不平路面上四轮驱动电动汽车驱动力分配方法的研究
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摘要
随着人们对环境保护和能源的重视,电动汽车的使用也日趋增长。四轮驱动的车辆能很好防止打滑现象的产生。四轮驱动系统有更好的驱动力应用效率,能使轮胎牵引力更有效的发挥,而且具有更高的稳定性与行车安全性。按照行驶路面状态的不同而将电机输出扭矩分别分布在前后四个轮子上,提高汽车的行驶能力。将电机置于车轮上,使四轮独立驱动的电动汽车提高了在不平路面控制的能力。
车辆控制系统是车辆的运行核心,利用电动汽车中驱动电机响应速度快、精度高的特点,对每个驱动轮的转矩单独控制,并将控制方法通过软件编程的方式实现。
根据车辆参数建立车辆动力学仿真模型。分析四轮独立驱动电动汽车各部分的工作特性,参考实验样车数据,使用ADAMS软件建立整车的动力学模型,根据电机与车辆间的耦合关系利用MATLAB软件建立电机及驱动控制系统模型。
设计保性能控制器,介绍保性能控制理论,针对道路不平路面,提出驱动电机电流控制方法,建立驱动系统控制模型,并选取合适的模型摄动,设计控制器,并进行仿真分析。
四轮独立电动汽车驱动力分配方法的研究。对车辆在不平路面的动力学特性进行分析,给出驱动力分配时所需参数的解析解与实验近似解的求法,验证近似解的精确性和可行性。建立驱动力分配目标函数,根据滑动率的输出曲线优化目标函数,并对整车控制策略进行仿真。实现MATLAB与VC++接口对优化函数的可行性,拟将优化应用于实车。
As people focus on environmental protection and energy, electric vehicles are used increasingly. The Four-wheel drive vehicles are well produced to prevent the skid phenomenon. The Four-wheel-drive system has a better application efficiency of driving force. Tire traction can not only play more effective, but also has a higher stability and driving security. to improve vehicle driving ability, output torque of the motor are located in four wheels According to different driving surface state. The motor is placed on the front and rear wheel of four-wheel independent drive electric vehicles in order to improve the ability of control on uneven road
Vehicle control system is the core operation of vehicles, fast response and high accuracy of electric vehicles are used in the motor drive control for individual wheel torque control, the control is achieved through software programming.
Vehicle dynamics simulation model are established by the parameters of motor vehicle. all part of the job characteristics of four-wheel independent drive electric vehicles are analyzed, refer to experimental prototype data, ADAMS software is used to establish vehicle dynamics model, according to the coupling between motor and vehicles, motor and drive control system model are established by the use of MATLAB software.
Guaranteed cost controller is designed and guaranteed cost control theory is introduced, control method of drive motor current is proposed for the uneven road surface, the drive system control model is established, the appropriate perturbation model is selected, controller is designed, and simulation is experiment analyzed.
The allocation methods research of four-wheel independent drive electric vehicles on the uneven road, vehicle dynamics is analyzed, the required parameters of the approximate analytical solutions and experimental solutions are given for driving force distribution, the accuracy and feasibility of the approximate solution is verified. objective function of distribution of driving force is established, simulation of vehicle control strategy is analyzed and parameter is optimized based on optimization parameters of sliding rate.The feasibility of optimization function by MATLAB and VC++ interface, the optimization is proposed to be applied to real vehicles.
车辆控制系统是车辆的运行核心,利用电动汽车中驱动电机响应速度快、精度高的特点,对每个驱动轮的转矩单独控制,并将控制方法通过软件编程的方式实现。
根据车辆参数建立车辆动力学仿真模型。分析四轮独立驱动电动汽车各部分的工作特性,参考实验样车数据,使用ADAMS软件建立整车的动力学模型,根据电机与车辆间的耦合关系利用MATLAB软件建立电机及驱动控制系统模型。
设计保性能控制器,介绍保性能控制理论,针对道路不平路面,提出驱动电机电流控制方法,建立驱动系统控制模型,并选取合适的模型摄动,设计控制器,并进行仿真分析。
四轮独立电动汽车驱动力分配方法的研究。对车辆在不平路面的动力学特性进行分析,给出驱动力分配时所需参数的解析解与实验近似解的求法,验证近似解的精确性和可行性。建立驱动力分配目标函数,根据滑动率的输出曲线优化目标函数,并对整车控制策略进行仿真。实现MATLAB与VC++接口对优化函数的可行性,拟将优化应用于实车。
As people focus on environmental protection and energy, electric vehicles are used increasingly. The Four-wheel drive vehicles are well produced to prevent the skid phenomenon. The Four-wheel-drive system has a better application efficiency of driving force. Tire traction can not only play more effective, but also has a higher stability and driving security. to improve vehicle driving ability, output torque of the motor are located in four wheels According to different driving surface state. The motor is placed on the front and rear wheel of four-wheel independent drive electric vehicles in order to improve the ability of control on uneven road
Vehicle control system is the core operation of vehicles, fast response and high accuracy of electric vehicles are used in the motor drive control for individual wheel torque control, the control is achieved through software programming.
