This paper presents a practical approach to developing a speed limiter using a disturbance observer (DOB) and a speed observer. A nominal plant model is designed 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. With the contribution of the DOB, the proposed controller can reduce overshoot and minimize steady-state error without feedforward and integrator control. In addition, the speed observer is also designed to reduce the overshoot due to noise such as offset, lag, and communication delay between the display speed and wheel speed, because the proposed controller operates according to the display speed. The proposed controller was validated by vehicle experiments performed on a C-segment hybrid electric vehicle (HEV) and achieved superior performance compared to conventional controllers.

本文提出了一种使用干扰观测器 (DOB) 和速度观测器开发速度限制器的实用方法。假设车辆是集总质量，设计了名义工厂模型。工厂的不确定性和外部干扰被集中到一个干扰项中，并由 DOB 进行补偿。由于 DOB 的贡献，所提出的控制器可以减少超调并最大限度地减少稳态误差，而无需前馈和积分器控制。此外，速度观测器还旨在减少由于显示速度和车轮速度之间的偏移、滞后和通信延迟等噪声引起的超调，因为建议的控制器根据显示速度运行。