State variables controller design for vibrations suppression in electric vehicles

2002 ◽  
Author(s):  
F. Profumo ◽  
M. Madlena ◽  
G. Griva
Keyword(s):  
Electric Vehicles ◽  
Controller Design ◽  
State Variables

scholarly journals An ADRC Method for Noncascaded Integral Systems Based on Algebraic Substitution Method and Its Structure

2018 ◽  
Vol 2018 ◽  
pp. 1-10 ◽  
Author(s):  
Zhijian Huang ◽  
Yudong Li ◽  
Yihua Liu ◽  
Wenbo Sui ◽  
Guichen Zhang
Keyword(s):  
Controller Design ◽  
Integral Form ◽  
State Variables ◽  
Control Effect ◽  
Substitution Method ◽  
Integral System ◽  
Numerical Example ◽  
Disturbance Rejection Control ◽  
Integral Systems ◽  
And Control

The Active Disturbance Rejection Control (ADRC) prefers the cascaded integral system for a convenient design or better control effect and takes it as a typical form. However, the state variables of practical system do not necessarily have a cascaded integral relationship. Therefore, this paper proposes an algebraic substitution method and its structure, which can convert a noncascaded integral system of PID control into a cascaded integral form. The adjusting parameters of the ADRC controller are also demonstrated. Meanwhile, a numerical example and the oscillation control of a flexible arm are demonstrated to show the conversion, controller design, and control effect. The converted system is proved to be more suitable for a direct ADRC control. In addition, for the numerical example, its control effect for the converted system is compared with a PID controller under different disturbances. The result shows that the converted system can achieve a better control effect under the ADRC than that of a PID. The theory is a guide before practice. This converting method not only solves the ADRC control problem of some noncascaded integral systems in theory and simulation but also expands the application scope of the ADRC method.

Switching Controller Design for Hybrid Electric Vehicles

2014 ◽  
Vol 7 (5) ◽  
pp. 273-282 ◽  
Author(s):  
Mohd Ashraf AHMAD ◽  
Shun-ichi AZUMA ◽  
Ichiro BABA ◽  
Toshiharu SUGIE
Keyword(s):  
Electric Vehicles ◽  
Hybrid Electric Vehicles ◽  
Controller Design ◽  
Switching Controller ◽  
Hybrid Electric

scholarly journals Electric spring controller design for distribution network loaded by electric vehicles

2019 ◽  
Vol 1 (4) ◽  
pp. 246-251
Author(s):  
Muhammad S. Javaid ◽  
Adeel Sabir ◽  
Mohammad A. Abido ◽  
Houssem R.E.H. Bouchekara
Keyword(s):  
Electric Vehicles ◽  
Controller Design ◽  
Distribution Network

Mode-switch model predictive controller with “pre-contact” method for alleviating driveline vibration of electric vehicles considering backlash

2020 ◽  
Vol 234 (8) ◽  
pp. 2176-2194
Author(s):  
Xingyang Lu ◽  
Tongli Lu ◽  
Benben Chai
Keyword(s):  
Electric Vehicles ◽  
Bench Test ◽  
Contact Method ◽  
State Variables ◽  
Mode Switch ◽  
Contact Mode ◽  
Model Predictive Controller ◽  
Essential Information ◽  
Motor Torque ◽  
Predictive Controller

The backlash between engaging components in a driveline is inevitable and contributes to the nonlinearity of the driveline. The existing motor controllers of an electric vehicle usually ignore the backlash, which often brings impacts and vibration. This paper proposes an active driveline vibration controller for electric vehicles. A nonlinear driveline model considering backlash and wheel slip ratio is established in MATLAB/Simulink, and the results of bench test proved that the model could effectively reflect the transient dynamics of the electric driveline. Based on this model, a dual extended Kalman filter observer is designed to estimate both the system state variables and vehicle mass, which are essential information for the controller design. Then, a mode-switch model predictive controller based on two linearized models is proposed to alleviate the impacts and vibration caused by the transient change of motor torque. The proposed controller would identify whether the driveline is operating in “contact mode” or “backlash mode” and thus generates an optimal motor torque by solving a Quadratic Programing. Note that the control targets and model structures in two modes are different. Furthermore, a “pre-contact” method is proposed as an additional part to handle the condition when motor command torque is zero. Simulation results demonstrate that the proposed controller can effectively alleviate the impacts and vibration in the electric driveline while keeping the torque delay negligible. Moreover, the robustness of the proposed controller against estimation errors and system noises are discussed.

Output Saturation in Electric Motor Systems: Identification and Controller Design

2010 ◽  
Vol 132 (5) ◽  
Author(s):  
Kyoungchul Kong ◽  
Helge C. Kniep ◽  
Masayoshi Tomizuka
Keyword(s):  
Electric Motor ◽  
Controller Design ◽  
Input Saturation ◽  
System Response ◽  
Maximum Speed ◽  
State Variables ◽  
Motor Systems ◽  
Maximum Acceleration ◽  
Brushless Dc Motors ◽  
Brushless Dc

Input saturation is a well-known nonlinearity in mechanical control systems; it constrains the maximum acceleration, which results in the limitation of the system response time. Input saturation has been considered in controller design in various ways, e.g., antiwindup control. In addition to the input, the state variables of mechanical systems are often subjected to saturation. For example, the maximum angular velocity of electric motor systems is limited by the maximum voltage provided to the motor windings. In the case of electronically commutated motors (i.e., brushless dc motors), the maximum speed is additionally constrained by limitations of the servo amplifier output. If gears are utilized, further constraints are introduced due to resonances in ball bearings and/or velocity dependent friction. Although such factors are significant in practice, they have not been fully considered in controller design. This paper investigates the input and output saturations, and presents how they may be considered in the controller design; a Kalman filter, a PID controller, and a disturbance observer are designed, taking input/output saturations into consideration. A case study is provided to verify the proposed methods.

Back Stepping Control of the Magnetic Suspension System

2012 ◽  
Vol 189 ◽  
pp. 364-368
Author(s):  
Zhao Yuan Wang ◽  
Guo Qing Wu
Keyword(s):  
Controller Design ◽  
Design Method ◽  
Open Loop ◽  
Suspension System ◽  
Magnetic Suspension ◽  
Control Performance ◽  
State Variables ◽  
Simulink Simulation ◽  
Magnetic Suspension System ◽  
Back Stepping Control

The magnetic suspension system is a strong nonlinear, uncertain and open-loop unstable system. All of these factors have increased the difficulty of maglev controller design. Considering the single freedom maglev system as the research object in this paper, structure analysis and modeling design are conducted for the system. By choosing new state variables, the system model is transformed. On the basis of that, we use back stepping design method to design the nonlinear suspension controller. Control performance of the controller can be observed by the Matlab/Simulink simulation.

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