分布式驱动电动汽车稳定性控制仿真与试验
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摘要
为提高电动汽车的操纵稳定性,建立了3层的控制策略。动力学建模层计算变量实际值和期望值;补偿力矩确定层结合可拓控制与滑模控制的优势,建立自适应滑模算法,协调各参数控制的权重并确定合适的补偿力矩;车轮转矩分配层对补偿力矩提供约束后将其分配给4个轮毂电机。采用Carsim和Simulink软件进行模型搭建和联合仿真。仿真结果表明,整车控制策略的实时性和自适应性好。最后,在样车上进行快速原型试验也验证了所采用的控制策略达到了改善车辆稳定性的预期目标。
In order to enhance the handling and stability performance of electric vehicles, a control strategy with three layers is established. Dynamics modeling layer calculates the actual value and desired value of variables. Compensating torque determination layer combines the advantages of extension control and sliding mode control, sets up the adaptive sliding mode algorithm, coordinates the control weightings of parameters and determines compensating torques. While wheel torque distribution layer applies constraints on compensating torques and distributes them to four wheel-hub motors. Software Carsim and Simulink are used to build the model and conduct co-simulation. The results of simulation show that the vehicle control strategy has good real time performance and adaptability. Finally, a rapid prototyping test is also carried out, which verifies that the control strategy adopted achieves the desired goal of improving vehicle stability.
In order to enhance the handling and stability performance of electric vehicles, a control strategy with three layers is established. Dynamics modeling layer calculates the actual value and desired value of variables. Compensating torque determination layer combines the advantages of extension control and sliding mode control, sets up the adaptive sliding mode algorithm, coordinates the control weightings of parameters and determines compensating torques. While wheel torque distribution layer applies constraints on compensating torques and distributes them to four wheel-hub motors. Software Carsim and Simulink are used to build the model and conduct co-simulation. The results of simulation show that the vehicle control strategy has good real time performance and adaptability. Finally, a rapid prototyping test is also carried out, which verifies that the control strategy adopted achieves the desired goal of improving vehicle stability.
引文
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[4] SONG J G,XU P P.The research of stability performance of 4WD vehicles basing on electric wheels torque control[C].International Conference on Mechatronics & Automation.IEEE,2011.
[5] YOUN W Y,SONG J B.Improvement of vehicle directional stability in cornering based on yaw moment control[J].Ksme International Journal,2000,14(8):836-844.
[6] 赵艳娥,张建武.基于滑模控制的四轮驱动电动汽车稳定性控制[J].上海交通大学学报,2009(10):1526-1530.
[7] ZHAO H Y,GAO B Z,REN B T,et al.Integrated control of in-wheel motor electric vehicles using a triple-step nonlinear method[J].Journal of the Franklin Institute,2015,352(2):519-540.
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[14] 殷国栋,陈南.四轮转向直接横摆力矩鲁棒集成控制仿真研究[J].系统仿真学报,2008,20(16):4264-4268.
[15] ANDO N,FUJIMOTO H.Yaw-rate control for electric vehicle with active front/rear steering and driving/braking force distribution of rear wheels[J].Ieej Transactions on Industry Applications,2011,131(131):6514-6519.
[16] 蔡文,杨春燕.可拓学的基础理论与方法体系[J].科学通报,2013,58(13):1190-1199.
[17] 张荣芸,黄鹤,陈无畏,等.基于功能分配与多目标模糊决策的EPS和ESP协调控制[J].机械工程学报,2014,50(6):99-106.
[18] RAJAMANI R.Vehicle dynamics and control[M].Springer,Boston,MA,2006.
[19] 陈无畏,孙晓文,汪洪波.汽车差动助力转向系统的可拓协调控制[J].中国科学:技术科学,2017,47(3):324-355.
[20] 刘翔宇.基于直接横摆力矩控制的车辆稳定性研究[D].合肥:合肥工业大学,2010.
[21] UEMATSU K,GERDES J C.A comparison of several sliding surface for stability control[C].Proceedings of International Symposium on Advanced Vehicle Control,2002:601-608.
[2] 余卓平,冯源.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.
[3] KAMACHI M,WALTERS K.A research of direct yaw-moment control on slippery road for in-wheel motor vehicle[C].The 22nd International Battery,Hybrid and Fuel Cell Electric Vehicle Symposium & Exposition,2006:2122-2133.
[4] SONG J G,XU P P.The research of stability performance of 4WD vehicles basing on electric wheels torque control[C].International Conference on Mechatronics & Automation.IEEE,2011.
[5] YOUN W Y,SONG J B.Improvement of vehicle directional stability in cornering based on yaw moment control[J].Ksme International Journal,2000,14(8):836-844.
[6] 赵艳娥,张建武.基于滑模控制的四轮驱动电动汽车稳定性控制[J].上海交通大学学报,2009(10):1526-1530.
[7] ZHAO H Y,GAO B Z,REN B T,et al.Integrated control of in-wheel motor electric vehicles using a triple-step nonlinear method[J].Journal of the Franklin Institute,2015,352(2):519-540.
[8] 熊璐,余卓平,姜炜,等.基于纵向力分配的轮边驱动电动汽车稳定性控制[J].同济大学学报,2010,38(3):417-421.
[9] SAKAI S I,SADO H,HORI Y.Dynamic driving/braking force distribution in electric vehicles with independently driven four wheels[J].Electrical Engineering in Japan,2000,138(1):79-89.
[10] SEGAL D J.Highway vehicle object simulation model[J].Validation,1976:19-21.
[11] ADI T S.Real-time seventeen-degree-of-freedom motor vehicle simulation[R].Applied Dynamics International,1990.
[12] 崔胜民,肖利寿,宋宝玉,等.汽车操纵动力学十八自由度模型仿真研究[J].汽车工程,1998,20(4):212-219.
[13] 夏长亮.无刷直流电机控制系统[M].北京:科学出版社,2009.
[14] 殷国栋,陈南.四轮转向直接横摆力矩鲁棒集成控制仿真研究[J].系统仿真学报,2008,20(16):4264-4268.
[15] ANDO N,FUJIMOTO H.Yaw-rate control for electric vehicle with active front/rear steering and driving/braking force distribution of rear wheels[J].Ieej Transactions on Industry Applications,2011,131(131):6514-6519.
[16] 蔡文,杨春燕.可拓学的基础理论与方法体系[J].科学通报,2013,58(13):1190-1199.
[17] 张荣芸,黄鹤,陈无畏,等.基于功能分配与多目标模糊决策的EPS和ESP协调控制[J].机械工程学报,2014,50(6):99-106.
[18] RAJAMANI R.Vehicle dynamics and control[M].Springer,Boston,MA,2006.
[19] 陈无畏,孙晓文,汪洪波.汽车差动助力转向系统的可拓协调控制[J].中国科学:技术科学,2017,47(3):324-355.
[20] 刘翔宇.基于直接横摆力矩控制的车辆稳定性研究[D].合肥:合肥工业大学,2010.
[21] UEMATSU K,GERDES J C.A comparison of several sliding surface for stability control[C].Proceedings of International Symposium on Advanced Vehicle Control,2002:601-608.