轮毂电机驱动电动汽车侧倾稳定性解耦控制
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摘要
基于轮毂电机的力矩主动分配实现电动汽车的侧倾稳定性控制。建立轮毂电机驱动整车虚拟样机模型并通过了试验验证;以横摆角速度和质心侧偏角为状态变量,设计基于模型预测控制的横摆稳定性控制器,以侧倾角速度和侧倾角为状态变量,设计基于反馈最优控制的侧倾稳定性控制器;基于空间运动解耦进行四轮驱动转矩的底层协调分配,在此基础上实现了兼顾整车横摆运动的轮毂电机驱动电动汽车的侧倾稳定性控制。研究表明,轮毂电机驱动具有常规半轴驱动所不具备的整车空间稳定性大强度控制能力,利用所提出的横摆和侧倾运动联合解耦控制方法,可以在保证横摆稳定性的前提下有效控制侧倾运动,从而大幅提高整车的空间稳定性。
Roll stability control of in-wheel motors drive electric vehicle is achieved based on the motors torque active distribution. The virtual prototype model of the vehicle is established and the test verification is carried out. Regarding the yaw rate and the side slip angle as the state variables, the controller of yaw motion stability is designed based on the model predictive control theory. Based on the feedback optimal control theory, the controller of roll motion stability is designed regarding the roll angular velocity and the roll angular as the state variables. Based on the decoupling of the vehicle dynamics movement, the four in-wheel motors drive torque is distributed in the bottom layer. On this foundation, the roll stability control of in-wheel motor drive electric vehicle is achieved considering the vehicle yaw motion. The results show that the in-wheel motors drive electric vehicle has high intensity spatial dynamics stability control ability, but the axis drive vehicle doesn't have the ability. Considering the yaw stability control, the vehicle roll motion can be effectively controlled using the decoupling control method with the combination of yaw and roll motion, which can greatly improve the spatial stability of the vehicle.
Roll stability control of in-wheel motors drive electric vehicle is achieved based on the motors torque active distribution. The virtual prototype model of the vehicle is established and the test verification is carried out. Regarding the yaw rate and the side slip angle as the state variables, the controller of yaw motion stability is designed based on the model predictive control theory. Based on the feedback optimal control theory, the controller of roll motion stability is designed regarding the roll angular velocity and the roll angular as the state variables. Based on the decoupling of the vehicle dynamics movement, the four in-wheel motors drive torque is distributed in the bottom layer. On this foundation, the roll stability control of in-wheel motor drive electric vehicle is achieved considering the vehicle yaw motion. The results show that the in-wheel motors drive electric vehicle has high intensity spatial dynamics stability control ability, but the axis drive vehicle doesn't have the ability. Considering the yaw stability control, the vehicle roll motion can be effectively controlled using the decoupling control method with the combination of yaw and roll motion, which can greatly improve the spatial stability of the vehicle.
引文
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[19]张利鹏,李亮,祁炳楠,等.双电机分布式驱动汽车高速稳定性机电耦合控制[J].机械工程学报,2015(16):29-40.ZHANG Lipeng,LI Liang,QI Bingnan,et al.High speed stability electromechanical coupling control for dual-motor distributed drive electric vehicle[J].Journal of Mechanical Engineering,2015(16):29-40.
[20]WU Jian,LIU Yahui,WANG Fengbo,et al.Vehicle active steering control research based on two-DOF robust internal model control[J].Chinese Journal of Mechanical Engineering,2016,29(4):739-746.
[21]柳致海.基于MPC的车辆稳定性控制研究[D].长春:吉林大学,2011.LIU Zhihai.Study on MPC for vehicle stability control[D].Changchun:Jilin University,2011.
[22]靳立强,王庆年,宋传学.电动轮驱动汽车动力学PD控制仿真[J].系统仿真学报,2007,19(10):2264-2268.JIN Liqiang,WANG Qingnian,SONG Chuanxue.Simulation for optimal PD control for dynamics control of EV with motorized wheels[J].Journal of System Simulation,2007,19(10):2264-2268.
[23]丁海涛,郭孔辉,陈虹.汽车稳定性控制中横摆力矩决策的LQR方法[J].吉林大学学报,2010,40(3):597-601.DING Haitao,GUO Konghui,CHEN Hong.LQR method for vehicle yaw moment decision in vehicle stability control[J].Journal of Jilin University,2010,40(3):597-601.
[24]JOHANSEN T A.Integration of vehicle yaw stabilization and rollover prevention through nonlinear hierarchical control allocation[J].Veh.Syst.Dyna.,2014,52(12):1607-1621.
[2]DADASHNIALEHI A,BAB-HADIASHAR A,CAO Zhenwei,et al.Intelligent sensorless ABS for in-wheel electric vehicles[J].IEEE Trans.on Indus.Electron.,2014.61(4):1957-1969.
[3]WANG Junnian,WANG Qingnian,JIN Liqiang,et al.Independent wheel torque control of 4WD electric vehicle for differential drive assisted steering[J].Mechatronics,2011,21(1):63-76.
[4]YU Zhuoping,LENG Bo,XIONG Lu,et al.Direct yaw moment control for distributed drive electric vehicle handling performance improvement[J].Chinese Journal of Mechanical Engineering,2016,29(3):486-497.
