Construction method of linear Luenberger observer

Abstract

The invention discloses a construction method of a linear Luenberger observer. The construction method comprises the steps of: step 1, establishing a state-space equation of a vehicle driving system,and determining observability of the driving system; step 2, performing block division on a state of the driving system, and reconstructing a state component of the driving system to obtain a rewritten driving system state observation equation; step 3, and introducing transformation into the rewritten driving system state observation equation to obtain an expression equation and an error equationof the Luenberger observer. The realization difficulty of the linear Luenberger observer constructed by adopting the construction method is reduced, the high-frequency noise in an output signal of a rotational speed sensor is reduced, so that the observation result of the observer is closer to the actual state of the driving system, and the observation result is precise and timely.

Description

technical field [0001] The invention belongs to the technical field of vehicle control, in particular to a construction method of a linear Luenberger observer. Background technique [0002] Due to considerations of cost, reliability, and installation conditions, torque sensors are rarely installed in existing product-level vehicles to directly measure drive shaft torque, and drive shaft torque can only be obtained indirectly through existing measurable information ; Compared with the torque sensor, the speed sensor is low in cost, and the speed sensor such as a photoelectric code disc can be used to monitor the speed status of various parts of the power transmission system. [0003] In actual application, the existing detection method will be affected by the error of the wheel speed sensor and the motor B resolver. When the integral method is used for detection, the sensor signal noise, external interference and other factors will be accumulated in the estimation result due ...

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Problems solved by technology

[0003] In actual application, the existing detection method will be affected by the error of the wheel speed sensor and the motor B resolver. When the integral method is used for detection, the sensor signal noise, external interference and other factors will be accumulated in the estimation result due to the integral effect. It causes a large error between the estimated value and the actual value, especially when there is an error between the estimated initial value and the actual initial value, the estimation error increases, and it is difficult to apply in practice

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