以串联式混合动力汽车BJUT—SHEV为研究对象，针对起停工况下模型参数摄动和外部干扰等不确定性因素对控制效果的影响，提出一种基于非线性干扰观测器理论的自适应滑模控制方法．通过引入非线性干扰观测器对系统中存在的不确定进行估计，利用估计结果补偿滑模控制器输出，以提高滑模控制器的控制性能及鲁棒性；设计自适应律对切换增益自适应调节，以削弱滑模控制器的输出抖振．基于Lyapunov理论证明了该方法的稳定性，最后通过仿真实验进一步验证了该方法的可行性及有效性．%To deal with the model uncertainty and external disturbance which may exist in series hybrid electric vehicle BJUT-SHEV＇s stop and go condition, an adaptive sliding mode control method based on nonlinear disturbance observer theory is proposed. In the method the nonlinear disturbance observer is introduced to estimate system uncertainty, and the estimate value is used to compensate control outputs which to improve slidiflg mode controller＇ s performance and robustness. In addition, for controller output chattering case an adaptive law is designed, under the adaptive law the sliding mode controller＇s switching gain can be adjusted automatically. The Lyapunov method is applied to prove the stability of the control method. Finally, the simulation results of an example are investigated to show the feasibility and effectiveness of the proposed approach.
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