电动汽车电子差速控制系统研究

发布时间：2019-01-21 17:14

【摘要】：多轮独立驱动电动汽车简化了传统传动系统,并在驱动力分配和车辆动力学控制方面有着明显的优势,在企业和高校中越来越成为新能源汽车研发的对象。近年来,在多轮独立驱动电动汽车动力学控制的关键技术研究方面,已经有了很多关于电子差速、横摆角速度控制、驱动防滑等的研究。本文以后轮独立驱动电动汽车“新火一号”为研究对象,提出了一种考虑车辆侧倾运动的电子差速控制策略。在车辆转弯时,车辆在离心力的作用下,各个车轮的垂直载荷将会发生重新分配,已有很多学者据此进行驱动力分配的研究。本文在此基础上,考虑到车辆转弯时车身质心的侧偏也会对车轮的垂直载荷转移产生影响,并对此研究提出了新的电子差速控制策略。首先,进行了转弯时车辆的动力学分析,分别分析了簧上质量的离心力、簧下质量的离心力和车身质心偏移对车轮垂直载荷转移所产生的影响。其次,根据研究对象“新火一号”在CarSim中建立车辆动力学模型,在MATLAB /Simulink中搭建控制策略模型,两者进行联合仿真,验证多种不同工况下电子差速控制策略的控制效果。再次,本文设计开发了一款电子差速控制器,围绕所选的电子差速控制器芯片飞思卡尔MC9S12XEP100进行设计,采用Altium Designer完成电子差速控制器硬件开发,在软件开发方面,使用了MATLAB/Simulink的模块Real-timeWorkshop的代码自动生成功能,并在CodeWarriorV5.1中完成程序的整合。最后,在“新火一号”上应用了设计的电子差速控制器,进行了实车试验。试验结果表示,本文设计的考虑侧倾因素的电子差速控制策略能在直线工况下控制车辆直线稳定行驶,在转弯工况下实现电子差速控制的差力和差速效果。
[Abstract]:Multi-wheel independent drive electric vehicle simplifies the traditional transmission system and has obvious advantages in driving distribution and vehicle dynamics control. It has become the object of new energy vehicle research and development in enterprises and universities. In recent years, there have been a lot of researches on electronic differential speed, yaw speed control, driving anti-skid and so on, in the key technology of multi-wheel independent drive electric vehicle dynamic control. In this paper, an electronic differential speed control strategy considering the roll motion of a rear wheel independent drive electric vehicle "Xinhuo No. 1" is proposed. When the vehicle turns, the vertical load of each wheel will be redistributed under the action of centrifugal force, and many scholars have studied the distribution of driving force. On this basis, considering that the sideslip of body mass center will also affect the vertical load transfer of the wheel during turning, a new electronic differential control strategy is proposed in this paper. Firstly, the dynamic analysis of the vehicle during turning is carried out, and the influence of centrifugal force on the spring mass, the centrifugal force of the mass under the spring and the deviation of the body mass on the vertical load transfer of the wheel is analyzed respectively. Secondly, according to the research object "Xinhuo No. 1", the vehicle dynamics model is established in CarSim and the control strategy model is built in MATLAB / Simulink. The two models are simulated jointly to verify the control effect of the electronic differential speed control strategy under different working conditions. Thirdly, this paper designs and develops an electronic differential controller, which is designed around the selected electronic differential controller chip Freescale MC9S12XEP100. The hardware of the electronic differential controller is developed by Altium Designer, and the software is developed. Using the MATLAB/Simulink module Real-timeWorkshop code automatic generation function, and in CodeWarriorV5.1 to complete the integration of the program. Finally, the designed electronic differential controller is applied to Xinhuo No.1, and the actual vehicle test is carried out. The experimental results show that the electronic differential control strategy designed in this paper, considering the roll factor, can control the vehicle running stably in a straight line, and realize the differential force and the differential effect of the electronic differential control under the turning condition.
【学位授予单位】：浙江大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U469.72

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