This paper presents a practical approach using disturbance observer (DOB)-based longitudinal vehicle speed control in hybrid electric vehicles (HEVs). Speed control law is derived from a linearized nominal plant model obtained assuming that the vehicle is a lumped mass. The plant uncertainty and external disturbance are lumped into a disturbance term and compensated for by the DOB. In addition, a feedforward term is designed to improve tracking performance when a target trajectory varies during acceleration and deceleration. The proposed control algorithm is validated by simulations. Vehicle experiments are performed on C-segment HEVs and D-segment plug-in HEVs. The validation results from both simulations and vehicle experiments, comparing a proportional-integral (PI) controller, show that the proposed controller is more robust to model uncertainty and external disturbance.
Robust Vehicle Speed Control Using Disturbance Observer in Hybrid Electric Vehicles
Int.J Automot. Technol.
International Journal of Automotive Technology ; 21 , 4 ; 931-942
2020-08-01
12 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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