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Electric vehicle speed tracking control method based on internal model

An electric vehicle, speed tracking technology, applied in the field of servo system control, can solve problems such as affecting the control performance of the motor and affecting the driving characteristics of the vehicle

Active Publication Date: 2020-04-10
HEFEI UNIV OF TECH
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  • Application Information

AI Technical Summary

Problems solved by technology

However, when the permanent magnet synchronous motor is used as the driving device of the electric vehicle, the change of the parameters of the motor or the transmission system of the vehicle and the introduction of the external disturbance of the system will directly affect the control performance of the motor, and then affect the driving characteristics of the vehicle

Method used

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  • Electric vehicle speed tracking control method based on internal model
  • Electric vehicle speed tracking control method based on internal model
  • Electric vehicle speed tracking control method based on internal model

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Embodiment Construction

[0167] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them.

[0168] Example.

[0169] like figure 1 , 2 As shown, an internal model-based speed tracking control method for electric vehicles includes the following steps:

[0170] Step 1. Select the permanent magnet synchronous motor as the driving motor and integrate the motor model with the electric vehicle transmission system to establish a nonlinear mathematical model of the overall system. The process is as follows:

[0171] 1.1, the mathematical model of permanent magnet synchronous motor is as follows:

[0172]

[0173]

[0174]

[0175]

[0176] where θ M is the motor rotor angle, ω M is the motor rotor angular velocity, i d ,i q , u d , u d is ...

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Abstract

The invention discloses an electric vehicle speed tracking control method based on an internal model. The method comprises the following steps: 1, selecting a permanent magnet synchronous motor as a drive motor, enabling a motor model to be integrated with an electric vehicle transmission system, and building a nonlinear mathematic model of an overall system; 2, describing a speed tracking and interference suppression problem of the electric vehicle as a global robust servo control problem; 3, designing the internal model, and converting the global robust servo control problem of the whole system into a global robust stabilization problem of an augmentation system composed of the whole system and the internal model; and 4, designing a state feedback controller by adopting a backstepping technology to solve the global robustness stabilization problem of the augmentation system. A state feedback controller based on the internal model is designed for the phenomena of system parameter change and system external interference introduction caused by the running environment in the running process of the electric automobile, and the speed tracking control of the electric automobile is realized.

Description

technical field [0001] The invention relates to the field of servo system control, in particular to an electric vehicle speed tracking control method based on an internal model. Background technique [0002] With the shortage of oil resources in the world and the increasingly serious environmental pollution, it has become an inevitable trend to find new forms of energy to replace oil to power vehicles, and electric vehicles are the main force in new energy vehicles. Permanent magnet synchronous motors are widely used in electric vehicles due to their excellent performance such as high power factor and low loss. However, when the permanent magnet synchronous motor is used as the driving device of the electric vehicle, the change of the parameters of the motor or the vehicle transmission system and the introduction of the external disturbance of the system will directly affect the control performance of the motor, and then affect the driving characteristics of the vehicle. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60L15/20
CPCB60L15/20B60L2220/14Y02T10/64Y02T10/72
Inventor 平兆武李垚熠熊邦国黄云志
Owner HEFEI UNIV OF TECH
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