四轮独立驱动电动汽车轮胎力及整车行驶状态集成观测

发布时间：2018-09-08 20:01

【摘要】：为应对能源危机与环境污染的双重挑战,保持人类的可持续发展,电动汽车已成为全球汽车工业研究的热点。其中,四轮独立驱动(4WID)电动汽车由于其诸多潜力与优势被视为未来汽车的发展方向。其驱动结构变革带来控制自由度的提高,使得4WID电动汽车在主动安全控制系统方面极具潜力。然而,主动安全控制系统准确实施的前提是车辆当前状态的准确获取,但直接测量某些车辆状态信息的车载传感器价格极其昂贵,且信号受环境的影响较大。因此,如何根据低成本车载传感器实时准确地估计这些不易测量的状态是4WID电动汽车稳定性控制系统的关键问题。本文采用多种状态观测理论与方法,实现对4WID电动车辆重要状态信息的集成观测。主要研究工作如下:1、介绍了4WID电动汽车的发展现状和技术特点,汽车状态观测的国内外研究现状和意义。然后推导了4WID电动汽车整车数学模型,分析轮胎模型与车身动力学之间的连接关系,建立基于“魔术轮胎”的七自由度(7DOF)整车仿真模型。采用Car Sim车身动力学仿真软件验证整车仿真模型的正确性,为集成状态观测奠定基础。2、针对4WID电动汽车轮毂电机的转速和转矩易于获取的特点设计轮胎纵向力观测器;采用低成本的车载传感器,构建基于随机卡尔曼滤波(RKF)算法的轮胎侧向力观测器和基于卡尔曼滤波(KF)算法的纵向速度观测器;继而利用轮胎力和纵向速度的观测值,构建基于神经网络左逆(NNLI)的质心侧偏角观测器,实现了车身状态参数集成观测器的构建,并在不同工况下进行了联合仿真研究。3、搭建了4WID电动汽车的软硬件试验平台,基于半实物仿真系统DS1103对轮胎侧向力观测器和纵向速度观测器进行了实验验证。仿真和实验结果表明:线性或非线性工况下的集成观测器都具有较好的观测效果。
[Abstract]:In order to meet the dual challenges of energy crisis and environmental pollution and maintain the sustainable development of human beings, electric vehicles have become a hot spot in the global automotive industry. Among them, four wheel independent drive (4WID) electric vehicle is regarded as the future development direction of automobile because of its many potentialities and advantages. The change of driving structure leads to the improvement of control degree of freedom, which makes 4WID electric vehicle have great potential in active safety control system. However, the premise of accurate implementation of active safety control system is the accurate acquisition of the current state of the vehicle, but the price of the vehicle sensor which directly measures some vehicle state information is extremely expensive, and the signal is greatly affected by the environment. Therefore, how to estimate these unmeasurable states accurately and in real time based on low-cost on-board sensors is the key problem in the stability control system of 4WID electric vehicles. In this paper, a variety of state observation theories and methods are used to realize the integrated observation of the important state information of 4WID electric vehicles. The main research work is as follows: 1. This paper introduces the development and technical characteristics of 4WID electric vehicle, and the research status and significance of vehicle state observation at home and abroad. Then, the mathematical model of 4WID electric vehicle is derived, the connection between tire model and body dynamics is analyzed, and the simulation model of 7DOF vehicle based on "Magic Tire" is established. The Car Sim vehicle dynamics simulation software is used to verify the correctness of the vehicle simulation model, which lays a foundation for the integrated state observation. Aiming at the characteristics of the speed and torque of the hub motor of 4WID electric vehicle, a tire longitudinal force observer is designed. The tire lateral force observer based on stochastic Kalman filter (RKF) algorithm and the longitudinal velocity observer based on Kalman filter (KF) algorithm are constructed by using low cost vehicle sensor. Based on the neural network left inverse (NNLI), the centroid side angle observer is constructed, and the integrated observer of body state parameters is constructed. The joint simulation research. 3. The software and hardware test platform of 4WID electric vehicle are built. The tire lateral force observer and longitudinal velocity observer are verified based on the hardware-in-the-loop simulation system DS1103. The simulation and experimental results show that the integrated observer under linear or nonlinear conditions has a good observation effect.
【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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