Design and Control of an Intelligent Electronic

Throttle Control System

Anil Kumar Yadav Prerna Gaur Sandeep Tripathi
Division of ICE, NSIT, Division of ICE, NSIT, Galgotia College of Engineering and
New Delhi, India New Delhi, India Technology, Gr. Noida, India
E-mail: [email protected] E-mail: [email protected] E-mail: [email protected]

Abstract- The objective of this paper is to design of an controller, adaptive control are used to regulate the throttle
intelligent electronic throttle control system (ETCS). A high plate rapidly and precisely [4], [8]. The application of
performance DC servo motor, and conventional ETCS for speed control of hybrid electric vehicle,
proportional-integral-derivative (PID), sliding mode control
unmanned aerial vehicle and heavy duty vehicle are
(SMC) with PD and PID type sliding surface (SS), and fuzzy
presented in [9]-[12].
logic control techniques are used for the design of ETCS. A
comparative performance analysis among all the designed
At present, PID type controllers are still widely
controllers is performed. used in industrial applications as they are easy to design,
inexpensive, simple structure, model-free characteristic
Key words - Electronic Throttle Control System, Fuzzy logic and excellent performance. However, the classical PID
control, Sliding mode control controller cannot give a good control performance for
highly nonlinear, uncertain and time varying systems [10],
I. INTRODUCTION [11]. In recent two decades, the PID control has been
In all vehicles internal combustion engine (ICE) plays a combined with GA [13], fuzzy logic [14] for controlling
key role for better speed performance. ICEs are used in the systems. In this control methods fuzzy logic, neural
almost all vehicles such as HEV, heavy duty trucks, network and genetic algorithm are used as tuning method
military trucks, tractors, ambulances, trains, aircrafts, etc., to search the optimal PID controller parameters.
which are the major source of pollution, high fuel SMC is one of the effective nonlinear robust
consumption, poor speed performance, and less efficiency control techniques. Since the sliding mode control (SMC)
at low speed. These variables are strongly dependent on was invented in the beginning of 1970s, and it is recently
the throttle position which is controlled by high used in stabilization, tracking, observer design and other
performance DC servo motor drives. The controlling of control problems [15], [16]. The robustness of the SMC is
throttle position using electrical motor drives is called guaranteed by using a large switching control gain. This
electronic throttle control system (ETCS). The control switching strategy often leads to chattering which is
objective is to make the throttle plate move to the desired caused by the switching function in the hitting control law.
position rapidly and precisely [1]-[3]. In electronic throttle To reduce the chattering phenomena, a saturation method
controls, accelerator pedal and throttle plate are connected has been developed in [17]-[18]. Fuzzy logic based SMC
via an electric motor through the computer system, (FSMC) is used and proposed for design of intelligent
whereas in traditional vehicles, stepping on the accelerator ETCS in this paper. FSMC may be introduced robust
pedal moves a cable that is mechanically connected to the feature and with less computational effort in the controller
throttle plate. An electronic throttle is a dc-motor-driven design. The time domain performance specifications such
valve that regulates air inflow into the combustion system as overshoot (OS), rise time (RT) and settling time (ST)
of the engine. In this way, the engine control unit can are taken into consideration for comparative analysis of
maintain the desired throttle position for specific controllers.
engine/vehicle operating modes, thus improving
drivability, fuel economy, emission levels, and safety. II. SYSTEM DESCRIPTION
The various control techniques such as robust
control, hybrid theory based time-optimal control, The Mechatronic system of an engine with ETCS is shown
variable-structure control, RBF networks-based adaptive in fig. 1 [10]. This configuration has many features such as
inverse model control system, a new intelligent fuzzy a wide range of speed, improves the overall efficiency,

