{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T00:47:14Z","timestamp":1760143634495,"version":"build-2065373602"},"reference-count":34,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2024,2,21]],"date-time":"2024-02-21T00:00:00Z","timestamp":1708473600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"publisher","award":["52275065"],"award-info":[{"award-number":["52275065"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>An exhaust gas recirculation (EGR) valve is used to quickly and dynamically adjust the amount of recirculated exhaust gas, which is critical for improving engine fuel economy and reducing emissions. To address problems relating to the precise positioning of an electromotive (EM) valve under slowly varying plant dynamics and uncertain disturbances, we propose a servo control system design based on linear active disturbance rejection control (LADRC) for the EGR EM valve driven by a limited angle torque motor (LATM). By analyzing the structure of the LATM and the transmission, the dynamic model of the system is derived. In addition, to solve the problems caused by slowly varying plant dynamics and uncertain disturbances, we combine the effects of uncertain model parameters and external disturbances as the total disturbance, which is estimated in real time by an extended state observer (ESO) and then compensated. In addition, accurate angular information is obtained using a non-contact magnetic angle measurement method, and a high-speed digital communication channel is established to help implement a closed-loop position control system with improved responsiveness and accuracy. Simulation and experimental results show that the proposed servo system design can effectively ensure the precision and real-time performance of the EM valve under slowly changing plant dynamics and uncertain disturbances. The proposed servo system design achieves a full-stroke valve control accuracy of better than 0.05 mm and a full-stroke response time of less than 100 ms. The controlled valve also has good robustness under shock-type external disturbances and excellent airflow control capability. The repeatability of the airflow control is generally within 5%, and the standard deviation is less than 0.2 m3\/h.<\/jats:p>","DOI":"10.3390\/s24051393","type":"journal-article","created":{"date-parts":[[2024,2,21]],"date-time":"2024-02-21T10:52:00Z","timestamp":1708512720000},"page":"1393","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Design and Implementation of a Linear Active Disturbance Rejection Control-Based Position Servo Control System of an Electromotive Valve for Exhaust Gas Recirculation"],"prefix":"10.3390","volume":"24","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7458-5345","authenticated-orcid":false,"given":"Xin","family":"Cheng","sequence":"first","affiliation":[{"name":"School of Information Engineering, Wuhan University of Technology, Wuhan 430070, China"},{"name":"School of Mechanical & Electronic Engineering, Wuhan University of Technology, Wuhan 430070, China"}]},{"given":"Jianzhong","family":"Yin","sequence":"additional","affiliation":[{"name":"School of Mechanical & Electronic Engineering, Wuhan University of Technology, Wuhan 430070, China"}]},{"given":"Xiaokang","family":"Li","sequence":"additional","affiliation":[{"name":"School of Mechanical & Electronic Engineering, Wuhan University of Technology, Wuhan 430070, China"}]},{"given":"Rougang","family":"Zhou","sequence":"additional","affiliation":[{"name":"School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310000, China"},{"name":"Wenzhou Institute, Hangzhou Dianzi University, Wenzhou 325013, China"},{"name":"Mstar Technologies, Inc., Hangzhou 310012, China"}]},{"given":"Chong","family":"Fu","sequence":"additional","affiliation":[{"name":"School of Mechanical & Electronic Engineering, Wuhan University of Technology, Wuhan 430070, China"}]}],"member":"1968","published-online":{"date-parts":[[2024,2,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"121097","DOI":"10.1016\/j.fuel.2021.121097","article-title":"Improving diesel engine performance and emissions characteristics fuelled with biodiesel","volume":"302","author":"Mourad","year":"2021","journal-title":"Fuel"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"4429","DOI":"10.1016\/j.egypro.2019.01.773","article-title":"Numerical Study on the Effects of Multiple-Injection Coupled with EGR on Combustion and NOx Emissions in a Marine Diesel Engine","volume":"158","author":"Jiang","year":"2019","journal-title":"Energy Procedia"},{"key":"ref_3","first-page":"1","article-title":"Mitigation of NOx