This paper addresses the servo-controller design of an electronic throttle body (ETB) designed for ride-by-wire applications in racing motorcycles. The dynamics of the system is identified and a model of the friction is derived from experimental data. It is shown how, by identifying the friction characteristic, it is possible to separately design a linear time invariant closed loop controller and a friction compensator. In the second part of the paper the friction compensator is made adaptive so to enable an automatic and online identification of the friction. Experimental tests validate the controller and compensator design.
Design of an Adaptive Throttle-by-Wire Control System for a Sport Motorbike
PANZANI, GIULIO;CORNO, MATTEO;SAVARESI, SERGIO MATTEO
2011-01-01
Abstract
This paper addresses the servo-controller design of an electronic throttle body (ETB) designed for ride-by-wire applications in racing motorcycles. The dynamics of the system is identified and a model of the friction is derived from experimental data. It is shown how, by identifying the friction characteristic, it is possible to separately design a linear time invariant closed loop controller and a friction compensator. In the second part of the paper the friction compensator is made adaptive so to enable an automatic and online identification of the friction. Experimental tests validate the controller and compensator design.| File | Dimensione | Formato | |
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2011 - Panzani, Corno, Savaresi - Design of an adaptive throttle-by-wire control system for a sport motorbike.pdf
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