Professional Documents
Culture Documents
Lab 4 - Digital Controller (Electronic Throttle Control)
Lab 4 - Digital Controller (Electronic Throttle Control)
Lab 4 - Digital Controller (Electronic Throttle Control)
Bo Chen
Throttle Position
Sensor
1
Distributed Embedded Control Systems, Dr. Bo Chen
Objectives
1. Develop a feedback position control system for an
electronic throttle body using a discrete controller.
2. An accelerator pedal position sensor (PPS) is used
as a throttle command. The PPS is simulated by a
potentiometer on the desktop simulator.
3. The DC motor of the throttle body is driven by an H-
bridge in the MotoTron ECU.
4. Dual throttle position sensors (TPS) allow ECU to use
another TPS sensor when one fails. In this lab,
however, only TPS1 signal is used for feedback
control. For TPS error detection, both TPS1 and
TPS2 signals will be used.
2
Distributed Embedded Control Systems, Dr. Bo Chen
Objectives (Cont.)
5. Read the analog voltages of the PPS, TPS1, and TPS2
from analog input channels. Design a linear interface
model to match PPS voltage with TPS1 voltage for the
same throttle opening.
6. Use a discrete controller to control the opening of the
throttle body based on received throttle command (PPS
signal).
7. Compare the performance of the control system with
various controller design (different combinations of P, I,
and D terms) and the integration algorithms.
8. Perform real-time calibration to find out optimal
controller design and controller gains.
3
Distributed Embedded Control Systems, Dr. Bo Chen
TPS1
AN Electronic
Accelerator TPS2 TPS
AN throttle body
pedal position
sensor (PPS) H Bridge DC motor
AN
Accelerator pedal
4
Distributed Embedded Control Systems, Dr. Bo Chen
Motor+
GND
TPS2
+5V
TPS1 TPS1
(
~ 10.5 − 105 ) 5
Distributed Embedded Control Systems, Dr. Bo Chen
+5V XDRP_A
GND XDRG
Accelerator Pedal
5 V Ref
GND
PPS1 AN
6
Distributed Embedded Control Systems, Dr. Bo Chen
Lab Setup
7
Distributed Embedded Control Systems, Dr. Bo Chen
12
Distributed Embedded Control Systems, Dr. Bo Chen
13
Distributed Embedded Control Systems, Dr. Bo Chen
14
Distributed Embedded Control Systems, Dr. Bo Chen