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Electric bicycle control method based on integral sliding mode and disturbance observer

A technology of disturbance observer and electric bicycle, which is applied in the field of AC servo system, can solve problems such as large k and serious system chattering, and achieve the effect of enhancing stability, good dynamic performance and anti-disturbance ability, and weakening chattering

Active Publication Date: 2015-03-04
SOUTHEAST UNIV
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  • Application Information

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Problems solved by technology

Among them, the switch switching gain k needs to meet: k>|d| / h, when the system disturbance is relatively large, k is also relatively large, resulting in serious system chattering

Method used

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  • Electric bicycle control method based on integral sliding mode and disturbance observer
  • Electric bicycle control method based on integral sliding mode and disturbance observer
  • Electric bicycle control method based on integral sliding mode and disturbance observer

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Experimental program
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Embodiment Construction

[0058] The present invention will be further explained below in conjunction with the figures.

[0059] Such as figure 1 and figure 2 As shown, the present invention provides an electric vehicle control method based on an integral sliding mode and a disturbance observer, including a motor, and is characterized in that, including an integral sliding mode controller and a disturbance observer, the specific steps are as follows:

[0060] Step 1): sampling the bus current i of the electric bicycle with a sampling resistor;

[0061] Step 2): Obtain the rotor position of the electric bicycle motor through the Hall sensor and calculate the actual speed ω of the motor;

[0062] Step 3): Using the speed reference ω ref The difference e(t) with the actual running speed ω of the motor in step 2) constructs the integral sliding surface S;

[0063] Step 4): According to the integral sliding mode surface S in step 3), set the integral sliding mode speed controller to adjust the speed, s...

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Abstract

The invention discloses an electric bicycle control method based on an integral sliding mode and a disturbance observer. The method comprises two parts, namely, design of integral sliding mode control and design of disturbance observer control. The integral sliding mode control comprises design of a sliding mode surface and design of a sliding mode control law so as to guarantee the closed-loop stability performance of a system; the disturbance observer is used for observing the external disturbance and the parameter vibration of the system and introduced into a closed-loop system as a feed-forward item. A designed composite controller can realize high-performance speed tracking control on a motor under the condition that the electric bicycle control system has bonded parameter variation and load disturbance. Through simulation comparisons, the composite controller can effectively reducing buffeting of sliding mode control output and has good dynamic and static characteristics and robustness.

Description

technical field [0001] The invention relates to the field of AC servo systems, in particular to an electric bicycle control method based on an integral sliding mode and a disturbance observer. Background technique [0002] Permanent magnet brushless DC motors are widely used in industrial fields such as household appliances, instruments and meters, and medical equipment due to their simple structure, reliable operation, convenient maintenance, high efficiency, no excitation loss, and good speed regulation performance. [0003] Because the control performance of BLDC motors is susceptible to uncertainties such as external load disturbances, internal parameter changes, unmodeled objects, and nonlinear dynamic characteristics. In order to obtain a good dynamic response, some advanced control strategies such as nonlinear control, adaptive control, H∞ control, sliding mode control, etc. have been introduced into the research of AC servo system. Among them, the sliding mode contr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P6/06H02P6/10
CPCH02P6/06H02P6/10H02P2205/00H02P2207/00
Inventor 李世华谷伟王会明杨俊颜赟达何硕彦王佐
Owner SOUTHEAST UNIV
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