978-1-4673-7492-7/15/$31.00 ©2015 IEEE

reduces pollution, etc. Hence it is necessary to control the motor and throttle inertia respectively.‫ܤ‬௠ ƒ†‫ܤ‬௧ are
engine speed which varies with time and strongly depends damping constant of motor and throttle plate respectively.
on fuel power, i.e., air-fuel ratio. The air-fuel ratio is The spring torque ܶ௦௣ ൌ ‫ܭ‬௦௣ ሺߠ ൅ ߠ଴ ሻ, where ‫ܭ‬௦௣ is
responsible for the pollutant emission, power required by throttle spring constant and ߠ଴ is pre-tension angle of
the vehicle, efficiency of the vehicle, etc. The numerical spring. The airflow over the throttle plate induces a small
values DC motor for ETCS in SI units used for simulation torque Ta such as ܶ௔ ൌ ܴ௔௙ ‫ܨ‬௔ …‘• ߠ, where ܴ௔௙ is focal
are given in table 1 [10]. point of airflow on plate. ‫ܨ‬௔ denotes the air force acting on
the plate parallel to the air flow direction which is
‫ܨ‬௔ ൌ οܲ‫ܣ‬௣ …‘• ߠ, where οܲ ൌ ܲ௔௧௠ െ ܲ௠ ,‫ܣ‬௣ ൌ ߨܴ௣ଶ is
throttle plate area and ܲ௠ ൌ ݂ሺߠǡ ܲ௔௧௠ ǡ ܰሻ. The manifold
pressure Pm is a nonlinear throttle angle dependent
function that approaches to atmospheric pressure (ܲ௔௧௠ ) as
the throttle approaches a wide-open state. Hence ܶ௔ is
given as ܶ௔ ൌ ܴ௔௙ οܲߨܴ௣ଶ …‘• ଶ ߠ [10], [11]. Due to small
value of armature inductance ‫ܮ‬௔ , effect of ‫ܮ‬௔ is neglected.
Hence from (1) and (2), yield complete system represented
by (3).
Fig. 1 Mechatronic system of an engine with ETCS మ௄ ௄ ௄
஻ ே ே௄
ߠሷ ൌ െ ቂ ൅ ೟ ್
ቃ ߠሶ െ ೞ೛ ߠ ൅ ೟ ‫ܧ‬௔ െ ܶ௅ (3)
௃ ோೌ ௃ ௃ ோೌ ௃
Table 1 Numerical values of DC servo motor
Parameter Values Unit
where ܶ௅ is load torque and equal to ሺ‫ܭ‬௦௣ ߠ଴ ൅ ܶ௔ ሻΤ‫ܬ‬.
Ra 2 ȍ
La 3 mH
III. DESIGN AND IMPLEMENTATION OF CONTROLLERS
Ksp 0.4 Nm/rad.
Kb 0.11 Vs/rad.
N 4 - A. Conventional PID control
Kt 0.1 Nm/A
Bm 0.03 Nms/rad. The PID controllers have the capability of eliminating
Bt 0.002 Nms/rad.
