基于LabVIEW的分布式驱动电动车辆测控平台
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摘要
为了研究轮毂电机驱动电动汽车的操纵稳定性,设计开发一款具有4轮转向和4轮驱动的电动车辆试验平台,基于LabVIEW开发了试验平台的测控系统。针对直线加速和方向盘角阶跃输入等试验工况,利用该样车平台进行了控制算法的快速控制原型和道路试验测试研究,并对电子差速算法实验结果进行分析。试验结果表明,该平台能够进行电子差速和车辆操纵稳定性测试,满足设计功能要求,能验证控制策略的有效性以及评估控制算法的优劣性,为分布式驱动电动车辆的控制算法开发及其操纵稳定性分析评估奠定了良好的基础。
In order to study the handling stability of electric vehicle driven by hub motor,an electric vehicle test platform with four-wheel steering and four-wheel driving was designed and developed.This paper introduces the overall layout of the test platform,the working principle of the measurement and control system,and the hardware assembly.By using LabVIEW,a test and control system for the test platform was developed.Finally,for the experimental conditions,such as linear acceleration and angle step input of steering wheel angle,this experiment platform was used to carry out rapid control prototype and road test of control algorithm.The test results show that the platform can perform electronic differential and vehicle handling stability tests,meet the design function requirements,verify the effectiveness of the control strategy and evaluate the advantages and disadvantages of the control algorithm,which lays a good foundation for the development of control algorithms for distributed-drive electric vehicles and the analysis and evaluation of their handling stabilities.
In order to study the handling stability of electric vehicle driven by hub motor,an electric vehicle test platform with four-wheel steering and four-wheel driving was designed and developed.This paper introduces the overall layout of the test platform,the working principle of the measurement and control system,and the hardware assembly.By using LabVIEW,a test and control system for the test platform was developed.Finally,for the experimental conditions,such as linear acceleration and angle step input of steering wheel angle,this experiment platform was used to carry out rapid control prototype and road test of control algorithm.The test results show that the platform can perform electronic differential and vehicle handling stability tests,meet the design function requirements,verify the effectiveness of the control strategy and evaluate the advantages and disadvantages of the control algorithm,which lays a good foundation for the development of control algorithms for distributed-drive electric vehicles and the analysis and evaluation of their handling stabilities.
引文
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[2]NAM K,FUJIMOTO H,HORI Y.Lateral stability control of in-wheel-motor-driven electric vehicles based on sideslip angle estimation using lateral tire force sensors[J].IEEE Transactions on Vehicular Technology,2012,61(5):1972-1985.
[3]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.
[4]马高峰,李刚,韩海兰.基于CarSim的四轮轮毂电机电动汽车建模方法研究[J].农业装备与车辆工程,2015,53(7):8-11.
[5]张缓缓.采用电动轮驱动的电动汽车转矩协调控制研究[D].长春:吉林大学,2009.
[6]武冬梅.分布式驱动电动汽车动力学控制机理和控制策略研究[D].长春:吉林大学,2015.
[7]姚树森.基于DSPACE的EPS性能仿真研究[D].西安:长安大学,2017.
[8]杨向忠,安锦文,崔文革.快速控制原型仿真技术应用[J].航天控制,2009,27(2):72-75,80.
[9]王广玮,赵津,张向南,等.DSPACE快速控制原型技术在无刷直流电动机控制中的应用[J].现代制造工程,2015(1):20-23.
[10]邱恒浪.基于轮毂电机的四轮驱动差速转向控制系统的研究[D].重庆:西南大学,2012.
[11]田韶鹏,阙同亮.基于模型设计的电动车整车控制器开发研究[J].自动化与仪表,2017,32(9):60-64.
[12]顾彦阳.电动汽车纵向碰撞预警与自动紧急制动控制器研究[D].北京:北京交通大学,2018.
[13]许保同,杨国亮,吴奇.基于Simulink的纯电动汽车VCU控制策略设计方法[J].汽车工程师,2016(5):19-21.
[14]秦璇.基于LabView的电液比例压力—流量控制试验台测控系统的设计与研究[D].西安:长安大学,2017.
[15]解后循,高翔,夏长高.基于LabVIEW软件的电动液压助力转向台架测控系统设计[J].重庆交通大学学报(自然科学版),2015,34(3):162-166.