引用本文:姚芳,姜帆,吴正斌,李贵强,武利强.电机驱动驻车系统的非线性自抗扰控制[J].控制理论与应用,2020,37(7):1569~1577.[点击复制]
YAO Fan,JIANG Fan,WU Zheng-bin,LI Gui-qiang,WU Li-qiang.Nonlinear active disturbance rejection control of motor driven parking system[J].Control Theory and Technology,2020,37(7):1569~1577.[点击复制]
电机驱动驻车系统的非线性自抗扰控制
Nonlinear active disturbance rejection control of motor driven parking system
摘要点击 2118  全文点击 770  投稿时间：2019-04-15  修订日期：2019-12-16
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DOI编号  10.7641/CTA.2020.90249
  2020,37(7):1569-1577
中文关键词  电动汽车  电子驻车  自抗扰控制  永磁同步电机
英文关键词  electric car  electronic parking brake  active disturbance rejection control  permanent magnet synchronous motor
基金项目  天津市科委项目(16JCYBJC42200)，天津市科委项目(16YFZCGX00220)。
作者单位E-mail
姚芳 河北工业大学 yaofang@hebut.edu.cn 
姜帆 河北工业大学  
吴正斌* 天津中科先进技术研究院有限公司 zb.wu@siat.ac.cn 
李贵强 中国科学院大学, 深圳先进技术研究院  
武利强 北京科瑞远腾测控技术有限公司  
中文摘要
      电机是电动汽车的动力源, 能快速启动, 并通过矢量控制技术精确控制输出转矩. 本文针对电动汽车电子 驻车系统制动问题, 提出了一种采用自抗扰控制技术驱动电机实现驻车制动的有效方法. 为此分析了车辆在坡道 上的纵向运动学模型, 结合电机数学模型和整车模型, 设计了电动汽车电子驻车非线性自抗扰控制器, 并搭建了闭 环仿真模型. 仿真结果表明, 自抗扰控制系统响应性能明显优于PID控制, 最后通过实验, 验证所设计的控制方案对 驻车过程内外扰动具有较强的鲁棒性, 能够实现驻车过程快速有效制动.
英文摘要
      The motor is the power source of the electric vehicle. which can start quickly and control the output torque accurately by vector control technology. Aiming at the braking problem of the electric parking system of electric vehicles, This paper proposes an active disturbance rejection control technology to drive the motor to achieve parking. To this end, the longitudinal kinematics model of the vehicle on the slope is analyzed, combined with the mathematical model of the motor and the vehicle model, the nonlinear auto-disturbance controller of the electric vehicle electronic parking is designed, and the closed-loop simulation model is built. The simulation results show that the response performance of the active disturbance rejection control system is obviously better than that of PID control. Finally, through experiments, it is verified that the designed control scheme has a good response to the internal and external disturbances in the parking process, and can realize rapid and effective braking during parking.