CN-121978923-A - Automobile skylight control method based on improved ADRC

CN121978923ACN 121978923 ACN121978923 ACN 121978923ACN-121978923-A

Abstract

The invention relates to the technical field of skylight control, in particular to an automobile skylight control method based on improved ADRC, which is characterized in that the actual position and target position errors of a skylight are close to 0 through a switching function and combined with closed loop feedback iteration, the problem of positioning deviation of the skylight is solved, the accurate opening control requirement is met, an improved three-order expansion state observer dynamically corrects a control instruction through a disturbance compensation formula, the skylight can still stably run under complex working conditions without a clamping or deviation phenomenon, an anti-clamping and backspacing function based on angular velocity dip judgment can accurately identify obstacles and rapidly reversely backspace, personnel injury or damage to the goods are avoided, abnormal sound and no jerk are avoided in the running process of the skylight through combining disturbance compensation, and the switching action is smooth and smooth.

Inventors

YU SUSU
TAO HUASHENG
JIA SHAOHUI
CHANG YONGZHE
ZHANG YIHENG

Assignees

奇瑞汽车股份有限公司

Dates

Publication Date: 20260505
Application Date: 20260114

Claims (9)

1. An automobile skylight control method based on improved ADRC is characterized by comprising the following steps: calculating a rotor position angle, and calculating a second derivative of the rotor position angle with respect to time again to construct a state space equation; calculating state errors 、 Error of observation Setting a switching threshold, if the state is error 、 Error of observation Judging that the skylight operation is a small error scene and defining a linear function control mode, otherwise, judging that the skylight operation is a large error scene and defining an improved nonlinear function control mode, and constructing a switching function equation based on a linear function and an improved nonlinear function; Based on the traditional nonlinear ESO expression, substituting a switching function into the traditional nonlinear ESO expression, and constructing an improved third-order expansion state observation equation; Receiving a position reference value output by a tracking differentiator, a speed reference value, an observed value of a motor rotor position angle output by an extended state observer and an observed speed, and calculating a speed state error And position state error And error the speed state Error in position state Inputting the initial torque current and the reference torque current into a switching function equation, multiplying the initial torque current and the reference torque current by a gain coefficient to obtain a feedback item under a corresponding control mode, and calculating an initial torque current and a reference torque current based on the feedback item and an internal and external total disturbance observed value output by an observer and a mapping relation between a skylight and a motor; calculating the angular speed of a motor rotor based on a mapping formula of the skylight and the motor The angular acceleration is substituted into a numerical integration algorithm for iterative calculation, and the angular velocity is output after the iterative calculation The angular velocity is again adjusted Substituting into a numerical integration algorithm, and outputting the angular velocity after iterative calculation Obtaining a real-time rotor position angle; Setting a change rate threshold value and a safety threshold value, if the real-time angular velocity is smaller than the change rate threshold value, judging that the real-time angular velocity suddenly drops, triggering anti-pinch, comparing the rollback distance with the safety threshold value, and if the rollback distance is larger than or equal to the safety threshold value, stopping the movement of the skylight; And comparing the target position angle of the motor rotor with the real-time motor rotor position angle, and if the real-time motor rotor position angle and the target position angle of the motor rotor have errors, observing and compensating the total disturbance inside and outside through an observer.
2. The method for controlling the sunroof of an automobile based on the improved ADRC as claimed in claim 1, wherein the rotor position angle is equal to the rotor angular velocity multiplied by time plus the rotor start angle, the second derivative of the rotor position angle with respect to time is equal to the ratio of the negative friction coefficient to the moment of inertia multiplied by the first derivative of the rotor position angle with respect to time, the ratio of the load torque to the moment of inertia is subtracted, and the product of three motor pole pairs of two times of the moment of inertia and the rotor flux linkage and the torque current is added.
3. The method for controlling a sunroof of an automobile based on an improved ADRC as claimed in claim 2, wherein the position state error is Equal to the motor rotor target position angle processed by the tracking differentiator minus the observed position angle, speed state error Equal to the motor rotor target angular velocity processed by the tracking differentiator minus the observed angular velocity, the observed error And (3) subtracting the actual output position angle from the observed value of the rotor position angle of the motor, defining a linear function and an improved nonlinear function control mode based on the determined error scene, and constructing a switching function equation based on the linear function and the improved nonlinear function.
4. The method for controlling the automobile skylight based on the improved ADRC, which is characterized by designing an improved nonlinear function with better performance, designing a switching function based on the improved nonlinear function based on a linear/nonlinear concept, substituting the switching function into a traditional nonlinear ESO expression based on the traditional nonlinear ESO expression, and constructing an improved third-order extended state observation equation.
5. The method for controlling a sunroof of an automobile based on an improved ADRC as claimed in claim 4, wherein the initial torque current is equal to the feedback gain Multiplying the switching function equation product, plus the feedback gain Multiplying by a switching function equation product, the reference torque current being equal to the initial torque current minus the internal and external total disturbance observations Divided by control gain estimate Is a ratio of (2).
6. The method of claim 5, wherein the angular acceleration of the rotor angular velocity is equal to three times the pole pair number of the motor times the flux linkage of the motor, divided by two times the moment of inertia, multiplied by a reference torque current, subtracted by the coefficient of friction divided by the moment of inertia, multiplied by the speed of movement of the sunroof, and subtracted by the load torque divided by the moment of inertia.
7. The method of claim 6, wherein the angular velocity is equal to the angular velocity of the kth control period plus the angular acceleration of the kth control period times the control period, the real-time rotor position angle is equal to the motor rotor position angle of the kth control period plus the angular velocity of the kth control period times the control period, and the skylight-to-motor mapping formula is calculated as the rotational inertia times the rate of change of the motor rotor angular velocity plus the coefficient of friction times the skylight motion speed, and is equal to the output torque of the permanent magnet synchronous motor minus the load torque.
8. The method for controlling the automobile skylight based on the improved ADRC of claim 7, wherein if the real-time angular velocity in the kth control period is less than or equal to the change rate threshold value in the kth-1 control period, the real-time angular velocity is judged to be suddenly reduced, the anti-pinch function is triggered, the reverse output torque is output based on the rollback equation of the permanent magnet synchronous motor, the permanent magnet synchronous motor is controlled to reversely rotate, and if the rollback distance is greater than or equal to the safety threshold value, the skylight stops the rollback motion.
9. The method for controlling the automobile skylight based on the improved ADRC of claim 8, wherein the method is characterized in that the target position angle of the motor rotor is compared with the target position angle of the motor rotor in real time, and if the target position angle of the motor rotor in real time has errors, the total disturbance inside and outside is observed and compensated through an extended state observer.

