分布式驱动微型电动汽车驱动集成控制
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摘要
为了提高分布式驱动微型电动汽车的动力性和操纵稳定性,设计了集成电子差速、驱动防滑和横摆力矩修正等功能的微型电动汽车驱动控制策略.基于改进阿克曼汽车转弯模型设计了电子差速控制算法,基于汽车转弯驱动轮滑转率修正算法和模糊PID(proportion integration differentiation)控制方法设计了汽车驱动防滑控制器,并针对汽车转弯时容易发生侧滑失稳,进行了基于PID控制方法的汽车横摆力矩修正.最后基于Simulink和Carsim软件建立了联合仿真模型,进行了以驱动轮转矩为控制量的低附着路面典型工况仿真实验.实验结果表明,采用分布式驱动微型电动汽车驱动集成控制算法能够有效地提高汽车的动力性和操纵稳定性.
In order to improve power performance and handling stability of distributed drive mini electric vehicles, a drive control strategy was designed with integrated functions of electronic differential control, acceleration slip regulation(ASR) and yaw moment correction. An electronic differential control algorithm was designed based on the improved ackermann vehicle turning model. An ASR controller was designed with fuzzy-PID method and driving wheel slip rate correction algorithm during the vehicle turning. Meanwhile, the yaw moment correction was done with PID method in order to prevent instability with vehicle slide occurring when turning. Finally, a co-simulation model is built based on Simulink and Carsim software, and a simulation test on low adhesion road surface was carried out with torque of driving wheel as control variable. The simulation results show that the integrated drive control algorithm can effectively improve the vehicle's power performance and handling ability.
In order to improve power performance and handling stability of distributed drive mini electric vehicles, a drive control strategy was designed with integrated functions of electronic differential control, acceleration slip regulation(ASR) and yaw moment correction. An electronic differential control algorithm was designed based on the improved ackermann vehicle turning model. An ASR controller was designed with fuzzy-PID method and driving wheel slip rate correction algorithm during the vehicle turning. Meanwhile, the yaw moment correction was done with PID method in order to prevent instability with vehicle slide occurring when turning. Finally, a co-simulation model is built based on Simulink and Carsim software, and a simulation test on low adhesion road surface was carried out with torque of driving wheel as control variable. The simulation results show that the integrated drive control algorithm can effectively improve the vehicle's power performance and handling ability.
引文
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[3] 张利鹏,李亮,祁炳楠,等.分布式驱动电动汽车转矩自适应驱动防滑控制[J].机械工程学报,2013,49(14):107-112.DOI:10.3901/JME.2013.14.106.
[4] 林程,徐志峰,周逢军,等.分布式驱动电动汽车稳定性分层控制策略研究[J].北京理工大学学报,2015,35(5):490-493.DOI:10.15918/j.tbit1001-0645.2015.05.011.
[5] 余卓平,冷搏.分布式驱动电动汽车的差动助力转向控制[J].汽车工程,2017,39(3):243-248,295.DOI:10.19562/ j.chinasae.qcgc.2017.03.001.
[6] 李志远,侯顺艳,李浩东.轮毂电机驱动式微型电动汽车驱动防滑控制[J].河北大学学报(自然科学版),2017,37(3):322-328.DOI:10.3969/j.issn.1000-1565.2017.03.016.
[7] 苗立东,章曾,吴晓辉,等.非阿克曼几何状态下汽车车轮受力[J].科学技术与工程,2017,17(31) :359-363.
[8] 李志远,王涛,张庆培,等.轮毂电机驱动式微型电动汽车电子差速控制策略[J].河北大学学报(自然科学版),2015,35(4):422-426.DOI:10.3969/j.issn.1000-1565.2015.04.015.
[9] 杨财,宋健,周艳霞.车辆转向时牵引力控制系统前轮滑转率算法[J].农业机械学报,2008,39(8):38-40.
[10] 余志生.汽车理论[M].第5版.北京:机械工业出版社,2011.