Abstract
Precise motor speed regulation control is essential to achieve a good gear shifting quality of the integrated motor-transmission (IMT) system, in which the relative speed between outgoing shaft and the gearwheel to be engaged can be eliminated directly through regulation of the motor speed. The speed regulation control confronts the difficulty that there exist external disturbances on the motor shaft, like the unknown load torque arised from bearing friction, oil shearing and oil churning, etc. To deal with these disturbances, a robust speed regulation controller combined a nominal proportional control and integral sliding mode control is proposed. The former is designed to achieve a good speed tracking performance and the latter provides functionality of disturbances rejection. The effects of different controller parameters for the robust controller design are assessed via simulations. Moreover, to verify the effectiveness of the combined control scheme in practical engineering use, experiments are carried out on a test bench with a real IMT powertrain system. Results indicate that the proposed approach can attain a rapid and smooth speed regulation process with a simple controller structure and good robustness.
Highlights
Precise motor speed regulation control is essential for the gear shifting process in multiple speed transmissions without power-on gearshift capacity [1,2,3,4,5]
The control effort is contributed by nominal proportional (P) control and integral sliding mode (ISM) control. The former is to tackle the zero static error control based on the nominal model, while the ISM control is used to enhance the robustness of the controller in the presence of external disturbances
The plug-in hybrid electric vehicle equipped with such an integrated motor-transmission (IMT) powertrain system will run on electric-driving mode before the state of charge (SOC) of the battery dropped to a pre-set threshold
Summary
Precise motor speed regulation control is essential for the gear shifting process in multiple speed transmissions without power-on gearshift capacity [1,2,3,4,5]. A co-design scheme for networked speed regulation control combined a discrete-time sliding mode control and active period scheduler were presented in Ref [18], where the active period scheduler was used to actively adjust the system’s sampling period. Apart from these common robust control techniques, other methods like dynamic model reference control [19] and observer-based control [20] are observed.
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