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SUPERVISOR DECLARATION

“I, hereby declare that I have read this thesis and in my opinion this report is sufficient in terms of scope and quality for the award of the degree of

Bachelor of Mechanical Engineering (Automotive). “

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AUTOMATIC THROTTLE BODY CONTROL USING PID CONTROLLER

MUHAMMAD SYAMIL BIN ZAINI

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AUTOMATIC THROTTLE BODY CONTROL USING PID CONTROLLER

MUHAMMAD SYAMIL BIN ZAINI

This report was submitted in accordance with the partial requirements for the honor of Bachelor of Mechanical Engineering (Automotive)

Faculty of Mechanical Engineering

UniversitiTeknikal Malaysia Melaka (UTeM)

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DECLARATION

“I, hereby declare that the work in this report is my own except for summaries and quotations which have been duly acknowledge.”

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iii

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ACKNOWLEDGEMENT

All praises to Allah the Almighty that by His blessings I have been able to successfully finished my Projek Sarjana Muda II (PSM II), which the course requirement that in Universiti Teknikal Malaysia Melaka (UTeM).

My most gratitude goes to those individuals who have contributed immeasurable amount of guidance, advice and assistance along the project period. The person that really helps in my research is my dedicated supervisor, Encik Fauzi bin Ahmad, who has been supportively guiding and teaching a lot of valuable knowledge, also opportunities given to me in exposing myself to research and development environment.

The next person that I would like to show my gratitude is to Dr. Khisbullah Hudha, who has helped me from a scratch, guiding me to understand more about automotive. Next, a group of talented people, Mr. Vimal, Mr. Luqman and Mr. Hanif, who helped me throughout the project, gives valuable advices and guidance in helping me whenever I faced problems.

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v

ABSTRACT

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ABSTRAK

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vii

TABLE OF CONTENT

CHAPTER TITLE PAGE

SUPERVISOR DECLARATION PROJECT TITLE

DECLARATION ii

DEDICATION iii

ACKNOWLEDGEMENT iv

ABSTRACT v

ABSTRAK vi

TABLE OF CONTENT vii

LIST OF TABLE xii

LIST OF FIGURE xiii

LIST OF APPENDICES xv

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CHAPTER 1 INTRODUCTION 1

1.1 Introduction 1

1.2 Overview of Current Development of

Controlling System in Vehicle 2

1.3 Objective 3

1.4 Scope 4

1.5 Problem Statement 4

CHAPTER 2 LITERATURE REVIEW 5

2.1 Introduction 5

2.2 Overview of Controller System 6 2.3 Overview of Adaptive Cruise Control 10

2.4 Basic Electrical Theory 12

2.5 Overview of Electronic Throttle Body Actuator 13

2.6 Throttle Body Controller 14

2.6.1 Gain-Scheduled Control 14

2.6.2 Sliding Mode Control 15

2.6.3 Linear Quadratic New Extended

Control Synthesis with Integral 16

2.6.4 Robust Control 17

2.6.5 Variable-Structure Control 18

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ix

2.6.7 Second-Order Sliding-Mode Control 20

2.7 Previous Studies and Researches 20

CHAPTER 3 METHODOLOGY 22

3.1 Introduction 22

3.2 Flow Chart for Projek Sarjana Muda 1 24 3.3 Development of Vehicle Longitudinal Model 25

3.3.1 Powertrain Model 27

3.3.1.1 Engine Torque Curve 28

3.3.1.2 Engine Dynamics 29

3.3.1.3 Gearbox Model 30

3.4 Powertrain Control Structure 31 3.5 Control Structure of Vehicle Longitudinal Model 32

3.5.1 Vehicle Body Dynamic 33

3.5.2 Tyre Traction Model 34

3.5.3 Wheel Dynamics 35

3.5.4 Brake Model 36

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CHAPTER 4 THROTTLE BODY CONTROLLER 40

4.1 Introduction 40

4.2 Controller Control Structure 45

4.3 Stepper Motor 47

CHAPTER 5 THE SIMULATION OF PID CONTROLLER AND DISCUSSION 50

5.1 Introduction 50

5.2 Results of Simulation 51

5.2.1 Case 1: Desired Speed at 0-100 km/h 53 5.2.2 Case 2: Desired Speed at 0-100 km/h

(Differenet Pattern) 53 5.2.3 Case 3: Desired Speed at 0-60 km/h,

60-0 km/h 54

5.2.4 Case 4: Desired Speed at 0-50 km/h,

50-10 km/h, 10-70 km/h 55

5.2.5 Case 5: Desired Speed at 0-80 km/h,

80-0 km/h 56

5.2.1 Case 6: Desired Speed at 0-90 km/h 57

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xi

CHAPTER 6 CONCLUSION AND RECOMMENDATION 59

6.1 Conclusion 59

6.2 Recommendation 60

REFERENCES 61

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LIST OF TABLE

NO. TITLE PAGE

4.1 Function of the Number of Phases, m 43

4.2 Pulses for Phase 1 and Phase 2 44

4.3 Parameters Used In Stepper Motor 45

5.1 Values of PID for Case 1 52

5.2 Values of PID for Case 2 53

5.3 Values of PID for Case 3 54

5.4 Values of PID for Case 4 55

5.5 Values of PID for Case 5 56

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xiii

LIST OF FIGURE

NO. TITLE PAGE

2.1 Closed loop control system 8

2.2 Sample figure of Adaptive Cruise Control System 11

2.3 Sample figure of electronic throttle body 12

3.1 Sample figure of CARSIM v8 Software 23

3.2 Sample figure of block diagram of vehicle longitudinal

model 26

3.3 Powertrain block diagram 27

3.4 Typical Engine Torque Data 28

3.5 Automotive Gearbox Shift Map 30

3.6 Powertrain control structure 31

3.8 Graph of Vehicle Speed (km/h) vs Time (s) 37

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NO. TITLE PAGE 4.1 Control Structure of Throttle Body Controller 46

