增程式电动汽车是混合动力汽车的重要方向之一.为了提高增程式电动汽车电子节气门控制性能,且控制效果不随电子节气门特性变化而交差,基于电子节气门非线性特性,建立面向控制器设计的非线性模型;应用递推平均滤波法对待跟踪开度信号和节气门位置反馈信号进行滤波,采用切换控制率构造电子节气门经典滑膜控制器.针对经典滑膜控制器会产生颤振的问题,对切换控制率在滑膜面附近进行连续逼近,设计了基于平滑控制率的电子节气门连续逼近滑膜控制器.其后应用不变集理论分析控制系统的稳定性,并给出连续逼近滑膜控制器参数选取原则.通过实验验证所设计控制器的实时性和有效性,结果表明,所设计的连续逼近滑膜控制器能够有效抑制颤振现象,很好地实现电子节气门的跟踪控制,控制效果对模型精确度依赖性不高,不随电子节气门特性变化而变差.%Nowdays,extended-range electric vehicles are one of the important directions of Hybrid Electric Vehicles.In order to improve the electronic throttle control performance of the extended range electric vehicle,and promise the control effect not change with the change of the electronic throttle characteristic different types of throule,a new controler design method was proposed.Based on the electronic throttle valve's non-linear characteristic,the non-linear model is designed for the controller design;the recursive average filtering method is used to filter the tracking opening signal and the throttle position feedback signal,and the classical throttle controller is constructed by switching control rate.Aiming at the problem of flutter induced by the classical synovial controller,the continuous approximation of the switching control rate in the vicinity of the synovial surface was carried out,and a continuous approximation of sliding of electronic throttle controller was designed based on the smoothing control law.The stability of the control system is analyzed by invariant set theory,and the principle of parameter selection for the continuous controller is given.The real-time and effectiveness of the designed controller are verified by experiments.The results show that the continuous approximation controller can suppress the flutter effectively,and the tracking control of the electronic throttle is well achieved.The control effect is not dependent on the accuracy of the model and does not vary with the electronic throttle characteristic.
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