[5]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 Zhuoping,FENG Yuan,XIONG Lu.Review on vehicle dynamics control of distributed drive electric vehicle[J].Journal of Mechanical Engineering,2013,49(8):105-114.
[6]何仁,张瑞军.轮毂电机驱动技术的研究与进展[J].重庆理工大学学报,2015,29(7):10-18.HE Ren,ZHANG Ruijun.Research and development of in-wheel motor drive technology[J].Journal of Chongqing University of Technology,2015,29(7):10-18.
[7]KATSUYAMA E.Decoupled 3D moment control using in-wheel motors[J].Veh.Syst.Dyna.,2013,51(1):18-31.
[8]MURATA S.Innovation by in-wheel-motor drive unit[J].Veh.Syst.Dyna.,2012,50(6):807-830.
[9]JIA Gang,LI Liang,CAO Dongpu.Model-based estimation for vehicle dynamics states at the limit handling[J].J.Dyna.Syst.Measure.Control.,2015,137(10):1-8.
[10]KAWASHIMA K,UCHIDA T,HORI Y.Rolling stability control based on electronic stability program for in-wheel-motor electric vehicle[J].World Electric Vehicle Journal,2009,3(1):34-41.
[11]REINALTER A F W.Consistent vehicle model for determining the design envelope,ride comfort and component load[J].Veh.Syst.Dyna.,2006,44(Supp1.):468-478.
[12]史天泽.轮毂电机驱动电动车悬架和转向系统设计与性能匹配[D].长春:吉林大学,2015.SHI Tianze.Suspension and steering system design and performance matching for in-wheel motor electric vehicle[D].Changchun:Jilin University,2015.
[13]陈龙,董红亮,李利明.适合轮毂电机驱动的新型悬架系统设计[J].振动与冲击,2015(8):174-180.CHEN Long,DONG Hongliang,LI Liming.A new type suspension design suitable for an in-wheel motor driving system[J].Journal of Vibration and Shock,2015,34(8):174-180.
[14]TAHAMI F,KAZEMI R,FARHANGHI S.A novel driver assist stability system for all-wheel-drive electric vehicles[J].IEEE Trans.on Vehi.Tech.,2003,52(3):683-692.
[15]李亮,贾钢,宋健,等.汽车动力学稳定性控制研究进展[J].机械工程学报,2013,49(24):95-107.LI Liang,JIA Gang,SONG Jian,et al.Progress on vehicle dynamics stability control system[J].Journal of Mechanical Engineering,2013,49(24):95-107.
[16]陈无畏,谈东奎,汪洪波,等.一类基于轨迹预测的驾驶员方向控制模型[J].机械工程学报,2016,52(14):106-115.CHEN Wuwei,TAN Dongkui,WANG Hongbo.A class of driver directional control model based on trajectory prediction[J].2016,52(14):106-115.
[17]耿聪,堀洋一,青木良文.电动汽车稳定性控制中的车体侧偏角观测器研究[J].河北工业大学学报,2007,36(1):13-18.GENG Cong,HORI Y,AOKI Y.Design of body slip angle observer for electric vehicle stabilization control with driven-motor-in-wheels[J].Journal of Hebei University of Technology,2007,36(1):13-18.
[18]陈无畏,杨军,汪洪波,等.基于功能分配的EPS与ESP集成协调控制[J].机械工程学报,2015,51(16):1-10.CHEN Wuwei,YANG Jun,WANG Hongbo,et al.Coordinated control of EPS and ESP based on function allocation[J].Journal of Mechanical Engineering,2015,51(16):1-10.
[19]张利鹏,李亮,祁炳楠,等.双电机分布式驱动汽车高速稳定性机电耦合控制[J].机械工程学报,2015(16):29-40.ZHANG Lipeng,LI Liang,QI Bingnan,et al.High speed stability electromechanical coupling control for dual-motor distributed drive electric vehicle[J].Journal of Mechanical Engineering,2015(16):29-40.
[20]WU Jian,LIU Yahui,WANG Fengbo,et al.Vehicle active steering control research based on two-DOF robust internal model control[J].Chinese Journal of Mechanical Engineering,2016,29(4):739-746.
[21]柳致海.基于MPC的车辆稳定性控制研究[D].长春:吉林大学,2011.LIU Zhihai.Study on MPC for vehicle stability control[D].Changchun:Jilin University,2011.
[22]靳立强,王庆年,宋传学.电动轮驱动汽车动力学PD控制仿真[J].系统仿真学报,2007,19(10):2264-2268.JIN Liqiang,WANG Qingnian,SONG Chuanxue.Simulation for optimal PD control for dynamics control of EV with motorized wheels[J].Journal of System Simulation,2007,19(10):2264-2268.
[23]丁海涛,郭孔辉,陈虹.汽车稳定性控制中横摆力矩决策的LQR方法[J].吉林大学学报,2010,40(3):597-601.DING Haitao,GUO Konghui,CHEN Hong.LQR method for vehicle yaw moment decision in vehicle stability control[J].Journal of Jilin University,2010,40(3):597-601.
[24]JOHANSEN T A.Integration of vehicle yaw stabilization and rollover prevention through nonlinear hierarchical control allocation[J].Veh.Syst.Dyna.,2014,52(12):1607-1621.