仿人灵巧手关节的位置/力矩控制

为了使仿人灵巧手完成各种精细作业,提出了一种新的关节位置／力矩控制方法。在自由空间和约束空间中分别采用滑模位置控制和具有前馈的PD力矩控制,在过渡过程中使用系统观测器切换控制模式。这种方法可以使关节在自由空间和约束空间中分别实现良好的轨迹跟踪和力矩跟踪,在过渡过程中实现控制模式的可靠切换和系统的稳定过渡。实验证明了该方法的有效性。     

控制力矩陀螺伺服系统的自适应滑模控制器设计

本文针对控制力矩陀螺伺服系统,提出了一种自适应滑模控制方法。该控制器采用模糊逻辑方法来解决滑模变结构控制器中所固有的抖振问题,给出了相应的自适应滑模控制率。进一步,采用Lyapunov方法从理论上证明了该控制器的稳定性。仿真结果表明,该自适应滑模控制对控制力矩陀螺伺服系统控制的有效性。     

电动汽车永磁同步电机滑模低速控制

针对采用永磁同步电机i_d=0矢量控制调速的电动汽车电机驱动控制系统,为了改善其抗负载扰动能力,并且当电动汽车处于低速运行时,能够输出大转矩,将滑模变结构控制中的变指数趋近律进行改进,设计了一种滑模速度控制器。为了减小滑模变结构控制的抖振问题,引入饱和函数来代替符号函数,同时考虑到滑模速度控制器中存在滞后问题,将饱和函数与经过积分环节后得到的信号相乘,在提高了响应速度的同时增强系统的抗扰动能力。经过仿真验证,不同负载工况下,滑模速度控制器具有较强的鲁棒性和抗扰动能力,满足电动汽车低速运行工况下输出大转矩的要求。     

考虑系统静态电压稳定性的电动汽车充电设备就地控制方法研究

随着电动汽车的大规模发展,其峰值充电负荷占全网负荷的比例日益上升,给电网的静态电压稳定带来了负面影响。试图将电动汽车充电设备纳入电力系统安稳控制,从而减少这一影响。提出了电动汽车充电设备的三种控制方法:灵敏度控制方法、理想控制方法以及下垂控制方法,并对其控制效果进行了对比。三种方法都能够达到提升系统负荷裕度的目的,但其中的下垂控制方法更适合实际控制应用。将下垂控制应用到新英格兰39节点系统,在不同渗透率和不同充电速率情况下分析其对系统电压稳定性的影响。结果表明下垂控制能够明显提高系统负荷裕度,是一种有效的电动汽车充电设备就地控制方法。     

考虑系统静态电压稳定性的电动汽车充电设备就地控制方法研究

随着电动汽车的大规模发展,其峰值充电负荷占全网负荷的比例日益上升,给电网的静态电压稳定带来了负面影响。试图将电动汽车充电设备纳入电力系统安稳控制,从而减少这一影响。提出了电动汽车充电设备的三种控制方法：灵敏度控制方法、理想控制方法以及下垂控制方法,并对其控制效果进行了对比。三种方法都能够达到提升系统负荷裕度的目的,但其中的下垂控制方法更适合实际控制应用。将下垂控制应用到新英格兰39节点系统,在不同渗透率和不同充电速率情况下分析其对系统电压稳定性的影响。结果表明下垂控制能够明显提高系统负荷裕度,是一种有效的电动汽车充电设备就地控制方法。     

交流力矩电动机电压前馈补偿式的堵转力矩控制原理与应用

针对某些施力控制场合的需要，根据交流力矩电动机的堵转力矩与定子电压成平方关系的特点，提出一种基于定子电压前馈补偿式的三相交流力矩电动机堵转力矩控制方法和实现技术该方法具有堵转力矩稳定度高、实现容易、调试方便、操作简单、运行可靠等特点。介绍了该系统在橡胶传动带磨削机中的应用实例。     

电动汽车充电系统滑模控制方法研究

该文将电动汽车充电系统分为整流系统和降压系统。整流系统集充电、驱动与一体,根据磁场抵消原则,使电机在充电过程中保持静止。针对降压系统输出电压动态响应速度慢,稳态精度不高等缺点,提出一种基于改进幂次趋近律的滑模控制方法。改进幂次趋近律使系统在一定时间内到达滑模面。在受到有界外部扰动时,滑模面与其导数收敛到平衡点附近邻域内。定义降压系统输出电压误差和误差变化率作为状态变量,设计二阶滑模控制器,并给出控制器参数选择范围。搭建控制器仿真模块和实验平台,仿真和实验结果表明,整流系统直流侧电压稳态性能较好,基于改进幂次趋近律的降压系统能较好提高系统动态性能,增强稳态精度,减小抖振     

交流力矩电动机电压前馈补偿式的堵转力矩控制原理与应用

针对某些施力控制场合的需要,根据交流力矩电动机的堵转力矩与定子电压成平方关系的特点,提出一种基于定子电压前馈补偿式的三相交流力矩电动机堵转力矩控制方法和实现技术该方法具有堵转力矩稳定度高、实现容易、调试方便、操作简单、运行可靠等特点。介绍了该系统在橡胶传动带磨削机中的应用实例。     

基于滑模PI控制的电动汽车集群出力与调频联合优化

电动汽车(EV)集群在参与电网调频时,持续大量的出力可能会导致系统频率出现超调现象,且会增加系统的调频成本和对EV集群的补偿成本。在保证系统频率稳定的前提下,为了协调EV集群与发电机的出力,提出了基于滑模比例-积分(PI)控制的发电机和EV集群联合优化方法,并以系统调频成本和频率稳定为目标,对EV集群的车辆投入比例进行优化。考虑私家车、公交车、出租车这3种类型EV参与电网辅助调频,建立了EV集群参与微电网调频的单区域系统模型,通过滑模PI对EV集群进行控制,在保证频率稳定的情况下,显著减小EV集群出力;进一步对EV集群车辆投入比例参数进行优化,显著降低系统的调频成本。对发电机容量充足、不足的工况进行仿真,并对比参数优化前、后的结果,验证了所提联合优化方法的有效性和经济性。     

