基于自抗扰控制的轮毂电机驱动电动汽车耦合振动抑制

Coupling Vibration Suppression of In-Wheel Motor Electric Vehicle Based on Active Disturbance Rejection Control

针对路面随机激励和轮毂电机不平衡电磁激励引起的电磁耦合振动对轮毂电机驱动电动汽车的影响,提出一种基于自抗扰的振动抑制方法。建立车辆1/4振动系统数学模型,设计了一种基于自抗扰的控制器,将路面随机激励和电机自身产生的电磁激励视为总扰动进行统一观测补偿控制,并通过MATLAB/Simulink对所提出的控制策略进行仿真验证。结果表明,自抗扰控制对由路面不平度和偏心电磁力引起的电磁耦合振动具有较好的抑制效果。

For the influence of electromagnetic coupling vibration caused by random road excitation and unbalanced electromagnetic excitation of in-wheel motor on electric vehicle driven by in-wheel motor,this paper proposed a vibration suppression method based on Active Disturbance Rejection Control(ADRC).Firstly,the mathematical model of a quarter of the vehicle vibration system was established.Secondly,a controller based on ADRC was designed.The road random excitation and the electromagnetic excitation generated by the motor itself were regarded as the total disturbance for unified observation compensation control.Finally,the proposed control strategy was verified by MATLAB/Simulink.The results show that ADRC can suppress the electromagnetic coupling vibration caused by road roughness and eccentric electromagnetic force.