| ROBUST VEHICLE SPEED CONTROL USING DISTURBANCE OBSERVER IN HYBRID ELECTRIC VEHICLES |
| Sangjoon Kim1,2, Jae Sung Bang1, Sungdeok Kim1, Hyeongcheol Lee2 |
1Hyundai Motor Company
2Hanyang University |
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| ABSTRACT |
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This paper presents a practical approach using disturbance observer (DOB)-based longitudinal vehicle speed control in hybrid electric vehicles (HEVs). Speed control law is derived from a linearized nominal plant model obtained assuming that the vehicle is a lumped mass. The plant uncertainty and external disturbance are lumped into a disturbance term and compensated for by the DOB. In addition, a feedforward term is designed to improve tracking performance when a target trajectory varies during acceleration and deceleration. The proposed control algorithm is validated by simulations. Vehicle experiments are performed on C-segment HEVs and D-segment plug-in HEVs. The validation results from both simulations and vehicle experiments, comparing a proportional-integral (PI) controller, show that the proposed controller is more robust to model uncertainty and external disturbance. |
| Key Words:
Vehicle speed control, Disturbance observer, Feedforward control, Hybrid electric vehicle, Model uncertainty, External disturbance |
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Corresponding Author.
Hyeongcheol Lee , Email. 
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