Model-Based Analysis and Tuning of Electronic Throttle Controllers

This paper describes two electronic throttle controllers of Visteon Corporation with one already in production and the other currently under development. Analysis and tuning of the two controllers are described. The general structure of the controllers consists of a reference shaping subsystem and a proportional-plus-integral-plus-derivative(PID) controller supplemented with additional terms that deal with the nonlinearility of the electronic throttle body. Due to a friction cancellation term in the controller that minimizes the nonlinearity of the system, linear system analysis techniques are applied. The transfer functions of the electronic throttle body at six different operating conditions are derived. Analysis of the closed-loop dynamics is performed based on the plant and the controller transfer-functions. Controller fine-tuning is performed using frequency response techniques, MATLAB simulations and testing on the actual system. Finally performance tests are performed on one controller implemented on a production ECU and on the other controller implemented on a rapid prototyper, and the results are compared against the theoretical analyses.