Merchant Marine College, Shanghai Maritime University, Shanghai 201306, China.
School of Logistics Engineering, Shanghai Maritime University, Shanghai 201306, China.
ISA Trans. 2019 Oct;93:14-22. doi: 10.1016/j.isatra.2019.03.002. Epub 2019 Mar 11.
Shaft torque information is of great importance to develop advanced control system for electrified powertrains. However, it is rarely practical to find durable and also affordable physical sensors to achieve accurate torque measurement in commercial vehicles. This paper investigates a model based shaft torque estimation approach for integrated motor-transmission (IMT) system. First, Takagi-Sugeno (T-S) fuzzy modeling approach is adopted to deal with the nonlinearities in driving resistant load, which is directly related to vehicle speed. Based on this T-Sfuzzy model, a reduced order observer is developed to estimate the shaft torque as well as the wheel rotation speed by using the measurement of motor speed only. Considering external road resistance variation that caused by road slope change, H∞ filtering approach is further adopted to attenuate its negative effect on shaft torque estimation performance. In addition, pole placement technique is also adopted to ensure the transient performance of the proposed reduced order observer. The observer gains are determined by both off-line calculation of a set of linear matrix inequalities and on-line computation of estimated wheel rotation speed related algebraic equations. Finally, Comparison analysis with Luenberger observers is carried out show the effectiveness as well as performance of proposed shaft torque estimation approach.
轴转矩信息对于开发电动动力传动系统的先进控制系统非常重要。然而，在商用车中找到耐用且价格合理的物理传感器来实现精确的转矩测量是很少见的。本文研究了一种用于集成电机-变速器（IMT）系统的基于模型的轴转矩估计方法。首先，采用 Takagi-Sugeno（T-S）模糊建模方法来处理与车辆速度直接相关的驱动阻力负载的非线性。基于此 T-S 模糊模型，开发了一种降阶观测器，仅使用电机速度的测量值来估计轴转矩和车轮转速。考虑到由道路坡度变化引起的外部道路阻力变化，进一步采用 H∞滤波方法来减弱其对轴转矩估计性能的负面影响。此外，还采用极点配置技术来确保所提出的降阶观测器的瞬态性能。观测器增益由一组线性矩阵不等式的离线计算和与估计的车轮转速相关的代数方程的在线计算共同确定。最后，与 Luenberger 观测器的比较分析表明了所提出的轴转矩估计方法的有效性和性能。
