In some low velocity electric vehicle system, Brushless DC motor is used for the main traction motor. However, the low-velocity stability should be guaranteed, especially with the suddenly-changing load, the velocity response should be more quick and the overshoot should be small, all of above can make the vehicle more comfortable. The traction system is controlled by a current loop and a velocity loop, so a new method is proposed, that PI control strategy is in the current loop and the active disturbance rejection controller is in the velocity loop to restrain the bad effect results from suddenly-changing load. This active disturbance rejection controller is composed of a tracking differentiator, an extended state observer, a nonlinear state error feedback controller, and etc. The parameters of the controller are optimally designed, and the simulation results show that this control strategy can effectively restrain the suddenly-changing load and improve the vehicle’s low velocity performance.
Active Disturbance Rejection Control of Differential Drive Assist Steering for Electric Vehicles
