共查询到20条相似文献，搜索用时 31 毫秒
1.
In this paper,a hybrid adaptive compensation control scheme is proposed to compensate the friction occurrence and other nonlinear disturbance factors that exist in the high-precision servo system.An adaptive compensation controller with a dual-observer structure is designed,while the LuGre dynamic friction model with non-uniform parametric uncertainties characterizes the friction torque.Considering the influence of the periodic disturbance torque and parametric uncertainties,fuzzy systems and a robust term are employed.In this way,the whole system can be treated as a simple linear model after being compensated,then the proportional-derivative (PD) control law is applied to enhancing the control performance.On the basis of Lyapunov stability theory,the global stability and the asymptotic convergence of the tracking error are proved.Numerical simulations demonstrate that the proposed scheme has potentials to restrain the impact of disturbance and improving the tracking performance. 相似文献
2.
讨论以发动机最佳燃油经济性或电动机最佳效率为控制目标的动力转换控制策略,以油门踏板位置及蓄电池SOC状态为输入变量,设计了混合动力汽车动力转换模糊控制器,建立了整车控制仿真模型。文中阐述了由电机切换到发动机工作时发动机的起动、调速控制,以及离合器快速平稳地结合的过程。仿真结果表明：对转换车速的门限值控制模糊化能够使转换车速更加符合驾驶员对动力性的要求。 相似文献
3.
研究目的：四轮独立驱动汽车四个车轮的电机转矩可以正、反向输出,有必要对其底盘集成控制系统进行针对性设计以保证各车轮间的协调运作。集成控制系统一般可以分为上层运动控制器和下层力分配器。对于运动控制器的设计,同类研究一般采用滑模控制方法来处理汽车运动的非线性特征,其中终端滑模控制因具有高的稳态精度和有限时间收敛的特点而成为研究热点。对于力分配器的设计,通常方法不能在保证运算效率的同时考虑到执行器的约束,从而很难应用于实际。本文采用终端滑模控制方法来设计运动控制器,通过分析驾驶员操作行为从而更好地追踪理想的车辆运动目标;并提出一种简单有效的转矩分配控制策略,通过考虑轮胎附着极限从而将运动总力分配至四个车轮上。创新要点：本文创新性地将终端滑模控制应用到底盘集成控制系统以实现车辆纵向、侧向及横摆运动的联合控制;本文提出了一种新颖的转矩分配控制策略,将复杂的有约束控制分配问题分解至若干个简单的无约束分配子问题。研究方法：本文采用分层式协调控制方案（图1）,应用非奇异和全局快速终端滑模控制方法设计运动控制器,提出一种基于伪逆矩阵的有约束转矩分配策略,应用驾驶员最优预瞄加速度模型来描述和分析人-车闭环系统的运动响应,通过MATLAB/Simulink和CarSim的联合仿真对所设计的四轮独立驱动汽车转矩分配方法进行对比验证。所设定的三个仿真工况包括：开环方向盘角阶跃输入（图6、7及表2）、闭环双移线工况（图8–10）和闭环对开路面制动（图11–15）,分别用以测试车辆横摆、侧向及纵向方向上的动力学响应。重要结论：本文提出的基于终端滑模控制的四轮独立驱动汽车转矩分配方法将车辆的稳态转向特性由不足转向转变为中性转向,驾驶员从而? 相似文献
4.
ALIAmirIbrahim QINDa-tong ATTIANabilAbdulla 《重庆大学学报(英文版)》2004,3(2):38-42
In recent years, the sustainable development of automatic manual transmissions (AMTs) control in vehicles is conspicuous. The control applications have grown fast and steadily due to the tremendous progress in power electronics components and the control software that enhance the requirements for delivering higher vehicles performance. AMTs control strategies achieve a reduction in the driveline dynamic oscillations behavior during gear shifting and clutch starting up processes. AMTs future expectations are an increase of torque capacity, more speed ratios and the development of advanced and efficient electronic control systems. This paper concerns with the progressing view of AMTs in the past, today and future, gives an overview of the potential dynamic problems concerned with AMTs and some control strategies used to solve those problems. 相似文献
5.
This paper presents a nonlinear robust control design method for a generic rotorcraft unmanned aerial vehicle（RUAV）. The control objective is to let the RUAV track some pre-defined time-varying position and headingtrajectories. The proposed controller employs feedback linearization process to realize the dynamic decoupling controland applies adaptive sliding mode control to compensate for the parametric uncertainties and external disturbances.The global asymptotical stability is proved via stability analysis. Compared with the cascaded controller, the proposedcontroller demonstrates a superior tracking performance and robustness through numerical simulation in the presenceof parametric uncertainties and unknown disturbances. 相似文献
6.
设计了四轮驱动混合动力电动汽车的构型,并根据其驱动特性制定了牵引力控制方式和协调控制策略,最后运用Matlab/Simulink对附着系数左右分离的特殊路面进行起步与全负荷加速仿真。仿真结果表明,四轮驱动混合动力电动汽车在牵引力控制系统作用下,其驱动性能得到明显的改善,且各控制器亦能根据不同路面和行车工况进行适当调节,保证了四轮驱动混合动力电动汽车的起步加速性、通过性和车身稳定性。 相似文献
7.
