基于自适应鲁棒控制的测功机动态滑移率模拟*

doi:10.19562/j.chinasae.qcgc.2020.10.014

Abstract

Abstract: Structured and unstructured uncertainties are the key factors restraining the high-accuracy loading of dynamometer,which may lead to the deterioration of the emulation performance of dynamic slip ratio during anti-lock braking. Firstly, the rotational dynamics model is built for the test bench of the electric braking system of a typical electric vehicle. Then, for enhancing the emulation accuracy of slip ratio, a dynamometer loading algorithm with adaptive integral robust control is proposed, a discontinuous mapping-based adaptive control law is set up to handle the structured uncertainties of system, while the RISE feedback control law is adopted to suppress the unstructured uncertainties of the system. The designed controller does not require a prior knowledge on the upper bounds of disturbances, the gain of robust control can be set online, and theoretically the input can be continuously controlled to achieve the global asymptotic tracking performance of the system. Simulation results show that the method proposed can achieve the precise emulation of dynamic slip ratio with strong robustness.

Key words: electric vehicles, slip ratio emulation, structured uncertainties, unstructured uncertainties, adaptive integral robust control

Ma Ruihai, Wang Lifang, Zhang Junzhi, He Chengkun. Dynamic Slip Ratio Emulationon of Dynamometer Based on Adaptive Robust Control[J].Automotive Engineering, 2020, 42(10): 1397-1403.

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Dynamic Slip Ratio Emulationon of Dynamometer Based on Adaptive Robust Control

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