In order to solve the problem of electric vehicle starting slope slip, a variable gain PI control scheme for electric vehicle starting slope under load torque compensation is proposed. Based on the vehicle longitudinal dynamics model, a simplified vehicle speed control block diagram is established, and its transfer function is analyzed in time domain. The variable parameters related to vehicle slope distance and vehicle speed adjustment time are found. The variable gain PI controller is designed to minimize the distance of vehicle sliding and the time of vehicle standing on slope. At the same time, using the slope information measured by the slope sensor and the quality information measured by the quality sensor, the load torque of the current vehicle motor is calculated, and the feedforward compensation is carried out. Finally, through the simulation verification, the slope distance of the vehicle in the 20% slope range is controlled within two centimeters. The simulation results show that the method of variable gain PI combined with load torque compensation is feasible and effective.
Variable gain PI control for electric vehicle ramp start under load torque compensation
Ninth International Conference on Electromechanical Control Technology and Transportation (ICECTT 2024) ; 2024 ; Guilin, China
Proc. SPIE ; 13251
2024-08-28
Conference paper
Electronic Resource
English
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