Improved Robust Speed Tracking Controller Design for an Integrated Motor-Transmission Powertrain System Over Controller Area Network
Improved Robust Speed Tracking Controller Design for an Integrated Motor-Transmission Powertrain System Over Controller Area Network
复制标题
改进的鲁棒速度跟踪控制器设计，用于控制器局域网上的集成电机传动动力系统
DOI：
10.1109/tmech.2018.2812170
复制
发表时间：
2018-06-01
影响因子：
6.4
通讯作者：
Basin, Michael
中科院分区：
文献类型：
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作者：
Liu, Yue;Zhu, Xiaoyuan;Basin, Michael
集成电机传动系统具有结构简单、能效高、驾驶性能好等优点。在IMT动力总成系统中，车速跟踪性能非常重要。控制器局域网（CAN）已成为车载系统中控制器与物理设备之间进行信号交换的常用通信媒介。由于网络容量有限，CAN总线引起的时延对包含多种CAN通信节点的IMT系统的速度跟踪控制提出了挑战。在本文中，我们的目的是设计一个跟踪控制器的IMT动力总成系统考虑到can总线引起的延迟。为了实现这一目标，分析了考虑can总线延迟影响的IMT动力总成离散时间系统模型。然后，将一种考虑误差积分的系统增广方法应用于得到的离散系统。利用增广技术，将跟踪控制器设计转化为增广闭环系统的状态反馈控制器设计。此外，考虑了混合h -∞和线性二次型调节器（LQR）的性能，提出了一种鲁棒混合h -∞/LQR控制器的设计方法。最后进行了仿真和比较。通过与传统比例积分控制器和L-2 - l-∞控制器的比较，表明了所提控制器的优越性和改进之处。
Integrated motor-transmission (IMT) systems have the properties of simple structure, but higher energy efficiency and better drivability. In an IMT powertrain system, the performance of speeding tracking is of importance. It is well known that controller area network (CAN) has been a common communication medium to exchange signals between controller and physical apparatus in vehicular systems. The CAN-bus-induced delays due to the limited network capacity are a challenge to the speed tracking control for the IMT systems involving varieties of CAN communication nodes. In this paper, we aim to design a tracking controller for IMT powertrain systems by considering the CAN-bus-induced delays. To achieve the objective, the discrete-time system model of IMT powertrain systems coupled with the influence of CAN-bus-induced delays is analyzed. Then, a new system augmentation method considering the integral of error is applied to the obtained discrete-time system. With the augmentation technique, the tracking controller design is transformed into a state-feedback controller design for the augmented closed-loop system. In addition, the mixed H-infinity and linear quadratic regulator (LQR) performance is considered and a design approach for robust mixed H-infinity/LQR controller is proposed. Finally, simulation and comparison results are carried out. Compared with a conventional proportional-integral controller and an L-2 - L-infinity controller, the superiority and the improvement of proposed controller are displayed.