摘要
电机是电动汽车的动力源,能快速启动,并通过矢量控制技术精确控制输出转矩.本文针对电动汽车电子驻车系统制动问题,提出了一种采用自抗扰控制技术驱动电机实现驻车制动的有效方法.为此分析了车辆在坡道上的纵向运动学模型,结合电机数学模型和整车模型,设计了电动汽车电子驻车非线性自抗扰控制器,并搭建了闭环仿真模型.仿真结果表明,自抗扰控制系统响应性能明显优于PID控制,最后通过实验,验证所设计的控制方案对驻车过程内外扰动具有较强的鲁棒性,能够实现驻车过程快速有效制动.
The motor is the power source of the electric vehicle.which can start quickly and control the output torque accurately by vector control technology.Aiming at the braking problem of the electric parking system of electric vehicles,This paper proposes an active disturbance rejection control technology to drive the motor to achieve parking.To this end,the longitudinal kinematics model of the vehicle on the slope is analyzed,combined with the mathematical model of the motor and the vehicle model,the nonlinear auto-disturbance controller of the electric vehicle electronic parking is designed,and the closed-loop simulation model is built.The simulation results show that the response performance of the active disturbance rejection control system is obviously better than that of PID control.Finally,through experiments,it is verified that the designed control scheme has a good response to the internal and external disturbances in the parking process,and can realize rapid and effective braking during parking.
作者
姚芳
姜帆
吴正斌
李贵强
武利强
YAO Fang;JIANG Fan;WU Zheng-bin;LI Gui-qiang;WU Li-qiang(State Key Laboratory of Reliability and Intelligence of Electrical Equipment,Hebei University of Technology,Tianjin 300132,China;Tianjin Chinese-Academy-of-Sciences Institute of Advanced Technology Ltd.,Tianjin 300392,China;Shenzhen Institutes of Advanced Technology,University of Chinese Academy of Sciences,Shenzhen Guangdong 518055,China;Beijing Cretek Measurement&Control Ltd.,Beijing 100191,China)
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2020年第7期1569-1577,共9页
Control Theory & Applications
基金
天津市科委项目(16JCYBJC42200,16YFZCGX00220)资助。
关键词
电动汽车
电子驻车
自抗扰控制
永磁同步电机
electric car
electronic parking brake
active disturbance rejection control
permanent magnet synchronous motor