ZHU Xiao-cong TAO Guo-liang CAO Jian 《浙江大学学报(A卷英文版)》2007,8(12):1928-1937
This paper presents a pressure observer based adaptive robust controller (POARC) for posture trajectory tracking of a parallel manipulator driven by three pneumatic muscles without pressure sensors. Due to model errors of the static forces and friction forces of pneumatic muscles, simplified average flow rate characteristics of valves, unknown disturbances of entire system, and unmeasured pressures, there exist rather severe parametric uncertainties, nonlinear uncertainties and dynamic uncertainties in modeling of the parallel manipulator. A nonlinear pressure observer is constructed to estimate unknown pressures on the basis of a single-input-single-output (SISO) decoupling model that is simplified from the actual multiple-input-multiple-output (MIMO) coupling model of the parallel manipulator. Then, an adaptive robust controller integrated with the pressure observer is developed to accomplish high precision posture trajectory tracking of the parallel manipulator. The experimental results indicate that the system with the proposed POARC not only achieves good control accuracy and smooth movement but also maintains robustness to disturbances. 相似文献
8.
The dynamics of hydraulic systems are highly nonlinear and the system may be subjected to non-smooth and discontinuous nonlinearities due to directional change of valve opening,friction,etc. Aside from the nonlinear nature of hydraulic dynamics,hydraulic servo systems also have large extent of model uncertainties. To address these challenging issues,a robust state-feedback controller is designed by employing backstepping design technique such that the system output tracks a given signal arbitrarily well,and all signals in the closed-loop system remain bounded. Moreover,a relevant disturbance attenuation inequality is satisfied by the closed-loop signals. Compared with previously proposed robust controllers,this paper's robust controller based on backstepping recursive design method is easier to design,and is more suitable for implementation. 相似文献
9.
混合动力汽车(HEV)技术分析 总被引：1，自引：0，他引：1
混合动力汽车由于在节能与减排方面的明显优势而倍受关注。本文论述了混合动力常用结构形式、特点及混合动力汽车的控制策略,并介绍了一种基于模糊技术的并联型控制策略;插电式混合动力更节能环保,但推广还有较大难题。 相似文献
10.
Desktop calibration of automatic transmission （AT） is a method which can reduce cost, enhance efficiency and shorten the development periods of a vehicle effectively. We primary introduced the principle and approach of desktop calibration of AT based on the condition of coupling characteristics between engine and torque converter and obtained right point exactly. It is shown to agree with experimental measurements reasonably well. It was used in different applications abroad based on AT technology and achieved a good performance of the vehicle compared with traditional AT technology which primary focuses on the drivability, performance and fuel consumption. 相似文献
11.
基于ADVISOR电动汽车的开发和仿真 总被引：1，自引：0，他引：1
基于电动汽车仿真软件ADVISOR,开发了双电机分散驱动轮式电动汽车ELVEC.ELVEC由车身、电动机、能量管理和能量存储(电池组)等模块组成.进行了ELVEC电动汽车的加速性能、爬坡能力、行驶车速和燃料经济性的分析.结果表明,该车具有良好的动力学性能和燃料经济性,适合在低速、频繁启动的市区内行驶.同时,对电动机特性和能量存储(电池组)及能量管理特性进行了仿真分析,得出ELVEC电动汽车的电动机、电池和驱动系统等均具有较高的效率,能源管理系统和模糊逻辑控制在能量的分配、管理上十分有效. 相似文献
12.
For linear switched system with both parameter uncertainties and time delay,a delay-dependent sufficient condition for the existence of a new robust H∞ feedback controller was formulated in nonlinear matrix inequalities solvable by an LMI-based iterative algorithm.Compared with the conventional state-feedback controller,the proposed controller can achieve better robust control performance since the delayed state is utilized as additional feedback information and the parameters of the proposed controllers are changed synchronously with the dynamical characteristic of the system.This design method was also extended to the case where only delayed state is available for the controller.The example of balancing an inverted pendulum on a cart demonstrates the effectiveness and applicability of the proposed design methods. 相似文献
13.
何跃军 《深圳职业技术学院学报》2014,(1):11-15
介绍了一种电机驱动控制器的设计方案．该控制器控制对象为功率在1～5kW范围内的无刷电动机,适用于多种中型电动车的驱动控制．与采用传统的直流电机或异步电机驱动控制器相比,本驱动控制器采用无刷电机作为驱动电机,具有能流密度高、使用寿命长、调速范围宽、维护成本低等优点．驱动控制器采用正弦波空间矢量控制（SVPWM）策略,既保留有同步电机矢量控制策略的动力性能好、转矩脉动低等优点,又省略了矢量控制所必须需的转子编码器,因而控制方式更为简洁、可靠,且成本低．驱动控制器以Microchip公司的DSPIC33FJ32MC204控制芯片作为控制核心,使用大功率MOSFET作为开关管,分立式驱动电路驱动,具有驱动信号硬件互锁、过流、欠压、过压、过热等多重保护功能． 相似文献
14.
