静液传动混合动力车辆的定量反馈鲁棒控制器设计

针对静液传动混合动力车辆起动制动过程中参数摄动量大和负载变化范围大等问题,采用定量反馈理论,进行了系统的鲁棒稳定性、干扰抑制和跟踪性能设计。设计了具有鲁棒性能的控制器,结合摩擦转矩动态补偿器组成了静液传动混合动力车辆的控制系统。试验结果表明:所设计的定量反馈鲁棒控制系统具有良好的控制效果,可有效抑制系统参数大范围摄动、强非线性以及外界干扰的影响,提高了系统的鲁棒稳定性和动态性能。

Quantitative feedback robust controller design for hydrostatic transmission hybrid vehicle

To deal with such prblems in the hydrostatic transmission hybrid vehicle(HTHV) as large parameter perturbation and significant load change in vehicle starting and braking, the quantitative feedback theory was employed to shaping the transmission loop to get the robust stability, restrain the disturbance and enhance the tracking behavior. A robust controller with the friction torque compensation was designed to control the HTHV. Test results showed that the developed quantitative feedback robust controller is characterized by the good control result, effective attenuation of the parameter perturbation, the external disturbance and the effect of the intensive nonlineasity, improving the robust stability and the dynamic performance of the system.