The change of throttle viscous and coulomb frictions often cause inaccuracy or malfunction in electronic throttles, and lead to degradation of reliability of vehicles with internal combustion engines. A fault detection fault tolerant control scheme is proposed in this work to tackle the problem. A nonlinear dynamic model is derived for the throttle. A disturbance observer is designed based on the model to diagnose the fault, and a sliding mode control combined with an adaptive neural network estimator is developed for fault tolerant control. The system stability is ensured after the fault occurs and the throttle position tracking is maintained by the applied Lyapunov method. A Simulink model is developed for the throttle with real physical parameters to evaluate the performance. Abrupt and incipient changes are simulated in the throttle friction torque and the simulation results show that the developed method is effective in fault diagnosis and fault tolerant control.

节气门粘性和库仑摩擦力的变化通常会导致电子节气门的不准确或故障，并导致带有内燃机的车辆的可靠性下降。为了解决该问题，本文提出了一种故障检测容错控制方案。推导了节气门的非线性动力学模型。基于该模型设计了一种扰动观测器，以对故障进行诊断，并开发了一种与自适应神经网络估计器相结合的滑模控制，用于容错控制。故障发生后可以确保系统的稳定性，并通过应用的Lyapunov方法保持节气门位置跟踪。为油门开发了具有实际物理参数的Simulink模型，以评估性能。