steady-state error due to integral action and can anticipate
Jm 1*10-3 Kg m2
Jg 0.005 Kgm2 output changes due to derivative action when the system is
Raf 2 mm subjected to a desired input. The generalized PID control
Rp 1.5 mm
law is given as below:
ߠ଴ ߨȀʹ rad. ଵ
‫ݑ‬ሺ‫ݐ‬ሻ ൌ ‫ܭ‬௉ ሾ݁ሺ‫ݐ‬ሻ ൅ ‫݁ ׬‬ሺ‫ݐ‬ሻ݀‫ ݐ‬൅ ܶௗ ݁ሶ ሺ‫ݐ‬ሻሿ ൌ ‫ܭ‬௉ ݁ሺ‫ݐ‬ሻ ൅
்೔
In fig. 1, the ETCS uses a DC servo motor to rotate the ‫ܭ‬ூ ‫݁ ׬‬ሺ‫ݐ‬ሻ݀‫ ݐ‬൅ ‫ܭ‬஽ ݁ሶ ሺ‫ݐ‬ሻ (4)
throttle plate. The dynamics of DC servo motor for design where Kp, Ki, and Kd are proportional, integral and
of ETCS is described as fallows [10]: derivative gains respectively. Ti is the reset time which is
ௗ௜ೌ ଵ ௗఏ
ൌ ቀ ቁ ቀെܴ௔ ݅௔ െ ‫ܭ‬௕ ܰ ൅ ݁௔ ቁ (1) equal to Kp/Ki and Td is the rate time which is equal to
ௗ௧ ௅ೌ ௗ௧
ௗమఏ ଵ ௗఏ Kd/KP.
ൌ ቀ ቁ ቀെ‫ ܤ‬ቀ ቁ ൅ ܰܶ௠ െܶ௦௣ െ ܶ௔ ቁ (2)
ௗ௧ మ ௃ ௗ௧
where ݅௔ is armature current, ݁௔ applied motor voltage, ‫ܭ‬௕ B. Sliding mode control
is back EMF constant, ܴ௔ and ‫ܮ‬௔ are resistance and Case 1: Consider the PD type sliding surface
inductance of motor respectively. The gear ratio ܰ is ‫ݏ‬ሺ‫ݐ‬ሻ ൌ ݁ሶ ሺ‫ݐ‬ሻ ൅ ߣ݁ሺ‫ݐ‬ሻ (5)
defined as ܰ ൌ ߠ௠ Τߠ ൌ ܶ௚ Τܶ௅ , where ߠ௠ is motor shaft where ݁ሺ‫ݐ‬ሻ ൌ ߠ ‫ כ‬ሺ‫ݐ‬ሻ െ ߠሺ‫ݐ‬ሻ (6)
angular position (rad.),ߠ ‹• –Š‡ throttle plate angular From (3), (5) and (6)
஻ ேమ ௄೟ ௄್ ௄ೞ೛ ே௄
position (rad.), ܶ௚ is the torque transmitted from gear to ‫ݏ‬ሶ ൌ ቂ ൅ െ ߣቃ ߠሶ ൅ ߠ െ ೟ ‫ܧ‬௔ ൅ ܶ௅ ൅ ߠሷ ‫ כ‬൅ ߣߠሶ ‫( כ‬7)
௃ ோೌ ௃ ௃ ோೌ ௃
throttle, ܶ௅ is the load torque (Nm), ܶ௔ is torque due to air Considering a Lyapunov function ‫ ݒ‬ൌ ‫ ݏ‬ଶ Τʹ, its first
mass flow (Nm) and Tsp is the return spring torque (Nm). derivative can be obtained as
The motor torque ܶ௠ is defined as ܶ௠ ൌ ‫ܭ‬௧ ݅௔ , where ‫ܭ‬௧ is ஻ ேమ ௄೟ ௄್ ௄ ே௄
‫ݒ‬ሶ ൌ ‫ݏݏ‬ሶ ൌ ‫ ݏ‬ቄቂ ൅ െ ߣቃ ߠሶ ൅ ೞ೛ ߠ െ ೟ ‫ܧ‬௔ ൅ ܶ௅ ൅
motor torque constant. In (2); ‫ ܬ‬and ‫ ܤ‬are described as: ௃ ோೌ ௃ ௃ ோೌ ௃

