摘要
由于在环保、节能等方面的巨大优势,电动汽车的研发与应用成为了汽车研究领域发展的重要方向,而其主动安全性与能量回收领域的研究水平也日益提高。普通的电动汽车往往传承了传统内燃机汽车的液压制动系统,这种制动模式忽略了驱动电机再生制动能够有效回收制动能量这一因素,因此当今许多车辆采用了电机再生制动与传统液压制动相结合的复合制动系统。而电动汽车复合制动系统的ABS往往继承了传统汽车的液压ABS,而单独使用液压ABS浪费了电机易于控制,并能快速、准确调节电机转矩的自身优势。因此本文针对四轮独立驱动电动轮汽车,提出了基于复合制动力分配与纯电机ABS控制的制动集成控制策略,同时提出了基于电机ABS控制与液压ABS控制协调工作的复合ABS控制理论。
制动集成控制策略方案综合考虑了在不同制动模式下车辆的制动稳定性、制动效率与能量回收,并合理协调了电机再生制动力、液压制动力与纯电机ABS控制之间的关系。提出四种ABS控制方法,即基于门限值库的逻辑门限值控制方法；基于等时轮加速度增幅进行路面判断的变逻辑门限值控制方法；基于逻辑门限法路面判断的变参数PID控制方法；PID主控制且逻辑门限值法辅助控制的并联控制方法。上述方法考虑了在不同路面制动时,车辆最佳滑移率不同。通过综合判断制动时的车速、目标制动强度、实时路面系数等条件,改变传统ABS控制门限值或者控制参数单一固定的特点,针对不同制动工况选择不同的控制门限值或控制参数,使车轮滑移率处于理想值附近,提高制动稳定性。后三种控制方法在控制初期利用逻辑门限值方法判断路面,根据分析等时轮加速度的增幅大小估计路面系数,使路面识别更准确。通过搭建AMESim与Simulink的电动轮汽车联合仿真模型,对控制策略进行仿真分析。通过设计和改造,搭建了基于双dSPACE仿真平台的硬件在环实时平台,对基于逻辑门限法路面判断的变参数PID控制方法进行了硬件在环试验。本文还提出了基于电机ABS与液压ABS协调工作的电动轮汽车复合ABS控制理论,并进行仿真分析。该理论通过判断制动工况切换ABS控制模式。本文通过模型仿真与硬件在环研究,验证了制动控制策略,能够有效识别制动工况,并能及时合理的控制,控制效果较好,为研究电动轮汽车主动安全集成控制奠定了基础。本文的具体研究内容包括：
一、针对四轮独立驱动电动汽车的驱动特性与动力性能,设计了驱动电机的参数并选择电机。在分析了国内外电动车复合制动理论与ABS控制方法的基础上,提出了电动轮汽车制动集成控制方案。该方案结合理想制动力分配曲线,根据目标制动强度切换制动模式,兼顾制动的稳定性与回收能量。当处于低强度制动时,充分考虑到制动能量的回收,单独使用电机再生制动力完全能满足制动需求。当处于中强度制动时,使用以电机再生制动为主,液压摩擦制动为辅的制动方式。而当处于高强度制动时,通过估计当前路面附着系数,计算出当前路面条件下,车轮不抱死时的最大制动力,通过对该制动力数值进行分析调整作为液压制动力,而不足部分由电机再生制动力补充。该制动模式充分考虑了低制动强度下的能量回收,中等制动强度下的制动效率和高制动强度下的车辆稳定性要求,有针对的切换制动模式。根据以上的四轮独立驱动电动汽车的复合制动力分配形式,提出以控制四个轮毂电机的制动转矩来实现ABS功能的纯电机防抱死控制方式。在低中制动强度下,电机制动扭矩的变化范围完全能够使施加在车轮上的总的制动扭矩不会继续使车轮发生抱死行为。而当目标制动强度比较大时,当车轮处于抱死状态下,该轮上所需的制动力较大。而由于电机产生的制动转矩有限,因此使用以电机制动为主、液压制动为辅的分配方式难以通过单独调节电机转矩实现ABS功能。因此采用不抱死液压力作为主要控制方式,不足部分由电机制动转矩补充,通过单独改变电机制动转矩实现ABS功能。
二、针对电动轮汽车的复合制动系统及纯电机ABS控制模式,提出了四种ABS控制方法。即基于门限值库的逻辑门限值控制方法；基于等时轮加速度增幅进行路面判断的变逻辑门限值控制方法；基于逻辑门限法路面判断的变参数PID控制方法；PID主控制且逻辑门限值法辅助控制的并联控制方法。上述方法考虑了在不同路面制动时,车辆最佳滑移率不同。通过综合判断制动条件,改变传统ABS控制门限值或者控制参数单一固定的特点,针对不同制动工况选择不同的控制门限值或控制参数,使车轮滑移率处于理想值附近,提高制动稳定性。其中基于门限值库的逻辑门限值控制方法将路面附着系数估计模块中估算的路面附着系数作为门限值设置的参考条件,根据估算的当前路面和车速等条件进行逻辑门限值设置,通过将设置好的门限值输入给ABS控制核心实现实时的ABS控制。后三种控制方法在控制初期利用逻辑门限值方法判断路面,根据分析等时轮加速度的增幅大小估计路面系数,使路面识别更准确。并联控制方法在默认状态下使用PID控制,而PID失效模块一直在判断PID控制的效果。一旦PID控制失效,则系统切换到逻辑门限值控制,该方法能规避PID控制方法单独使用时的不稳定性和抗干扰能力差的问题。
三、基于AMESim与Simulink建立了十五自由度的车辆动力学仿真模型,并针对上述四种不同ABS控制方法进行了仿真分析。
四、提出了基于逻辑门限值方法的四轮驱动电动轮汽车的复合ABS控制理论。该理论不同于制动集成控制的纯ABS控制方法,而是将电机ABS控制与液压ABS控制协调工作的控制理论。通过分析不同的制动工况进行ABS控制模式切换,并进行了仿真分析,分析了参数变化对控制性能的影响。
五、针对纯电机ABS控制模式下的基于逻辑门限法路面判断的变参数PID控制方法,在本课题组传统汽车制动防抱死试验平台的基础上进行设计和改造,建立了基于双dSPACE仿真平台的硬件在环试验台。该硬件在环仿真平台采用了一台计算机作为主机,两台dSPACE仿真平台作为目标机的实时仿真平台。其中一台dSPACE仿真平台用于对车辆动力学模型进行实时仿真,另一台dSPACE仿真平台用于对制动集成控制系统进行仿真。通过硬件在环仿真试验与离线仿真试验验证本研究的控制算法能够有效识别制动工况,并能及时合理的控制,控制效果较好,为研究电动轮汽车主动安全集成控制奠定了基础。
Because there have huge advantages in environmental protection and energy saving, the research and application of electric vehicle became an important direction of vehicle research field, the research level of active safety and energy recovery in this field also increasing day by day. Common electric vehicle often inherits the traditional internal combustion engine vehicle's hydraulic brake system, the braking mode ignores the factor that the motor regenerative braking can effectively recycling