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A speed tracking control method for electric vehicles based on internal model

An electric vehicle and speed tracking technology, applied in the field of servo system control, can solve problems affecting vehicle driving characteristics and motor control performance, and achieve high-precision speed tracking, interference suppression performance, and good robustness

Active Publication Date: 2021-11-19
HEFEI UNIV OF TECH
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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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  • A speed tracking control method for electric vehicles based on internal model
  • A speed tracking control method for electric vehicles based on internal model
  • A speed tracking control method for electric vehicles based on internal model

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Embodiment Construction

[0167] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to 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] Such as 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 ...

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Abstract

The invention discloses a speed tracking control method for an electric vehicle based on an internal model. The method includes: step 1, selecting a permanent magnet synchronous motor as a drive motor and integrating the motor model with the transmission system of the electric vehicle to establish a nonlinear mathematical system for the overall system Model; step 2, describe the speed tracking and disturbance suppression problem of electric vehicles as a global robust servo control problem; step 3, design the internal model, and transform the global robust servo control problem of the overall system into a global robust servo control problem composed of the overall system and the internal model The global robust stabilization problem of the augmented system composed of ; step 4, design the state feedback controller by using the backstepping method to solve the global robust stabilization problem of the augmented system. Aiming at the phenomenon that the operating environment causes system parameter changes and system external disturbances during the driving process of the electric vehicle, the invention designs a state feedback controller based on an internal model, and realizes the speed tracking control of the electric vehicle.

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 Patents(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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