‫ ܬ‬ൌ ܰ ଶ ‫ܬ‬௠ ൅ ‫ܬ‬௚ and ‫ ܤ‬ൌ ܰ ଶ ‫ܤ‬௠ ൅ ‫ܤ‬௧ , where ‫ܬ‬௠ and ‫ܬ‬௚ are ߠሷ ‫ כ‬൅ ߣߠሶ ‫ כ‬ቅ (8)
According to Lyapunov stability condition, from (8) yield ‫ݑ‬௘௤ ൌ ݇௣ ܷ ൅ ݇௜ ‫ݐܷ݀ ׬‬ (14)
the control law ‫ ݑ‬as given below: The approximate relation between input and output
‫ ݑ‬ൌ ‫ܧ‬௔ ൌ variable of product sum crisp type fuzzy controller is
ோೌ ௃ ஻ మ
ே ௄೟ ௄್ ௄
ൌ ቄቂ ൅ െ ߣቃ ߠሶ ൅ ೞ೛ ߠ ൅ ܶ௅ ൅ ߠሷ ‫ כ‬൅ ߣߠሶ ‫ כ‬ቅ െ described as:
ᇣᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇤᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇥ
ே௄ ೟ ௃ ோೌ ௃ ௃
ܷ ൌ ‫ ݏ‬ൈ ݇௘ ൅ ‫ݏ‬ሶ ൈ ݇ௗ (15)
௨೐೜
ߟ‫݊݃ݏ‬ሺ‫ݏ‬ሻ
ᇣᇧᇧᇤᇧᇧᇥ (9)
௨ೞ
whereߣ and ߟ ൐ Ͳ is chosen such that ‫ݏ‬ሶ ሺ‫ݐ‬ሻ ൌ Ͳ due to this
the position tracking error ݁ሺ‫ݐ‬ሻ and ݁ሶ ሺ‫ݐ‬ሻ will
asymptotically converge to zero, and ߟ is hitting control
gain and function sgn is defined as Fig. 2 Structure of FSMC controller
െͳ‹ˆ‫ ݏ‬൏ Ͳ
‫݊݃ݏ‬ሺ‫ݏ‬ሻ ൌ ቄ ቅ
൅ͳ‹ˆ‫ ݏ‬൐ Ͳ From (14) and (15)
The use of ‫ ݊݃ݏ‬function in the switching control law ‫ݑ‬௦ in
(9), causes high-frequency chattering. To alleviate the ‫ݑ‬௘௤ ൌ ݇௣ ሺ‫݇ݏ‬௘ ൅ ‫ݏ‬ሶ݇ௗ ሻ ൅ ݇௜ නሺ‫݇ݏ‬௘ ൅ ‫ݏ‬ሶ݇ௗ ሻ݀‫ݐ‬
chattering phenomenon, the discontinuous control law,
֜ ൫݇௣ ݇௘ ൅ ݇௜ ݇ௗ ൯‫ ݏ‬൅ ݇௜ ݇௘ ‫ ݐ݀ݏ ׬‬൅ ݇௣ ݇ௗ ‫ݏ‬ሶ (16)
term ‫݊݃ݏ‬ሺ‫ݏ‬ሻ in (9) is replaced by a ‫ݐܽݏ‬ሺ‫ݏ‬ሻ function around
After comparing (4) and (8), yields
the switching surface [13], the final switching control law
‫ܭ‬௉ ൌ ݇௣ ݇௘ ൅ ݇௜ ݇ௗ ǡ ‫ܭ‬ூ ൌ ݇௜ ݇௘ ƒ†‫ܭ‬஽ ൌ ݇௣ ݇ௗ (17)
is written as
‫ݑ‬௦ ൌ െߟǤ ‫ݐܽݏ‬ሺ‫ݏ‬Ȁߝሻ (10) Equation (17) represents the parameters of PID controller
in terms of gain of FPID controller. From fig. 2 and (17),
where ߝ ൐ Ͳ is the width of the boundary, and the
if ݇௜ ƒ†݇ௗ are zero then fuzzy PID controller behaves
function of ‫ݐܽݏ‬ሺ‫ݏ‬Ȁߝሻ is defined as
௦ like fuzzy P controller, for fuzzy PD controller ݇௜ ൌ Ͳ and
௦
ͳǡˆ‘” ቚቀ ቁቚ ൑ ͳ for fuzzy PI controller ݇௣ ൌ Ͳ.
ఌ
‫ ݐܽݏ‬ቀ ቁ ൌ ቐ ௦ ௦
(11)
ఌ
‫ ݊݃ݏ‬ቀ ቁ ǡˆ‘” ቚቀ ቁቚ ൒ ͳ The time derivative of the Lyapunov function ‫ݒ‬
ఌ ఌ
Case 2: Considering the PID type sliding surface such as can be calculated as ‫ݒ‬ሶ ൌ ‫ݏݏ‬ሶ . In order to make ‫ݒ‬ሶ is negative
௧ definite a fuzzy logic control law is proposed that removes
‫ݏ‬ሺ‫ݐ‬ሻ ൌ ݁ሶ ሺ‫ݐ‬ሻ ൅ ߣଵ ݁ሺ‫ݐ‬ሻ ൅ ߣଶ ‫׬‬଴ ݁ሺ߬ሻ݀߬ (12)
a lot of mathematical complications. It can be designed
where error ݁ሺ‫ݐ‬ሻ is described by (6), and ߣଵ ƒ†ߣଶ are
with the knowledge of the inputs ‫ ݏ‬and ‫ݏ‬ሶ and the output
non-zero positive design parameters. As far as the
variable ‫ݑ‬௘௤ of the controller. The universe of discourse
guideline for the selection of control gains ߣଵ ƒ†ߣଶ is
with suitable membership functions of the input and
concerned, the gains should be chosen such that the
output variable for FSMC is described in fig. 3 (a) and (b).
characteristic polynomial ‫ ݏ‬ଶ ൅ ߣଵ ‫ ݏ‬൅ ߣଶ ‫ ݏ‬ൌ Ͳ is strictly
The resulting rule base is shown in the table 2.
Hurwitz. Similarly as (9) the control law ‫ ݑ‬as given below:
‫ ݑ‬ൌ ‫ܧ‬௔ ൌ
ோ ௃ ஻ ேమ ௄ ௄ ௄ೞ೛
ೌ
ቄቂ ൅ ೟ ್
െ ߣଵ ቃ ߠሶ ൅ ቀ െ ߣଶ ቁ ߠ ൅ ܶ௅ ൅ ߠሷ ‫ כ‬൅ ߣଵ ߠሶ ‫ כ‬൅ ߣଶ ߠ ‫ כ‬ቅ െ
ᇣᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇤᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇧᇥ
ே௄೟ ௃ ோೌ ௃ ௃
௨೐೜