4.2 2-Phase Stepper Motor 47

4.3 Stepper Motor Model 49

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xv

LIST OF APPENDICES

NO. TITLE PAGE

A Projek Sarjana Muda 1 Gantt Chart 63

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LIST OF SYMBOLS

° - Degree of angle

TMax - Maximum available engine torque at given rpm for a typical V8 engine

R - Engine speed in unit RPM

ɳg - Gear ratio

ɳf - Final gear ratio

ω𝑖 - Final wheel velocity

µe - Rate of change of energy transfer

coefficient

τes - Equivalent lag

zr

F - Rear wheels normal force

zf

F - Front wheels normal force

d

F - Drag forces

a

F - Aerodynamic resistance forces

r

F - Rolling resistance forces

ρ - Air density equal to 1.23 kgm/3

r

C - Rolling resistance coefficient

d

C - Aerodynamic drag coefficient

A - Frontal area of the vehicle

λi - Wheel slip ratio

i

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xvii

i

e

τ - Torque delivered by the engine to each wheel

i

b

τ - Torque applied to each wheel due to

the brakes

i

r

τ - Reaction torque on each wheel due to

tyre tractive force

i

b

p - Pressure applied to the brake disc i

ω - Wheel angular speed

i

b

τ - Braking torque

S - Number of steps per revolution

φ

∆ - Number of rotor pole

Mj

T - Motor torque

m

k - Motor constant

( )

t

φ - Actual motor position

j 0

φ - Location of the coil j in the stator )

(t

Ij - Current in the coil as function of time j

emf - Electromotive force induced in the

phase j

L - Inductance of the coils

J - Inertia of the rotor and load

D - Viscous damping constant

A

T - Load acceleration

1 + i

φ - Commanded rotor position

j

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CHAPTER 1

INTRODUCTION

1.1 INTRODUCTION

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2 1.2 OVERVIEW OF CURRENT DEVELOPMENT OF CONTROLLING

SYSTEM IN VEHICLE

Nowadays, the developments of automotive technologies are quite competitive as the cars produced by many vehicle manufacturers all over the world are increasing. There many types or categories of technologies in automotive developments such as hybrid vehicle, antilock brake system (ABS), electronic brake force distribution (EBD), active force steering system (AFS), adaptive cruise control (ACC) and many more.

Talking about the technologies of adaptive cruise control (ACC), this technology development is still at the early stage as there are still many problems occur, doubtful and not at the best expectation. However, this technology is very challenging and good to be studied by the engineers and still can be improve by apply some modifications on the system.

The controlling system like adaptive cruise control (ACC) is very useful to the drivers or road users because it help user to drive safely. The controlling mechanism in ACC help users to cruise their vehicle automatically by set at desired speed and at the same time, the controllers ensure the safety distance so that the car will not collide the vehicle in front which at same lane.

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1.3 OBJECTIVES

The main objective of the project is to develop vehicle speed control to control the throttle plate angle at the desired speed which is set in adaptive cruise controller. Before developing the vehicle speed control or more details develop the throttle body actuator in control structure form, it is important to study first the about the vehicle longitudinal model. Before go through to the main objective, it is needed to understand the behaviour of the vehicle in longitudinal motion.

Thus, the first objective is to develop the vehicle longitudinal model using Matlab Simulink software. The next objective would be the development of the vehicle speed control system also using Matlab Simulink software. The development of the basic control structure of the throttle body actuator will be guide by the previous studies and researches in order to control the throttle plate angle at the desired speed.

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4 1.4 SCOPES

In order to complete the entire task in this project, the scopes of the project will be focused on control structure development by using Matlab Simulink and CARSIM v9 software. Thissoftware basically will help to identify the throttle opening angle at the desired speed set by the adaptive cruise control system. Next the project will focused more on the evaluation and comparison of performance between the developed controller and the actual controller of throttle body.

1.5 PROBLEM STATEMENT

Although the Conventional Cruise can automatically control the vehicle velocity by set the desired speed at the controller, the conventional cruise control do not have the automatic braking system to reduce the vehicle speed. This mean that the system must rely on brake pedal which is must apply manually or push the CANCEL manually button from controller in order to switch off the cruise control system.

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CHAPTER 2

LITERATURE REVIEW

2.1 INTRODUCTION

The purpose of this chapter is to provide the previous studies and researches that strongly related to the project. The previous studies and researches found will be the references to this project. The literature review is very important in preparing the needed parameters to develop control structure of vehicle longitudinal and control structure of vehicle speed control.

References

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