Robust switching control of hybrid electric vehicles based on super-twisting sliding mode theory

Abstract

The mode switching control of hybrid electric vehicle is an important technique to ensure the smooth power transmission and transition, which is easily affected by its own parameter perturbation and external disturbance. In order to improve the control robustness and anti-interference ability, a dual-planetary hybrid electric vehicle is studied in this paper, and the deterioration of conventional basic motor torque compensation control due to engine execution noise and vehicle key parameter perturbation is deeply analyzed. On this basis, the multi-dimensional uncertainties are synthesized into lumped disturbances and a first-order Butterworth filter is designed for monitoring and estimation. Simultaneously, a robust switching control strategy based on super-twisting sliding mode theory is innovatively proposed, and an adaptive compensation module iterated by genetic algorithm is added to compensate the estimation error of the filter. Finally, the results indicate that the robust switching control could significantly reduce the switching jerk by nearly 20% compared with super-twisting sliding mode control, and stabilize the tracking error of longitudinal vehicle speed around 0.035 m/s under the combined effect of multiple disturbances.