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Drive Control of Electric Vehicle based on Non-linear H infinity control theory

基于非线性H无穷控制理论的电动汽车驱动控制

基本信息

批准号：
15560386
负责人：
OUCHI Shigeto
金额：
$ 2.24万
依托单位：
TOKAI UNIVERSITY
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2006
项目状态：
已结题

项目摘要

The driving force of automobiles is transmitted by the frictional force between the tires and the road surface. This frictional force is a function of the weight of the car-body and the friction coefficient μ between the tires and the road surface. The friction coefficient μ is also a function of the following parameters: the slip ratio λ determined by the car-body speed and the wheel speed, and the condition of the road surface.Slippage of automobiles which causes much damage often occurs during accelerating and braking. In this research, a new drive control system is proposed, which has an effect on acceleration and braking. In the drive control system, a non-linear controller designed by using a Lyapunov function is used. This non-linear controller has two functions: first one is μ control which moves the car-body, another one is λ control. The controller is designed in order that μ and λ work at non-slip and with slip respectively. As another controller, a disturbance observer is used for estimating the car-body speed which is difficult to be measured. Then, this lead to the proof of the stability condition of the combined system which consists of two controllers: the non-linear controller and the disturbance observer.Finally, the effectiveness of this control system is proved by the very satisfactory simulation and experimental results for two cases.

汽车的驱动力是通过轮胎与路面之间的摩擦力传递的。该摩擦力是车身重量和轮胎与路面之间的摩擦系数μ的函数。摩擦系数μ也是由车身速度和车轮速度决定的滑移率λ以及路面状况的函数。汽车在加速和制动过程中经常发生滑移，造成较大的损害。在本研究中，提出了一种新型的驱动控制系统，它对汽车的加速和制动起到了一定的作用。在驱动控制系统中，采用了利用李亚普诺夫函数设计的非线性控制器。该非线性控制器具有两个功能：一是车身运动的μ控制，二是λ控制。控制器的设计是为了使μ和λ分别工作在无滑转和有滑转状态。作为另一种控制器，干扰观测器被用来估计难以测量的车身速度。然后，证明了由两个控制器组成的组合系统的稳定性条件：非线性控制器和扰动观测器，最后通过对两种情况非常满意的仿真和实验结果证明了该控制系统的有效性。