轮式驱动电动车控制系统的研究
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摘要
本文对轮式驱动电动车的控制系统进行了相关的系列关键技术的研究。首先,将由Utkin.V.I等学者提出的滑模变结构的优化器应用到车辆防抱制动系统(ABS)和牵引控制(TC)的最佳滑移率寻优控制中,所构造的优化器不需要路面型式的先验知识,寻优目标函数取决于车体的行驶速度。该优化器在不同路面条件下的最佳滑移率辨识效果相当理想,且具有一定的自适应性和实时性。
其次,本文构建了基于最佳滑移率控制的ABS控制器(包含二阶滑模防抱制动控制器、滑移率滑模优化器、滑模观测器以及消减颤振的设计)。与通常的基于开关控制的ABS控制器相比,该新型控制器具有相当强的鲁棒性,对目标滑移率跟随性能好,无抱死现象,且制动时间短。
同时,本文基于滑模变结构和计算智能相融合的控制技术,还分别设计了基于固定滑移率控制的ABS、TC系统。这类低造价、高性能的新型控制器不仅保证了被控系统的运动状态能跟踪理想的运动轨迹,消除了常规滑模控制中存在的颤振现象,而且加强了控制器对系统不确定参数的适应性,从而进一步提高了ABS、TC系统的鲁棒性。
再次,本文独立提出了基于滑移率控制的新颖的电子差速控制算法。该新算法保证了更好的车辆操作性能和响应控制特性,其主要技术指标明显优于传统机械差速控制,具有现实的工程应用价值。同时,基于实效、低成本的控制技术的设计思想,本文还构建了低速行驶时的简化电子差速算法。本文制作的基于DSP2407的双轮毂电机的全新电子差速控制系统,在样车上的实验证明设计合理,实现了良好的差速控制。此外,本文还构建了基于CAN总线和串行通讯总线的轮式驱动电动车通讯系统设计方案,以实现对车辆运行状态的监测、控制以及故障排除。并通过试运行完成了相应的设计功能测试。
在附录中,本文给出了用于电动车的一种新的二相永磁无刷直流轮毂电机的设计,样机的仿真和实验测试的一致性,验证了该电机系统设计的正确和实用性。
A comprehensive study of the key techniques of the control system for in-wheel driven Electric Vehicles (EV) is conducted in this dissertation.Firstly, a sliding mode based optimizer is introduced. The proposed optimizer requires neither a prior knowledge of the surface type nor the relationship between the coefficients of the adhesion and the wheel slips since the objective function is related only to the vehicle velocity, leading an improvement in both adaptive and real-time adjusting abilities. Therefore, its identification results of the optimal sliding rate for different road surface conditions are more promising.Secondly, a novel optimal slip based antilock braking system (ABS) is proposed. The braking system includes mainly a sliding mode based wheel slip optimizer, a sliding mode based nonlinear observer, and a sliding mode based ABS controller. The function of the sliding mode based wheel slip optimizer is to maintain the optimization wheel slip, that of the sliding mode based nonlinear observer to estimate the vehicle velocity from the output of the system, and that of the sliding mode based ABS controller to regulate the wheel slip to reach its optimal value. The salient advantages of the proposed braking system are (1) its robustness, (2) its excellent ability to response the wheel slip, and (3) its high time-efficiency for decelerations.Also, based on the combination of the computational intelligence and the sliding mode control, an ABS and a traction control (TC) systems are, respectively, developed. This low-cost but high performance controller can guarantee that the to-be controlled system can response exactly the ideal moving trace, avoid the drawback of the control chattering occurred in the classical sliding mode control, and therefore improves significantly the robustness of the systems.Thirdly, a novel electric differential algorithm is independently developed. Compared with the traditional mechanism differential ones, the turning performance and the controllability of the response of the proposed algorithm are enhanced. Based on an efficient and low cost design methodology, a simplified electric differential strategy for low speed EVs is also developed. To validate the proposed work, the electric differential control system based on TMS320F2407 DSP is implemented on a prototype vehicle, and the experimental results demonstrate its feasibility in engineering applications. In addition, a communication system based on CAN and RS232 buses for In-wheel motor driven EV is built to realize the real time monitoring and fault diagnosing of the running
states of a vehicle.In the appendix of this dissertation, the details about a new designed 2-phase Permanent Magnet Brushless in-wheel Motor are summarized. Also, the performance comparisons of computer simulation and tested results are given to demonstrate their good agreements.
