了描述ETB特殊的迟滞非线性特性，构造了一种新的静态迟滞算子作为Hammerstein系统中的非线性子系统并推导得到了静态迟滞算子的解析逆；然后基于迟滞逆补偿策略估计出Hammerstein系统中的中间不可测变量；最后基于最小二乘估计法辨识得到Hammerstein系统中的线性子系统。建模结果与实验结果对比表明本文模型能够很好地描述ETB的动态迟滞特性。
- 电子节气门(ETB) /
- 迟滞非线性 /
- Hammerstein模型 /
- 迟滞逆补偿 /
- 最小二乘估计
Abstract:
In order to realize the robust control of an electronic throttle body (ETB) system equipped with 5.7 L gasoline engine, the nonlinear inverse model of the ETB system must be established to counteract the effect of dynamic hysteresis nonlinearity on the control performance of the system. In this paper, the dynamic nonlinear characteristics of the ETB system are studied and a dynamic hysteresis model for the ETB system is proposed and identified based on the structure of Hammerstein system. It is challenging for the existing static hysteresis operators to cover the nonlinear characteristics of the ETB system. Thus, to describe the special hysteresis nonlinear characteristics of ETB system, a new static hysteresis nonlinear operator is constructed as the nonlinear subsystem for the Hammerstein model. The analytical inverse operator of the static hysteresis operator is also derived. The unmeasurable internal state in the Hammerstein system is then estimated based on the hysteresis inverse compensation strategy. Finally, the linear subsystem in the Hammerstein system is identified using the estimation method of least square. The comparison between the modeling results and experimental results shows that the proposed model can describe the dynamic hysteresis nonlinear characteristics of the ETB.
- electronic throttle body (ETB) /
- hysteresis nonlinearity /
- Hammerstein model /
- hysteresis inverse compensation /
- least square estimation

HTML全文

图 1 ETB系统^[18]

Figure 1. ETB system^[18]

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图 2 不同频率正弦信号下的ETB系统响应

Figure 2. ETB system response to sinusoidal signal with different frequencies

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图 3 Hammerstein模型结构

Figure 3. Structure of Hammerstein model

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图 4 同一频率不同占空比下的迟滞环

Figure 4. Hysteresis loops with different duty cycles at the same frequency

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图 5 具有局部记忆的迟滞算子

Figure 5. Hysteresis operator with local memories

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图 6 S-stop算子

Figure 6. S-stop operator

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图 7 非线性子系统建模结果

Figure 7. Modeling result of nonlinear subsystem

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图 8 按指数衰减的正弦信号

Figure 8. Exponentially damped sinusoidal signals

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图 9 静态迟滞算子输出

Figure 9. Output of static hysteresis operator

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图 10 S-stop算子逆模型

Figure 10. Inverse model of S-stop operator

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图 11 迟滞逆补偿

Figure 11. Hysteresis inverse compensation

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图 12 逆模型验证结果示意图

Figure 12. Schematic diagram of inverse model verification result

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图 13 经过迟滞逆补偿的ETB系统

Figure 13. ETB system with hysteresis inverse compensation

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图 14 基于Hammerstein模型的ETB系统建模效果

Figure 14. Modeling effect of ETB system based on Hammerstein model

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图 15 开环系统的阶跃响应

Figure 15. Step response of open-loop system

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表 1 基于S-stop算子的Hammerstein模型建模效果

Table 1. Modeling effect of Hammerstein model based on S-stop operator

频率/Hz RMSE/V RE/%

0.05 0.101 7 3.20

0.08 0.144 2 4.67

0.1 0.162 8 5.14

0.3 0.458 9 14.80

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表 2 开环系统的阶跃响应相对误差

Table 2. Step response relative error of open-loop system

占空比 0.8 0.75 0.7

RE/% 4.40 6.55 1.23

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