摘要
针对混动电动轮自卸车(HMDT)电制动励磁控制非线性和负载干扰较大的时变不确定性,对整车稳定性特别是电池寿命的影响,提出一种反馈精确线性化控制与滑模控制相结合的非线性变结构控制(NVSC)励磁控制策略.建立电制动励磁控制SISO二阶非线性模型,对模型精确线性化处理;应用滑模变结构控制设计了转速闭环励磁控制器,考虑矿山恶劣工况下为了削弱系统抖振、保证车速和制动电流稳定,设计了Luenberger负载干扰状态观测器.MATLAB仿真与实验结果表明:NVSC控制器相比PID控制除了具有动态性能好、响应快等优点外,在负载干扰波动下,电机转速和制动回馈电流保持稳定,系统鲁棒性好,保证了HMDT电池寿命和整车稳定.
As the uncertainty of the nonlinearity and load disturbance of the electric brake excitation control of Hybrid Motor Dump Truck(HMDT)impacts on vehicle stability,especially on battery life,a nonlinear variable structure excitation control strategy with feedback precision linearization control and sliding mode control was proposed.This paper established the Simple Input Simple Output(SISO)second-order nonlinear model of electric brake excitation control,and the nonlinear problem was transformed into a linear problem by the precise linearization of the nonlinear model.Then,the speed closed-loop excitation controller was designed with sliding mode variable structure control.At the same time,in order to weaken the system buffeting,ensure system stability under the bad working condition of the mine,and ensure stable speed and braking current,the Luenberger load disturbance state observer was designed.MATLAB simulation results show that,compared with PID controller,NVSC controlle has the advantages of dynamic performance and quick response. Under load disturbance fluctuation, the motor speed and braking feedback current are stable and the system is robust, which guarantees the battery life and HMDT stability.
作者
夏云清
唐华平
谭青
朱广辉
XIA Yunqing;TANG Huaping;TAN Qing;ZHU Guanghui(School of Mechanical and Electrical Engineering,Central South University,Changsha 410083,China;Xiangtan Electric Machinery Co Ltd,Xiangtan 411101,China)
出处
《湖南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2019年第8期28-35,共8页
Journal of Hunan University:Natural Sciences
基金
国家高技术研究发展计划(863计划)资助项目(2012AA041805)
国家自然科学基金资助项目(51705143)~~
关键词
混动电动轮自卸车
励磁控制
非线性变结构控制
状态观测器
Hybrid Motor Dump Truck(HMDT)
excitation control
Nonlinear Variable Structure Control(NVSC)
state observer
