基于自适应虚拟补偿的多电机动态协同控制

Multi-motor Dynamic Coordinated Control Based on Adaptive Virtual Compensation

针对四轮全驱电动汽车电机独立驱动的特点,提出一种基于自适应虚拟补偿的多电机动态协同控制系统,以解决牵引电机动态偏差所引起的操纵准确性下降的问题。通过一个虚拟闭环进行自适应补偿,将任一牵引电机过大的动态扰动平均到四轮电机驱动系统,避免车辆行驶轨迹大幅偏离驾驶指令;针对系统较强的非线性及不确定性,采用H∞鲁棒控制理论设计了虚拟控制器,四轮永磁同步牵引电机则采用直接转矩控制,提高系统的动态响应速度,降低系统对电机参数的依赖性。仿真结果表明该协同控制方案动态平衡了四轮转速误差,鲁棒性强,大幅提高了车辆对行驶指令的跟踪能力。

According to the feature of motor independent driving in all-wheel-drive electric vehicle, a multi-motor dynamic coordinated control system based on adaptive virtual compensation is proposed to solve the problem of operating accuracy decline which is caused by the dynamic offset of traction motor. By giving a virtual close-loop adaptive compensation, any overlarge dynamic perturbance of the traction motor can be averaged to the four-wheel motor driving system and avoid the vehicle seriously deviating from desired driving path. According to the nonlinearity and uncertainty of the system, a virtual controller is designed by adopting H∞ robust control theory. Direct torque control （DTC） is employed on fourwheel permanent magnet synchronous motor （PMSM） traction system to enhance the speed of dynamic response and reduce the dependence to the motor parameter of the system. Simulation results show that the coordinated control scheme can dynamically equilibrate the four-wheel speed error, strong robustness. And largely enhance the tracking capabilities to the driving command of vehicle.