Zhang Jie, Fan Qianrong, Wang Ming, Zhang Bangji, Chen Yuanchang
State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, College of Mechanical and Vehicle Engineering, Hunan University, Changsha 410082, China.
Structural Dynamics and Acoustic Systems Laboratory, University of Massachusetts Lowell, One University Avenue, Lowell, MA 01854, USA.
Sensors (Basel). 2022 Feb 24;22(5):1787. doi: 10.3390/s22051787.
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.
集成式电机-变速器（IMT）动力总成系统因其结构配置简单和可控性高的优点，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动力总成系统良好的换挡质量至关重要。然而，由于车载网络引入的信号传输不可避免的时间延迟以及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，本文提出了一种针对具有IMT动力总成系统的电动汽车的鲁棒速度跟踪控制策略。开发了一种干扰观测器和低通滤波器，以减少未知道路坡度变化和测量噪声的副作用，并降低外部负载转矩的估计误差。然后，建立了网络诱导延迟速度跟踪模型，并考虑IMT动力总成系统的阻尼系数不确定性对其进行了升级，该不确定性可以通过范数有界不确定性约简方法来描述。为了处理网络诱导延迟和参数不确定性，提出了一种新颖且保守性较小的李雅普诺夫函数，通过线性矩阵不等式（LMI）算法设计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。最后，结果表明，所提出的控制器相对于现有控制器具有强鲁棒性、优异的速度跟踪性能和乘坐舒适性的优点。