Vehicle dynamics simulation model are established by the parameters of motor vehicle. all part of the job characteristics of four-wheel independent drive electric vehicles are analyzed, refer to experimental prototype data, ADAMS software is used to establish vehicle dynamics model, according to the coupling between motor and vehicles, motor and drive control system model are established by the use of MATLAB software.
Guaranteed cost controller is designed and guaranteed cost control theory is introduced, control method of drive motor current is proposed for the uneven road surface, the drive system control model is established, the appropriate perturbation model is selected, controller is designed, and simulation is experiment analyzed.
The allocation methods research of four-wheel independent drive electric vehicles on the uneven road, vehicle dynamics is analyzed, the required parameters of the approximate analytical solutions and experimental solutions are given for driving force distribution, the accuracy and feasibility of the approximate solution is verified. objective function of distribution of driving force is established, simulation of vehicle control strategy is analyzed and parameter is optimized based on optimization parameters of sliding rate.The feasibility of optimization function by MATLAB and VC++ interface, the optimization is proposed to be applied to real vehicles.
引文
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3李春生.双轮独立驱动电动车驱动系统的研究. [浙江大学硕士学位论文]. 2003:3-10
4 Shin-ichiroSakai. Numerical simulation of a 4WD±4WS tractor turning in a rice road. Journal of Terramechanics, 2009,36(3):91–115
5梅生伟,申铁龙,刘康志.现代鲁棒控制理论与应用.北京:清华大学出版社, 2003:1-20
6李杰.基于T-S模糊模型的非线性系统的保性能控制. [燕山大学学位论文], 2002:27
7夏红伟,凌明祥,王常虹.不确定网络化控制系统保性能控制器设计.吉林大学学报, 2008,38(1):173-177
8胡南辉,金朝永,罗亮.一类非线性不确定时滞系统的时滞相关保性能鲁棒控制.广东工业大学学报, 2007,24(4):30-37
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11王伟达,丁能根,邹红明等.汽车ASR系统控制算法及其硬件在环仿真研究.汽车工程,2009,31:1042-1048
12 Ossama Mokhiamar, Masato Abe. How the four wheels should share forces in an optimum cooperative chassis control. Control Engineering Practice, 2006,14(2):295–304
13 Sakai S.I.,Hori Y. Fuzzy-hybrid modelling of an Ackerman steered electric vehicle. International Journal of Approximate Reasoning, 2006, 41(2):343–368
14 Fredriksson J, Andreasson J, Laine J. Wheel force distribution for improved handling in a hybrid electric vehicle using nonlinear control. Decision and Control, 2004, (4):40-81
15 Tahami F, Farhangi S, Kazemi R. A fuzzy logic direct yaw-moment control system for all-wheel-drive electric.Vehicles System Dynamics, 2004, 41(3):203
16贺鹏,堀洋一.四轮独立驱动电动汽车的稳定性控制及其最优动力分配法.河北工业大学报, 2007,36(4):26-32
17 Hallowell Stephen J, Ray Laura R. All-wheel driving using independent torque control of each wheel. Proceedings of the American Control Conference, 2003, (3):2590-2595
18郑建荣. ADAMS—虚拟样机技术入门与提高.北京:机械工业出版社, 2002:1-20
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21郭卫东.虚拟样机技术与ADAMS应用实例教程.北京:北京航空航天大学出版社, 2008:1-23
