分布式驱动电动汽车的差动助力转向控制
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摘要
根据分布式驱动电动汽车前轮独立驱动的特点和拓扑结构,分析了其实现差动助力转向的可行性,并提出了差动助力转向闭环控制方法。基于纵向车速和转向盘转角确定了参考转向盘力矩,以它为控制目标设计了差动助力转向闭环控制策略,以改善车辆的转向性能。针对特定工况下电机输出转矩饱和的情况设计了遇限削弱积分变参数PI控制算法和回正识别策略与控制算法,保证在低速时转向盘能快速回到中间位置,而在高速时能提供一定的阻尼,以减小转向盘回正超调。实车试验结果表明:设计的控制算法可为驾驶员提供随车速而变的转向助力,从而减小转向盘力矩,改善车辆的转向轻便性;同时,能准确地判断回正状态,跟踪转向盘力矩参考值,显著改善回正工况车辆响应。
Based on the features and topology structure of front wheel independent drive in a distributed drive electric vehicle,its feasibility of implementing differential assisted steering is analyzed and a closed-loop control scheme for differential assisted steering is proposed. Based on longitudinal speed and steering wheel angle,the reference steering wheel torque is determined,and with which as control target the closed-loop control strategy for differential assisted steering is devised to improve the steering performance of vehicle. A varying parameter PI control algorithm with anti-windup integral and aligning recognition strategy and control algorithm are devised for the situation of motor output torque saturation in specific condition to ensure the steering wheel returning to central position in low speed while providing certain damping in high speed for reducing the overshoot of steering wheel return. The results of real vehicle test indicate that the control algorithm can provide assisted steering force varying with vehicle speeds and hence reduce steering wheel torque and improve the steering handiness of vehicle. Meanwhile it can also accurately judge the state of aligning,make steering torque follow its reference value and significantly enhance vehicle responsibility in aligning condition.
Based on the features and topology structure of front wheel independent drive in a distributed drive electric vehicle,its feasibility of implementing differential assisted steering is analyzed and a closed-loop control scheme for differential assisted steering is proposed. Based on longitudinal speed and steering wheel angle,the reference steering wheel torque is determined,and with which as control target the closed-loop control strategy for differential assisted steering is devised to improve the steering performance of vehicle. A varying parameter PI control algorithm with anti-windup integral and aligning recognition strategy and control algorithm are devised for the situation of motor output torque saturation in specific condition to ensure the steering wheel returning to central position in low speed while providing certain damping in high speed for reducing the overshoot of steering wheel return. The results of real vehicle test indicate that the control algorithm can provide assisted steering force varying with vehicle speeds and hence reduce steering wheel torque and improve the steering handiness of vehicle. Meanwhile it can also accurately judge the state of aligning,make steering torque follow its reference value and significantly enhance vehicle responsibility in aligning condition.
引文
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[9]徐建平,何仁,苗立东,等.电动助力转向系统回正控制算法研究[J].汽车工程,2004,26(5):557-559.
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[11]吴文江,季学武,杜彦良.电动转向控制系统跟踪性能研究[J].机械工程学报,2004,40(4):77-80.
[12]何杰.分布式驱动电动汽车差动助力转向研究[D].上海:同济大学,2014.
[13]刘照.汽车电动助力转向系统动力学分析与控制方法研究[D].武汉:华中科技大学,2004.
[14]中华人民共和国国家质量监督检验检疫总局,中国国家标准化管理委员会.GB/T 6323—2014汽车操纵稳定性试验方法[S].北京:中国标准出版社,2014.
[2]HORI Y.Future vehicle driven by electricity and control-research on four wheel motored UOT electric march II[J].IEEE Transactions on Industrial Electronics,2002,51(5):1-14.
[3]季学武,陈奎元.动力转向系统的发展与节能[J].世界汽车,1999(10):7-10.
[4]LI W,POTTER T E C,JONES R P.Steering of 4WD vehicles with independent wheel torque control[J].Vehicle System Dynamics,1998,29(1):205-218.
[5]SHUANG G,CHEUNG N C,CHENG E K W,et al.Skid steering in 4-wheel-drive electric vehicle[C].International Conference on Power Electronics and Drive Systems,2007:1548-1553.
[6]WU F,YEH T J.A control strategy for an electrical vehicle using two in-wheel motors and steering mechanism[C].Proceedings of AVEC,2008,8:796-801.
[7]王军年.电动轮独立驱动汽车差动助力转向技术研究[D].长春:吉林大学,2009.
[8]李隐卓.电动轮驱动汽车驱动助力转向理论及动力学控制研究[D].长春:吉林大学,2007.
[9]徐建平,何仁,苗立东,等.电动助力转向系统回正控制算法研究[J].汽车工程,2004,26(5):557-559.
[10]TOFFIN D,REYMOND G,KEMENY A,et al.Role of steering wheel feedback on driver performance:driving simulator and modeling analysis[J].Vehicle System Dynamics,2007,45(4):375-388.
[11]吴文江,季学武,杜彦良.电动转向控制系统跟踪性能研究[J].机械工程学报,2004,40(4):77-80.
[12]何杰.分布式驱动电动汽车差动助力转向研究[D].上海:同济大学,2014.
[13]刘照.汽车电动助力转向系统动力学分析与控制方法研究[D].武汉:华中科技大学,2004.
[14]中华人民共和国国家质量监督检验检疫总局,中国国家标准化管理委员会.GB/T 6323—2014汽车操纵稳定性试验方法[S].北京:中国标准出版社,2014.