The position control algorithm of EGR DC motor actuator was researched and the hysteresis characteristic experiment was carried out. In the experiment, a symmetric triangular wave was introduced as the input duty cycle to test the control output of position jaw opening. The relationship between duty cycle and position jaw opening showed a noticeable hysteresis characteristic of the actuator and so the open-loop control was not suitable for the actuator control. A double close-loop control algorithm including the position loop and current loop was designed. The basic control modules consisted of PT1 filter algorithm and anti-saturation PID algorithm. Step response test results and steady state test results show that the control algorithm can achieve the fast step response and minor control error.%针对直流电机型EGR系统执行器位置控制算法展开研究,进行了滞回特性试验.采用对称三角波占空比输入观察对应位置输出,占空比对应开度的特性表明该执行器具有明显的滞回特性,不宜采用开环控制.设计了双闭环控制算法,包括位置环与电流环两个控制回路,基本控制模块为PT1滤波算法及防饱和PID算法.阶跃试验及稳态试验结果表明:该控制算法可实现快速阶跃响应及较小的稳态误差.
展开▼
