一种采用自抗扰控制算法的蠕行控制策略研究

A Creep Control Strategy Using Active Disturbance Rejection Control Algorithm

车辆蠕行状态是指驾驶员未踩下油门、刹车踏板时,车辆以较低的设定车速稳定行驶的状态,在跟车、爬坡工况下应用广泛。目前,汽车蠕行控制方法大概有以下几种:根据车速查整车需求扭矩,该方法简单,但无法适应不同载重及坡度条件;电机恒转速控制,能够适应载重及坡度变化,常常采用PID算法控制转速,参数调节困难,容易产生超调问题。文章提出一种采用自抗扰控制算法的蠕行控制策略,能够提高蠕行时车辆的平顺性和稳定性,适应不同的载重及道路条件,降低调参难度,减少蠕行车速的超调,为实现整车蠕行功能给出了新的方案。

Vehicle creep state means that when the driver does not press the accelerator or brake pedals,the vehicle is driven steadily at a low set speed,and is widely used in follow-up and climbing conditions.At present,there are probably a few types of vehicle creep control methods:The method of checking the torque requirements of the vehicle according to speed is simple,but cannot be adapted to different load and grade conditions;The constant speed control of the motor can adapt to changes in load and grade,and often uses the PID algorithm to control the speed,which makes adjustment of parameters difficult,and can easily cause problems of over-regulation.This paper proposes a creep control strategy using active disturbance rejection control algorithm that can improve the smoothness and stability of vehicles during creep,adapt to different loads and road conditions,reduce the difficulty of adjusting the parameters,and reduce the over-regulation of creep speed.This paper presents a new program for the vehicle creep function.