• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2015, Vol. 51 ›› Issue (16): 29-40.doi: 10.3901/JME.2015.16.029

• 汽车非线性动力学及其在复杂机电控制中的应用 • 上一篇    下一篇

双电机分布式驱动汽车高速稳定性机电耦合控制

张利鹏1,2, 李亮2, 祁炳楠3, 宋健2   

  1. 1.燕山大学车辆与能源学院 秦皇岛 066004
    2.清华大学汽车安全与节能国家重点实验室北京 100084
    3.燕山大学信息科学与工程学院 秦皇岛 066004
  • 出版日期:2015-08-20 发布日期:2015-08-20
  • 基金资助:
    国家自然科学基金(51405259)和国家博士后科学基金(2014T70072,2013M530608)资助项目

High Speed Stability Electromechanical Coupling Control for Dual-motor Distributed Drive Electric Vehicle

ZHANG Lipeng1,2, LI Liang2, QI Bingnan3, SONG Jian2   

  1. 1.College of Vehicle and Energy, Yanshan University, Qinhuangdao 066004
    2.State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084
    3.School of Electrical Engineering, Yanshan University, Qinhuangdao 066004
  • Online:2015-08-20 Published:2015-08-20

摘要: 为了利用所设计的双电机防滑差速驱动系统来提高分布式驱动汽车的动力学性能,在前期同轴耦合驱动控制理论研究的基础上,开展该车的高速稳定性机电耦合控制研究。建立并验证包含所设计驱动系统在内的分布式驱动汽车的人-车系统14自由度空间动力学模型;以横摆角速度和质心侧偏角为状态变量,基于模糊规则设计动力学稳定性控制器;制定整车失稳的判定条件,辨识控制系统参数;利用施加机电耦合控制所产生的附加直接横摆力矩,实现极限工况下的整车高速稳定性控制。结果表明,采用机电耦合控制,除了可以实现两侧分布式驱动系统的动力耦合,起到增强车辆高速稳定性的作用,还能够协调两侧驱动系统的转矩输出,抑制驱动力矩波动,降低电机和控制器的工作强度。

关键词: 电动汽车, 分布式驱动, 机电耦合, 稳定性控制

Abstract: The advantage of the designed dual-motor anti-slip differential drive system is taken to improve the dynamics performance of the distributed drive electric vehicle. On the basis of the early research on the coaxial coupling traction control theory, the high speed stability electromechanical coupling control strategy for the vehicle is carried out. A 14 degrees of freedom space dynamics model for the driver-vehicle system of the distributed drive vehicle is established and verified, in which the model of the designed drive system is included. The yaw rate and the sideslip angle are taken as the control variables, and a dynamic stability controller is designed based on a specific fuzzy rules. The vehicle instability judgment condition is developed and the control system parameters are identified. The vehicle high speed stability control in the ultimate working conditions is achieved based on the direct yaw-moment generated by the electromechanical coupling controller. The results show that the electromechanical coupling controller not only can play a role in enhancing the vehicle high speed stability by implementing the dynamic coupling of the dual-motor distributed drive systems, but also can coordinate the torque output from both of the drive systems, so the fluctuation of the driving torque is inhibit, and the work intensity of the motors and the controller is reduced.

Key words: distributed drive, electric vehicle, electromechanical coupling, stability control

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