基于驱动电机控制的电动汽车坡道静止保持系统

针对传统坡道驻车系统制动力释放时间延迟或提前会引起坡道起步具有冲击和后移问题，文中提出了一种基于驱动电机控制的电动汽车坡道静止保持系统，基于驱动电机系统参数建立了坡道静止保持系统动力学模型.对于模型中坡度和整车质量参数的不确定性，系统采用了参数辨识-自抗扰技术控制策略.参数辨识技术作为控制器输入初值，并使用自抗扰控制技术补偿辨识误差.实验数据表明:变遗忘因子最小二乘法能够估算坡度和整车质量参数，且误差在15%以内.此外，控制器中自抗扰算法能消除参数估算误差和扰动，与传统PI控制器相比，具有控制车辆后移距离短、响应速度快的特点. 

The Motor-Driven Still Hold System for Electric Vehicle on Slope

The traditional slope parking is realized based on the friction force of brake system. There is a possible impact or backsliding risk because of the delay or advance of parking braking force release during start process. To solve those problems, a slope motor-driven still hold (MSH) system was proposed for electric vehicles. A dynamic model of MSH system was established based on the parameters of the driving motor system. For the uncertainty of slope and vehicle mass parameters in MSH system, a parameter identification-disturbance rejection control strategy was proposed. The parameter identification was used as the initial input value of the controller, and the disturbance rejection control technology was used to compensate the identification error. Experimental results demonstrate that, the variable forgetting factor least square method can estimate the slope and vehicle mass parameters, and the error is within 15%. In addition, the active disturbance rejection control (ADRC) can eliminate those error and disturbance. Compared with the traditional PI controller, it possesses the advantages of short backward displacement and rapid response speed.