Robust Speed Tracking Control for Future Electric Vehicles under Network-Induced Delay and Road Slope Variation.
Robust Speed Tracking Control for Future Electric Vehicles under Network-Induced Delay and Road Slope Variation.
复制标题
网络引起的延迟和道路坡度变化下未来电动汽车的鲁棒速度跟踪控制
DOI：
10.3390/s22051787
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发表时间：
2022-02-24
期刊：
影响因子：
--
通讯作者：
Chen Y
中科院分区：
文献类型：
--
作者：
Zhang J;Fan Q;Wang M;Zhang B;Chen Y
集成电机-变速器（IMT）动力总成系统以其结构简单、可控性高等优点在未来电动汽车中得到广泛应用。在电动汽车中，精确的速度跟踪控制对于确保IMT动力系统的良好换挡品质至关重要。然而，由于车载网络引入的不可避免的信号传输时延和未知的道路坡度变化，速度跟踪控制设计变得具有挑战性。此外，系统参数的不确定性和信号测量噪声也增加了控制算法的难度。为了解决这些问题，本文提出了一种鲁棒速度跟踪控制策略的电动汽车与IMT动力系统。设计了干扰观测器和低通滤波器，以减小未知道路坡度变化和测量噪声的副作用，减少外载荷扭矩的估计误差。然后，网络诱导延迟速度跟踪模型的开发和升级考虑IMT动力系统的阻尼系数的不确定性，这可以通过范数有界的不确定性减少方法来描述。针对网络诱导时滞和参数不确定性，提出了一种新的、保守性较小的李雅普诺夫函数，利用线性矩阵不等式（LMI）算法设计了鲁棒速度跟踪控制器。同时，在控制器设计中将估计误差和测量噪声视为外部干扰，以提高鲁棒性。仿真结果表明，与现有控制器相比，该控制器具有鲁棒性强、速度跟踪性能好、乘坐舒适性好等优点。
Integrated motor-transmission (IMT) powertrain systems are widely used in future electric vehicles due to the advantages of their simple structure configuration and high controllability. In electric vehicles, precise speed tracking control is critical to ensure good gear shifting quality of an IMT powertrain system. However, the speed tracking control design becomes challenging due to the inevitable time delay of signal transmission introduced by the in-vehicle network and unknown road slope variation. Moreover, the system parameter uncertainties and signal measurement noise also increase the difficulty for the control algorithm. To address these issues, in this paper a robust speed tracking control strategy for electric vehicles with an IMT powertrain system is proposed. A disturbance observer and low-pass filter are developed to decrease the side effect from the unknown road slope variation and measurement noise and reduce the estimation error of the external load torque. Then, the network-induced delay speed tracking model is developed and is upgraded considering the damping coefficient uncertainties of the IMT powertrain system, which can be described through the norm-bounded uncertainty reduction method. To handle the network-induced delay and parameter uncertainties, a novel and less-conservative Lyapunov function is proposed to design the robust speed tracking controller by the linear matrix inequality (LMI) algorithm. Meanwhile, the estimation error and measurement noise are considered as the external disturbances in the controller design to promote robustness. Finally, the results demonstrate that the proposed controller has the advantages of strong robustness, excellent speed tracking performance, and ride comfort over the current existing controllers.
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