emissions with application of exhaust gas recir-culation on diesel engine fuelled with diesel-corn seed oil biodiesel blend","volume":"43","author":"Reddy","year":"2020","journal-title":"Int. J. Ambient Energy"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"117233","DOI":"10.1016\/j.energy.2020.117233","article-title":"Experimental study of effects of exhaust gas recirculation on combustion, performance, and emissions of DME-biodiesel fueled engine","volume":"197","author":"Sun","year":"2020","journal-title":"Energy"},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Lu, D., Theotokatos, G., Zhang, J., Zeng, H., and Cui, K. (2022). Comparative Assessment and Parametric Optimisation of Large Marine Two-Stroke Engines with Exhaust Gas Recirculation and Alternative Turbocharging Systems. J. Mar. Sci. Eng., 10.","DOI":"10.3390\/jmse10030351"},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"12163","DOI":"10.1016\/j.ijhydene.2019.03.120","article-title":"Experimental study of engine performance and emissions for hydrogen diesel dual fuel engine with exhaust gas recirculation","volume":"44","author":"Nag","year":"2019","journal-title":"Int. J. Hydrogen Energy"},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"381","DOI":"10.1016\/j.applthermaleng.2017.06.026","article-title":"Optimal performance and emissions of diesel\/hydrogen-rich gas engine varying intake air temperature and EGR ratio","volume":"124","author":"Wu","year":"2017","journal-title":"Appl. Therm. Eng."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"123129","DOI":"10.1016\/j.energy.2022.123129","article-title":"Effects of EGR, injection retardation and ethanol addition on combustion, performance and emissions of a DI diesel engine fueled with canola biodiesel\/diesel fuel blend","volume":"244","author":"Can","year":"2022","journal-title":"Energy"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"104422","DOI":"10.1016\/j.conengprac.2020.104422","article-title":"Application of empc for precise position control of dc-motor system with backlash","volume":"100","author":"Aravind","year":"2020","journal-title":"Control Eng. Pract."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"106548","DOI":"10.1016\/j.ymssp.2019.106548","article-title":"Model predictive control of three-axis gimbal system mounted on UAV for real-time target tracking under external disturbances","volume":"138","author":"Altan","year":"2020","journal-title":"Mech. Syst. Signal Process."},{"key":"ref_11","first-page":"8897556","article-title":"A novel self-tuning fuzzy logic-based PID controllers for two-axis gimbal stabilization in a missile seeker","volume":"2021","author":"Kumar","year":"2021","journal-title":"Int. J. Aerosp. Eng."},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Lee, D.H., Tran, D.Q., Kim, Y.B., and Chakir, S. (2020). A robust double active control system design for disturbance suppression of a two-Axis gimbal system. Electronics, 9.","DOI":"10.3390\/electronics9101638"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"61","DOI":"10.1080\/23307706.2017.1399092","article-title":"Challenges and solutions in automotive powertrain systems","volume":"5","author":"Shen","year":"2018","journal-title":"J. Control Decis."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"629","DOI":"10.1016\/j.protcy.2016.01.131","article-title":"Model reference adaptive control design for slow processes. A case study on level process control","volume":"22","author":"Oltean","year":"2016","journal-title":"Proc. Technol."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"1750","DOI":"10.1016\/j.jfranklin.2018.12.010","article-title":"Precise motion control of an electromagnetic valve actuator with adaptive robust compensation of combustion force","volume":"356","author":"Lu","year":"2019","journal-title":"J. Frankl. Inst."},{"key":"ref_16","first-page":"2594","article-title":"A study on the electronic EGR valve control method","volume":"15","author":"Choi","year":"2014","journal-title":"J. Korea Acad. Ind. Coop. Soc."},{"key":"ref_17","doi-asserted-by":"crossref","unstructured":"Kim, H.J., Son, Y.D., and Kim, J.M. (2020). Improved Position Control for an EGR Valve System with Low Control for an EGR Valve System with Low Control Frequency. Energies, 13.","DOI":"10.3390\/en13020457"},{"key":"ref_18","doi-asserted-by":"crossref","unstructured":"Bhuiyan, H., and Lee, J.-H. (2018). Low cost position controller for exhaust gas recirculation valve system. Energies, 11.","DOI":"10.3390\/en11082171"},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"63","DOI":"10.4186\/ej.2017.21.1.63","article-title":"An Integrated Pedal Follower and Torque Based Approach for Electronic Throttle Control in a Motorcycle Engine","volume":"21","author":"Ashok","year":"2017","journal-title":"Eng. J."