考虑系统不确定性的分布式驱动电动汽车纵向动力学研究

doi:10.3901/JME.260446

摘要/Abstract

摘要： 现阶段，分布式驱动电动汽车的动力学分析和控制均基于确定性动力学模型。然而，系统参数的随机扰动、状态变量和传感信息的不确定性误差，导致基于确定性模型的控制系统难以适应复杂路况。为此，文中考虑了轮地作用过程中的轮载波动、路面附着系数分布非均匀等随机扰动因素，建立轮地不确定性模型；结合轮地不确定性模型分别开展硬/软路面工况下的动力学仿真试验，通过对试验结果的深入分析，提出轮地作用约束与轮端控制约束之间的“张弛理论”。以寄生功率、牵引效率、附加横摆力矩为评价指标，结合轮地不确定性模型进行统计学扰动分析，进一步阐明了轮地接触状态与控制模式之间的内在联系，进而提出了变模驱动控制机制。多工况仿真试验结果表明，与单一控制模式相比，变模驱动控制模式能够有效降低寄生功率和附加横摆力矩，并稳定保持较高的牵引效率，验证了所提出理论方法的正确性和有效性。

关键词: 分布式驱动电动汽车, 张弛理论, 寄生功率, 转矩控制, 转速控制

Abstract: At present, the dynamic analysis and control of distributed-drive electric vehicles are based on deterministic dynamic models. However, the random perturbation of system parameters, along with uncertainties in state variables and sensor information, causes control systems based on deterministic models to struggle in adapting to complex road conditions. To address this, the influence of random disturbances such as wheel load fluctuations and non-uniform distribution of road surface adhesion coefficients in the wheel-ground interaction process is considered, and a wheel-ground uncertainty model is established. Dynamics simulation experiments are conducted under both hard and soft road conditions using the wheel-ground uncertainty model. In-depth analysis of the experimental results leads to the proposal of a "Tension-Relaxation Theory " between the wheel-ground interaction constraints and wheel-end control constraints. Using parasitic power, traction efficiency, and additional yaw moment as evaluation indices, statistical disturbance analysis is performed in conjunction with the wheel-ground uncertainty model. This further clarifies the inherent relationship between the wheel-ground contact state and control modes, ultimately leading to the proposal of a mode-switching drive control mechanism. Multi-condition simulation results indicate that, compared to a single control mode, the mode-switching drive control mechanism effectively reduces parasitic power and additional yaw moment while maintaining stable and high traction efficiency, thereby verifying the correctness and effectiveness of the proposed theoretical method.

Key words: distributed drive electric vehicle, tension-relaxation theory, parasitic power, torque control, speed control

中图分类号:

U461

熊璐, 韩寅锋, 冷搏, 刘铭, 朴文海, 韩伟. 考虑系统不确定性的分布式驱动电动汽车纵向动力学研究[J]. 机械工程学报, 2026, 62(8): 246-258.

XIONG Lu, HAN Yinfeng, LENG Bo, LIU Ming, PIAO Wenhai, HAN Wei. Research on Longitudinal Dynamics of Distributed Drive Electric Vehicles Considering the System Uncertainties[J]. Journal of Mechanical Engineering, 2026, 62(8): 246-258.

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链接本文: http://www.cjmenet.com.cn/CN/10.3901/JME.260446

http://www.cjmenet.com.cn/CN/Y2026/V62/I8/246

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