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IntroductiontoControls forAutomotiveMechatronics

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Todayscarisarollingcomputer

Thereare30100microprocessorsinacar controllingvarioussystems

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Themorecomplicatedsystemsarenot juston/offcontrol
Theyarebuiltupascontrolsystems,notjuston/offlogicsystems.Acontrol systeminitssimplestformistheexpressionofawishandthenitsfulfillment.

Theinputtothecontrolsystemisawish,adesiredvalue.Forexample,ifthis wereacruisecontrolsystemforacar,thiswouldbethedesiredspeed. Theoutputistheactualvalueoftheparameterthatthecontrolsystem controls.Foracruisecontrolsystem,thiswouldbetheactualspeedofthe car. Ifthecontrolsystemisworkingright,theactualvalueequalsthedesired value.

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Acloserlook
Howthishappensiswithafeedbackcontrolloop: feedback becausetheactualvalueisfedbackthroughabackward leadingpathandthencomparedwiththedesiredvalue loop because,obviously,thestructureofthissystemisaloop

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Controlloopanatomy

Almostallcontrolloopshavethislogicalstructure: Therearefourcomponents(controller,actuator,plant,sensor) Themeasuredvalue ishopefullyanaccuratereflectionoftheactualvalue. Itiscomparedagainstthedesiredvaluetoproducetheerror. Ifallisworkingasdesired,c=r,soe =0

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Someotherpoints
AsitsbasicgraphicaltoolControlsusesblockdiagrams,asillustrated Blockdiagramshavespecificrulesthattheyfollow:
Thereisasingleinputandasingleoutput Theinputisoperatedonbytheblockcontentsandthenputontheoutput Ablockmaybemorecomplicatedthanitappears.Itmaynotbejustasimpleblockbut madeupofanumberofblocks,likethecontrolsystemblockonthethirdslide.

Sincealmostallcontrolloopshavethestandardstructureasgiven,itis veryhelpfultohavethisstructureinmindwhenyouapproachanexisting system,tryingtounderstandit:

Thecontrollerreactstotheerror.Iftheerrorisnonzero,whatyouvegotisnotequal towhatyouwant,sosomethingmustbedone.Thecontrollerrealizesthisandsendsa commandtotheactuatortodosomething. Theactuatoristhecontrollersagentforaffectingtheplant. Theplantisthethingcontrolled. Thesensorsroleistomeasuretheparameteroftheplantthatistobecontrolled.

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Foracruisecontrolinacar

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Voltageregulator
Thevoltagecomingoutofthealternatorshouldbe heldatabout14VDC ItscontrolledbychangingtheamountofDCcurrent goingintotherotatingarmaturefield Thiscurrentcanbeadjustedusingpulsewidth modulationfortheinputcurrenttotherotatingfield

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Regulatorvs.positioner
Therearetwotypesofcontrolloopsaregulatoranda positioner Aregulator holdsanoutputconstantdespite disturbancesthattrytoknockitoffthisvalue Desiredvaluedoesntchange Thereexistdisturbances Apositioner isaflybywire system Input(desiredvalue)constantlychanges Jobofcontrolleristotrack theinput(makeoutput followinput)

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Throttlebywire
Air Accelerator Pedal

Throttle Valve

Nonmechatronic,mechanicalthrottle
Accelerator Pedal a Mechatronic System Throttle Valve

Air t

Mechatronicthrottle

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Throttlebywire
Accelerator Pedal a Mechatronic System Throttle Valve Air t

Mechatronicthrottle

Sensor:potentiometeronthrottlevalve ActuatorisasmallDCmotoronthrottlevalve,whichcontrolsairinto engine Plantisthrottlevalve,thethingthatscontrolled Thereisalsoapotentiometerontheacceleratorpedalthatsenseits angle.Thisisturnedintoadesiredvalueforthethrottlevalve.Itneed notnecessarilybe1:1.

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Throttlebywire

Sensor:potentiometeronthrottlevalve ActuatorisasmallDCmotoronthrottlevalve,whichcontrolsairinto engine Plantisthrottlevalve,thethingthatscontrolled Thereisalsoapotentiometerontheacceleratorpedalthatsenseits angle.Thisisturnedintoadesiredvalueforthethrottlevalve.Itneed notnecessarilybe1:1.

