张琰,赵韩,朱胤斐,黄康,邱明明,秦菲菲.农用电动车辆预换挡过程转速鲁棒控制方法[J].农业机械学报,2020,51(1):364-371.
ZHANG Yan,ZHAO Han,ZHU Yinfei,HUANG Kang,QIU Mingming,QIN Feifei.Novel Robust Speed Control Method of Agricultural Electric Vehicle Preshift Process[J].Transactions of the Chinese Society for Agricultural Machinery,2020,51(1):364-371.
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农用电动车辆预换挡过程转速鲁棒控制方法   [下载全文]
Novel Robust Speed Control Method of Agricultural Electric Vehicle Preshift Process   [Download Pdf][in English]
投稿时间:2019-07-25  
DOI:10.6041/j.issn.1000-1298.2020.01.040
中文关键词:  电动车辆  传动系统  鲁棒控制  Lyapunov  机械动力学
基金项目:国家重点研发计划项目(2017YFB0103201)
作者单位
张琰 合肥工业大学 
赵韩 合肥工业大学 
朱胤斐 合肥工业大学
斯威本科技大学 
黄康 合肥工业大学 
邱明明 合肥工业大学 
秦菲菲 合肥工业大学 
中文摘要:提出了一种农用电动车辆换挡过程中永磁同步电机速度同步的鲁棒控制方法。针对电动车辆电驱动总成系统,分析了换挡过程及其中的预换挡速度同步问题,根据系统的结构和工作条件,完成了动力学建模。利用一种非线性控制算法完成了永磁同步电机换挡速度同步鲁棒控制,该算法继承了传统PID控制和鲁棒控制的特点,基于误差和模型两方面进行控制,将农用车辆作业工况下的模型不确定性和外部干扰集中到一个具有假定上限的函数。基于Lyapunov方法从理论上证明了本文设计的鲁棒控制器具有一致有界性和最终一致有界性。通过数值仿真与传统PD控制进行对比,在相同PD控制参数条件下,鲁棒控制器的转速同步误差平均值与标准差均具有明显优势。通过台架试验进一步验证了该鲁棒控制方法对永磁同步电机速度同步控制的有效性,结果表明,该方法转速同步误差平均值与标准差优于传统PD控制30%以上。
ZHANG Yan  ZHAO Han  ZHU Yinfei  HUANG Kang  QIU Mingming  QIN Feifei
Hefei University of Technology,Hefei University of Technology,Hefei University of Technology;Swinburne University of Technology,Hefei University of Technology,Hefei University of Technology and Hefei University of Technology
Key Words:electric vehicle  transmission system  robust control  Lyapunov  mechanical dynamics
Abstract:A novel robust approach of speed control was adopted for PMSM during the agricultural electric vehicle’s preshift process. Considering the two gear electric vehicle electric driveline, the gearshift process was studied and the preshift process was introduced, electromagnetic speed synchronization of the driving motor was considered specifically. Based on the structure of the driveline and the agricultural working condition, dynamic modeling was completed. And a nonlinear robust control approach was introduced to complete the robust control task of electromagnetic speed synchronization. The adopted control algorithm was characterized by error based and model based algorithm inheriting from traditional PID control and robust control. The control algorithm consisted of a model based algorithm component, a PD component as a feedback control and a piecewise function component as a robust feedback control, in which the system uncertainties and external disturbance were lumped. These system uncertainties and external disturbance were assumed to have upper bound. Based on the Lyapunov method, it theoretically proved the proposed control algorithm had render uniform boundedness and uniform ultimate boundedness. The effectiveness and robustness of the proposed control method for speed synchronization control of permanent magnet synchronous motor were verified by numerical simulation and bench test. By comparing with the traditional PD control, the proposed robust controller had obvious advantages under the same PD control parameters considering the load fluctuation conditions of agricultural electric vehicles. Average speed synchronization error and standard deviation were obviously better than those of traditional PD control in simulation result, which was 30% better in test result. The precise robust control paved the way for synchronization of synchronizer in the later stage and played an important role in improving shift quality.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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