四轮独立驱动轮毂电机电动汽车ABS与再生制动协调控制研究

发布时间：2018-01-07 23:15

本文关键词：四轮独立驱动轮毂电机电动汽车ABS与再生制动协调控制研究　出处：《辽宁工业大学》2016年硕士论文　论文类型：学位论文

【摘要】：四轮独立驱动轮毂电机电动汽车四轮力矩独立可控,在主动安全和节能控制方面具独特优势。论文依托国家自然科学基金青年基金项目(51305190)和企业四轮独立电驱动模型车技术开发项目进行四轮独立驱动轮毂电机电动汽车ABS控制策略、再生制动控制策略、ABS与再生制动协调控制策略的研究。通过对四轮再生制动力矩的合理分配,实现在保证制动效能和制动稳定性的前提下对制动能量进行充分的回收。论文研究内容主要包括以下几个方面:(1)四轮独立驱动轮毂电机电动汽车建模。应用Matlab/Simulink软件搭建悬架系统模型、轮胎模型、驾驶员模型、电机模型和电池模型,通过与车辆动力学仿真软件CarSim联合仿真搭建了四轮独立驱动轮毂电机电动汽车整车模型。(2)ABS控制策略研究。设计了两种ABS控制策略:以车轮滑移率和滑移率变化率为控制目标的ABS模糊控制策略;以车轮滑移率和车轮角加/减速度为控制目标的ABS逻辑门限值控制控制策略,选取高附着路面、低附着路面、对开路面和对接路面,对所设计的ABS逻辑门限值控制策略进行高速紧急制动仿真试验,验证模型的有效性。(3)再生制动控制策略研究。设计了以制动强度为控制目标的四轮独立驱动轮毂电机电动汽车再生制动控制策略,针对中小制动强度工况,选取几种典型循环工况和三种不同制动强度工况,对所设计的再生制动控制策略进行仿真试验,验证模型的有效性。(4)ABS与再生制动协调控制策略研究。基于ABS控制策略和再生制动控制策略的研究,设计了以制动踏板开度和车速为控制目标的ABS与再生制动控制策略,针对大制动强度工况,选取高附着路面、低附着路面、对开路面和对接路面,对所设计的ABS与再生制动协调控制策略进行了高速紧急制动仿真试验,验证模型的有效性。(5)驾驶模拟器硬件在环试验验证。基于以上的研究,选取小制动强度工况,对所设计的再生制动控制策略进行硬件在环试验;选取高附着路面、低附着路面和对开路面,对所设计的ABS与再生制动协调控制策略进行硬件在环试验,验证模型的有效性。试验结果表明:所设计的ABS控制策略在高速危险工况下具有较好的制动效能和制动稳定性;再生制动控制策略在中小制动强度下能对制动能量进行充分的回收;ABS与再生制动协调控制策略在高速紧急制动工况下,既保证了车辆制动稳定性,还能对制动能量进行充分的回收,实现了能量的再生利用。
[Abstract]:Four wheel independent drive hub motor electric vehicle four-wheel torque independently controllable. It has a unique advantage in active safety and energy saving control. This paper relies on the project of National Natural Science Foundation Youth Foundation No. 51305190). The ABS control strategy of four-wheel independent drive hub motor electric vehicle is carried out with the technology development project of enterprise four-wheel independent electric drive model car. The research on the coordination control strategy of ABS and regenerative braking. Through the rational distribution of regenerative braking torque of four wheels. Under the premise of ensuring braking efficiency and braking stability, the braking energy can be fully recovered. The research contents of this paper mainly include the following aspects: 1). Modeling of electric vehicle with four-wheel independent drive hub motor. The suspension system model is built with Matlab/Simulink software. Tire model, driver model, motor model and battery model. The model of electric vehicle with four-wheel independent drive wheel motor is built by combined simulation with vehicle dynamics simulation software CarSim. The study of ABS control strategy. Two kinds of ABS control strategies are designed: ABS fuzzy control strategy with wheel slip ratio and slip rate change as the control target; The ABS logic threshold control strategy, which takes wheel slip ratio and wheel angle acceleration / deceleration as the control target, selects high adhesion pavement, low adhesion road surface, open pavement and docking pavement. The designed ABS logic threshold control strategy is simulated by high speed emergency braking. To verify the effectiveness of the model, the regenerative braking control strategy is studied. The regenerative braking control strategy of four-wheel independent drive wheel motor electric vehicle with braking intensity as the control target is designed. According to the medium and small braking strength conditions, several typical cycle conditions and three different braking intensity conditions are selected to simulate the regenerative braking control strategy. Verify the effectiveness of the model. 4ABS and regenerative braking coordinated control strategy research. Based on the ABS control strategy and regenerative braking control strategy research. ABS and regenerative braking control strategy are designed to control the brake pedal opening and speed. According to the condition of large braking strength, high adhesion road, low adhesion road, open pavement and docking pavement are selected. The design of coordinated control strategy of ABS and regenerative braking is simulated by high-speed emergency braking to verify the validity of the model. 5) the hardware of driving simulator is tested in loop. Based on the above research. Select the small braking strength condition, carry on the hardware in loop test to the regenerative braking control strategy designed; Select high adhesion road surface, low adhesion road surface and open road surface, and carry out hardware in loop test on the coordinated control strategy of ABS and regenerative braking. The experimental results show that the designed ABS control strategy has good braking efficiency and braking stability under high speed and dangerous conditions. The regenerative braking control strategy can fully recover the braking energy under the medium and small braking strength. The coordinated control strategy of ABS and regenerative braking can not only guarantee the braking stability of vehicle under the condition of high speed emergency braking, but also fully recover the braking energy and realize the regeneration and utilization of the energy.
【学位授予单位】：辽宁工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U469.72

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