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Throttlebywire
Thisisapositionersystem.Acceleratorpedalpositionisconstantly changingwithnormaldriving. Thepedalitselfjustbecomesawaytoexpressawish.Thisistrueofall flybywiresystems.Inanairplane,theyoke,stick,rudderpedalsarejust wishexpressingdevicestosettheanglesofcertaincontrolsurfaceson theairplane. ToyotaintroducedthrottlebywireintotheAmericanmarketandthere havebeeninnumerablelawsuitssurroundingitduetoinstancesof unintendedacceleration.Butnoneofthesehavebeenproventohave beencausedbythrottlebywire.Rathertheyvebeenattributableto mistakes,likepushingontheacceleratorpedalwhenitwasdesiredto pushthebrakepedal,andlikehavingtheacceleratorpedalgettrapped underthefloormat. Whyhavethrottlebywireatall?Allowscomputercontrolofthrottlefor suchthingsasadaptivecruisecontrolandelectronicstabilityprotection.

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Mechatronicgearshift
Asyoucansee,thisisagearshifter withnodirectconnectiontothe transmission,soitsshiftbywire. Nowadaysitcandriveeitheran automatictransmissionoramanual transmissionwithoutaclutchpedal. Thusthegearshifthasbecome,again, justameansofexpressingawish.

ShiftbyWireGangwahlschalter AlslangjhrigerMechatronikPartnerderAutomobilindustriehatKOSTALnunimBereichderMittelkonsole mitdemelektronischenAutomatikwahlhebeleineneueHerausforderungerfolgreichbewltigt.

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Mechatronicgearshift
Thisshowsashiftingstrategyforshiftingup ordown.Generallywithupshiftingyou drivetheengineuptoahigherspeedbefore shiftingthanyouwouldusetoshiftthe gearstoalowergearwhenslowing. Thegearshiftingalgorithmiseventdriven andisjustaswitching,notacontroller regulatedloopaspresentedforcruise controlor***bywire.

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ABSsystem
Thewayanantilockbrakingsystem worksisalso on/off.Ifawheelislockedinbrakingbecauseof lowroadfriction,thisissensedandthebraking momentonthewheelissimplyreleasedtoletthe wheelonceagainnotsliponthesurface.Then thebrakingmomentisappliedagain.Thiscanbe doneveryquickly.Sothisisnotacontrolsystem insmoothlymodulatedcontrolasdescribedfora cruisecontrolsystemoraXbywiresystem.

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andIhaventevenmentioned enginecontrol
Sensors Accelerator pedal Throttle valve angle Crankshaft angle Camshaft angle Intake air flow Inlet air temperature Turbocharger pressure Ambient air pressure Cooling water temperature -sensor signal Exhaust gas temperature Clutch position Gasoline pressure Engine Control System Actuators Coil Injector Throttle valve Camshaft control Exhaust gas recirculation Intake manifold switching Fan Gasoline pump Secondary air Exhaust gas valve Supercharger bypass Fuel tank vent

Thisisacomplicated,multipleinput,multipleoutputsystem,nota simplecontrolloopwithasingleinputthedesiredvalueanda singleoutputtheactualvalue.

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Mechatronicnetworkinvehicle

Allofthesensors,actuators,andmicroprocessorsarenetworkedtogether

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Computercontrolledloops

Thereisnotaseparateprocessorforeachloop,ratherthecontrollers foreachloopruntogetheronascheduledbasisinthecentral processingunit,thecentralcomputer.Thecontrolloopstructure represents,logically,howthesystemworks.Butallthesensorsand actuatorsarephysicallylinkedtogetheraswasshownintheprevious slide.

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Ourfocustoday
Weshallfocusoncontrolloops,their structure,andhowtheyareusedtocontrol systems Weshallalsoworkonbuildingupyour experiencewithSimulink Youshallworkthroughasimulationexercise usingSimulink,writingareportonthisas yougo.

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Somelinks
NewYorkTimesarticleaboutelectroniccar: http://www.nytimes.com/2010/02/05/technology/05electronics.html ClemsonVehicularElectronicsLab: http://www.cvel.clemson.edu/auto/systems/autosystems.html Wikipediaondriverassistancesystems: http://en.wikipedia.org/wiki/Advanced_driver_assistance_systems Braunschweig PDFondriverassistancesystems: http://fens.sabanciuniv.edu/icat2006/icat2000 2006/tr/2004/matbaa/papers/9.Ferit%20Kucukay%20 %20Driver%20Assistant%20Systems.pdf Kostalshiftbywire: http://www.kostal.com/german/2010105.html

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Somemorelinks
http://www.calpoly.edu/~fowen/AutoMech/ElectronicTransmissionControl.doc http://www.calpoly.edu/~fowen/AutoMech/OttomotorSteuerung.doc

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