基于有限时间扩张状态观测的HEV鲁棒复合协调控制

doi:10.13229/j.cnki.jdxbgxb.20210952

Abstract

Abstract:

Aiming at the hybrid electric vehicle that adopts the dual planetary power coupling mechanism， the transient mode switching process from pure electric mode to hybrid driving mode is studied. In order to reduce the deterioration of the system dynamic performance caused by the engine torque fluctuation and the driving condition during the transient mode switching process， the robust compound coordinated strategy based on the finite-time extended state observer is proposed. Firstly， the mode switching process is analyzed and the system dynamic models for each switching stage are established. Then， aiming at the stages that cause large mode switching jerk， the extended state observer is designed to estimate the disturbance of the engine and load torque based on the finite time stability theory. On this basis， the feed-forward compensation strategy is constructed and the robust H_∞ controller based on the state feed-back control is designed to realize the robust compound coordinated control. Simulation results demonstrate that the finite time extended state observer improves the observation accuracy of the engine torque and load torque disturbances effectively， as well as the engine speed tracking performance. The proposed robust compound controller based on the finite-time extended state observation can reduce the influence of the vehicle external disturbance on the HEV mode switching effectively， and reduce the mode switching impact significantly.

Key words: vehicle engineering, hybrid electric vehicle, mode switching, finite-time extended state observation, robust compound control, stability

CLC Number:

U463.2

Shao-hua WANG,Kun CHU,De-hua SHI,Chun-fang YIN,Chun LI. Robust compound coordinated control of HEV based on finite⁃time extended state observation[J].Journal of Jilin University(Engineering and Technology Edition), 2023, 53(5): 1272-1281.

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工作模式	发动机	MG1	MG2	CR1	CR2	CB1	CB2
纯电动1	关	关	开	分离	分离	结合	结合
纯电动2	关	开	开	分离	结合	结合	分离
发动机启动	关	开	开	分离	分离	结合	结合
混合驱动1	开	开	开	结合	分离	分离	结合
混合驱动2	开	开	开	结合	结合	分离	分离

参数	数值
整备质量M/kg	1398
车轮半径R _w /m	0.287
空气阻力系数C_d	0.3
迎风面积A_f/m²	1.746
主减速器速比i₀	3.93
前、后行星排特征参数k_1、k₂	1.842，2.48
发动机最大转速ω_Emax/（r·min^-1）	4700
发动机峰值功率P_Emax/kW	54
MG1转速ω_Gmax/（r·min^-1）	8000
MG1峰值功率P_Gmax/kW	15
MG2转速ω_Mmax/（r·min^-1）	12 000
MG2峰值功率P_Mmax/kW	30

项目	参数	数值
纯电动、发动机启动和 CB1分离阶段	λ₁	2
	L₁	98
	L₂	7580
	m₁	0.96
	m₂	0.92
CR1滑摩阶段	λ₂	2
	L₃	99
	L₄	7950
	m₃	0.96
	m₄	0.92
混合驱动模式	λ₃	2
	L₅	95
	L₆	5000
	m₅	0.96
	m₆	0.92

Robust compound coordinated control of HEV based on finite⁃time extended state observation

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