摘要
结构和非结构不确定性是制约测功机高精度加载的关键因素,它们会导致防抱死制动期间动态滑移率模拟性能的恶化。针对典型电动汽车电制动系统试验台,建立旋转动力学模型;为提升滑移率模拟精度,提出了自适应积分鲁棒控制的测功机加载算法,以不连续映射构建参数自适应律,来处理系统的结构不确定性,而采用误差符号积分鲁棒反馈控制律来抑制系统的非结构不确定性;所设计的控制器无需有关扰动上界的先验知识,鲁棒控制增益可在线整定,理论上可连续控制输入实现系统全局渐近跟踪。仿真结果表明:提出的方法可实现精准的动态滑移率模拟,具有较强的鲁棒性。
Structured and unstructured uncertainties are the key factors restraining the high-accuracy loading of dynamometer,which may lead to the deterioration of the emulation performance of dynamic slip ratio during anti-lock braking.Firstly,the rotational dynamics model is built for the test bench of the electric braking system of a typical electric vehicle.Then,for enhancing the emulation accuracy of slip ratio,a dynamometer loading algorithm with adaptive integral robust control is proposed,a discontinuous mapping-based adaptive control law is set up to handle the structured uncertainties of system,while the RISE feedback control law is adopted to suppress the unstructured uncertainties of the system.The designed controller does not require a prior knowledge on the upper bounds of disturbances,the gain of robust control can be set online,and theoretically the input can be continuously controlled to achieve the global asymptotic tracking performance of the system.Simulation results show that the method proposed can achieve the precise emulation of dynamic slip ratio with strong robustness.
作者
马瑞海
王丽芳
张俊智
何承坤
Ma Ruihai;Wang Lifang;Zhang Junzhi;He Chengkun(University of Chinese Academy of Sciences,Beijing 100049;Key Laboratory of Power Electronics and Electric Drives,Institute of Electrical Engineering,Chinese Academy of Sciences,Beijing 100190;Tsinghua University,State Key Laboratory of Automotive Safety and Energy,Beijing 100084)
出处
《汽车工程》
EI
CSCD
北大核心
2020年第10期1397-1403,共7页
Automotive Engineering
基金
国家重点研发计划(2016YFB0101402)资助。
关键词
电动汽车
滑移率模拟
结构不确定
非结构不确定
自适应积分鲁棒控制
electric vehicles
slip ratio emulation
structured uncertainties
unstructured uncertainties
adaptive integral robust control
作者简介
通信作者:王丽芳,研究员,博士生导师,E-mail:wlf@mail.iee.ac.cn。
