基于扰动观测器的电动汽车永磁同步电机预设性能控制  

Disturbance-observer Based Prescribed-performance Control for PMSM in Electric Vehicles

作　　者：倪双飞 戴宇辰 蔡启程 孙仲阳 NI Shuangfei;DAI Yuchen;CAI Qicheng;SUN Zhongyang(Changzhou Jintan District Power Supply Branch,State Grid Jiangsu Electric Power Co.,Ltd.,Changzhou,Jiangsu 213000,China;Zhejiang Normal University,College of Engineering,Jinhua,zhejiang 321000,China;Taizhou Power Supply Branch,State Grid Jiangsu Electric Power Co.,Ltd.,Taizhou,Jiangsu 225400,China;Yizheng Power Supply Branch,State Grid Jiangsu Electric Power Co.,Ltd.,Yizheng,Jiangsu 211400,China)

机构地区：[1]国网江苏省电力有限公司常州市金坛区供电分公司,江苏常州213000 [2]浙江师范大学工学院,浙江金华321000 [3]国网江苏省电力有限公司泰州市供电分公司,江苏泰州225400 [4]国网江苏省电力有限公司仪征市供电分公司,江苏仪征211400

出　　处：《控制与信息技术》2024年第1期23-30,共8页CONTROL AND INFORMATION TECHNOLOGY

摘　　要：针对由永磁同步电机驱动的电动汽车在外部负载转矩扰动下的精确速度跟踪控制问题,文章提出了一种基于扰动观测器的预设性能反推控制方法。其首先基于反推法设计控制器并引入二阶滑模微分器逼近虚拟控制律的导数,解决了传统反推控制中的“微分爆炸”问题;其次,为降低电动汽车在行驶过程中出现的电机负载扰动的影响,提出了一种新型的扰动观测器,以此提高系统的抗干扰性能;此外,为了达到预设的高瞬态和稳态转速跟踪性能,引入了预设性能控制,以保证跟踪误差在规定的边界内;最后,利用李雅普诺夫函数证明了系统的稳定性。仿真结果表明,相比传统的PI控制,在所设计控制器作用下的电机转速跟踪精度提升了5倍以上,具有更好的转速跟踪性能和抗干扰能力。Aiming at the accurate speed tracking control of electric vehicles(EV)driven by permanent magnet synchronous motors(PMSM)under external load torque disturbances,this paper proposes an approach for prescribed performance back-stepping control based on a disturbance observer.Firstly,a controller was designed using the back-stepping technique,and a second-order sliding mode differentiator was introduced to approximate the derivative of the virtual control law,which can solve the"differential explosion"problem in traditional back-stepping control techniques.Secondly,in order to reduce the influence of motor load disturbances in the driving process of EV,a novel disturbance observer was proposed,bolstering the anti-interference capability of system.In addition,to achieve the preset high transient and steady-state speed tracking performance,a prescribed performance control strategy was incorporated to guarantee tracking errors within predefined boundaries.Finally,the Lyapunov function was utilized to verify the system stability.The simulation results showed that,compared with traditional PI control,the designed controller significantly increased motor speed tracking precision by more than 5 times,demonstrating a superior speed tracking performance and enhanced anti-interference capability.

关 键 词：电动汽车 永磁同步电机 反推控制 扰动观测器 预设性能控制 

分 类 号：TM351[电气工程—电机] U469.72[机械工程—车辆工程]