െ ߟ‫݊݃ݏ‬ሺ‫ݏ‬ሻ
ᇣᇧᇧᇤᇧᇧᇥ (13)
௨ೞ
In (9) and (13), ‫ݑ‬௘௤ is equivalent control law and ‫ݑ‬௦ is
Fig. 3(a) Membership function for input variables ‫ ݏ‬and ‫ݏ‬ሶ
switching control law. In order to avoid the mathematical
complexity in the equivalent control law ‫ݑ‬௘௤ , it is
designed using fuzzy logic control technique and named as
fuzzy sliding mode control.

C. Fuzzy sliding mode control(FSMC)

The generalized architecture of FSMC is represented in
fig. 2. From fig. 2 the output of fuzzy controller is as given
below: Fig. 3(b) Membership function for output variable ‫ݑ‬௘௤
 Table 2 Rule base matrix for FLSMAC The control input using PID controller is large which is
‫ݏݏ‬ሶ NB NM NS ZE PS PM PB undesirable for real time applications as seen in fig. 5.
NB NB NB NB NB NM NS ZE
NM NB NB NB NM NS ZE PS Table 3 Performance index of conventional PID and SMC with PD and
NS NB NB NM NS ZE PS PM PID type SS
ZE NB NM NS ZE PS PM PB Controller OS (%) RT (s) ST (s)
PS NM NS ZE PS PM PB PB Conventional PID 16.20 0.59 2.6
PM NS ZE PS PM PB PB PB SMC with PD SS 0 0.60 0.94
SMC with PID SS 34.10 0.35 1.45
PB ZE PS PM PB PB PB PB

From fig. 4 and table 3, SMC with PD type SS is better as

The linguistic variable levels for membership functions
compared to conventional PID and SMC with PID type
used in FSMC are assigned as: positive medium (PM),
SS.
negative medium (NM), negative big (NB), negative small
Fig. 6 shows the response of throttle position
(NS), zero (ZE), positive small (PS), positive big (PB).
using different structure of fuzzy SMCs such as fuzzy PD,
The total control law of the FSMC is represented as
fuzzy PI and fuzzy PID with PD type SS of SMC. The
‫ݑ‬௧௢௧௔௟ ൌ ‫ݑ‬௘௤ ൅ ‫ݑ‬௦ . The equivalent control ‫ݑ‬௘௤ defines the
control inputs i.e. u or applied veltage Ea for these
control action that keeps the state trajectory on the sliding
controllers is shown in fig. 7.
surface, ‫ݑ‬௦ is the switching control that depends on the
sign of the switching surface, and ߟ is the hitting control 1

Throttle Position (rad.)

gain that makes derivative of the Lyapunov function i.e. ‫ݒ‬ሶ 0.8

a negative definite. 0.6

0.4 Fuzzy PD
Fuzzy PI
IV. SIMULATION RESULTS AND DISCUSSION 0.2 Fuzzy PID
SV
0
This section presents the simulation results obtaned using 0 0.5 1 1.5 2
t (s)
2.5 3 3.5 4 4.5 5

MATLAB/SIMULINK. Fig. 4 shows the response of Fig. 6 Response of different structure of fuzzy controller with PD type SS
throttle position using conventional PID, and SMC with
PD and PID type sliding surface (SS). The corresponding From fig. 6, fuzzy PID structure with PD type SS of SMC
control input i.e. u or applied veltage Ea is shown in fig. 5. gives better performance in terms of OS, RT, ST and
The performance index is shown in table 3. steady state error as compared to fuzzy PD and fuzzy PI
1.5
with same type SS of SMC. The fuzzy PD controller
gives nearly 1.5% steady state error and fuzzy PI
Throttle Position (rad.)

1 controller gives 1.2% overshoot which is negligible.

50
Fuzzy PD Fuzzy PI Fuzzy PID
0.5 SMC with PD type SS
u = E a (V olt)

SMC with PID type SS

Conventional PID 0
SV
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
t (s)
Fig. 4 Response of conventional PID and SMC with PD and PID type SS
-50
0 0.5 1 1.5 2 t (s) 2.5 3 3.5 4 4.5 5
20
SMC with PD type SS Fig. 7 Response of control input for different fuzzy controller with PD
Controlled input u (V olt)

SMC with PID type SS type SS

15 Con. PID

The response of throttle position using different structure

10
of fuzzy control such as fuzzy PD, fuzzy PI and fuzzy PID
5 with PID type SS of SMC as shown in fig. 8. The control
inputs i.e. u or applied veltage Ea for therse controller is
0
0 0.5 1 1.5 2 t (s) 2.5 3 3.5 4 4.5 5
shown in fig. 9. The performance index using these
Fig. 5 Response of control input of conventional PID and SMC with PD
designed controllers is shown in table 4.
and PID type SS
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1.2
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Model Control for Speed Control of Nonlinear Uncertain Heavy
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