轮毂电机电动汽车驱动防滑控制研究

发布时间：2018-10-26 09:38

【摘要】：随着环境污染与雾霾问题的日益严峻,导致可再生能源备受关注,而适合可再生能源驱动的新能源汽车成为近年来研究的热点。两前轮转向、后轮驱动的轮毂电机电动汽车是较有发展前景的一种。轮毂电机电动汽车整车质量低、驱动轮独立可控、转矩转速易于测得,与传统内燃机汽车相比在车辆动力学控制和驱动力分配方面有其独特的优势。依托辽宁省教育厅项目“双永磁同步轮毂电机驱动电动汽车控制器研制”,论文进行了驱动防滑控制方面的研究。首先,在总结国内外相关研究成果的基础上,针对两轮毂电机独立驱动电动汽车开展了关于驱动防滑控制方面的研究。基于CarSim-Matlab/Simulink联合仿真平台建立电动车动力学模型并进行对比验证。其次,在对路面数据库进行分析和优化的基础上设计了路面识别算法,采用模糊控制器实现对当前路面峰值附着系数和最优滑转率的估计;分别设计了PID控制、模糊控制、自适应模糊PID控制器,以路面识别算法识别出的最优滑转率为目标,对驱动轮进行驱动防滑控制仿真验证;通过对比仿真结果,选取控制效果较好的自适应模糊PID控制作为驱动防滑最终的控制算法进行硬件在环实验。最后,针对电动车行驶时复杂的路况,设置了典型的三种实验工况;应用辽宁工业大学汽车驾驶模拟器硬件在环实验台对所研究内容进行实验验证;实验结果表明:路面识别算法能够迅速准确的识别出路面信息;基于路面识别的自适应模糊PID控制能够很好的将实际滑转率控制在最优,抑制了驱动轮的过度滑转。
[Abstract]:With the increasing severity of environmental pollution and haze problems, renewable energy has attracted much attention, and new energy vehicles, which are suitable for renewable energy, have become a hot research topic in recent years. Two front wheel steering and rear wheel drive electric vehicle with hub motor is one of the most promising vehicles. Wheel motor electric vehicle is of low quality, independent and controllable driving wheel, easy to measure torque and speed. Compared with traditional internal combustion engine vehicle, it has its unique advantages in vehicle dynamics control and driving force distribution. Based on the project of Liaoning Provincial Education Department, "dual permanent magnet synchronous hub motor drive electric vehicle controller", the paper carries on the research of driving anti-slip control. Firstly, on the basis of summarizing the related research results at home and abroad, the research on driving anti-skid control of two hub motor independent drive electric vehicles is carried out. The dynamic model of electric vehicle based on CarSim-Matlab/Simulink simulation platform is established and compared. Secondly, based on the analysis and optimization of the pavement database, the pavement identification algorithm is designed, and the fuzzy controller is used to estimate the peak adhesion coefficient and the optimal slip rate of the pavement. The PID control fuzzy control and adaptive fuzzy PID controller are designed respectively. The optimal slip rate identified by the road recognition algorithm is taken as the target and the driving wheel is simulated to verify the anti-slip control. By comparing the simulation results, the adaptive fuzzy PID control, which has better control effect, is selected as the ultimate control algorithm for driving anti-skid, and the hardware in loop experiment is carried out. Finally, aiming at the complex road conditions of electric vehicles, three typical experimental conditions are set up, and the contents of the research are verified by using the hardware of the vehicle driving simulator of Liaoning University of Technology in the ring test bench. The experimental results show that the road recognition algorithm can recognize the road information quickly and accurately, and the adaptive fuzzy PID control based on the road surface recognition can control the actual slip rate to the best, which can restrain the excessive slip of the driving wheel.
【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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