Abstract: The main function of electronic throttle is to regulate the air inflow into the engine system of the vehicle by changing the opening angle of the valve plate. The nonlinear mathematic model of the electronic throttle is proposed based on the mechanism and work principle. In the proposed model, the nonlinear factors spring and friction and the external disturbance caused by the gas flowrate are considered. Therefore, the proposed model can describe the nonlinear characteristics of the electronic throttle. Based on the proposed model, the sliding-mode control is designed for the electronic throttle, which can handle the strong nonlinearity and external disturbance of the electronic throttle. The closed-loop stability is proved. The control experiment platform of the electronic throttle is developed. Computer simulation and experiments are implemented. The research results of the simulation and experiment show that the proposed controller can make the actual angle of the electronic throttle track its set point with the satisfactory performance, and the external disturbance can be effectively suppressed.

Key words:  Electronic throttle, modeling, sliding-mode control, external disturbance, experiment platform

摘要： 汽车电子节气门通过改变节气门的角度来调节发动机的进气流量。根据电子节气门的机械结构和工作原理，建立了节气门的非线性数学模型，模型中充分考虑了弹簧、摩擦等非线性因素以及气体流量等外界扰动对节气门控制系统性能的影响。针对节气门的非线性强、具有外界干扰等控制难点，基于所建立的数学模型，提出了节气门的滑模控制方法，并证明了闭环系统的稳定性。设计并开发了节气门的控制实验平台，分别进行了控制方法的计算机仿真和实验平台验证。仿真及实验研究结果表明，所提出控制方法可使电子节气门的实际角度准确稳定地跟踪其设定值，并有效的抑制外界干扰，获得良好的控制效果。

关键词: 电子节气门, 建模, 滑模控制, 外界干扰, 实验平台