利用混杂状态反馈控制方法研究了线性奇异系统、线性时滞奇异系统的H∞镇定问题。在假定每个单一的控制器均不能使系统稳定且具有H∞扰动衰减度的条件下,利用凸组合条件给出了切换律的设计方案,通过在有限个控制器间的切换得到了镇定的充分条件。 相似文献
15.
Jun-yi LIANG Jian-long ZHANG Xi ZHANG Shi-fei YUAN Cheng-liang YIN 《浙江大学学报(A卷英文版)》2013,14(8):535-553
To solve the low power density issue of hybrid electric vehicular batteries, a combination of batteries and ultra- capacitors （UCs） could be a solution. The high power density feature of UCs can improve the performance of battery/UC hybrid energy storage systems （HESSs）. This paper presents a parallel hybrid electric vehicle （HEV） equipped with an internal combus- tion engine and an HESS. An advanced energy management strategy （EMS）, mainly based on fuzzy logic, is proposed to improve the fuel economy of the HEV and the endurance of the HESS. The EMS is capable of determining the ideal distribution of output power among the internal combustion engine, battery, and UC according to the propelling power or regenerative braking power of the vehicle. To validate the effectiveness of the EMS, numerical simulation and experimental validations are carried out. The results indicate that EMS can effectively control the power sources to work within their respective efficient areas. The battery load can be mitigated and prolonged battery life can be expected. The electrical energy consumption in the HESS is reduced by 3.91% compared with that in the battery only system. Fuel consumption of the HEV is reduced by 24.3% compared with that of the same class conventional vehicles under Economic Commission of Europe driving cycle. 相似文献
16.
Application of direct torque control to electric screw presses for speeding up torque response and reducing starting current 总被引：1，自引：0，他引：1
Fast response and stable torque output are crucial to the performance of electric screw presses. This paper describes the design of a direct torque control （DTC） system for speeding up torque response and reducing the starting current of electric screw presses and its application to the J58K series of numerical control electric screw presses with a dual-motor drive. The DTC drive system encompasses speed control, torque reference control, and switching frequency control. Comparison of the DTC dual-AC induction motor drive with corresponding AC servo motor drive showed that for the J58K-315 electric screw press, the DTC drive system attains a higher maximum speed （786 r/min） within a shorter time （1.13 s） during a 250 nun stroke and undergoes smaller rise in temperature （42.0 ℃） in the motor after running for 2 h at a 12 min-1 strike frequency than the AC servo motor drive does （751 r/min within 1.19 s, and 50.6 ℃ rise）. Moreover, the DTC AC induction motor drive, with no need for a tachometer or position encoder to feed back the speed or position of the motor shaft, enjoys increased reliability in a strong-shock work environment. 相似文献
17.
WANG Wei JIN Ruo-jun JIANG Jing-ping 《浙江大学学报(A卷英文版)》2007,8(12):1889-1893
This paper develops a unified methodology for a real-time speed control of brushless direct-current motor drive systems in the presence of measurement noise and load torque disturbance. First, the mathematical model and hardware structure of system is established. Next, an optimal state feed back controller using the Kalman filter state estimation technique is derived. This is followed by an adaptive control algorithm to compensate for the effects of noise and disturbance. Those two algorithms working together can provide a very-high-speed regulation and dynamic response over a wide range of operating conditions. Simulated responses are presented to highlight the effectiveness of the proposed control strategy. 相似文献
18.
混合动力客车的控制策略决定整车的性能。分析某混联式混合动力客车的组成结构和基于逻辑控制的控制策略,建立相应的混联式混合动力客车仿真模型及其控制器,通过AVL/CRUISE和MATLAB/Simulink联合仿真分析,获得该车在中国典型城市公交工况下的动力性和百公里油耗。仿真结果表明,各主要部件能按照控制规则实现状态的合理切换,基于逻辑控制的控制策略能满足整车性能指标要求。 相似文献
19.
For linear switched system with both parameter uncertainties and time delay, a delay-dependent sufficient condition for the
existence of a new robustH
∞ feedback controller was formulated in nonlinear matrix inequalities solvable by an LMI-based iterative algorithm. Compared
with the conventional state-feedback controller, the proposed controller can achieve better robust control performance since
the delayed state is utilized as additional feedback information and the parameters of the proposed controllers are changed
synchronously with the dynamical characteristic of the system. This design method was also extended to the case where only
delayed state is available for the controller. The example of balancing an inverted pendulum on a cart demonstrates the effectiveness
and applicability of the proposed design methods.
Project (No. 2002CB312200) supported by the National Basic Research Program (973) of China 相似文献
20.
针对汽车电动助力转向和防抱死制动系统在转弯制动工况中的相互干扰问题,建立7自由度整车模型和EPS多体动力学模型,设计了EPS和ABS两个子控制器以及具有上层协调控制功能的协调控制系统,采用PID控制方式,在Matlab/Simulink系统中,对EPS和ABS的单独控制和协调控制分别仿真,然后采用硬件在环实验验证,结果表明,采用协调控制后,汽车在转弯制动工况下的综合性能得到改善。 相似文献