Nonlinear optimal and robust speed control for a light-weighted all-electric vehicle

Design of a nonlinear optimal and robust controller for a lightweight all-electric vehicle is presented. An electric vehicle driven by a DC motor is modelled. A controller is designed with differential-geometric approach and linear quadratic regulator techniques, to guarantee optimal performance. Then the uncertainties of the system are considered. A nonlinear robust controller that can tolerate multi-parametric uncertainties is designed. The model and controllers are implemented in Simulink® environment and numerical simulations are performed. To compare the performance of the controllers, two regular PID controllers are designed. The performance of the designed controllers are compared with that of PID controllers and a driving cycle test is performed to test the control performance and energy consumption. The controller designed here demonstrates much better performance than that of regular PID controller under tests.

[1]  S Poorani,et al.  Intelligent controller design for electric vehicle , 2003, The 57th IEEE Semiannual Vehicular Technology Conference, 2003. VTC 2003-Spring..

[2]  Joeri Van Mierlo,et al.  Energy Sources Control and Management in Hybrid Electric Vehicles , 2006, 2006 12th International Power Electronics and Motion Control Conference.

[3]  Arjan van der Schaft,et al.  Non-linear dynamical control systems , 1990 .

[4]  Riccardo Marino,et al.  Robust stabilization of feedback linearizable time-varying uncertain nonlinear systems, , 1993, Autom..

[5]  John Lowry,et al.  Electric Vehicle Technology Explained , 2003 .

[6]  Zhihua Qu,et al.  An improved nonlinear control design for series DC motors , 1997, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041).

[7]  John Chiasson,et al.  Nonlinear Differential-Geometric Techniques for Control of a Series DC Motor , 1993, 1993 American Control Conference.

[8]  Christopher M. Bingham,et al.  Application of fuzzy control algorithms for electric vehicle antilock braking/traction control systems , 2003, IEEE Trans. Veh. Technol..

[9]  Liu Quan,et al.  Research of drive control system in electric vehicle based on DSP , 2004, Proceedings 7th International Conference on Signal Processing, 2004. Proceedings. ICSP '04. 2004..

[10]  R. Freeman,et al.  Robust Nonlinear Control Design: State-Space and Lyapunov Techniques , 1996 .

[11]  Randy A. Freeman,et al.  Robust Nonlinear Control Design , 1996 .

[12]  John N. Chiasson,et al.  Nonlinear control of a series DC motor: theory and experiment , 1998, IEEE Trans. Ind. Electron..