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.

中文翻译：

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基于干扰观测器的混合动力汽车鲁棒车速控制

本文提出了一种在混合动力电动汽车（HEV）中使用基于干扰观察器（DOB）的纵向车速控制的实用方法。速度控制律是从假设车辆为集总质量的线性标称工厂模型中得出的。设备的不确定性和外部干扰被归入一个干扰项，并由DOB进行补偿。此外，前馈项旨在在加速和减速过程中目标轨迹发生变化时提高跟踪性能。仿真结果验证了该算法的有效性。车辆实验是在C段HEV和D段插入式HEV上进行的。来自仿真和车辆实验的验证结果，都比较了比例积分（PI）控制器，