22陈立平.机械系统动力学分析及ADAMS应用教程.北京:清华大学出版社,2005:78-91
23 Michael Sayers. A Generic Multibody Vehicle Model for Simulating Handling and Braking.Vehicle system Dynamics, 1996:71-19
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25郑振森.基于ADAMS的汽车行驶平顺性初步研究.大连理工大学学报, 2007,24(5):1-8
26任卫群.车—路系统动力学中的虚拟样机:MSC.ADAMS软件应用实践.北京:电子工业出版社, 2005:1-10
27魏兵,魏春梅,王为.汽车行驶平顺性的灵敏度分析. 2005年十三省区市机械工程学会学术年会.武汉, 2005,20(5):35-42
28 Shabana. Dynamics of Multibody Systems. Cambridge University Press, 1998:71-94
29夏建满.基于ADAMS的车辆悬架转向系统建模与仿真.机械研究与应用, 2009:34-37
30陈家瑞.汽车构造.第2版.北京:机械工业出版社, 2004:244-272
31 Zhu Fu-Sheng, FEM Zhang, Wu Ze-FengJun. Analysis of TIRE's dynamic contact pressure during braking by 3-D Source. Journal of Northeastern University, 2007:1652-1655
32 Dustin Bevly, David M. A method to estimate critical TIRE properties using non-linear TIRE models. International Mechanical Engineering Congress and Exposition Proceedings Books, 2008:1137-1146
33 Mizuno, Masahiko, Saka Hideki. Development of TIRE force model for vehicle dynamics analysis including the effect of TIRE surface temperature. Transactions of the Japan Society of Mechanical Engineers, 2005:3208-3215
34 Meth,Gruber. Electric mobility The users' point of VIEW. Elektrotechnik and Informationstechnik, 2008:393-400
35骆涛,王其东,陈无畏.基于ADAMS软件的汽车平顺性仿真分析.客车技术, 2007:7-10
36王益群,孔祥东.控制工程基础.北京:机械工业出版社, 2001:27-37
37张晓青,冯丽爽.三相步进电动机PWM驱动器设计.北京机械工业学院学报, 2001, 16(1):45-49
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40李长涛.不确定线性系统的鲁棒控制. [陕西师范大学硕士学位论文]. 2007:6-7
41俞立.鲁棒控制:线性矩阵不等式处理方法.北京:清华大学出版社, 2002:122-127
42朱苗勇.不确定线性系统优化控制算法研究. [西安理工大学硕士学位论文] .2007:52-58
43 Akaike. The Statistical Model Identification. IEEE Tram Autom Control. 2005: 716-723
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45 Kasparian.Davidon. Least Square Based Learning Algorithm For Feedward. Neural Networks,1994:661-670
46 Chen Y M, Chen B S. Adaptive Wavelet Network Control Design for NonlinearSystems. Metallurgical and Materials Transactions, 1998, 22(6):783-799
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2张倩.电动车动力控制系统设计与仿真. [中北大学硕士学位论文]. 2008:5-20
3李春生.双轮独立驱动电动车驱动系统的研究. [浙江大学硕士学位论文]. 2003:3-10
4 Shin-ichiroSakai. Numerical simulation of a 4WD±4WS tractor turning in a rice road. Journal of Terramechanics, 2009,36(3):91–115
5梅生伟,申铁龙,刘康志.现代鲁棒控制理论与应用.北京:清华大学出版社, 2003:1-20
6李杰.基于T-S模糊模型的非线性系统的保性能控制. [燕山大学学位论文], 2002:27
7夏红伟,凌明祥,王常虹.不确定网络化控制系统保性能控制器设计.吉林大学学报, 2008,38(1):173-177
8胡南辉,金朝永,罗亮.一类非线性不确定时滞系统的时滞相关保性能鲁棒控制.广东工业大学学报, 2007,24(4):30-37
9徐延海,刘文婷,李浩等.不同路面激励下的汽车操纵稳定性仿真分析.西华大学学报, 2006,25(5):22-27
10李威,杨臻.路面不平度对车辆行驶动力学模型的研究.机械管理开发,2008,23(5):14-16
11王伟达,丁能根,邹红明等.汽车ASR系统控制算法及其硬件在环仿真研究.汽车工程,2009,31:1042-1048
12 Ossama Mokhiamar, Masato Abe. How the four wheels should share forces in an optimum cooperative chassis control. Control Engineering Practice, 2006,14(2):295–304
13 Sakai S.I.,Hori Y. Fuzzy-hybrid modelling of an Ackerman steered electric vehicle. International Journal of Approximate Reasoning, 2006, 41(2):343–368
