柔性底盘性能检测试验台设计与应用
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摘要
为了检测基于偏置转向轴结构的四轮独立驱动、独立转向柔性底盘的性能和运动控制参数,试制了一种由4个水平转盘构成的柔性底盘性能检测试验台,设计了试验台检测控制电路和系统软件。通过柔性底盘在试验台上的运行,模拟直行和90°横行运动,进行柔性底盘运动性能及控制参数的测试。试验结果表明:在不同运动状态下柔性底盘轮毂电机的转速从0增加到匀速状态所需的时间为2~3 s,柔性底盘直行和90°横行的牵引力分别可以达到1 132 N和1 165 N;定速行驶时,柔性底盘各轮毂电机的驱动力不同,需要实时自动调节各轮毂电机的驱动电流,保证各独立驱动的轮毂电机协调运动。测试结果可为四轮独立驱动独立转向柔性底盘控制策略的制定和参数优化提供依据。
Flexible chassis is a four-wheel-independent-drive and four-wheel-independent-steer electric vehicle with four in-wheel motors. In order to resolve some key issues about dynamics of the flexible chassis and find its control strategy,a new type of test bench with four turntables was designed for testing the flexible chassis. The flexible chassis was connected to the bench through two groups of sensors with measurement directions being perpendicular to each other. A measurement and control system based on Lab View was developed for the test bench,and it can control and record the rotating speeds and electric current of the eight in-wheel motors and the forces of the four force sensors. Firstly,the whole structure design was completed,the working principle of the device was analyzed and a testing system was developed. Secondly,the bench and assemble observation system were made. Finally,the experiment was carried out. The experiment contained two parts. For the fixed rotation speeds of four wheels of flexible chassis,the changing processes of the rotating speed,electric current and the forces at a rotation speed of 55 r / min were monitored and analyzed with two different movement postures of chassis. For the different rotation speeds,the same indexes were analyzed to find the final results. In different motion states of flexible chassis,it took 2 ~ 3 s for in-wheel motors' rotation speed to increase from 0 to stable state. Tractions of flexible chassis can reach 1 132 N and 1 165 N,respectively,when running up-down and left-right; driving force of each in-wheel motor,running at a constant speed,was different,so real-time automatic adjustment of each in-wheel motors ' current was required to ensure the coordinated movement of each wheel when driving independently. The test results could provide basic data for study of flexible chassis and it also proved that the bench was feasible and efficient. The research results provided theoretical and technical references for design of the new type of test bench.
Flexible chassis is a four-wheel-independent-drive and four-wheel-independent-steer electric vehicle with four in-wheel motors. In order to resolve some key issues about dynamics of the flexible chassis and find its control strategy,a new type of test bench with four turntables was designed for testing the flexible chassis. The flexible chassis was connected to the bench through two groups of sensors with measurement directions being perpendicular to each other. A measurement and control system based on Lab View was developed for the test bench,and it can control and record the rotating speeds and electric current of the eight in-wheel motors and the forces of the four force sensors. Firstly,the whole structure design was completed,the working principle of the device was analyzed and a testing system was developed. Secondly,the bench and assemble observation system were made. Finally,the experiment was carried out. The experiment contained two parts. For the fixed rotation speeds of four wheels of flexible chassis,the changing processes of the rotating speed,electric current and the forces at a rotation speed of 55 r / min were monitored and analyzed with two different movement postures of chassis. For the different rotation speeds,the same indexes were analyzed to find the final results. In different motion states of flexible chassis,it took 2 ~ 3 s for in-wheel motors' rotation speed to increase from 0 to stable state. Tractions of flexible chassis can reach 1 132 N and 1 165 N,respectively,when running up-down and left-right; driving force of each in-wheel motor,running at a constant speed,was different,so real-time automatic adjustment of each in-wheel motors ' current was required to ensure the coordinated movement of each wheel when driving independently. The test results could provide basic data for study of flexible chassis and it also proved that the bench was feasible and efficient. The research results provided theoretical and technical references for design of the new type of test bench.
引文
1路敌.温室作业机的柔性底盘及其控制系统的研究与开发[D].杨凌:西北农林科技大学,2011.
2 路敌,郭康权.柔性底盘的转向运动模型[J].农机化研究,2011,33(4):219-222.Lu Di,Guo Kangquan.Divert cal motion model of flexible chassis[J].Journal of Agricultural Mechanization Research,2011,33 (4):219-222.(in Chinese)
3 Schupbach R M,Balda J C.A versatile laboratory test bench for developing power trains of electric vehicles[C]∥2002 IEEE 56th Vehicular Technology Conference,2002,3:1666-1670.
