机电复合传动系统基于μ-综合方法的鲁棒协调控制

doi:10.3901/JME.2017.14.088

机械工程学报 ›› 2017, Vol. 53 ›› Issue (14): 88-97.doi: 10.3901/JME.2017.14.088

• 特邀专栏：汽车先进动力系统的设计、优化与控制专栏（上） • 上一篇下一篇

机电复合传动系统基于μ-综合方法的鲁棒协调控制

温博轩¹, 王伟达^1,2, 项昌乐^1,2, 丁峰¹, 齐蕴龙¹

1. 北京理工大学机械与车辆学院北京 100081;
2. 北京理工大学车辆传动国家重点实验室北京 100081

收稿日期:2016-07-26 修回日期:2017-03-20 出版日期:2017-07-20 发布日期:2017-07-20
通讯作者: 王伟达(通信作者),男,1980年出生,博士,副教授,硕士研究生导师。主要研究方向为混合动力车辆、机电传动控制、车辆动力学及其控制。E-mail:wangwd0430@163.com
作者简介:温博轩,男,1987年出生,博士研究生。主要研究方向为机电复合传动系统多动力协调控制。E-mail:wenboxuan258@126.com
基金资助:
国家自然科学基金资助项目（51005017，51575043，U1564210）。

Coordination Control Based on μ-synthesize for Electro-mechanical Transmission

WEN Boxuan¹, WANG Weida^1,2, XIANG Changle^1,2, DING Feng¹, QI Yunlong¹

1. School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081;
2. National Key Lab of Vehicular Transmission, Beijing Institute of Technology, Beijing 100081

Received:2016-07-26 Revised:2017-03-20 Online:2017-07-20 Published:2017-07-20

摘要/Abstract

摘要： 机电复合传动系统从一个稳定状态向另一个稳定状态过渡的过程称为动态响应过程。由于电动机、发动机的动态响应特性不同，导致动态响应过程中，各动力源实际转矩不相匹配，致使系统的实际状态点与期望状态点相差较大。为了解决机电复合传动多动力源协调控制的难题，提出采用μ-综合方法设计的基于动态模型集的鲁棒控制策略。依托于试验测试与参数辨识的方法建立系统带有不确定的模型集，并归一化处理为标准形式；基于该模型集将系统的约束、优化目标、外界干扰、传感器噪声、未建模动态等以数学形式表达，建立面向鲁棒控制综合的增广系统，并采用μ-综合的方法进行控制器求解，得到协调控制器。通过整体系统仿真验证明了协调控制的高效性，通过半实物平台验证了协调控制策略的可行性。结果表明，在鲁棒协调控制器的作用下，系统各主要状态量可以快速准确地跟踪其参考目标值。

关键词: μ-综合, 机电复合传动, 模型集, 协调控制

Abstract: The dynamic response of electro-mechanical transmission means to transfer the states form a steady phase to another one. There might be a big difference between the actual states and the expected during the transient process for the different dynamic response of the engine and the motors'. In order to improve the coordination capability, the theory of control based on model should be used. A system mode set is built based on the mode identification and normalization processed into a standard form. An augmented system is structured to integrate the optimization objective and the constraints into robust form, which is solved by the method of μ-synthesize. The validity of the coordinated is verified by the whole system's simulation based on vehicle driving cycle.

Key words: μ-synthesize, coordination control, electro-mechanical transmission, model set

中图分类号:

U461

温博轩, 王伟达, 项昌乐, 丁峰, 齐蕴龙. 机电复合传动系统基于μ-综合方法的鲁棒协调控制[J]. 机械工程学报, 2017, 53(14): 88-97.

WEN Boxuan, WANG Weida, XIANG Changle, DING Feng, QI Yunlong. Coordination Control Based on μ-synthesize for Electro-mechanical Transmission[J]. Journal of Mechanical Engineering, 2017, 53(14): 88-97.

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机电复合传动系统基于μ-综合方法的鲁棒协调控制

Coordination Control Based on μ-synthesize for Electro-mechanical Transmission

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