The Interconnection and Damping Assignment Passivity-Based Control Synthesis via the Optimal Control Method for Electric Vehicle Subsystems
Andriy Lozynskyy,
Tomasz Perzyński,
Jacek Kozyra,
Yurii Biletskyi,
Lidiia Kasha
Affiliations
Andriy Lozynskyy
Institute of Power Engineering and Control Systems, Lviv Polytechnic National University, 12 Bandera Street, 79013 Lviv, Ukraine
Tomasz Perzyński
Faculty of Transport, Electrical Engineering and Computer Science, University of Technology and Humanities in Radom, 29 Malczewskiego Street, 26-600 Radom, Poland
Jacek Kozyra
Faculty of Transport, Electrical Engineering and Computer Science, University of Technology and Humanities in Radom, 29 Malczewskiego Street, 26-600 Radom, Poland
Yurii Biletskyi
Institute of Power Engineering and Control Systems, Lviv Polytechnic National University, 12 Bandera Street, 79013 Lviv, Ukraine
Lidiia Kasha
Institute of Power Engineering and Control Systems, Lviv Polytechnic National University, 12 Bandera Street, 79013 Lviv, Ukraine
The interconnection between optimal control theory and the theory of energy-shaping control is described in our paper. For linear and nonlinear systems, the application of the theory of optimal control for the synthesis of parameters of energy-shaping control matrices is demonstrated in detail. The use of a Riccati equation allows us to form an optimality criterion and to synthesize the energy-shaping control system that provides the desired transient processes. The proposed approach was applied to the synthesis of control influences for electric vehicle subsystems, such as a two-mass system and a permanent magnets synchronous motor. The results of computer simulation studies, as well as those conducted on real experimental installations, are given in this paper.
