电动汽车驱动与再生制动的H_∞鲁棒控制

H_∞ Robust Control for Driving and Regenerative Braking of Electric Vehicle

针对电动汽车在行驶过程中电池电压和道路状况有较大变化的特点,为保证闭环系统在参数摄动与未建模动态等不确定性影响下的鲁棒性,以及使外界干扰对系统的影响最小化,将电动汽车驱动与再生制动的控制问题转化为加权混合灵敏度问题,分别设计了电动汽车驱动与再生制动的H∞鲁棒控制器,并在不同道路状况和驾驶模式下进行了实验研究.实验结果表明,在不确定性影响和外界干扰的作用下,H∞鲁棒控制器的稳态误差及响应速度等控制指标均优于比例积分(PI)控制器,尤其在车辆制动过程中,H∞鲁棒控制器与PI控制器相比可以回收更多的能量,实际回收能量最大可增加约40%.

The H∞ robust controllers for driving and regenerative braking of electric vehicle (EV) is proposed. To ensure the robustness of the closed-loop system under the presence of uncertainties, such as parameter perturbation and unknown model dynamics, and to minimize the effects of disturbances, such as the variation of the voltage of battery, state of the road, and the driving profile of vehicle, the design of controllers for driving and regenerative braking of EV are transformed into the weighted mixed-sensitivity problem. The experimental results with different road states and driving modes show that H∞ robust controllers are superior to the traditional proportional integral (PI) controller for reducing steady-state tracking error and accelerating response rate. Additionally the H∞ robust controller for regenerative braking can recover more energy than PI controller and the peak recovery increases by 40% during the EV braking.