电动汽车低速转向电子差速兼顾辅助转向控制
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摘要
针对后轮独立驱动电动轮汽车转向差速控制技术,基于电动轮汽车低速转向特性,建立阿克曼转向差速模型。考虑电子差速控制对车辆转向的辅助作用,对电动轮汽车低速转向时电子差速兼顾辅助转向控制进行研究。仿真结果表明:基于阿克曼转向模型的转矩分配策略,不仅实现了基本的差速功能,对车辆转向行驶也有一定辅助作用。进行了电子差速控制实车试验,结果表明:控制策略能较好地应用于试验车辆。
For rear-wheel independent drive electric car steering wheel differential control technology,based on the low-speed electric car steering wheel features,it established the Ackermann steering differential model. Considering supporting role of electronic differential control on the vehicle steering,electric steering wheel car at low speed when taking into account the auxiliary steering electronic differential control is studied. Simulation results show that Ackerman steering torque distribution based policy model not only achieves the basic differential function of the vehicle with the steering,it also has a supporting role; it performed electronic differential control real vehicle test results to verify the control strategy. And it can be better used in the test vehicle.
For rear-wheel independent drive electric car steering wheel differential control technology,based on the low-speed electric car steering wheel features,it established the Ackermann steering differential model. Considering supporting role of electronic differential control on the vehicle steering,electric steering wheel car at low speed when taking into account the auxiliary steering electronic differential control is studied. Simulation results show that Ackerman steering torque distribution based policy model not only achieves the basic differential function of the vehicle with the steering,it also has a supporting role; it performed electronic differential control real vehicle test results to verify the control strategy. And it can be better used in the test vehicle.
引文
[1]靳立强,王庆年,张缓缓,等.电动轮驱动电动汽车差速技术研究[J].汽车工程,2007,29(8):700-704.
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[4]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.
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[10]翟丽,董守全,罗开宇.四轮毂电机独立驱动车辆转向电子差速控制[J].北京理工大学学报,2010,30(8):901-905.
[11]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,2013,37(4):158-161.
[12]鲍晓华,吕强.感应电机气隙偏心故障研究综述及展望[J].中国电机工程学报,2013,33(6):93-100.
[13]王春燕,赵万忠,赵婷,等.电动轮汽车差速助力转向系统路感优化[J].中国机械工程,2012,23(1):126-129.
[14]FARZAD Tahami,SHAHROKH Farhangi,REZA Kazemi.A fuzzy logic direct yaw-moment control system for all-wheel-drive electric vehicle[J].Vehicle System Dynamics,2004,41(3):203-221.
[15]MOTOKI S,PONGSATHORN R,MINORU K.Independent wheel torque control of small-scale electric vehicle for handling and stability improvement[J].JSAE Review,2003,24:449-456.
[16]LEE J,RYOO Y.A neural network model of electric differential system for electric vehicle[C]//2000 International Conference on Industrial Electronics,Control and Instrumentation(IECON 2000).2000:83-88.
[2]黄锡超,江洪,徐兴.四轮独立驱动电动汽车直线行驶稳定协调控制[J].重庆理工大学学报(自然科学),2016,30(6):17-25.
[3]陈宁,黄会明,吴汶芪.基于模糊控制的电动汽车电子差速设计[J].客车技术与研究,2013(3):5-7.
[4]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.
[5]葛英辉,倪光正.新的轮式驱动电动车电子差速控制算法的研究[J].汽车工程,2005,27(3):340-343.
[6]王强,王耘,宋小文.基于差动驱动的电子差速控制方法研究[J].机电工程,2011,28(6):698-703.
[7]CHAN C C.The state of the art of electric and hybrid vehicles[J].Proceeding of IEEE,2002,90(2):1-29.
[8]LEE Jusang,RYOO Youngjae,LIM Youngcheol,et al.Neural network model of electric differential system for electer vehicle[C]//26th Annual Conference of the IEEE.2000:83-87.
[9]褚文强,辜承林.电动车用轮毂电机研究现状与发展趋势[J].电机与控制应用,2007,34(4):1-5.
[10]翟丽,董守全,罗开宇.四轮毂电机独立驱动车辆转向电子差速控制[J].北京理工大学学报,2010,30(8):901-905.
[11]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,2013,37(4):158-161.
[12]鲍晓华,吕强.感应电机气隙偏心故障研究综述及展望[J].中国电机工程学报,2013,33(6):93-100.
[13]王春燕,赵万忠,赵婷,等.电动轮汽车差速助力转向系统路感优化[J].中国机械工程,2012,23(1):126-129.
[14]FARZAD Tahami,SHAHROKH Farhangi,REZA Kazemi.A fuzzy logic direct yaw-moment control system for all-wheel-drive electric vehicle[J].Vehicle System Dynamics,2004,41(3):203-221.
[15]MOTOKI S,PONGSATHORN R,MINORU K.Independent wheel torque control of small-scale electric vehicle for handling and stability improvement[J].JSAE Review,2003,24:449-456.
[16]LEE J,RYOO Y.A neural network model of electric differential system for electric vehicle[C]//2000 International Conference on Industrial Electronics,Control and Instrumentation(IECON 2000).2000:83-88.