电动汽车后轮轮毂电机驱动的操纵控制
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摘要
针对后轮轮毂电机驱动特定中速轻型电动汽车,集成运动学模型、动力学模型和轮毂电机机电模型,形成一个包含车辆纵向平动、横向平动、绕z轴的横摆运动、后轮驱动力、电机速度、电机驱动转矩等特性参数的控制模型;后轮的纵向驱动力与滑转率相关,横向力与侧偏角相关;采用Ackermann模型进行理想化速度分配,以行驶速度、两个电机转速作为控制变量和反馈变量;通过直线行驶速度阶跃变化、直线行驶速度缓慢变化、速度恒定转角阶跃变化和速度恒定转角正弦变化等四种行驶状态的仿真,对比分析了三环节集成PID控制模型、一环节控制模型和初始模型的响应特性,验证了控制模型的有效性。
This paper presents a rear-wheel in-wheel motor driven medium speed and light electric vehicle modeling and control analysis integrating kinematics,dynamics and motor mechanical and electrical characteristics including longitudinal motion,lateral motion,yaw motion around z axis,rear-wheel driving force,motor speed and motor toque parameters.Rear-wheel longitudinal driving force is function of slip and side force is related to sideslip angle.Ackermann turning model is applied for ideal speed distribution with driving speed and two motor speeds as control and feedback variables.Responses of three loops PID model,one loop control model and original model are analyzed and compared by simulation under four driving conditions of forward driving with speed steps,forward driving with speed slope,turning angle step change with constant speed and turning angle sine change with constant speed for verification.
This paper presents a rear-wheel in-wheel motor driven medium speed and light electric vehicle modeling and control analysis integrating kinematics,dynamics and motor mechanical and electrical characteristics including longitudinal motion,lateral motion,yaw motion around z axis,rear-wheel driving force,motor speed and motor toque parameters.Rear-wheel longitudinal driving force is function of slip and side force is related to sideslip angle.Ackermann turning model is applied for ideal speed distribution with driving speed and two motor speeds as control and feedback variables.Responses of three loops PID model,one loop control model and original model are analyzed and compared by simulation under four driving conditions of forward driving with speed steps,forward driving with speed slope,turning angle step change with constant speed and turning angle sine change with constant speed for verification.
引文
[1]余卓平,冯源,熊璐.分布式驱动电动汽车动力学控制发展现状综述[J].机械工程学报,2013,49(8):105-114.YU Z P,FENG Y,XIONG L.Review on vehicle dynamics control of distributed drive electric vehicle[J].Journal of Mechanical Engineering,2013,49(8):105-114.
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[9]唐文武,陈世元,郭建龙.基于BP神经网络的电动车电子差速器设计[J].汽车工程,2007,29(5):437-440.TANG W W,CHEN S Y,GUO J L.Design of electronic differential for electric vehicle based on BP neural network[J].Automotive Engineering,2007,29(5):437-440.
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[11]余卓平,姜炜,张立军.四轮轮毂电机驱动电动汽车扭矩分配控制[J].同济大学学报(自然科学版),2008,36(8):1115-1119.YU Z P,JIANG W,ZHANG L J.Torque distribution control for four wheel in-wheel-motor electric vehicle[J].Journal of Tongji University(Natural Science Edition),2008,36(8):1115-1119.
[12]葛英辉,倪光正.新的轮式驱动电动车电子差速控制算法的研究[J].汽车工程,2005,27(3):340-343.GE Y H,NI G Z.A novel electronic differential algorithm for in-wheel motor driven EV[J].Automotive Engineering,2005,27(3):340-343.
[13]余卓平,赵治国,陈慧.主动前轮转向对车辆操纵稳定性能的影响[J].中国机械工程,2005,16(7):652-657.YU Z P,ZHAO Z G,CHEN H.Influences of active front wheel steering on vehicle maneuver and stability performance[J].China Mechanical Engineering,2005,16(7):652-657.
[14]王强,王耘,宋小文.基于差动驱动的电子差速控制方法研究[J].机电工程,2011,28(6):698-703.WANG Q,WANG Y,SONG X W.Investigation into electronic differential strategies based on differential driving[J].Journal of Mechanical&Electrical Engineering,2011,28(6):698-703.
[15]韦竞秋.汽车工程应用力学[M].北京:机械工业出版社,2013:17-18.
