融合辅助转向功能的电动轮汽车电子差速控制研究

发布时间：2018-05-13 19:34

本文选题：电动轮 + 后轮驱动　；参考：《江苏大学》2016年硕士论文

【摘要】：电动轮汽车以其传动机构简单、各驱动轮转矩独立精确可控等特点,可在车辆转向动力学、驱动力矩分配以及行驶安全性等方面发挥显著优势。本文针对后轮独立驱动电动轮汽车,采用原理分析、控制策略研究、仿真分析和试验这一研究流程,对融合辅助转向的电子差速控制,即电子差速辅助转向控制进行研究,基于电子差速控制原理分配电动轮汽车的驱动转矩,实现基本差速功能和辅助转向功能。首先对电动轮汽车电子差速辅助转向原理进行分析研究,从车辆转向运动学及动力学出发,对车辆转向过程中各驱动轮轮速及受力进行分析,说明电子差速控制对车辆转向行驶的辅助作用以及对转向半径的影响。同时对基于驱动轮转矩分配的电子差速控制进行研究,从车辆横摆力偶矩、车轮侧偏角、转向轮转角及方向盘转矩等方面,分析说明电子差速控制对车辆转向的辅助作用,为后续进一步的电子差速辅助转向研究奠定理论基础。对驱动轮转矩控制策略进行研究,相比于传统汽车机械式差速器的转矩平均分配方式,本文提出多目标综合控制策略,低速时基于阿克曼转向模型的转矩分配策略,结果说明驱动轮转矩控制对车辆转向有一定的辅助作用;高速时对车辆采用横摆力矩控制策略,根据横摆角速度这一车辆稳定性参考值,设计模糊控制器对驱动轮转矩进行分配,实现了基本的电子差速功能,同时一方面有利于车辆稳定性控制,提高行驶安全性,另一方面从过多转向和不足转向特性上说明此转矩控制策略对车辆转向的辅助作用。本文采用Matlab/Simulink和车辆动力学仿真软件Carsim进行联合建模,仿真分析了主要工况下转矩分配策略的控制效果,验证了控制策略的有效性和正确性。根据电子差速控制策略设计出控制器和试验台架,对电机性能和基本的电子差速功能进行台架试验,同时开发后轮独立驱动电动轮汽车进行实车道路试验,为今后进一步应用和验证控制策略奠定基础。
[Abstract]:The electric wheel is characterized by its simple transmission mechanism and the independent precision and controllability of the torque of each driving wheel. It can play a significant advantage in vehicle steering dynamics, driving torque distribution and driving safety. This paper applies the principle analysis, control strategy research, simulation analysis and experiment to the rear wheel independent driving electric wheel vehicle. The process is to study the electronic differential speed control of the fusion auxiliary steering, that is, the auxiliary steering control of the electronic differential speed. Based on the principle of electronic differential control, the driving torque of the electric wheel is allocated, and the basic differential function and auxiliary steering function are realized. The principle of the auxiliary steering of the electric wheel is analyzed and studied, and the steering of the vehicle is analyzed. On the basis of kinematics and dynamics, the speed and force of each wheel in the steering process of the vehicle are analyzed. The auxiliary effect of the electronic differential control on the steering of the vehicle and the influence on the steering radius are explained. At the same time, the electronic differential control based on the torque distribution of the driving wheel is studied, from the lateral pendulum moment of the vehicle, the side angle of the wheel side, and the rotation of the wheel. The auxiliary effect of the electronic differential control on the steering of the vehicle is explained in the aspects of the rotation angle of the wheel and the torque of the steering wheel, which lays a theoretical foundation for the further research on the auxiliary steering of the electronic differential speed. The torque control strategy of the driving wheel is studied. The integrated control strategy is based on the torque allocation strategy based on the Ackerman steering model at low speed. The results show that the torque control of the driving wheel has a certain auxiliary effect on the vehicle steering. The yaw torque control strategy is adopted at high speed, and the torque of the driving wheel is designed by the fuzzy controller according to the stability reference value of the yaw speed. The basic electronic differential function is realized. On the one hand, it is beneficial to the stability control of vehicles and improve the driving safety. On the other hand, the auxiliary function of the torque control strategy to vehicle steering is explained from the characteristics of excessive steering and lack of steering. This paper uses the Matlab/ Simulink and the vehicle dynamics simulation software Carsim to build a joint construction. The control effect of the torque distribution strategy under the main working conditions is simulated and analyzed, and the validity and correctness of the control strategy are verified. According to the electronic differential control strategy, the controller and test stand are designed, the performance of the motor and the basic electronic differential function are tested, and the rear wheel independent driving electric wheel is developed in the same time. Road test lays the foundation for further application and validation of control strategy.

【学位授予单位】：江苏大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U469.72

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