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合作式智能运输系统 车用通信系统 应用层及应用数据交互标准

This paper examines the complete design of an electronic throttle control system. This systemis a safety-critical, embedded control application, and so the design of the systemextends beyond the analysis of the closed-loop behavior of the plant and a controller. The necessary reliability and ability to detect and handle hardware failures creates particular hardware requirements. Differential equations that describe the hardware are derived so that control strategies can be designed and simulated before they are tested on the hardware. The presence of Coulomb and static friction in the dynamics of the throttle plate motivates the use of a non-linear control law. Sliding mode and adaptive sliding mode control laws are derived for controlling the throttle plate dynamics. The adaptive control law provides an on-line estimate of the friction, which can identify a throttle body with excessive friction. Besides the control of the throttle position, the systemm ust be integrated into the higherlevel goals of a powertrain controller.

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