电动轮汽车转矩矢量控制系统试验平台
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摘要
电动轮采用安装在车轮内部的轮毂电机直接驱动汽车行驶,实现了驱动转矩与电制动转矩独立可控。针对目前电动轮汽车的系统耦合程度高、轮毂电机匹配复杂等问题,提出了一种转矩矢量控制系统(TVCS),其结构与整车其他系统相互独立,构成电动轮汽车的动力总成。设计了转矩矢量控制系统的网络拓扑结构及矢量控制器的软硬件架构。通过对原型车底盘系统的设计与校核,获得了搭载转矩矢量控制系统的电动轮汽车试验平台。实车单移线试验结果表明:转矩矢量控制系统能有效保证整车通信负载率,便于轮毂电机集成;试验车实现了基本功能,为转矩矢量控制算法的研发与优化提供了测试平台。
In-wheel motor driven vehicles are powered directly by in-wheel motors installed inside the wheel which provide independent control of the driving and electrical braking torque.This paper presents a torque vectoring control system(TVCS)to improve the coupling and complex matching of the in-wheel motors.This system is independent of other systems in the vehicle and,thus,is a power assembly for electric vehicles.The paper describes the TVCS network topology and the software and hardware architecture of the torque vectoring controller.An in-wheel motor driven vehicle was built equipped with TVCS with the single-lane change test showing that the TVCS can effectively lower communication load rates and facilitate integration of the in-wheel motors. The test vehicle provides the basic system functions in a test platform for development and optimization of the torque vectoring control algorithm.
In-wheel motor driven vehicles are powered directly by in-wheel motors installed inside the wheel which provide independent control of the driving and electrical braking torque.This paper presents a torque vectoring control system(TVCS)to improve the coupling and complex matching of the in-wheel motors.This system is independent of other systems in the vehicle and,thus,is a power assembly for electric vehicles.The paper describes the TVCS network topology and the software and hardware architecture of the torque vectoring controller.An in-wheel motor driven vehicle was built equipped with TVCS with the single-lane change test showing that the TVCS can effectively lower communication load rates and facilitate integration of the in-wheel motors. The test vehicle provides the basic system functions in a test platform for development and optimization of the torque vectoring control algorithm.
引文
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[2]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].Chinese Journal of Mechanical Engineering,2013,49(8):105-114.(in Chinese)
[3]殷国栋,金贤建,张云.分布式驱动电动汽车底盘动力学控制研究综述[J].重庆理工大学学报(自然科学),2016,30(8):13-19.YIN G D,JIN X J,ZHANG Y.Overview for chassis vehicle dynamics control of distributed drive electric vehicle[J].Journal of Chongqing University of Technology(Natural Science),2016,30(8):13-19.(in Chinese)
[4]王博,罗禹贡,邹广才,等.四轮独立电驱动越野车辆研究实验平台[J].清华大学学报(自然科学),2009,49(11):1838-1842.WANG B,LUO Y G,ZOU G C,et al.Four wheel independent electric drive off road vehicle test bed[J].Journal of Tsinghua University(Science and Technology),2009,49(11):1838-1842.(in Chinese)
[5]王御.基于约束优化的汽车集成控制研究[D].长春:吉林大学,2016.WANG Y.Studies on integrated vehicle control based on constrained optimization[D].Changchun:Jilin University,2016.(in Chinese)
[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.WU D M.Study on the vehicle dynamics control principle and strategy of distributed drive electric vehicle[D].Changchun:Jilin University,2015.(in Chinese)
[7]余卓平,夏新,熊璐,等.分布式驱动电动汽车纵向车速非线性自适应估计[J].同济大学学报(自然科学版),2016,44(5):779-786.YU Z P,XIA X,XIONG L,et al.Vehicle longitudinal velocity nonlinear adaptive estimation of distributed drive electric vehicle[J].Journal of Tongji University(Natural Science),2016,44(5):779-786.(in Chinese)
[8]熊璐,高翔,邹童.分布式驱动电动汽车电液复合分配稳定性控制[J].同济大学学报(自然科学版),2016,44(6):922-929.XIONG L,GAO X,ZOU T.Stability control based on electric-hydraulic allocation for distributed drive electric vehicles[J].Journal of Tongji University(Natural Science),2016,44(6):922-929.(in Chinese)
[9] NGUYEN B M,FUJIMOTO H,HARA S.Glocal motion control system of in-wheel-motor electric vehicles based on driving force distribution[C]//Proceedings of the 2016SICE International Symposium on Control System.Nagoya,Japan,2016:15-22.
[10]ISHAK M I,OGINO H,YAMAMOTO Y.Improvement of mobility for in-wheel small electric vehicle with integrated four wheel drive and independent steering:A numerical simulationanalysis[J]. InternationalJournalof Multidisciplinary and Current Research,2016,4:308-316.
[11]WANG R,WANG J.Passive actuator fault-tolerant control for a class of overactuated nonlinear systems and applications to electric vehicles[J].IEEE Transactions on Vehicular Technology,2013,62(3):972-985.
[12]连小珉,金达锋,陈浩,等.一种电动轮汽车矢量控制系统的网络拓扑结构:CN108001294A[P].2018-05-08.LIAN X M,JIN D F,CHEN H,et al.A network topology structure of torque vectoring control system for in-wheel motor driven vehicle:CN108001294A[P].2018-05-08.(in Chinese)
[13]王霄锋.汽车底盘设计[M].北京:清华大学出版社,2010.WANG X F. Automotive chassis design[M].Beijing:Tsinghua University Press,2010.(in Chinese)
[14]杨世铭,陶文铨.传热学[M].4版.北京:高等教育出版社,2006.YANG S M,TAO W Q.Heat transfer[M].4th ed.Beijing:Higher Education Press,2006.(in Chinese)