分布式驱动电动汽车复合制动系统转矩分配控制策略仿真
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摘要
针对分布式驱动电动汽车,提出了一种复合制动系统控制策略。采用分层的制动转矩分配控制结构,上层控制器采用滑模控制策略,对目标纵向力和横摆力矩进行求解,以满足车辆在制动时制动效能和制动稳定性的要求;下层控制器采用加权最小二乘控制,对四轮液压制动转矩和电机制动转矩进行分配,通过增大电机制动力分配的权值达到能量回收的最大化,并采用有效集算法完成目标函数的求解。在此基础上,在Simulink中建立了7自由度整车动力学模型,在对开路面的工况下进行了仿真分析,结果表明:所制定的控制策略能满足要求,在保证车辆制动稳定性的同时,最大限度回收制动能量。
Aiming at a distributed drive electric vehicle, a control strategy for compound brake system is proposed in this paper. A hierarchical braking torque allocation control structure is adopted, in which the upper controller uses the sliding mode control strategy to solve out the target longitudinal force and yaw moment for meeting the requirements of braking efficacy and stability. The lower controller allocates the hydraulic braking torque of four wheels and the motor braking torque with weighted least square control, maximizes energy recovery by increasing the weight of motor braking force allocation and solves the objective function by using effective set algorithm. On this basis, a seven-DOF vehicle dynamics model is established with Simulink, and a simulation is carried out under the condition of butted-joint road. The results show that the control strategy proposed can meet the requirements, maximizing the recovery of braking energy while ensuring the braking stability of vehicle.
Aiming at a distributed drive electric vehicle, a control strategy for compound brake system is proposed in this paper. A hierarchical braking torque allocation control structure is adopted, in which the upper controller uses the sliding mode control strategy to solve out the target longitudinal force and yaw moment for meeting the requirements of braking efficacy and stability. The lower controller allocates the hydraulic braking torque of four wheels and the motor braking torque with weighted least square control, maximizes energy recovery by increasing the weight of motor braking force allocation and solves the objective function by using effective set algorithm. On this basis, a seven-DOF vehicle dynamics model is established with Simulink, and a simulation is carried out under the condition of butted-joint road. The results show that the control strategy proposed can meet the requirements, maximizing the recovery of braking energy while ensuring the braking stability of vehicle.
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):106-111.
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[11] 潘盛辉,宋仲达,王系朋.纯电动汽车机电复合制动控制策略的研究[J].控制工程,2017,24(2):309-314.
[12] 李以农,胡一明,邹桃.轮毂电机驱动电动汽车横摆稳定性控制[J].重庆大学学报,2017,40(12):25-32.
[13] 刘文营,刘伟,崔晓川.二自由度车辆动力学模型的扩展研究[J].中国测试,2016(S2):76-79.
[14] 林程,彭春雷,曹万科.独立驱动电动汽车稳定性的滑模变结构控制[J].汽车工程,2015,37(2):133-138.
[15] PI D W, CHEN N, ZHANG B J. Experimental demonstration of a vehicle stability control system in a split-umanoeuvre[J]. Pro-ceedings of the Institution of Mechanical Engineers,2011,225(3):305-317.
[16] JOHANSEN T A, FOSSEN T I. Control allocation-a survey[J]. Automatica,2012,49(2):1087-1103.
[17] HARKEGARD O. Efficient active set algorithms for solving constrained least squares problems in aircraft control allocation[C]. Decision and Control.2002,Proccedings of the 41st IEEE Conference on. IEEE,2002,2:1295-1300.
[18] ZHANG Hailong, WANG Enrong, ZHANG Ning. Semi-active sliding mode control of vehicle suspension with magneto-rheological damper[J]. Chinese Journal of Mechaninal Engineering,2015,28(1):64-73.
[2] 勒立强,孙志祥,王熠,等.基于模糊控制的电动轮汽车再生制动能量回收研究[J].汽车工程,2017,39(10):1102-1105.
[3] 张雷,于良耀,宋健,等.电动汽车再生制动与液压制动防抱协调控制[J].清华大学学报:自然科学版,2016:89-93.
[4] 刘志强,汪浩磊,杜荣华,等.纯电动汽车电液复合回馈制动研究[J].汽车工程,2016,38(8):956-960.
[5] 杨亚娟,赵韩,朱茂飞.电动汽车最大能量回收再生制动控制策略的研究[J].汽车工程,2013,35(5):106-110.
[6] 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):923-929.
[7] 宋士刚,李小平,孙泽昌.基于混合系统理论的串联式再生制动控制策略分析[J].汽车工程,2015,37(3):313-320.
[8] HAN J, PARK Y, PARK Y. Cooperative regenerative braking control for front-wheel-drive hybrid electric vehicle based on adaptive regenerative brake torque optimization using under-steer indux[J]. International Journal of Automotive Technology,2014,15(6):989-1000.
[9] 金立生,谢宪毅,高琳琳,等.基于二次规划的分布式电动汽车稳定性控制[J].吉林大学学报:工学版,2018,48(5):1349-1359.
[10] 王耀南,刘东奇.电动汽车机电复合制动力分配策略研究[J].控制工程,2014,21(3):351-356.
[11] 潘盛辉,宋仲达,王系朋.纯电动汽车机电复合制动控制策略的研究[J].控制工程,2017,24(2):309-314.
[12] 李以农,胡一明,邹桃.轮毂电机驱动电动汽车横摆稳定性控制[J].重庆大学学报,2017,40(12):25-32.
[13] 刘文营,刘伟,崔晓川.二自由度车辆动力学模型的扩展研究[J].中国测试,2016(S2):76-79.
[14] 林程,彭春雷,曹万科.独立驱动电动汽车稳定性的滑模变结构控制[J].汽车工程,2015,37(2):133-138.
[15] PI D W, CHEN N, ZHANG B J. Experimental demonstration of a vehicle stability control system in a split-umanoeuvre[J]. Pro-ceedings of the Institution of Mechanical Engineers,2011,225(3):305-317.
[16] JOHANSEN T A, FOSSEN T I. Control allocation-a survey[J]. Automatica,2012,49(2):1087-1103.
[17] HARKEGARD O. Efficient active set algorithms for solving constrained least squares problems in aircraft control allocation[C]. Decision and Control.2002,Proccedings of the 41st IEEE Conference on. IEEE,2002,2:1295-1300.
[18] ZHANG Hailong, WANG Enrong, ZHANG Ning. Semi-active sliding mode control of vehicle suspension with magneto-rheological damper[J]. Chinese Journal of Mechaninal Engineering,2015,28(1):64-73.