Abstract: The performance of the driving system of Range Extender Electric Vehicles（REEV） is restricted by the internal parameter uncertainty and external disturbance in the driving process. The speed tracking problem is investigated for REEV driven by the Interior Permanent Magnet Synchronous Motors（IPMSM）. Firstly, the sliding mode speed controller based on the upper bounds of the disturbance is proposed. Then, in order to reduce chattering phenomenon, the sliding mode disturbance observer is investigated. Through disturbance estimation for feed-forward compensation, the sliding mode controller may take a smaller gain for switching functions without sacrificing disturbance rejection performance. Both simulation and experimental results in different maneuvers are demonstrated based on the ECE driving cycle to validate the control design. The high-level vehicle speed tracking performance, low-level sliding mode chattering in the test maneuvers are compared between the proposed observer based and disturbance upper bounds based control scheme, the speed tracking error can be decreased from±0.08 km/h to ±0.01 km/h with constant load and from 11.3 km/h to 1.6 km/h with time varying load.

Key words: Interior Permanent Magnet Synchronous Motor（IPMSM）, sliding mode observer, Range Extender Electric Vehicles（REEV）

摘要： 增程式电动汽车在实际运行中容易产生驱动电机内部参数不确定性和外部扰动的问题，制约了控制系统性能的进一步提升，针对此问题开展电动汽车内置式永磁同步电机速度跟踪控制的研究。为电动汽车驱动电机设计了常规的基于扰动上下界的滑模速度控制器。为了抑制抖振，采用滑模观测器对扰动进行观测，将观测结果前馈至控制器内部，对驱动电机中扰动进行补偿，以降低滑模控制器中的抖振。在ECE工况下对基于上下界的滑模控制和基于观测器的控制方案进行了仿真和实验，对速度的跟踪性能和抖振的削弱性能进行了对比，结果显示负载不发生变化时速度跟踪误差由±0.08 km/h缩小到±0.01 km/h，负载发生变化时，速度跟踪误差由11.3 km/h缩小到1.6 km/h。

关键词: 内置式永磁同步电机, 滑模观测器, 增程式电动汽车