针对电动汽车行进过程中复杂的车辆运行环境易造成驱动电机参数变化和系统外界干扰引入的现象,研究永磁同步电机驱动电动汽车行进速度的自适应跟踪控制问题.将电动汽车驱动部分与传动系整合,建立整个系统的非线性数学模型.针对该系统本身的非线性、强耦合性等特点,同时考虑实际系统中一些物理量出现的变化,运用非线性反步法结合解耦控制技术,综合设计系统的非线性自适应控制器.理论分析表明,即使在系统参数不确定性和负载扰动存在的情况下,仍能保证整个闭环系统的稳定性.仿真结果验证了该方法可以有效地克服系统的非线性特性及运行过程中参数变化和负载扰动引起的跟踪误差,达到期望的运行性能.%In view of phenomena of parameter variations in the driving motor and the external disturbance resulting from the operating situation complicated of the electric vehicle in the driving process, the adaptive speed tracking control problem was investigated for electric vehicles driven by the permanent magnet synchronous motor ( PMSM). A nonlinear dynamics was modeled for the electric vehicle consisting of a permanent magnet synchronous motor (PMSM) and the driveline. According to the characteristics of nonlinear, strong coupling of the system and parameter variations in the actual system, a nonlinear adaptive controller was designed based on the combination of backstepping recursive design and decoupling control technique. Theoretical analysis shows that the closed-loop system is stable regardless of parameter uncertainties and load disturbance. The simulation results illustrate the effectiveness of the proposed method for reducing the influence caused by the nonlinear characteristics of system and eliminating errors resulting from parameter variations and load disturbance to achieve the desired operation performance.
展开▼