Description

Automobile skylight control method based on improved ADRC Technical Field The invention relates to the technical field of sunroof control, in particular to an automobile sunroof control method based on improved ADRC. Background In recent years, with the great development of the new energy automobile industry, the demand of automobile users for the comfort of the new energy automobile is promoted, the design of the automobile sunroof provides a comfortable driving environment for the users, but the external factors such as water leakage and noise of the automobile sunroof can seriously influence the driving environment in the running process of the automobile sunroof, so that the control strategy with excellent performance is very critical for realizing the error monitoring and correction of the running of the automobile sunroof and solving the problem of the control response lag of the automobile sunroof aiming at the driving motor of the automobile sunroof. The traditional active disturbance rejection control strategy is an improvement based on the defects of the PID control strategy, has excellent control effect aiming at the problems of uncertain factors such as parameter variation and the like, external disturbance and the like of a control system, but has the following problems: 1. the smoothness near the origin of a nonlinear function in the traditional nonlinear active disturbance rejection control strategy is poor, so that a high-frequency trembling phenomenon appears near the origin, and the dynamic stability of the system is affected; 2. The traditional linear expansion state observer has fewer parameters to be set, the tracking performance of disturbance is not greatly influenced by the disturbance amplitude, and the traditional nonlinear expansion state observer has faster response speed and tracking precision under the noise influence of the same effectiveness, but has limited estimation capability on large disturbance. Aiming at the problems, in order to achieve the improvement of quick response, anti-interference and accurate control of an automobile skylight control system, the invention provides an automobile skylight control method based on an improved ADRC based on the improvement of a traditional active disturbance rejection control strategy. Disclosure of Invention The invention aims to solve the problems that the control effect in the existing automobile skylight control system has hysteresis and poor anti-disturbance effect, and the problems that the motor controls the automobile skylight to be opened and closed in a translation way and the response of the anti-pinch rollback control is delayed. In order to achieve the above purpose, the invention provides an automobile skylight control method based on improved ADRC, which comprises the following steps: calculating a rotor position angle, and calculating a second derivative of the rotor position angle with respect to time again to construct a state space equation; calculating state errors 、Error of observationSetting a switching threshold, if the state is error、Error of observationJudging that the skylight operation is a small error scene and defining a linear function control mode, otherwise, judging that the skylight operation is a large error scene and defining an improved nonlinear function control mode, and constructing a switching function equation based on a linear function and an improved nonlinear function; Based on the traditional nonlinear ESO expression, substituting a switching function into the traditional nonlinear ESO expression, and constructing an improved third-order expansion state observation equation; Receiving a position reference value output by a tracking differentiator, a speed reference value, an observed value of a motor rotor position angle output by an extended state observer and an observed speed, and calculating a speed state error And position state errorAnd error the speed stateError in position stateInputting the initial torque current and the reference torque current into a switching function equation, multiplying the initial torque current and the reference torque current by a gain coefficient to obtain a feedback item under a corresponding control mode, and calculating an initial torque current and a reference torque current based on the feedback item and an internal and external total disturbance observed value output by an observer and based on a mapping relation between a skylight and a motor Calculating the angular speed of a motor rotor based on a mapping formula of the skylight and the motorThe angular acceleration is substituted into a numerical integration algorithm for iterative calculation, and the angular velocity is output after the iterative calculationThe angular velocity is again adjustedSubstituting into a numerical integration algorithm, and outputting the angular velocity after iterative calculationObtaining a real-time rotor position angle; Setting a change rate threshold value