braking energy, so many vehicles use the composite brake system that motor regenerative braking combined with traditional hydraulic braking. ABS of EV composite brake system is often inherited from the hydraulic ABS of traditional vehicles, but some electric motor's advantages will be wasted by using hydraulic ABS individually, such as easy to control, regulate the torque quickly and accurately. A vehicle with four electric wheels was studied, and brake integrated control strategy based on composite braking force distribution and pure electric motor ABS control was proposed, also a composite ABS control theory based on motor ABS works together with hydraulic ABS was proposed.
Braking stability, braking efficiency and energy recovery of vehicle in different braking modes were considered, and the relationship between regeneration braking force, hydraulic braking force and pure motor ABS was rational regulated in the program of brake integrated control strategy. Four ABS control methods were proposed. They are logic threshold control based on threshold library, variable logic threshold control based on road determine by the increase of wheel acceleration in equal times, variable parameters'PID control based on road determine by the logic threshold method, the parallel control of PID primary control with logic threshold method auxiliary control. The feature that best slip-rate are different according to road condition was considered in the methods above. Through comprehensive determining vehicle speed, target braking strength and real-time road conditions, to changing the characteristics that control thresholds or control parameters were fixed, and to selecting different threshold values or control parameters by different conditions. So the wheel slip-rate was near the ideal value, and the brake stability was improved. The latter three methods used logic threshold method to determine the road at the beginning, according to analysis the increase of the wheel acceleration to estimate the road, so that the road identification was more accurate. The co-simulation model of electric wheel vehicle based on AMESim and Simulink was built, the control strategy was simulated. Through design and renovation, a hardware in the loop real-time platform based on two dSPACE simulate platform was built, and the variable parameters'PID control based on road determine by the logic threshold method hardware in the loop test was carried out. Composite ABS control theory of electric wheel vehicle based on motor ABS coordinate work with hydraulic ABS was also proposed, and simulation analysis was carried out. By judging brake conditions, ABS control mode been switched. Based on simulation and hardware in the loop studies, it can be proved that the control strategy can effectively identify the braking conditions, and take timely reasonable control, the control effect is better, so the article lays the foundation for the study of electric wheel vehicle active safety integrated control. Specific research contents of this paper are as follows.
