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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

杨新宇, 张臻, 谭清远, 等 . 基于Hammerstein结构的电子节气门动态非线性建模[J]. 北京航空航天大学学报, 2018, 44(12): 2605-2612. doi: 10.13700/j.bh.1001-5965.2018.0198
引用本文: 杨新宇, 张臻, 谭清远, 等 . 基于Hammerstein结构的电子节气门动态非线性建模[J]. 北京航空航天大学学报, 2018, 44(12): 2605-2612. doi: 10.13700/j.bh.1001-5965.2018.0198
YANG Xinyu, ZHANG Zhen, TAN Qingyuan, et al. Dynamic nonlinear system modeling of electronic throttle body based on Hammerstein structure[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(12): 2605-2612. doi: 10.13700/j.bh.1001-5965.2018.0198(in Chinese)
Citation: YANG Xinyu, ZHANG Zhen, TAN Qingyuan, et al. Dynamic nonlinear system modeling of electronic throttle body based on Hammerstein structure[J]. Journal of Beijing University of Aeronautics and Astronautics, 2018, 44(12): 2605-2612. doi: 10.13700/j.bh.1001-5965.2018.0198(in Chinese)

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
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

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

Funds: 

National Natural Science Foundation of China 61433011

More Information
  • 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。

     

  • 图 1  ETB系统[18]

    Figure 1.  ETB system[18]

    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

    图 3  Hammerstein模型结构

    Figure 3.  Structure of Hammerstein model

    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

    图 5  具有局部记忆的迟滞算子

    Figure 5.  Hysteresis operator with local memories

    图 6  S-stop算子

    Figure 6.  S-stop operator

    图 7  非线性子系统建模结果

    Figure 7.  Modeling result of nonlinear subsystem

    图 8  按指数衰减的正弦信号

    Figure 8.  Exponentially damped sinusoidal signals

    图 9  静态迟滞算子输出

    Figure 9.  Output of static hysteresis operator

    图 10  S-stop算子逆模型

    Figure 10.  Inverse model of S-stop operator

    图 11  迟滞逆补偿

    Figure 11.  Hysteresis inverse compensation

    图 12  逆模型验证结果示意图

    Figure 12.  Schematic diagram of inverse model verification result

    图 13  经过迟滞逆补偿的ETB系统

    Figure 13.  ETB system with hysteresis inverse compensation

    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

    图 15  开环系统的阶跃响应

    Figure 15.  Step response of open-loop system

    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/HzRMSE/VRE/%
    0.050.101 73.20
    0.080.144 24.67
    0.10.162 85.14
    0.30.458 914.80
    下载: 导出CSV

    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0.80.750.7
    RE/%4.406.551.23
    下载: 导出CSV
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出版历程
  • 收稿日期:  2018-04-10
  • 录用日期:  2018-07-27
  • 刊出日期:  2018-12-20

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