电驱动车辆反馈线性化自适应滑模滑移率控制

摘要

针对驱动和制动工况下电驱动汽车的滑移率控制这一强非线性和不确定性控制问题，提出了一种基于反馈线性化的自适应滑模控制（ASMC）方法。针对车辆驱动、制动工况下的车轮滑移率进行了动力学分析，建立了统一的状态方程。充分利用系统已知模型和参数，采用线性化反馈消除非线性变化的控制量增益系数的影响，通过对反馈项增益参数的自适应调整，适应附着路面不确定参数变化的控制要求，克服系统控制中存在的主要非线性和不确定性部分，对于系统难以建模描述部分，视为扰动，利用滑模控制抑制系统该部分的不确定性因素，同时保证系统响应的快速性，并对算法进行了Lyapunov稳定性分析。最后，以某型电动汽车为对象进行了仿真分析，结果表明采用ASMC控制系统动态响应快、精度高、抗扰能力强，对路面参数变化具有较强的鲁棒性，同时输出控制量抖振小。%This paper presents an adaptive sliding mode control method based on feedback linearization,targeting at the nonlinear wheel slip control system with strong uncertain both on EV acceleration and barking. After dynamic analysis of wheel slip when driving/barking an unite state equation is built. Taking full advantage of the known model and parameters,the nonlinear of control gain is eliminated through feedback linearization and self-adaptive law of feedback gain is adopted to accommodate with the variable friction in tire-road interface,which can overcome the main nonlinear factors and uncertains. Together,the unknown model and parameters is regarded as dieturbance is restrained by slid mode term which can also improve the response speed. Then the control algorithm stability is proved by Lyapunov law. At last,simulation results of EV model demonstrated ASMC has rapid and precision response,little chattering and robustness to disturbance.