轮毂电机电动汽车再生制动与稳定性控制研究

发布时间：2018-04-15 01:34

本文选题：电动汽车 + 轮毂电机　；参考：《合肥工业大学》2016年硕士论文

【摘要】：随着人们节能环保意识的日益提高,电动汽车成为汽车行业的研究热门。而目前电动汽车的结构多在传统汽车上改装,没有充分施展电机驱动的优势。而轮毂电机电动汽车简化了车辆的结构,具备传动效率高等优点,且各车轮独立可控,为新的动力学控制提供了载体,是电动汽车的终极驱动形式。通过对轮毂电机电动汽车进行分析,建立其纵向动力学模型、驾驶员模型、电池与电机模型、车轮与轮胎模型以及制动系统模型。基于所研究车辆的整车与性能参数,通过性能对比计算,对电机以及电池的关键参数进行选择。在Carsim/Simulink联合仿真环境中,建立了验证模型,对比分析得出,所建立模型的有效性。本文基于制动力分配理论以及ECE法规,在分析三种典型分配策略的基础上,建立了本文再生制动力分配策略。在China_urban以及1015两种城市循环工况下进行仿真分析,分析表明本文控制策略能有效提高能量回收率,验证本文控制策略的有效性。在再生制动系统的基础上,提出了基于分层控制结构的轮毂电机稳定性控制。上层控制器用鲁棒控制理论中的μ控制算法,设计了求解控制器的性能指标以及加权函数,并用模型匹配方法设计控制系统结构,最终决策出进行稳定性控制所需求的横摆力矩。下层控制器将横摆力矩进行分配,可确定所施加制动力的车轮以及制动力大小。在低附着系数路面仿真分析,结果表明,施加稳定性控制的车辆在整个双移线工况有良好的稳定性,而未施加控制的车辆在第三个弯道失稳。同时,施加控制的车辆电池SOC状态比未施加控制有明显上升,表明在稳定性控制时轮毂电机制动能有效的回收能量。
[Abstract]:With the increasing awareness of energy conservation and environmental protection, electric vehicles have become a hot research topic in automobile industry.At present, the structure of electric vehicles is mostly modified on traditional vehicles, which does not give full play to the advantages of motor drive.The hub motor electric vehicle simplifies the structure of the vehicle, has the advantages of high transmission efficiency, and each wheel is independently controllable, which provides a carrier for the new dynamic control and is the ultimate driving form of the electric vehicle.The longitudinal dynamic model, driver model, battery and motor model, wheel and tire model and braking system model are established by analyzing the wheel hub motor electric vehicle.Based on the vehicle and performance parameters, the key parameters of motor and battery are selected by performance comparison and calculation.In the Carsim/Simulink joint simulation environment, the validation model is established, and the validity of the model is obtained by comparison and analysis.Based on the theory of braking force distribution and ECE regulations, this paper establishes the regenerative braking force distribution strategy based on the analysis of three typical allocation strategies.The simulation results show that the proposed control strategy can effectively improve the energy recovery rate and verify the effectiveness of the proposed control strategy.On the basis of regenerative braking system, the stability control of hub motor based on hierarchical control structure is proposed.The upper controller uses the 渭 control algorithm in the robust control theory, designs the performance index and the weighting function of the controller, and designs the structure of the control system with the model matching method.Finally, the yaw torque required for stability control is determined.The lower controller distributes the yaw torque to determine the braking force of the wheel and the size of the braking force.The simulation results on the road with low adhesion coefficient show that the vehicle with the stability control has good stability in the whole double moving line condition, while the vehicle without the control is unstable in the third bend.At the same time, the SOC state of vehicle battery under control is obviously higher than that without control, which indicates that the brake of hub motor can recover energy effectively under stability control.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U469.72

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