双轮毂电机电子差速系统结构及控制策略研究

发布时间：2018-06-27 17:51

本文选题：电动汽车 + 轮毂电机　；参考：《河北联合大学》2014年硕士论文

【摘要】：当今社会，能源与环境问题已经成为制约经济和社会发展的重要因素。为了降低能源消耗、减小环境污染，人们开发出了以清洁能源作为动力，具有零污染、零排放的纯电动汽车。目前轮毂电机驱动式电动汽车以其简单的机械传动结构，较高的驱动效率，低廉的成本等诸多优点已成为日益发展、研究的热点，，但轮毂电机驱动式电动汽车采用传统的机械差速器，难以实现车辆的顺利转向。因此文章设计了电子差速器以解决这一问题。文章对机械差速器进行了动力学分析，并利用其原理对软件进行了设计，从而实现了电子差速的控制方案。本文的电动汽车采用前轮驱动方式，将两轮毂电机放置在两个前轮，作为驱动轮，由两个独立的控制器分别控制，另外还分析了电机的结构和原理，并建立了它的数学模型，通过分析电机特定的参数关系，得出控制器应控制的参数，建立电子差速控制系统，提出适合电动汽车的调速方案。同时文章完成了电子防滑控制系统的设计，包括轮速传感器的选择，轮速识别方法的选择、机械锁止机构的设计，以及电子单元的控制。另外，文章还完成了电子差速系统硬件的选择及硬件电路的设计、软件的设计，建立了更具体的电子差速控制模型。最后利用MATLAB/Simulink仿真软件，对电子差速系统进行了模拟仿真分析。通过仿真结果验证，电子差速控制系统设计合理，差速效果良好。电子差速控制器的设计，解决了用轮毂电机驱动式电动汽车的转向问题。同时相比于传统的机械差速器，避免了复杂的机械传动结构，再者由于不用考虑路面及转向角度的问题，对其控制计算方法也进行了简化，提高了控制系统的稳定性，使车辆具有更佳的转弯性能和控制响应。
[Abstract]:Nowadays, energy and environment problems have become an important factor restricting economic and social development. In order to reduce energy consumption and environmental pollution, a pure electric vehicle with zero pollution and zero emission has been developed. At present, with the advantages of simple mechanical transmission structure, high driving efficiency, low cost and so on, the wheel motor driven electric vehicle has become a hot spot in the research. However, the traditional mechanical differential is used in the hub motor driven electric vehicle, so it is difficult to realize the smooth steering of the vehicle. Therefore, electronic differential is designed to solve this problem. In this paper, the dynamic analysis of mechanical differential is carried out, and the software is designed based on its principle, thus realizing the control scheme of electronic differential speed. In this paper, the electric vehicle adopts the front wheel drive mode, the two hub motors are placed in two front wheels, which are controlled by two independent controllers. In addition, the structure and principle of the motor are analyzed, and its mathematical model is established. By analyzing the specific parameter relationship of the motor, the parameters to be controlled by the controller are obtained, the electronic differential speed control system is established, and the speed regulation scheme suitable for the electric vehicle is put forward. At the same time, the design of electronic anti-skid control system is completed, including the selection of wheel speed sensor, the selection of wheel speed identification method, the design of mechanical locking mechanism, and the control of electronic unit. In addition, the selection of hardware, the design of hardware circuit and the design of software are completed, and a more specific electronic differential control model is established. Finally, the electronic differential system is simulated and analyzed by MATLAB / Simulink software. The simulation results show that the electronic differential control system is reasonably designed and the differential speed effect is good. The design of electronic differential controller solves the steering problem of electric vehicle driven by hub motor. At the same time, compared with the traditional mechanical differential, the complex mechanical transmission structure is avoided. Furthermore, the control calculation method is simplified and the stability of the control system is improved because the road surface and steering angle are not considered. Make the vehicle better turn performance and control response.
【学位授予单位】：河北联合大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U469.72;TM33

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