DC 모터 드라이버의 비선형성을 고려한 전자식 스로틀 바디 모델

Electronic Throttle Body Model Allowing for Non-linearity of DC Motor Driver

  • 진성태 (창원대학교 제어계측공학과 대학원) ;
  • 강종진 (델파이파워트레인㈜ 기술부) ;
  • 이우택 (창원대학교 제어계측공학과)
  • Jin, Sung-Tae (Graduate School, Department of Control and Instrumentation Engineering, Changwon National University) ;
  • Kang, Jong-Jin (Department of Engineering, Delphi Powertrain Systems Korea Ltd.) ;
  • Lee, Woo-Taik (Department of Control and Instrumentation Engineering, Changwon National University)
  • 발행 : 2008.02.01


This paper proposes an Electronic Throttle Body (ETB) model considering a non-linearity of DC motor driver which is integrated with a H-bridge and a gate driver. A propagation delay and reverse recovery time of switching components cause non-linear characteristic of DC motor driver. This non-linearity affects not only the amateur voltage of DC motor, but also entire behaviour and parameters of ETB. In order to analyze the behavior of ETB more accurately, this non-linear effect of DC motor driver is modeled. The developed ETB model is validated by use of the step response and ramp response experiments, and it shows relatively accurate results compared with linear DC motor driver model.


  1. J.-J. Kang and W.-T. Lee, "A Case Study to Design Electronic Throttle Controller using Rapid Control Prototyping," Spring Conference Proceedings, Vol.III, KSAE, pp.1516-1521, 2006
  2. W. T. Lee and J. J. Kang, "Development of A Simple Control Algorithm for Swirl Motor Controller," Int. J. Automotive Technology, Vol.7, No.3, pp.369-375, 2006
  3. R. Pursifull and H. Keener, "Motorized Throttle Positioning Simulation Model," SAE 2003- 01-0222, 2003
  4. L. Eriksson and L. Nielsen, "Non-Linear Model- Based Throttle Control," SAE 2000-01-0261, 2000
  5. J. B. Song, H. J. Kim and D. I. Min, "Control System of Throttle Actuator for TCS," Transactions of KSAE, Vol.5, No.3, pp.191-201, 1997
  6. S. AI-Assadi, J. Breitinger and M. Traver, "Electronic Throttle Simulation Using Nonlinear Hammerstein Model," SAE 2006- 01-0112, 2006