4 郭孔辉,丁金全,许男,等.汽车惯性参数测量试验台运动学分析与计算方法[J].农业机械学报,2014,45(6):1-6.Guo Konghui,Ding Jinquan,Xu Nan,et al.Kinematic analysis and calculation of automobile inertial parameters measuring device[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(6):1-6.(in Chinese)
5 陈晓明.电动汽车试验台测控系统研究与开发[D].西安:长安大学,2006.
6 Alcala I,Claudio A,Guerrero G.Test bench to emulate an electric vehicle through equivalent inertia and machine DC[C]∥11th IEEE International Power Electronics Congress,2008:198-203.
7 Lungoci C,Bouquain D,Miraoui A,et al.Modular test bench for a hybrid electric vehicle with multiples energy sources[C]∥11 th International Conference on Optimization of Electrical and Electronic Equipment,2008:299-306.
8 罗禹贡,李深,周磊,等.电动汽车复合制动动态试验台的研发[J].汽车工程,2012,36(4):351-355.Luo Yugong,Li Shen,Zhou Lei,et al.The development of dynamic test bench for EV hybrid brake system[J].Automotive Engineering,2012,36(4):351-355.(in Chinese)
9 郭啸峰,吴森.轮毂电机式电动汽车试验台的设计与实验[J].武汉理工大学学报:信息与管理工程版,2013,35(6):859-862,874.Guo Xiaofeng,Wu Sen.Design and experiment study of test bench for in-wheel motor electric vehicles[J].Journal of Wuhan University of Technology:Information&Management Engineering,2013,35(6):859-862,874.(in Chinese)
10 He Hongwen,Sun Fengchun,Jie Xing.Dynamic simulation and experiment of electric drive system on test bench[C]∥2007IEEE International Conference on Vehicular Electronics and Safety,2007:1-4.
11 梅娜,郭康权,路敌,等.柔性底盘驱动控制系统设计[J].农机化研究,2010,32(4):112-113,122.
12 杨露,郭康权,丁新民.基于电桥电路的温室作业柔性底盘转向控制系统的设计[J].农机化研究,2013,35(9):151-155.Yang Lu,Guo Kangquan,Ding Xinmin.The steering control system design of flexible chassis for conservatory work based on bridge circuit[J].Journal of Agricultural Mechanization Research,2013,35(9):151-155.(in Chinese)
13 西北农林科技大学.一种四轮独立驱动独立转向底盘试验装置:中国,2013202573742[P].2013-05-13.
14 谭建成.永磁无刷直流电机技术[M].北京:机械工业出版社,2013.
15 吕威,郭孔辉,张建伟.电动助力转向综合前馈和模糊PID反馈的电流控制算法[J].农业机械学报,2010,41(8):10-15.LüWei,Guo Konghui,Zhang Jianwei.Feed-forward integrated with fuzzy PID feedback current control algorithm in electric power steering[J].Transactions of the Chinese Society for Agricultural Machinery,2010,41(8):10-15.(in Chinese)
16 张为春,曾祥军.基于模糊PID控制的汽车底盘模拟测功机测控系统[J].农业机械学报,2006,37(12):17-19,45.Zhang Weichun,Zeng Xiangjun.Research on vehicle chassis dynamometer of MCG-200 based on fuzzy-PID[J].Transactions of the Chinese Society for Agricultural Machinery,2006,37(12):17-19,45.(in Chinese)
17 陈文科,陈志,王志,等.万向电动底盘控制系统设计[J].农业机械学报,2013,44(6):19-23,34.Chen Wenke,Chen Zhi,Wang Zhi,et al.Control system design of omni directional electric chassis[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(6):19-23,34.(in Chinese)
18 孟庆华,许进,王东峰.轮毂电机驱动型电动汽车动力系统研究[J].农业机械学报,2013,44(8):33-37,20.Meng Qinghua,Xu Jin,Wang Dongfeng.Power system of electric vehicle driven by in-wheel motors[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(8):33-37,20.(in Chinese)
19 张小龙,潘登,盛丹丹,等.新标准下汽车平顺性虚拟道路试验系统与评价方法[J].农业机械学报,2013,44(12):45-51.Zhang Xiaolong,Pan Deng,Sheng Dandan,et al.Virtual roadway test system and valuation method for vehicle ride comfort based on new test regulation[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(12):45-51.(in Chinese)
20 张小龙,潘登,姜山,等.基于加速度的汽车悬架位移实时测试方法试验研究[J].农业机械学报,2013,44(10):15-22.Zhang Xiaolong,Pan Deng,Jiang Shan,et al.Experiment on real-time test method for automotive suspension distance based on acceleration[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(10):15-22.(in Chinese)
2 路敌,郭康权.柔性底盘的转向运动模型[J].农机化研究,2011,33(4):219-222.Lu Di,Guo Kangquan.Divert cal motion model of flexible chassis[J].Journal of Agricultural Mechanization Research,2011,33 (4):219-222.(in Chinese)
3 Schupbach R M,Balda J C.A versatile laboratory test bench for developing power trains of electric vehicles[C]∥2002 IEEE 56th Vehicular Technology Conference,2002,3:1666-1670.
