轮边电驱动铰接客车驱动力矩分配控制策略研究

发布时间：2018-06-12 09:30

本文选题：轮边驱动 + 铰接客车　；参考：《北京理工大学》2016年博士论文

【摘要】：多轴轮边电驱动铰接客车是一种全新型式的分布式驱动电动汽车,具有车身容量大,路面适应性强和零排放等优点,是大中型城市缓解交通压力并减少城市空气污染的最佳车型之一。然而,由于铰接盘装置的引入增加了整车结构的复杂性,整车动力学协调控制与能量优化分配目标高度耦合,同时整车还受到行驶工况、路面环境等随机性因素的影响,对其进行安全、高效的动力学控制具有挑战性。本文以多轴轮边电驱动铰接客车为研究对象,针对整车动力学建模及驱动力矩分配问题,主要开展了以下研究工作:⑴针对多轴轮边电驱动铰接客车整车动力学建模问题,将整车车身简化成由铰接盘连接的前部和后部两个车身刚体,利用希林多刚体动力学建模方法和若丹虚功率原理,针对此种构型建立了包括铰接盘转角等广义坐标在内的十一自由度整车动力学模型,为后续的整车纵向动力学与侧向动力学控制策略的制定与仿真奠定了基础。⑵针对多轴轮边电驱动铰接客车质心位置参数估计问题,提出了H∞-EKF滤波和H∞-UKF滤波联合估计算法。该算法利用分布式驱动电动汽车的输入转矩与转速可以实时获取的特点,仅用车辆的纵向动力学特性就可实现对车辆质心位置估计;引入的∞算法解决了因系统模型和噪声统计特性不准会降低质心位置估计精度的问题,为车辆驱动力矩分配控制提供了依据。⑶针对车辆纵向行驶工况的轴间驱动力矩分配问题,提出了一种带有效率模型的驱动防滑控制策略。对于一般纵向行驶工况,应用离线优化与响应面预测模型的方法构建了轴间驱动力矩分配效率模型;对于低附着路面行驶工况,提出了基于滑模控制算法的驱动防滑控制策略。仿真结果表明:在中国典型城市工况下,相对于中轴、后轴驱动转矩平均分配控制策略,基于效率模型的控制策略可使整车总体能量消耗降低5.82%;当车辆行驶在低附着对接、对开等复杂路面时,带有驱动转矩低选的驱动防滑控制策略能够将滑移率控制在15-20%合理区间内,保证车辆的行驶稳定性。⑷针对车辆非极限转向行驶工况的同轴轮间驱动力矩分配问题,提出了一种兼顾驱动效率与横摆角速度控制目标的车辆横摆力矩控制策略。该策略以前部车体所组成的两轴四轮车辆作为控制参考对象推导了整车的横摆角速度跟踪控制目标,根据整车能耗最低的原则对附加横摆力矩分配问题进行了离线优化,并利用优化数据搭建了BP神经网络控制预测模型,实现了轮间驱动力矩的分配控制。仿真结果表明:在初速为20km/h的低初速加速转向行驶工况和50km/h的高初速转向行驶工况,与驱动转矩平均分配策略相比,该策略在满足驾驶纵向动力性需求情况下,横摆角速度累积跟踪误差分别减少21.7%和10.2%,同时整车能耗分别降低了1.75%和4.16%。⑸搭建了双电机轮边驱动特性试验台,对双电机转矩输出的一致性和效率特性进行了台架试验研究。参考汽车整车控制器“V”模式开发流程,进行了驱动控制器的开发,并利用课题开发的18米轮边电驱动铰接客车样车进行了实车道路试验,验证了控制策略的有效性。
[Abstract]:Multi axle wheel side electric driven articulated bus is a new type of distributed drive electric vehicle. It has the advantages of large capacity, strong adaptability and zero emission. It is one of the best vehicles to alleviate traffic pressure and reduce urban air pollution in large and medium-sized cities. However, the introduction of hinged disc device increases the complexity of the whole vehicle structure. At the same time, the whole vehicle dynamic coordinated control is highly coupled with the energy optimization assignment target, and the vehicle is also affected by the random factors such as the driving condition, the road environment and so on. The dynamic control of the vehicle is challenging. In this paper, the multi axle wheel side electric driven articulated passenger car is taken as the research object, and the dynamic modeling and driving of the whole vehicle are carried out. The following research work is carried out in the following aspects: (1) the vehicle body is simplified into two body rigid bodies in the front and rear parts connected by an articulated disc, and a package is established by using the hilin multi rigid body dynamic modeling method and the principle of Dan virtual power. The eleven degree of freedom vehicle dynamic model, including the generalized coordinates of the hinged disc angle, lays the foundation for the formulation and Simulation of the following vehicle longitudinal dynamics and lateral dynamics control strategy. (2) the H infinity -EKF filter and the H infinity -UKF filter are proposed for the estimation of the centroid position parameters of the multi axle wheel side electric driven articulated bus. The algorithm uses the characteristics of real-time acquisition of the input torque and speed of the distributed drive electric vehicle. The estimation of the center of mass of the vehicle can be achieved only by the longitudinal dynamic characteristics of the vehicle. The proposed algorithm solves the problem that the accuracy of the centroid position estimation can be reduced because of the system model and the noise statistical characteristics, and the vehicle is a vehicle. The driving torque distribution control provides a basis. (3) a driving anti slip control strategy with efficiency model is proposed for the problem of axle driving torque distribution in the longitudinal driving condition of the vehicle. For the general longitudinal driving condition, an off-axis driving torque distribution efficiency model is constructed by using the square method of off-line optimization and response surface prediction model. The driving slip control strategy based on sliding mode control algorithm is proposed for the running condition of low attached pavement. The simulation results show that under the typical urban conditions of China, the average distribution control strategy of the rear axle drive torque is compared with the middle axis, and the overall energy consumption of the vehicle can be reduced by 5.82%, and the vehicle is running when the vehicle runs in the case of the efficiency model. With low attachment and docking, the driving torque control strategy with low driving torque can be controlled in a reasonable 15-20% interval to ensure the driving stability of the vehicle with low driving torque. 4. Aiming at the problem of the driving torque distribution between the coaxial wheels in the non limit steering driving condition of the vehicle, a kind of balance between the driving efficiency and the yaw angle is proposed. The vehicle yaw moment control strategy of the speed control target. The two axis four wheel vehicle consisting of the former car body is used as the control reference object to deduce the yaw speed tracking control target of the whole vehicle. According to the principle of the lowest energy consumption of the whole vehicle, the problem of the additional yaw moment distribution is optimized off-line, and the optimized data is built. The BP neural network control prediction model is used to realize the distribution control of the wheel drive torque. The simulation results show that the strategy is compared with the average driving torque distribution strategy at the low initial speed driving working condition and the high initial speed steering working condition of 50km/h at the initial speed of 20km/h. The tracking error of degree accumulation is reduced by 21.7% and 10.2% respectively. At the same time, the energy consumption of the whole vehicle is reduced by 1.75% and 4.16%. respectively. The double motor wheel side driving test bench is set up. The test research on the consistency and efficiency characteristic of the torque output of the double motor is carried out. The driving controller is carried out with reference to the development process of the "V" model of the vehicle controller. The development of a 18 meter wheel side electric drive articulated bus prototype is carried out on a real vehicle road test, and the effectiveness of the control strategy is verified.
【学位授予单位】：北京理工大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：U469.72

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