基于有限时间扩张状态观测的HEV鲁棒复合协调控制  

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

作　　者：汪少华[1] 储堃 施德华[1,2] 殷春芳 李春[4] WANG Shao-hua;CHU Kun;SHI De-hua;YIN Chun-fang;LI Chun(Automotive Engineering Research Institute,Jiangsu University,Zhenjiang 212013,China;Key Laboratory of Advanced Manufacture Technology for Automobile Parts(Chongqing University of Technology),Ministry of Education,Chongqing 400054,China;School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,China;Higer Bus Company Limited,Suzhou 215026,China)

机构地区：[1]江苏大学汽车工程研究院,江苏镇江212013 [2]汽车零部件先进制造技术教育部重点实验室(重庆理工大学),重庆400054 [3]江苏大学电气信息工程学院,江苏镇江212013 [4]金龙联合汽车工业(苏州)有限公司,江苏苏州215026

出　　处：《吉林大学学报（工学版）》2023年第5期1272-1281,共10页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(51905219,52272368,U1764257);江苏省自然科学基金项目(BK20190844);青年人才托举工程项目(2020QNRC001);镇江市重点研发计划项目(GY2020020,GY2021001);汽车零部件先进制造技术教育部重点实验室开放课题基金项目(2020KLMT05)。

摘　　要：针对采用双行星排动力耦合机构的混合动力汽车(HEV),研究其纯电动模式至混合动力驱动模式切换过程,为减小由发动机转矩波动和行驶工况扰动导致的模式切换动态性能恶化,提出了基于有限时间扩张状态观测的鲁棒复合协调控制策略。分析模式切换过程并建立各切换阶段的系统动力学模型,针对造成模式切换冲击的切换阶段,设计基于有限时间稳定理论的扩张状态观测器估计发动机转矩和负载转矩扰动,在此基础上,构建基于观测状态的前馈补偿策略,并设计基于状态反馈的鲁棒H∞控制器,从而实现模式切换过程的鲁棒复合协调控制。仿真结果表明:有限时间扩张状态观测器有效提高了对发动机和负载转矩扰动的观测精度,优化了发动机转速的控制效果,基于有限时间扩张状态观测的鲁棒复合协调控制策略可有效克服车辆外界扰动的影响,显著减小HEV模式切换过程的冲击度。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 feedforward 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.

关 键 词：车辆工程 混合动力汽车 模式切换 有限时间扩张状态观测 鲁棒复合控制 稳定性 

分 类 号：U463.2[机械工程—车辆工程]