基于滑转率的四轮轮边驱动客车电子差速控制策略
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摘要
针对四轮驱动电动客车电子差速控制问题,考虑车辆转向过程中垂直载荷转移以及转向过程的横向稳定性,提出了以车轮滑转率为控制目标的电子差速控制策略,通过对4个驱动电机进行转矩调节以达到控制目标。在Carsim/Simulink联合仿真平台下进行离线仿真,经验证该策略可以根据不同转向工况对各个驱动电机转矩实时分配,将仿真结果与无电子差速策略的车辆仿真结果进行对比,相同转向工况下采用电子差速策略的车辆比无电子差速策略的车辆具有更好的差速效果和横向稳定性。在基于dSPACE/Infineon-TriCore搭建的硬件在环实验平台上进行半实物仿真,验证该电子差速控制策略的可靠性。
Aiming at the electronic differential problem of four-wheel drive electric bus,considering the vertical load transfer and the lateral stability of the steering process,an electronic differential control strategy based on the wheel slip rate control target was proposed,and the torque was adjusted by four drive motors to achieve the control target. The offline simulation was conducted in the Carsim/Simulink co-simulation platform. It was verified that the electronic differential control strategy can real-time distribute the torque of each drive motor according to different steering conditions.Comparing the simulation results with the vehicle simulation results without the electronic differential strategy,the vehicle with the electronic differential strategy under the same steering conditions had better differential effect and lateral stability than the vehicle without the electronic differential strategy. Finally,the hardware-in-loop simulation system based on d SPACE/Infineon-TriCore was utilized to verify the reliability of the electronic differential control strategy.
Aiming at the electronic differential problem of four-wheel drive electric bus,considering the vertical load transfer and the lateral stability of the steering process,an electronic differential control strategy based on the wheel slip rate control target was proposed,and the torque was adjusted by four drive motors to achieve the control target. The offline simulation was conducted in the Carsim/Simulink co-simulation platform. It was verified that the electronic differential control strategy can real-time distribute the torque of each drive motor according to different steering conditions.Comparing the simulation results with the vehicle simulation results without the electronic differential strategy,the vehicle with the electronic differential strategy under the same steering conditions had better differential effect and lateral stability than the vehicle without the electronic differential strategy. Finally,the hardware-in-loop simulation system based on d SPACE/Infineon-TriCore was utilized to verify the reliability of the electronic differential control strategy.
引文
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[2]孙明江.轮毂电机电动汽车电子差速控制研究[D].锦州:辽宁工业大学,2016.
[3] CASTELLI-DEZZA F,GALMARINI G. Design and realization of a quadricycle for urban mobility[C]//2014 9th International Conference on Ecological Vehicles and Renewable Energies. New York:IEEE Computer Society,2014.
[4]靳立强,王庆年,张缓缓.电动轮驱动汽车差速性能试验研究[J].中国机械工程,2007,18(21):2632-2636.
[5]唐自强,龚贤武,赵轩.分布式驱动汽车自适应差速仿真研究[J].合肥工业大学学报(自然科学版),2017,40(10):1320-1325.
[6]葛英辉,倪光正.新型电动车电子差速控制策略研究[J].浙江大学学报(工学版),2005,12(39):1973-1978.
[7]赵艳娥,张建武.轮毂电机驱动电动汽车电子差速系统研究[J].系统仿真学报,2008,18(20):4767-4771.
[8]吴浩.轮毂式电动汽车电子差速鲁棒控制研究[D].武汉:武汉科技大学,2013.
[9]严运兵.后驱电动轮汽车电子差速控制影响因素分析[J].汽车工程,2014(36):210-215.
[10]臧怀泉,戴彦,张素燕,等.一种基于相对滑移率的电动汽车电子差速控制方法研究[J].机械工程学报,2017,53(16):112-119.
[11]卢山峰,徐兴,陈龙,等.轮毂电机驱动汽车电子差速与差动助理转向的协调控制[J].机械工程学报,2017,53(16):78-84.
[12]余志生.汽车理论[M]. 5版.北京:机械工业出版社,2008.
[13]陈东,徐寅,梁华军.双电机后轮驱动混合动力汽车电子差速控制的研究[J].汽车工程,2013,35(1):46-50.
[14]熊璐,陈晨.基于Carsim/Simulink联合仿真的分布式驱动电动汽车建模[J].系统仿真学报,2014(26):1143-1148.