4 郭孔辉,丁金全,许男,等.汽车惯性参数测量试验台运动学分析与计算方法[J].农业机械学报,2014,45(6):1-6.Guo Konghui,Ding Jinquan,Xu Nan,et al.Kinematic analysis and calculation of automobile inertial parameters measuring device[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(6):1-6.(in Chinese)
5 陈晓明.电动汽车试验台测控系统研究与开发[D].西安:长安大学,2006.
6 Alcala I,Claudio A,Guerrero G.Test bench to emulate an electric vehicle through equivalent inertia and machine DC[C]∥11th IEEE International Power Electronics Congress,2008:198-203.
7 Lungoci C,Bouquain D,Miraoui A,et al.Modular test bench for a hybrid electric vehicle with multiples energy sources[C]∥11 th International Conference on Optimization of Electrical and Electronic Equipment,2008:299-306.
8 罗禹贡,李深,周磊,等.电动汽车复合制动动态试验台的研发[J].汽车工程,2012,36(4):351-355.Luo Yugong,Li Shen,Zhou Lei,et al.The development of dynamic test bench for EV hybrid brake system[J].Automotive Engineering,2012,36(4):351-355.(in Chinese)
9 郭啸峰,吴森.轮毂电机式电动汽车试验台的设计与实验[J].武汉理工大学学报:信息与管理工程版,2013,35(6):859-862,874.Guo Xiaofeng,Wu Sen.Design and experiment study of test bench for in-wheel motor electric vehicles[J].Journal of Wuhan University of Technology:Information&Management Engineering,2013,35(6):859-862,874.(in Chinese)
10 He Hongwen,Sun Fengchun,Jie Xing.Dynamic simulation and experiment of electric drive system on test bench[C]∥2007IEEE International Conference on Vehicular Electronics and Safety,2007:1-4.
11 梅娜,郭康权,路敌,等.柔性底盘驱动控制系统设计[J].农机化研究,2010,32(4):112-113,122.
12 杨露,郭康权,丁新民.基于电桥电路的温室作业柔性底盘转向控制系统的设计[J].农机化研究,2013,35(9):151-155.Yang Lu,Guo Kangquan,Ding Xinmin.The steering control system design of flexible chassis for conservatory work based on bridge circuit[J].Journal of Agricultural Mechanization Research,2013,35(9):151-155.(in Chinese)
13 西北农林科技大学.一种四轮独立驱动独立转向底盘试验装置:中国,2013202573742[P].2013-05-13.
14 谭建成.永磁无刷直流电机技术[M].北京:机械工业出版社,2013.
15 吕威,郭孔辉,张建伟.电动助力转向综合前馈和模糊PID反馈的电流控制算法[J].农业机械学报,2010,41(8):10-15.LüWei,Guo Konghui,Zhang Jianwei.Feed-forward integrated with fuzzy PID feedback current control algorithm in electric power steering[J].Transactions of the Chinese Society for Agricultural Machinery,2010,41(8):10-15.(in Chinese)
16 张为春,曾祥军.基于模糊PID控制的汽车底盘模拟测功机测控系统[J].农业机械学报,2006,37(12):17-19,45.Zhang Weichun,Zeng Xiangjun.Research on vehicle chassis dynamometer of MCG-200 based on fuzzy-PID[J].Transactions of the Chinese Society for Agricultural Machinery,2006,37(12):17-19,45.(in Chinese)
17 陈文科,陈志,王志,等.万向电动底盘控制系统设计[J].农业机械学报,2013,44(6):19-23,34.Chen Wenke,Chen Zhi,Wang Zhi,et al.Control system design of omni directional electric chassis[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(6):19-23,34.(in Chinese)
18 孟庆华,许进,王东峰.轮毂电机驱动型电动汽车动力系统研究[J].农业机械学报,2013,44(8):33-37,20.Meng Qinghua,Xu Jin,Wang Dongfeng.Power system of electric vehicle driven by in-wheel motors[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(8):33-37,20.(in Chinese)
19 张小龙,潘登,盛丹丹,等.新标准下汽车平顺性虚拟道路试验系统与评价方法[J].农业机械学报,2013,44(12):45-51.Zhang Xiaolong,Pan Deng,Sheng Dandan,et al.Virtual roadway test system and valuation method for vehicle ride comfort based on new test regulation[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(12):45-51.(in Chinese)
20 张小龙,潘登,姜山,等.基于加速度的汽车悬架位移实时测试方法试验研究[J].农业机械学报,2013,44(10):15-22.Zhang Xiaolong,Pan Deng,Jiang Shan,et al.Experiment on real-time test method for automotive suspension distance based on acceleration[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(10):15-22.(in Chinese)
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