Coordinated control of hybrid electric vehicle based on extended state observer estimation

doi:10.3785/j.issn.1008-973X.2021.07.001

Journal of ZheJiang University (Engineering Science)

2021, Vol. 55

Issue (7): 1225-1233 DOI: 10.3785/j.issn.1008-973X.2021.07.001

Coordinated control of hybrid electric vehicle based on extended state observer estimation

Jia-jia WANG(

),Ying-feng CAI*(

),Long CHEN,Shao-hua WANG,De-hua SHI

Automotive Engineering Research Institute, Jiangsu University, Zhenjiang 212013, China

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Abstract

A torque coordinated control strategy based on disturbances compensation was proposed in order to improve the mode switching stability of power-split hybrid electric vehicles. A multi-variable linear extended state observer was designed aiming at the problem of engine dynamic response oscillation and vehicle driving condition variation. Then its estimation accuracy of the above disturbances was verified from the frequency domain perspective. The influence law of different disturbances on the stability of basic motor compensation control was analyzed. The load disturbance has a greater influence on the vehicle mode switching response, and the peak value of the switching jerk can reach 24.5 m/s³. The coordinated control strategy of power sources torque redistribution algorithm based on disturbances compensation was proposed and verified by simulation. Results show that the control strategy can guarantee the system stability and smoothness of mode switching under the obvious interference.

Key words： hybrid electric vehicle (HEV) mode switching extended state observer external disturbance stability

Received: 08 June 2020 Published: 05 July 2021

CLC:

U 463

Fund: 国家自然科学基金资助项目（U1764257，51905219）；江苏省重点研发计划资助项目（BE2016149）；江苏省自然科学基金青年基金资助项目（BK20190844）；江苏省高等学校自然科学研究资助项目（19KJB580001）

Corresponding Authors: Ying-feng CAI E-mail: wjj751772554@163.com;caicaixiao0304@126.com

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Cite this article:

Jia-jia WANG,Ying-feng CAI,Long CHEN,Shao-hua WANG,De-hua SHI. Coordinated control of hybrid electric vehicle based on extended state observer estimation. Journal of ZheJiang University (Engineering Science), 2021, 55(7): 1225-1233.

URL:

https://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2021.07.001 OR https://www.zjujournals.com/eng/Y2021/V55/I7/1225

基于扩张状态观测器估计的混合动力汽车协调控制

为了提高功率分流式混合动力汽车模式切换的稳定性，提出干扰补偿的转矩协调控制策略. 针对发动机动态响应振荡及车辆行驶工况多变的问题，设计多变量线性扩张状态观测器，从频域角度验证了观测器对于上述2种干扰的估计精确性. 研究不同干扰对基础电机补偿控制稳定性的影响，指出负载干扰对车辆模式切换响应的影响最大，引起的切换冲击最大可至24.5 m/s³. 提出基于干扰补偿的动力源转矩再分配算法，开展仿真验证. 结果表明，该协调控制策略在受到明显的外界干扰时能够保证系统的稳定性及模式切换的平顺性.

关键词： 混合动力汽车（HEV）, 模式切换, 扩张状态观测器, 外界干扰, 稳定性

Fig.1 Dual-planetary gear power-split system

Tab.1 Typical working modes

Fig.2 Lever diagram of dual-planetary gear

Fig.3 Comparison between simulation and test of vehicle mode switching response

Tab.2 Key component parameters of HEV

Fig.4 Block diagram of mode switching control for hybrid electric vehicle

Fig.5 Engine cold start resistance torque

Fig.6 Comparison of two kinds of coordinated control effects under engine torque disturbance

Fig.7 Comparison of two kinds of coordinated control effects under load disturbance


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