[16]KAROGAL I,AYALEW B.Independent torque distribution strategies for vehicle stability control[R].Detroit:Sae World Congress&Exhibition,2009-01-0456.
[2]段敏,孙明江,闫鹏斌,等.后轮轮毂电机驱动电动汽车电子差速控制器研究[J].辽宁工业大学学报(自然科学版),2016,36(3):184-190.DUAN M,SUN M J,YAN P B,et al.Research on electronic differential controller of rear wheel in-wheel motor drive electric vehicle[J].Journal of Liaoning University of Technology(Natural Science Edition),2016,36(3):184-190.
[3]杨世春.电动汽车设计基础[M].北京:国防工业出版社,2013.YANG S C.Foundation of electric vehicle design[M].Beijing:National Defence Industry Press,2013.
[4]史秀梅,郑寿森,祁新梅,等.三相开关磁阻电动机电磁场有限元分析[J].微特电机,2009(12):35-37.SHI X M,ZHENG S S,QI X M,et al.Finite element analysis of magnetic field for three phase switched reluctance motors[J].Small&Special Electrical Machines,2009(12):35-37.
[5]熊俊峰,郑寿森,祁新梅,等.电动汽车开关磁阻电机驱动电源的设计与研究[J].电力电子技术,2009,43(7):42-44.XIONG J F,ZHENG S S,QI X M,et al.Design and research of SRM drive power supply for electric vehicles[J].Power Electronics,2009,43(7):42-44.
[6]史秀梅,郑寿森,祁新梅,等.电动汽车用开关磁阻电机有限元分析及仿真[J].系统仿真学报,2011,23(7):1374-1377+1391.SHI X M,ZHENG S S,QI X M,et al.Research on finite element analysis and dynamical simulation of switched reluctance motor for EV[J].Journal of System Simulation,2011,23(7):1374-1377+1391.
[7]徐寅,陈东.电动汽车差速系统研究综述[J].中国机械工程,2011,22(4):498-503.XU Y,CHEN D.Summary on research of differential for an electric vehicle[J].China Mechanical Engineering,2011,22(4):498-503.
[8]袁仪,陈世元,刘耀阁.电动汽车电子转弯差速的解决方案综述[J].上海汽车,2009(3):2-5.YUAN Y,CHEN S Y,LIU Y G.A summarize of solution on the differential droblem of EV during turning[J].Shanghai Auto,2009(3):2-5.
[9]唐文武,陈世元,郭建龙.基于BP神经网络的电动车电子差速器设计[J].汽车工程,2007,29(5):437-440.TANG W W,CHEN S Y,GUO J L.Design of electronic differential for electric vehicle based on BP neural network[J].Automotive Engineering,2007,29(5):437-440.
[10]OSBORNA R,SHIMB T.Independent control of allwheel-drive torque distribution[J].Vehicle System Dynamics,2006,44(7):529-546.
[11]余卓平,姜炜,张立军.四轮轮毂电机驱动电动汽车扭矩分配控制[J].同济大学学报(自然科学版),2008,36(8):1115-1119.YU Z P,JIANG W,ZHANG L J.Torque distribution control for four wheel in-wheel-motor electric vehicle[J].Journal of Tongji University(Natural Science Edition),2008,36(8):1115-1119.
[12]葛英辉,倪光正.新的轮式驱动电动车电子差速控制算法的研究[J].汽车工程,2005,27(3):340-343.GE Y H,NI G Z.A novel electronic differential algorithm for in-wheel motor driven EV[J].Automotive Engineering,2005,27(3):340-343.
[13]余卓平,赵治国,陈慧.主动前轮转向对车辆操纵稳定性能的影响[J].中国机械工程,2005,16(7):652-657.YU Z P,ZHAO Z G,CHEN H.Influences of active front wheel steering on vehicle maneuver and stability performance[J].China Mechanical Engineering,2005,16(7):652-657.
[14]王强,王耘,宋小文.基于差动驱动的电子差速控制方法研究[J].机电工程,2011,28(6):698-703.WANG Q,WANG Y,SONG X W.Investigation into electronic differential strategies based on differential driving[J].Journal of Mechanical&Electrical Engineering,2011,28(6):698-703.
[15]韦竞秋.汽车工程应用力学[M].北京:机械工业出版社,2013:17-18.
[16]KAROGAL I,AYALEW B.Independent torque distribution strategies for vehicle stability control[R].Detroit:Sae World Congress&Exhibition,2009-01-0456.