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"611","DOI":"10.1007\/s11071-013-0814-y","article-title":"Fruit fly optimization algorithm based fractional order fuzzy-PID controller for electronic throttle","volume":"73","author":"Sheng","year":"2013","journal-title":"Nonlinear Dyn."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Rajaei, N., Han, X., Chen, X., and Zheng, M. (2010). Model Predictive Control of Exhaust Gas Recirculation Valve, SAE International. SAE Technical Paper 2010-01-0240.","DOI":"10.4271\/2010-01-0240"},{"key":"ref_22","unstructured":"Cheng, W., Tan, Y., Lu, Y., Dong, R., Tan, Q., and Chen, X. (2019, January 9\u201312). Nonlinear internal model control of EGR valve. Proceedings of the 2019 12th Asian Control Conference (ASCC), Kitakyushu, Japan."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"594","DOI":"10.1109\/TMECH.2020.2965256","article-title":"Online optimizing positioning control with model error compensator for LEGRV system","volume":"25","author":"Tan","year":"2020","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Rajaei, N. (2010). Model Based Control of Exhaust Gas Recirculation Valves and Estimation of Spring Torque. [Master\u2019s Thesis, University of Windsor]. (In Canada).","DOI":"10.4271\/2010-01-0240"},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"104447","DOI":"10.1016\/j.conengprac.2020.104447","article-title":"Design, implementation and experimental verification of a compensator-based triple-step model reference controller for an automotive electronic throttle","volume":"100","author":"Gao","year":"2020","journal-title":"Control Eng. Pract."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"2501","DOI":"10.1109\/TITS.2015.2410282","article-title":"Extended-State-Observer-Based Double-Loop Integral Sliding Mode Control of Electronic Throttle Valve","volume":"16","author":"Li","year":"2015","journal-title":"IEEE Trans. Intell. Transp. Syst."},{"key":"ref_27","first-page":"20","article-title":"The Invention Relates to a Stator Double Excitation Torque Motor with Limited Turning Angle","volume":"52","author":"Liu","year":"2019","journal-title":"Micromotors"},{"key":"ref_28","first-page":"22","article-title":"Design and Simulation of Semi-Immersed Limited Angle Torque Motor","volume":"49","author":"Guo","year":"2021","journal-title":"Small Spec. Electr. Mach."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"1457","DOI":"10.1109\/TTE.2020.3018715","article-title":"Modeling and analysis of limited-angle torque motor considering nonlinear effects","volume":"6","author":"Yu","year":"2020","journal-title":"IEEE Trans. Transp. Electr."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.mechmachtheory.2018.10.012","article-title":"Design of a novel coaxial eccentric indexing cam mechanism","volume":"132","author":"Yang","year":"2019","journal-title":"Mech. Mach. Theory"},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"900","DOI":"10.1109\/TIE.2008.2011621","article-title":"From PID to active disturbance rejection control","volume":"56","author":"Han","year":"2009","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"943","DOI":"10.1177\/0954410019886963","article-title":"Practical control implementation of tri-tiltRotor flying wing unmanned aerial vehicles based upon active disturbance rejection control","volume":"234","author":"Wang","year":"2020","journal-title":"Proc. Inst. Mech. Eng. Part G J. Aerosp. Eng."},{"key":"ref_33","doi-asserted-by":"crossref","unstructured":"Fu, T., Gao, Y., Guan, L., and Qin, C. (2022). An LADRC Controller to Improve the Robustness of the Visual Tracking and Inertial Stabilized System in Luminance Variation Conditions. Actuators, 11.","DOI":"10.3390\/act11050118"},{"key":"ref_34","unstructured":"Gao, Z. (2003, January 9\u201313). Scaling and bandwidth-parameterization based controller tuning. Proceedings of the 2003 American Control Conference, New York, NY, USA."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/24\/5\/1393\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T14:02:36Z","timestamp":1760104956000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/24\/5\/1393"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,2,21]]},"references-count":34,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2024,3]]}},"alternative-id":["s24051393"],"URL":"https:\/\/doi.org\/10.3390\/s24051393","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2024,2,21]]}}}