1. According to the driving characteristics and dynamic performance of four-wheel independent drive electric vehicles, parameters of motor are designed and the electric motor is chosen. On the analysis of the domestic and international electric vehicle composite braking theory and ABS control method, put forward on the basis of electric wheels vehicle brake integrated control scheme. The scheme combined with ideal braking force distribution curve, according to the target braking strength switching braking mode, the stability and recycling braking energy are both considerated. When in low intensity braking, give full consideration to the braking energy recovery, motor regenerative braking force is used alone, and it can fully satisfy braking requirements. When in medium intensity braking, the braking mode is chosen that the motor regenerative braking is given priority, and the hydraulic friction braking as the auxiliary. And when in high intensity braking, by estimating the current road friction coefficient, we calculates the maximum braking force of wheel don't locked in the current road conditions, through analyzing and adjusting the braking force as hydraulic braking force, and the insufficient part used regenerative braking force to supply. The braking mode has fully considered the energy recovery in the low brake strength, brake efficiency in medium braking strength, and the braking stability in the high strength, to switching braking mode. According to the above four-wheel independent drive electric vehicle's composite braking force distribution mode, pure electric motor ABS control method that through control the electric motor braking torque to achieve antilock functions is proposed. In the low strength braking and the medium strength braking, the change range of the motor brake torque can fully satisfy that the total braking torque won't continue to make the wheel locked. And when the target braking strength is large, when vehicle in lock state, a single wheel required braking force is bigger. And because the motor brake torque is limited, it is hard to use distribution methods that the motor braking as primarily, hydraulic braking as the auxiliary to separately adjust motor torque to realize ABS function. Therefore the unlocked hydraulic braking force is adopt as the main control mode, and the electric motor braking force as auxiliary, by regulating electric motor braking torque to realize ABS function.
2. According to the composite brake system for electric car wheel and pure motor ABS control mode, put forward four kinds of ABS control methods. They are logic threshold control based on threshold library, variable logic threshold control based on road determine by the increase of wheel acceleration in equal times, variable parameters' PID control based on road determine by the logic threshold method, the parallel control of PID primary control with logic threshold method auxiliary control. Among them, logic threshold control method based on threshold library put the road friction coefficient estimate in the road friction coeffient module as the threshold setting reference condition, according to estimates current road surface, speed and other conditions for logic threshold settings, to achieve real-time ABS control. Three control methods after initial use logic threshold method to judge road conditions, according to the analysis judgment road conditions of the acceleration of growth when round the size, road coefficient estimates more accurate identification. For parallel control methods PID control is in use by default, and PID control failure module has been in judging PID control effect. Once the PID control is failure, the system switches to logic threshold method, this method can avoid the problems such as instability and the ability of anti-interference is poor when used PID control method alone.
3. Based on AMESim and Simulink established 15 dof vehicle dynamics simulation model, and in view of the above four different ABS control methods on the simulation analysis.
4. Composite ABS control theory is put forward based on logical threshold method all-wheel drive electric wheels car. This theory is different from the pure ABS braking integrated control method, but with hydraulic motor ABS control coordination ABS control theory. Through the analysis of different braking conditions for ABS control mode switch, and simulation analysis, analyzed the parameters on the control performance influence.
5. For pure motor ABS control mode based on logical threshold method under judgment of the variable parameters of road, PID control method in our traditional automobile brake antilock brake on the basis of test platform designed and renovated, based on double the hardware in the loop test-bed dSPACE. The hardware in the loop simulation platform used a computer as host, two dSPACE simulation platform as the target machine of real-time simulation platform. One of those dSPACE simulation platform of vehicle dynamics model for real-time simulation, the other dSPACE simulation platform for brake integrated control simulation. Through the hardware in the loop simulation experiment and off-line simulation test this study control algorithm can effectively identify brake operating conditions, and can be reasonable control, the control effect is good, as research electric wheels car active safety integrated control laid a foundation.
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