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- In this paper, an robust adaptive backsteping controler is proposed for the speed control of separatelyexcited DC motor in pure electric vehicles. A general electric drive train of PEV is conceptually rearrange to major subsystems as electric propulsion, energy source, and auxiliary subsystem and the load torque is modeled by considering the aerodynamic, roling resistance and grading resistance. Armature and field resistance, damping coefficient and load torque are considered as uncertainties and noise generated at applying load torque to motor is also considered. It shows that the backstepping algorithm can be used to solve the problems of nonlinear system very well and robust controler can be designed without variation of adaptive law. Simulation results are provided to demonstrate the effectiveness of the proposed controler.