基于轮毂电机和转速差反馈的独立车轮轮对主动导向控制的影响因素

doi:10.3901/JME.2018.08.048

机械工程学报 ›› 2018, Vol. 54 ›› Issue (8): 48-56.doi: 10.3901/JME.2018.08.048

• 特邀专栏：大国重器：复兴之路上的轨道交通技术 • 上一篇下一篇

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基于轮毂电机和转速差反馈的独立车轮轮对主动导向控制的影响因素

季元进, 李锐, 任利惠

同济大学铁道与城市轨道交通研究院上海 201804

收稿日期:2017-05-05 修回日期:2017-12-25 出版日期:2018-04-20 发布日期:2018-04-20
通讯作者: 任利惠(通信作者),男,1970年出生,副教授。研究方向为车辆系统动力学。E-mail:renlihui@tongji.edu.cn
基金资助:
“十二五”国家科技支撑计划资助项目（2015BAG19B02）。

Influence Factors of Active Steering Control of Independent Wheel Set Based on Hub Motor and Speed Difference Feedback

JI Yuanjin, LI Rui, REN Lihui

Institute of Rail Transit, Tongji University, Shanghai 201804

Received:2017-05-05 Revised:2017-12-25 Online:2018-04-20 Published:2018-04-20

摘要/Abstract

摘要： 采用主动导向控制可有效提高独立车轮的导向能力。从永磁同步电机转矩波动的角度出发，分析永磁同步电机转矩波动的来源，计算轮毂电机的转矩波动误差。建立基于左、右轮转速差反馈的轮毂电机独立车轮主动导向控制的仿真模型，研究轮毂电机的转矩波动对轮毂电机独立车轮主动导向控制的影响。通过理论推导和模型仿真计算，当独立轮对转向架在直线上以恒速运行时，轮毂电机系统的控制精度和轮对最大横移量之间存在函数关系，轮毂电机的控制精度越大，轮对的横向位移波动量越大，且车轮踏面的等效斜度和车轮的名义滚动圆半径是二者之间关系的重要影响因素。基于轮毂电机独立车轮主动导向控制精度与轮轨型面之间的关系，提出通过优化踏面来提高独立车轮主动导向效果的方法。

关键词: 独立车轮, 轮毂电机, 主动控制

Abstract: The active steering control can effectively improve the steering ability of independent wheels. Based on the research of torque ripple of the permanent magnet synchronous motor(PMSM), the source of torque ripple of PMSM is analyzed, and the torque ripple error of hub motor is calculated. The simulation model for active steering control of independently rotating wheel in in-wheel motor is established. The effect of torque ripple on active steering control of independently rotating wheel in in-wheel motor is investigated. Through theoretical derivation and model simulation, when the vehicle runs at a constant speed in a straight line, there is a functional relationship between the control accuracy of the hub motor system and the maximum lateral displacement of the wheelset. When the control accuracy of the hub motor becomes worse, the fluctuation amount of the lateral displacement of the wheel pair also becomes larger. Among them, the equivalent conicity of the wheel tread and the wheel's nominal rolling radius are important influencing factors. The relations between the accuracy of active steering control of independently rotating wheel in in-wheel motor and wheel/rail profile are derived. The method which used to improve the active steering control of independently rotating wheel by optimizing the tread is proposed.

Key words: active control, hub motor, independently rotating wheelset

中图分类号:

U270

季元进, 李锐, 任利惠. 基于轮毂电机和转速差反馈的独立车轮轮对主动导向控制的影响因素[J]. 机械工程学报, 2018, 54(8): 48-56.

JI Yuanjin, LI Rui, REN Lihui. Influence Factors of Active Steering Control of Independent Wheel Set Based on Hub Motor and Speed Difference Feedback[J]. Journal of Mechanical Engineering, 2018, 54(8): 48-56.

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基于轮毂电机和转速差反馈的独立车轮轮对主动导向控制的影响因素

Influence Factors of Active Steering Control of Independent Wheel Set Based on Hub Motor and Speed Difference Feedback

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