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research-article

Switching Gain-Scheduled PID Electronic Throttle Control for Automotive Engines

[+] Author and Article Information
Arman Zandinia

SNC-Lavalin, Richmond, BC V6X1W5, Canada
arman.zandinia@gmail.com

Ryozo Nagamune

Member of ASME, Department of Mechanical Engineering, University of British Columbia, Vancouver, BC V6T1Z4, Canada
nagamune@mech.ubc.ca

1Corresponding author.

ASME doi:10.1115/1.4039152 History: Received December 15, 2016; Revised December 04, 2017

Abstract

This paper proposes an application of the switching gain-scheduled (S-GS) proportional-integral-derivative (PID) control technique to the electronic throttle control (ETC) problem in automotive engines. For the S-GS PID controller design, a published linear parameter-varying (LPV) model of the electronic throttle valve is adopted whose dynamics change with both the throttle valve velocity variation and the battery voltage fluctuation. The designed controller consists of multiple GS PID controllers assigned to local subregions defined for varying throttle valve velocity and battery voltage. Hysteresis switching logic is employed for switching between local GS PID controllers based on the operating point. The S-GS PID controller design problem is formulated as a non-convex optimization problem, and tackled by solving its convex sub-problems iteratively. Experimental results demonstrate overall superiority of the S-GS PID controller to conventional controllers in reference tracking performance of the throttle valve under various scenarios.

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