两并联双向DC/DC变换器的滑模变结构控制

针对电动汽车驱动与充电一体化系统,设计了一种两相并联交互式双向DC/DC变换器,降低了电感设计难度,减小了重量与体积,提高了系统的可靠性。分析了该变换器工作原理,提出一种基于比例积分(PI)控制器的恒频滑模变结构双闭环控制策略,实现了自动跟踪参考电压值、单元半桥电路电感电流间均流的目的,给出了该变换器的变结构模型,运用等效控制原理分析滑模变结构控制(SMC)的存在和稳定条件,采用基于给定三角波(RTW)环路的SMC方式使变换器在定开关频率下运行。最后,通过实验验证了理论分析的正确性。     

Robust Feedback Control for the Subsidy Policy about Plug‐In Electric Vehicle Using Sliding Mode Control

This paper deals with robust feedback control for the subsidy policy for the purchase of plug‐in electric vehicles (EVs) and the business model of charging stands. The controlled model has three characteristics: (1) A public institution builds the charge stands. (2) The break‐even point is calculated by thinking about the maintenance cost and running cost. (3) The set value for the number of EV deployed is given. However, the model has uncertainties of parameters, is altered by the influence of the economy, and so on. Therefore, it is necessary to apply robust control logic that overcomes the uncertainties of the model. We propose that the practice of the subsidy policy is regulated by feedback control. As the control logic, we use sliding mode control. The simulation results show the advantages to a person planning an EV purchase and to the charge stand manager, and demonstrate that sliding mode control is a control logic that is effective in the social model.     

Robust design of body slip angle observer for electric vehicles and its experimental demonstration

Electric vehicles (EVs) are inherently suitable for two‐dimensional vehicle motion control. To utilize EV's advantages, body slip angle β and yaw rate γ play an important role. However, as sensors to measure β are very expensive, we need to estimate β from only variables to be measurable. In this paper, an improved estimation method for body slip angle β for EVs is proposed. This method is based on a linear observer using side acceleration ay as well as γ information. We especially considered the design of gain matrix and succeeded in exact and robust estimation. We performed experiments by UOT March II. This experimental vehicle driven by four in‐wheel motors was made for research on advanced control of EVs. Some experimental results are shown to verify the effectiveness of the proposed method. © 2007 Wiley Periodicals, Inc. Electr Eng Jpn, 159(1): 80–86, 2007; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20339     

Dynamic driving/braking force distribution in electric vehicles with independently driven four wheels

A novel algorithm for the dynamic driving/braking force distribution is proposed for electric vehicles (EV) with four in‐wheel motors. In such EVs, the vehicle lateral motion can be controlled by a yaw moment, generated by the torque difference between wheels. This method is known as DYC (Direct Yaw moment Control) in ordinary engine vehicle engineering; however, the torque difference can be generated more directly with in‐wheel motors. One problem of DYC is its instability on slippery roads, such as wet or snowy asphalt. To achieve high stability, the loads of wheels are preferably equal. The load on each wheel can be evaluated as the square root of the sum of squares of driving/braking force and side force. Therefore, the driving/braking forces, or motor torques, should be distributed depending on the side forces of the wheels, to minimize the load imbalance between wheels. The proposed algorithm can solve this optimization problem approximately with little calculation cost, and thus this method can be applied for real‐time calculation within a control period. Approximate solutions obtained with the proposed method are evaluated by comparison with numerical solutions that require much calculation time. The difference between these solutions is shown to be negligible, indicating the effectiveness of the proposed method. © 2001 Scripta Technica, Electr Eng Jpn, 138(1): 79–89, 2002     

Running stabilization control of electric vehicle based on cornering stiffness estimation

In this paper, novel direct yaw moment control (DYC) with road condition estimation and anti‐slip control is proposed for electric vehicles. An inner‐loop observer controls the vehicle traction, and an outer‐loop observer stabilizes the yawing motion of the vehicle. An immeasurable parameter known as cornering stiffness is estimated from the detected yaw‐rate, steering angle, wheel speed and yaw moment observer output in real time. Thus, the accurate control input can be generated with the estimated parameters. The proposed adaptive control is compared with a conventional robust control method under dry and snowy terrain conditions. Experimental results show that the proposed control algorithm properly attenuates the yaw‐rate error. ©2008 Wiley Periodicals, Inc. Electr Eng Jpn, 166(4): 97–104, 2009; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.20569     

基于遗传算法的电动邮政车用永磁同步电动机滑模控制

燃料电池混合动力电动汽车以其环保节能低噪声等优点,非常适合用于邮政运输中。为了满足电动邮政车驱动时系统响应快、抗负载扰动能力强的要求,将滑模控制器应用于永磁同步电动机控制系统,借助改进的遗传算法对速度控制器参数进行优化设计,并用一组经实验测得的电动邮政车转速转矩变化数据进行了实验验证。实验结果表明,在转矩与转速都快速无规则变化时,所提出的滑模控制器相对于传统的PI控制器有更好的动态性能和鲁棒性。     

再生制动的分析与控制

为了延长电动车的一次充电续驶里程 ,分析了笼型电机的再生制动状态 ,提出一种再生制动方法 ,它既能保证不出现过流 ,又能够很好地与直接转矩控制系统相融合。