复杂动态路面的电动轮附着状态识别与稳定控制策略研究

doi:10.3901/JME.2019.22.113

机械工程学报 ›› 2019, Vol. 55 ›› Issue (22): 113-122.doi: 10.3901/JME.2019.22.113

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复杂动态路面的电动轮附着状态识别与稳定控制策略研究

徐国卿^1,2, 王玉琴¹, 杨影¹, 徐坤²

1. 上海大学机电工程与自动化学院上海 200072;
2. 中国科学院深圳先进技术研究院深圳 518055

收稿日期:2019-09-02 修回日期:2019-12-02 出版日期:2019-11-20 发布日期:2020-02-29
通讯作者: 徐坤(通信作者),男,1982年出生,博士。主要研究方向为电动汽车和机器人的状态估计和智能控制。E-mail:kun.xu@siat.ac.cn
作者简介:徐国卿,男,1967年出生,博士,教授,博士研究生导师。主要研究方向为电动汽车能量变换与智能控制。E-mail:xugq1967@126.com
基金资助:
国家重点研发计划课题（2018YFB0104803）、国家自然科学基金（61603377）和台达电力电子科教发展基金（DREK2018011）资助项目。

Study on Identification of Adhesion State and Stability Control Strategy of Electric Drive Wheel on Complex Dynamic Road

XU Guoqing^1,2, WANG Yuqin¹, YANG Ying¹, XU Kun²

1. School of Mechanics Engineering and Automation, Shanghai University, Shanghai 200072;
2. Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055

Received:2019-09-02 Revised:2019-12-02 Online:2019-11-20 Published:2020-02-29

摘要/Abstract

摘要： 复杂动态路面条件下的轮胎-路面附着稳定性识别与控制对电驱动车辆的安全行驶具有重要意义，但目前仍缺少有效的分析和判定方法。针对复杂动态路面切换的情形，从驱动力-附着力传递特性的角度，分析了路面切换过程中力传递因子的动态行为，提出了基于力传递因子的附着状态识别方法，分析讨论了路面切换后的车辆稳定控制策略。基于CarSim联合仿真对比验证了基于电气参数的力传递因子估计方法的正确性与有效性，结果表明利用力传递因子可以检测出路面附着特性的变化；采用降转矩稳定性控制策略，提高了车辆在路面附着特性变化时的附着稳定性。研究结果对提升电动车辆在复杂路面附着情形的安全性具有重要意义。

关键词: 附着状态, 电气参数, 复杂动态路面, 力传递因子, 稳定控制

Abstract: The identification and control of tire-road adhesion stability under complex dynamic road condition is very important to the safe driving of electric vehicle. The dynamic behavior of the force transfer factor in the process of road surface switching from the perspective of driving-adhesion transfer characteristics is analyzed, a method to identify the adhesion state based on the force transfer factor is proposed, and the vehicle stability control strategy after road surface switching is analyzed and discussed. The validity and effectiveness of the force transfer factor estimation method based on electrical parameters are verified by CarSim combined simulation. The change of road adhesion can be detected by force transfer factor is shown in the results. The reduced torque stability control strategy is adopted to improve the vehicle adhesion stability when the road adhesion characteristics change. The research results are of great significance for improving the safety of electric vehicles on complex road.

Key words: adhesion state, electrical parameters, complex dynamic road, force transfer factor, stability control

中图分类号:

TG156

徐国卿, 王玉琴, 杨影, 徐坤. 复杂动态路面的电动轮附着状态识别与稳定控制策略研究[J]. 机械工程学报, 2019, 55(22): 113-122.

XU Guoqing, WANG Yuqin, YANG Ying, XU Kun. Study on Identification of Adhesion State and Stability Control Strategy of Electric Drive Wheel on Complex Dynamic Road[J]. Journal of Mechanical Engineering, 2019, 55(22): 113-122.

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复杂动态路面的电动轮附着状态识别与稳定控制策略研究

Study on Identification of Adhesion State and Stability Control Strategy of Electric Drive Wheel on Complex Dynamic Road

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