基于随机通信时滞补偿的混合动力汽车协调控制研究

为了改善功率分流式混合动力汽车模式切换品质，提出了一种基于随机通信时滞补偿的转矩协调控制策略.在一般的电机转矩补偿控制策略的基础上，为提高车辆协调控制系统的精度，揭示了不同通信网络时滞对于电机补偿控制稳定性的影响，提出了增设BP-Smith自适应补偿模块和电机转矩变化率限制模块构成的复合协调控制策略并进行了仿真验证，结果表明，该控制策略在受到随机网络延时的干扰下仍能保证系统的稳定性及模式切换的平顺性. 

Coordinated Control of Hybrid Electric Vehicle Based on Stochastic Network Delay Compensation

In order to improve the mode switching quality of the power-split hybrid vehicle, a torque coordinated control strategy based on stochastic network delay compensation was proposed. On the basis of the general motor torque compensation control strategy, the influence law of different communication network time delay on the stability of motor compensation control was studied to improve the accuracy of vehicle distributed coordinated control system. The composite coordinated control strategy including the BP-Smith adaptive compensation module and motor torque change rate limiting module was then proposed and verified by simulation. The results show that the control strategy can improve the system stability and smoothness of mode switching under the interference of stochastic network delay.