其次,本文构建了基于最佳滑移率控制的ABS控制器(包含二阶滑模防抱制动控制器、滑移率滑模优化器、滑模观测器以及消减颤振的设计)。与通常的基于开关控制的ABS控制器相比,该新型控制器具有相当强的鲁棒性,对目标滑移率跟随性能好,无抱死现象,且制动时间短。
同时,本文基于滑模变结构和计算智能相融合的控制技术,还分别设计了基于固定滑移率控制的ABS、TC系统。这类低造价、高性能的新型控制器不仅保证了被控系统的运动状态能跟踪理想的运动轨迹,消除了常规滑模控制中存在的颤振现象,而且加强了控制器对系统不确定参数的适应性,从而进一步提高了ABS、TC系统的鲁棒性。
再次,本文独立提出了基于滑移率控制的新颖的电子差速控制算法。该新算法保证了更好的车辆操作性能和响应控制特性,其主要技术指标明显优于传统机械差速控制,具有现实的工程应用价值。同时,基于实效、低成本的控制技术的设计思想,本文还构建了低速行驶时的简化电子差速算法。本文制作的基于DSP2407的双轮毂电机的全新电子差速控制系统,在样车上的实验证明设计合理,实现了良好的差速控制。此外,本文还构建了基于CAN总线和串行通讯总线的轮式驱动电动车通讯系统设计方案,以实现对车辆运行状态的监测、控制以及故障排除。并通过试运行完成了相应的设计功能测试。
在附录中,本文给出了用于电动车的一种新的二相永磁无刷直流轮毂电机的设计,样机的仿真和实验测试的一致性,验证了该电机系统设计的正确和实用性。
A comprehensive study of the key techniques of the control system for in-wheel driven Electric Vehicles (EV) is conducted in this dissertation.Firstly, a sliding mode based optimizer is introduced. The proposed optimizer requires neither a prior knowledge of the surface type nor the relationship between the coefficients of the adhesion and the wheel slips since the objective function is related only to the vehicle velocity, leading an improvement in both adaptive and real-time adjusting abilities. Therefore, its identification results of the optimal sliding rate for different road surface conditions are more promising.Secondly, a novel optimal slip based antilock braking system (ABS) is proposed. The braking system includes mainly a sliding mode based wheel slip optimizer, a sliding mode based nonlinear observer, and a sliding mode based ABS controller. The function of the sliding mode based wheel slip optimizer is to maintain the optimization wheel slip, that of the sliding mode based nonlinear observer to estimate the vehicle velocity from the output of the system, and that of the sliding mode based ABS controller to regulate the wheel slip to reach its optimal value. The salient advantages of the proposed braking system are (1) its robustness, (2) its excellent ability to response the wheel slip, and (3) its high time-efficiency for decelerations.Also, based on the combination of the computational intelligence and the sliding mode control, an ABS and a traction control (TC) systems are, respectively, developed. This low-cost but high performance controller can guarantee that the to-be controlled system can response exactly the ideal moving trace, avoid the drawback of the control chattering occurred in the classical sliding mode control, and therefore improves significantly the robustness of the systems.Thirdly, a novel electric differential algorithm is independently developed. Compared with the traditional mechanism differential ones, the turning performance and the controllability of the response of the proposed algorithm are enhanced. Based on an efficient and low cost design methodology, a simplified electric differential strategy for low speed EVs is also developed. To validate the proposed work, the electric differential control system based on TMS320F2407 DSP is implemented on a prototype vehicle, and the experimental results demonstrate its feasibility in engineering applications. In addition, a communication system based on CAN and RS232 buses for In-wheel motor driven EV is built to realize the real time monitoring and fault diagnosing of the running
states of a vehicle.In the appendix of this dissertation, the details about a new designed 2-phase Permanent Magnet Brushless in-wheel Motor are summarized. Also, the performance comparisons of computer simulation and tested results are given to demonstrate their good agreements.
引文
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