后轮独立驱动电动汽车电子差速控制方法的研究

发布时间：2018-01-26 19:03

本文关键词： 电子差速终端滑模遗传算法 CarSim　出处：《长春工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：当今社会能源危机、环境污染日趋严重,节能环保成为当今社会的主要课题。电动汽车凭借其无污染、低能耗等特点,近几年得到了迅速地发展。虽然电动汽车发展迅速,但与传统的燃油汽车相比,一些关键技术仍然比较落后。其中,电子差速技术是电动汽车的关键技术之一。本文基于国内外电动汽车电子差速控制技术领域研究成果基础上进行了一定的研究。本文依据纯电动汽车的整车动力学结构,结合整车通过多传感器采集得到的相关数据,在Matlab/Simulink环境下建立9自由度车辆模型。同时将9自由度整车数学模型进行线性化和简化处理,得到7自由度线性系统的状态空间模型。通过分析确定车轮滑移率为衡量车辆差速性能优劣的重要因素。首先,本文基于标准的??-曲线,设定模糊规则,构建模糊路面识别控制器,实时估算路面利用附着系数和最优滑移率。在此基础之上,以各轮最优滑移率以及后两轮滑移率一致为目标,基于滑模变结构控制算法设计电子差速控制器,合理分配两后轮驱动力矩实现电子差速的功能。同时考虑外界干扰以及测量误差等因素的存在使得系统不够精确,进而将外界干扰不确定项引入到系统状态方程中,并基于终端滑模变结构控制理论设计电子差速控制器,同时采用遗传算法对终端滑模中的参数进行优化设计,提高电子差速控制器的可靠性。最后,建立Car Sim/Simulink联合仿真平台,设计两种不同的仿真工况,将常规滑模变结构控制策略和遗传算法参数优化的终端滑模变结构控制策略进行仿真实验对比分析,仿真实验结果表明本文提出的两种电子差速控制策略均能实现车辆的差速功能,而后者具有更好的控制性能。
[Abstract]:Nowadays, energy crisis and environmental pollution are becoming more and more serious. Energy saving and environmental protection have become the main topic of the society. Electric vehicles (EV) have the characteristics of non-pollution and low energy consumption. Electric vehicles (EV) have developed rapidly in recent years, but compared with traditional fuel vehicles, some key technologies are still relatively backward. Electronic differential speed technology is one of the key technologies of electric vehicle. Based on the research results in the field of electronic differential control technology of electric vehicle at home and abroad, this paper does some research. Learning structure. Combined with the whole vehicle through the multi-sensor collection of relevant data. The 9-DOF vehicle model is established in Matlab/Simulink environment, and the mathematical model of 9-DOF vehicle is linearized and simplified. The state space model of a linear system with 7 degrees of freedom is obtained. The wheel slip ratio is determined as an important factor to evaluate the differential speed performance of a vehicle through analysis. Firstly, this paper is based on the standard? ? -curve, set up fuzzy rules, construct fuzzy pavement identification controller, estimate road surface adhesion coefficient and optimal slip ratio in real time. The electronic differential controller is designed based on sliding mode variable structure control algorithm, aiming at the optimal slip ratio of each wheel and the consistent slip ratio of the two rear wheels. The function of electronic differential speed can be realized by reasonably allocating the driving torque of two rear wheels, and the system is not accurate enough due to the existence of external interference and measurement error. Then the external disturbance uncertainty is introduced into the state equation of the system and the electronic differential controller is designed based on the terminal sliding mode variable structure control theory. At the same time genetic algorithm is used to optimize the parameters of the terminal sliding mode. The reliability of the electronic differential controller is improved. Finally, the Car Sim/Simulink joint simulation platform is established and two different simulation conditions are designed. The conventional sliding mode variable structure control strategy and the terminal sliding mode variable structure control strategy optimized by genetic algorithm are compared and analyzed by simulation experiments. The simulation results show that the two electronic differential control strategies proposed in this paper can achieve the differential speed function of the vehicle, and the latter has better control performance.
【学位授予单位】：长春工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U469.72;TP273

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