novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.20.412-416novtexmech-664Research ArticleРОБОТЫ, МЕХАТРОНИКА И РОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫROBOT, MECHATRONICS AND ROBOTIC SYSTEMSИспользование принципа интегральной адаптации для построения робастного управления проскальзыванием колеса электромобиляThe Use of Integral Adaptation Principle to Synthesize Robust Control of Electric Vehicle Wheel SlipКолесниковА. А.KolesnikovA. A.

Д-р техн. наук, проф.

г. Таганрог

Taganrog city

ankolesnikov@sfedu.ruКузьменкоА. А.Kuz’menkoA. A.

Канд. техн. наук, доц.

г. Таганрог

Taganrog city

aakuzmenko@sfedu.ruЮжный федеральный университетРоссияSouthern Federal UniversityRussian Federation201904072019207412416Copyright © Commercial Publisher «New Technologies», 20192019Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/664

Использование систем "мотор-колесо" требует совершенствования системы управления электротранспортным средством, используя характеристики сцепления колеса с поверхностью дороги. Одним из аспектов такого совершенствования является улучшение алгоритмов функционирования антиблокировочной тормозной системы (АБС). При разработке алгоритмов управления АБС используются различных подходы и методы современной теории управления, включая методы, базирующиеся на оценивании скольжения колеса, силы сцепления, коэффициента трения колеса посредством линейных и нелинейных методов оценивания, линейных и нелинейных регуляторов. Данная работа иллюстрирует применение принципа интегральной адаптации (ПИА) высокого порядка синергетической теории управления (СТУ) для построения робастного закона управления проскальзыванием колеса электромобиля. Основные особенности СТУ состоят: во-первых, в принципиальном изменении целей поведения синтезируемых систем; во-вторых, в непосредственном учете естественных свойств нелинейных объектов; в-третьих, в формировании аналитического механизма генерации обратных связей, т.е. законов управления. ПИА заключается во введении в закон управления нелинейных интеграторов, компенсирующих возмущения без их оперативной оценки.

Полученный в данной работе закон управления имеет достаточно простую структуру, ориентирован на использование физически доступных переменных состояния тормозной системы и для его реализации не требуется оперативной оценки возмущений или построения сложной нейросети для вычисления возмущений.

Результаты компьютерного моделирования синтезированного робастного закона управления для АБС свидетельствуют о его эффективности при функционировании в условиях неопределенности действия внешней среды.

The usage of "motor-wheel" systems requires the electric vehicle control system improvement by using the characteristics of the wheel adhesion to the road surface. One of the aspects of such improvement is the enhancement of the algorithms for the functioning of the antilock braking system (ABS). In developing the ABS control algorithms, various approaches and methods of modern control theory are used, including methods based on the estimation of wheel slip, traction force, wheel friction coefficient using linear and nonlinear estimation methods, linear and nonlinear regulators. This work illustrates the application of the principle of high order integral adaptation (PIA) of Synergetic Control Theory (SCT) for constructing a robust control law for an electric vehicle wheel slip. The main features of the SCT contain: firstly, a fundamental change in the goals of the behavior of the synthesized systems; secondly, direct consideration of the natural properties of nonlinear objects; thirdly, the formation of an analytical mechanism for generating feedbacks, i.e. control laws. PIA consists in introducing nonlinear integrators into the control law that compensate for disturbances without their immediate estimation. The obtained in this work control law has a fairly simple structure, is focused on using physically accessible state variables of the braking system, and its implementation does not require immediate estimation of disturbances or building a complex neural network to calculate disturbances. The results of computer simulations of the synthesized robust control law for ABS indicate its effectiveness in functioning under conditions of external environment uncertainty.

электромобильпроскальзывание колесанелинейные системы управленияробастное управлениесинергетическая теория управленияинвариантметод АКАРпринцип интегральной адаптации высокого порядкаelectric vehiclewheel slipnonlinear control systemsrobust controlsynergetic control theoryinvariantADAR methodprinciple of high order integral adaptationРабота выполнена при поддержке Российского фонда фундаментальных исследований — проект № 18-08-00924.The work was supported by Russian Foundation for Basic Research — project #18-08-00924.ReferencesHamersma H. A., Els P. S. ABS performance evaluation taking braking, stability and steerability into account, International Journal of Vehicle Systems Modelling and Testing, 2017, vol. 12, iss. 3—4, pp. 262—283.Hamersma H. A., Els P. S. ABS performance evaluation taking braking, stability and steerability into account, International Journal of Vehicle Systems Modelling and Testing, 2017, vol. 12, iss. 3—4, pp. 262—283.Canudas de Wit C., Tsiotras P. 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The authors declare that there are no conflicts of interest present.