Controle PID com Compensador Feedforward aplicado a uma Válvula Borboleta Eletrônica Automotiva

Abstract

In this article, a Proportional Integral Derivative (PID) controller with feedforward compensator was designed and applied to an automotive electronic throttle valve. The purpose was to present a method for designing the feedforward compensator and analyze its effects in relation to system nonlinearities. Initially, a study of the system dynamics was conducted to understand its operation and the involved nonlinearities. To model the plant, a closed-loop system identification method based on step response was applied, following references from the literature. The resulting model was validated by comparing it with the real system dynamics and used in the design of a PID controller. Additionally, the importance of feedforward control in compensating disturbances and nonlinear effects of the system is discussed as focus of this study, and experiments were conducted to obtain a model representing these nonlinearities. The obtained model was applied as a feedforward compensator in conjunction with the PID controller. The feedforward compensator proved essential, providing stable temporal response and minimizing the effects of nonlinearities in the system. In summary, the study focuses on system modeling, emphasizing nonlinearities, and explores PID control combined with the designed feedforward compensator to enhance the performance of the electronic throttle valve control, particularly considering the system's inherent nonlinearities.