考虑电动汽车传动特性的防抱死永磁同步电机控制

电动汽车的驱动电机在与制动系统协调控制的情况下,其动态转矩响应能快速准确地进行防抱死制动,但车辆的传动性能会影响电机的控制性能。考虑传动对纯电动汽车动态制动过程的影响,提出一种新型的永磁同步电动机(Permanent Magnet Synchronous Motor,PMSM)矢量控制方法。建立电动汽车的动力学模型,分析传动弹性和间隙非线性对电机制动力矩的影响。以防抱死制动的车轮滑移比为基础,提出基于间隙滑移补偿和弹性双闭环PID(Proportional Integral-Derivative)补偿的电机转矩控制换模方法。实验结果表明,永磁同步电动机开关控制能够有效补偿变速器,通过快速准确的电机转矩调节,显著提高电动汽车防抱死制动的舒适性、稳定性和可操作性。

Design of variable structure controller for uncertain time-delay singular system

To study the approximation theory of real sliding mode and the design of variable structure controller for time-invariant linear uncertain time-delay singular system,the approximation theory of real sliding mode was developed to provide foundation for obtaining sliding mode by equivalent control,and switching functions with integral dynamic compensators and variable structure controllers were designed respectively under two circumstances that the system without uncertain part was stabilized by delay-dependent and delay-independent linear state feedback. The design guarantees the asymptotical stablity of switching manifolds,and the variable structure controllers can force solution trajectory of the system to arrive at the switching manifolds in limited time. A numerical example is given to demonstrate the feasibility and simplicity of the design method.