Robust Control of the Air Conditioning System of an Electric Vehicle with Actuator Fault
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摘要: 为了保证空调系统在部分故障的条件下，依然满足系统性能要求正常工作，通过对电动汽车空调系统分析，依据空调执行过程的故障模型，建立考虑执行器故障的空调不确定系统，利用状态观测器对系统状态进行了观测.采用线性矩阵不等式LMI（linear matrix inequalities），设计了能够对空调执行器故障进行补偿的H∞状态反馈鲁棒控制器，并证明了该控制器的稳定性.仿真实验表明，在有故障和无故障模式下的观测误差最大分别为0.1%和0.6%，满足系统的观测需求；与未考虑执行器故障的电动汽车空调H∞控制器相比，在10 Hz以下频段，考虑执行器故障的H∞控制方式可有效地抑制系统输入端所带来的干扰.Abstract: This paper is concerned with the development of an actuator fault model in the process of operation of electrical vehicle air conditioning system and the design of a state observer to observe the state of this system. Then established the uncertain system of air conditioning system based on linear matrix inequalities to design a state feedback H∞ robust controller that can compensate for the actuator fault of an automobile air conditioning system and stabilize the controller. The state feedback controller is designed through simulation experiments under trouble-free and faulty modes. The observation error under each mode was 0.1% and 0.6%, which satisfied the demand of system observation, compared with the air conditioner H∞ controller, which does not consider actuator failures. The state feedback controller could effectively suppress jamming at medium frequencies and frequencies lower than 10 Hz. Finally, the control strategy is verified by simulating a closed-loop system using the two types of controllers.
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图 2 各系统3个输入对各个输出的幅频特性曲线
注:直线黑线、红线、绿线分别为原系统各输出对3个输入频域分析; 虚线黑线、红线、绿线分别为H∞闭环系统各个输出对3个输入频域分析; 点线黑线、红线、绿线分别为考虑故障模型H∞闭环系统各个输出对3个输入频域分析.
Figure 2. Amplitude frequency characteristic curve for each system of 3 input for each output
表 1 故障模式
Table 1. Failure mode
序号 故障模式 下界 上界 σ(i, t) 1 正常 1 1 0 2 中断 0 0 0 3 部分失效 ＞0 ＜1 0 4 偏移 ＞0 ＜1 1 5 卡死 0 0 1 
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表 2 各状态的稳态工作点
Table 2. Static working point of each state
状态参数 稳态工作点 Nc/(r·min-1) 2 000 α/% 20 αin/% 20 ṁea/(m·s-1) 4 Troom/℃ 26 Tout/℃ 35 pe/kPa 172 he1/(kJ·kg-1) 260.8 SH/℃ 17.2 Tea, out/℃ 12
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