Disturbance attenuation controller for hub motor of electric automobile

Abstract

The invention discloses a disturbance attenuation controller for a hub motor of an electric automobile in the field of automobile drive control. An output signal matrix of a hub motor system is inputinto a nonlinear observer; an integrated total disturbance estimated value output by the nonlinear observer is respectively input into a sliding mode control module and a reference current calculationmodule; a rotating speed difference value is respectively input into the sliding mode control module and the sliding mode variable calculation module; reference current output by the reference current calculation module is input into the sliding mode control module; the current difference value is input into the sliding mode variable calculation module, the sliding mode variable output by the sliding mode variable calculation module is input into the sliding mode control module, the control voltage output by the sliding mode control module is respectively input into the hub motor system and the control input module, and the control input module outputs the modified control voltage to the nonlinear observer; the nonlinear observer uses a nonlinear design function to effectively estimate integrated disturbance, and adopts sliding mode control to ensure the control performance of the hub motor system in the aspects of robustness and fast transient response.

Description

technical field [0001] The invention belongs to the field of automobile drive control, in particular to a hub motor controller of an electric vehicle, which is used for controlling the hub motor. Background technique [0002] It has become a trend for new energy vehicles to replace traditional vehicles. Unlike traditional internal combustion engine vehicles, in-wheel motors integrate drive, transmission and braking devices into the hub, omitting clutches, transmissions, drive shafts, differentials, transfers, etc. Complex transmission components reduce space complexity. Not only that, the hub motor has greatly improved the transmission efficiency through the use of electronic control technology. Permanent magnet synchronous motors are widely used in new energy vehicles because of their simple structure, high efficiency, high dynamic performance, small size and light weight. [0003] Exploring more intelligent and high-performance motor controllers is an important direction...

AI Technical Summary

Problems solved by technology

[0004] The Chinese patent application number is 201910025397.2, and the anti-jamming controller disclosed in the title of "An Anti-interference Intelligent Controller for Wheel Hub Motors for Pure Electric Vehicles" only considers the compensation of external loads and uses it on the state observer, and does not consider the hub The modeling error of the motor system and the complex disturbance in the lumped disturbance, and the complexity of the algorithm, lead to the deterioration of the anti-interference ability of the entire in-wheel motor system, and the real-time disturbance cannot be completely eliminated

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