轮毂驱动电动汽车差速转向系统仿真分析
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摘要
为了研究轮毂驱动电动汽车的差速转向系统,基于Acherman-Jeantand转向模型建立了差速转向解析表达式与仿真模型;给出了电机模型并依据其运动学方程设计了等效滑模速度控制器;搭建出包含差速转向模型、等效滑模控制器、电机模型在内的差速转向控制系统。结合实际工况,在MATLAB/Simulink环境中进行轮毂驱动电动汽车差速转向控制系统的仿真试验并与传统PI控制系统进行仿真对比。仿真试验结果表明:文中所建模型是正确的,控制系统是可行的;体现了等效滑模控制对差速转向系统控制响应时间短、超调量小、鲁棒性强等优势。
To study the differential steering system of In-wheel Motor electric vehicles,the differential resolution expression and simulation model were established based on the Acherman-Jeantand steering model. The motor model was given and an equivalent sliding mode speed controller was designed based on its kinematics equation. The control system of differential steering was constructed,including differential steering model,equivalent sliding mode controller and motor model. Combined with the actual condition,the simulation test of the difference speed steering control system of the In-wheel Motor electric vehicle,which compared with the traditional PI control system,was simulated in the MATLAB/Simulink environment. The simulation results show that the model is correct and the control system is feasible. It shows that the equivalent sliding mode control has the advantages of shortening response time,reducing overshoot and enhancing robustness for the differential steering system.
To study the differential steering system of In-wheel Motor electric vehicles,the differential resolution expression and simulation model were established based on the Acherman-Jeantand steering model. The motor model was given and an equivalent sliding mode speed controller was designed based on its kinematics equation. The control system of differential steering was constructed,including differential steering model,equivalent sliding mode controller and motor model. Combined with the actual condition,the simulation test of the difference speed steering control system of the In-wheel Motor electric vehicle,which compared with the traditional PI control system,was simulated in the MATLAB/Simulink environment. The simulation results show that the model is correct and the control system is feasible. It shows that the equivalent sliding mode control has the advantages of shortening response time,reducing overshoot and enhancing robustness for the differential steering system.
引文
[1]Ma Xiaojun,Su Jianqiang,Xiang Yu,Ji Xiangpu,Hou Mingjie.Co-simulation research of in-wheel motor drive vehicle steering control[J].Applied Mechanics&Materials,2013(415):578-581.
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[3]董铸荣,贺萍,朱小春.基于Ackermann模型的轮毂电机四轮独立驱动电动汽车电子差速转向控制研究[J].深圳职业技术学院学报,2013(05):26-29.
[4]宋舒,龚建国,林薇,汪贵平.纯电动汽车用永磁同步电机空间矢量控制系统建模与仿真[J].武汉理工大学学报,2012(04):118-122+140.
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[7]Leng Bo,Xiong Lu,Jin Chi,Liu Jun,Yu Zhouoing.Differential Drive Assisted Steering Control for an In-wheel Motor Electric Vehicle[J].SAE International Journal of Passenger Cars-Electronic and Electrical Systems,2015,8(2).
[8]靳彪,张欣,杨庆保.纯电动汽车低速转向差速控制模型[J].北京交通大学学报,2013(04):158-161.
[9]邹权,钱林方,蒋清山.永磁同步电机伺服系统的自适应模糊滑模控制[J].控制理论与应用,2015(06):817-822.
[10]皇甫宜耿,S.Laghrouche,刘卫国,A.Miraoui.一种高阶滑模控制的永磁同步电机磁通和电阻辨识[J].西北工业大学学报,2010(05):684-688.
[2]宋龙龙,郑培,范满珍.四轮毂电动机独立驱动电动车转向策略的试验[J].上海电机学院学报,2015(06):331-336.
[3]董铸荣,贺萍,朱小春.基于Ackermann模型的轮毂电机四轮独立驱动电动汽车电子差速转向控制研究[J].深圳职业技术学院学报,2013(05):26-29.
[4]宋舒,龚建国,林薇,汪贵平.纯电动汽车用永磁同步电机空间矢量控制系统建模与仿真[J].武汉理工大学学报,2012(04):118-122+140.
[5]王涛,李勇,王青,贾克军.永磁同步电机矢量控制系统建模与仿真[J].河北大学学报(自然科学版),2011(06):648-652.
[6]张晓光,孙力,赵克.基于负载转矩滑模观测的永磁同步电机滑模控制[J].中国电机工程学报,2012(03):111-116+8.
[7]Leng Bo,Xiong Lu,Jin Chi,Liu Jun,Yu Zhouoing.Differential Drive Assisted Steering Control for an In-wheel Motor Electric Vehicle[J].SAE International Journal of Passenger Cars-Electronic and Electrical Systems,2015,8(2).
[8]靳彪,张欣,杨庆保.纯电动汽车低速转向差速控制模型[J].北京交通大学学报,2013(04):158-161.
[9]邹权,钱林方,蒋清山.永磁同步电机伺服系统的自适应模糊滑模控制[J].控制理论与应用,2015(06):817-822.
[10]皇甫宜耿,S.Laghrouche,刘卫国,A.Miraoui.一种高阶滑模控制的永磁同步电机磁通和电阻辨识[J].西北工业大学学报,2010(05):684-688.