14 Fredriksson J, Andreasson J, Laine J. Wheel force distribution for improved handling in a hybrid electric vehicle using nonlinear control. Decision and Control, 2004, (4):40-81
15 Tahami F, Farhangi S, Kazemi R. A fuzzy logic direct yaw-moment control system for all-wheel-drive electric.Vehicles System Dynamics, 2004, 41(3):203
16贺鹏,堀洋一.四轮独立驱动电动汽车的稳定性控制及其最优动力分配法.河北工业大学报, 2007,36(4):26-32
17 Hallowell Stephen J, Ray Laura R. All-wheel driving using independent torque control of each wheel. Proceedings of the American Control Conference, 2003, (3):2590-2595
18郑建荣. ADAMS—虚拟样机技术入门与提高.北京:机械工业出版社, 2002:1-20
19邢俊文,陶永忠译. MSC.ADAMS/VIEW高级培训教程.北京:清华大学出版社, 2004:1-10
20李增刚. ADAMS入门祥解与实例.北京:国防工业出版社, 2006:1-5
21郭卫东.虚拟样机技术与ADAMS应用实例教程.北京:北京航空航天大学出版社, 2008:1-23
22陈立平.机械系统动力学分析及ADAMS应用教程.北京:清华大学出版社,2005:78-91
23 Michael Sayers. A Generic Multibody Vehicle Model for Simulating Handling and Braking.Vehicle system Dynamics, 1996:71-19
24范成建,熊光明,周明飞.虚拟样机软件MSC.ADAMS应用与提高.北京:机械工业出版社, 2006:1-30
25郑振森.基于ADAMS的汽车行驶平顺性初步研究.大连理工大学学报, 2007,24(5):1-8
26任卫群.车—路系统动力学中的虚拟样机:MSC.ADAMS软件应用实践.北京:电子工业出版社, 2005:1-10
27魏兵,魏春梅,王为.汽车行驶平顺性的灵敏度分析. 2005年十三省区市机械工程学会学术年会.武汉, 2005,20(5):35-42
28 Shabana. Dynamics of Multibody Systems. Cambridge University Press, 1998:71-94
29夏建满.基于ADAMS的车辆悬架转向系统建模与仿真.机械研究与应用, 2009:34-37
30陈家瑞.汽车构造.第2版.北京:机械工业出版社, 2004:244-272
31 Zhu Fu-Sheng, FEM Zhang, Wu Ze-FengJun. Analysis of TIRE's dynamic contact pressure during braking by 3-D Source. Journal of Northeastern University, 2007:1652-1655
32 Dustin Bevly, David M. A method to estimate critical TIRE properties using non-linear TIRE models. International Mechanical Engineering Congress and Exposition Proceedings Books, 2008:1137-1146
33 Mizuno, Masahiko, Saka Hideki. Development of TIRE force model for vehicle dynamics analysis including the effect of TIRE surface temperature. Transactions of the Japan Society of Mechanical Engineers, 2005:3208-3215
34 Meth,Gruber. Electric mobility The users' point of VIEW. Elektrotechnik and Informationstechnik, 2008:393-400
35骆涛,王其东,陈无畏.基于ADAMS软件的汽车平顺性仿真分析.客车技术, 2007:7-10
36王益群,孔祥东.控制工程基础.北京:机械工业出版社, 2001:27-37
37张晓青,冯丽爽.三相步进电动机PWM驱动器设计.北京机械工业学院学报, 2001, 16(1):45-49
38施颂椒,陈学中,杜秀华.现代控制理论基础.北京:高等教育出版社, 2009:1-20
39苏宏业.不确定时滞系统的鲁棒控制理论.北京:科学出版社, 2007:2-35
40李长涛.不确定线性系统的鲁棒控制. [陕西师范大学硕士学位论文]. 2007:6-7
41俞立.鲁棒控制:线性矩阵不等式处理方法.北京:清华大学出版社, 2002:122-127
42朱苗勇.不确定线性系统优化控制算法研究. [西安理工大学硕士学位论文] .2007:52-58
43 Akaike. The Statistical Model Identification. IEEE Tram Autom Control. 2005: 716-723
44 Eykhoff. System identification survey. Automatica Controlled Systems, 2004:521-523
45 Kasparian.Davidon. Least Square Based Learning Algorithm For Feedward. Neural Networks,1994:661-670
46 Chen Y M, Chen B S. Adaptive Wavelet Network Control Design for NonlinearSystems. Metallurgical and Materials Transactions, 1998, 22(6):783-799
47夏天长,系统辨识最小二乘法.北京:清华大学出版社, 1983:3-7
48叶鹏飞. MATLAB与VC++混合编程在系统辨识中的应用.电脑开发与应用, 2009:66-68
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