留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

分布式驱动越野汽车驱动防滑控制

郭存涵 苏小平

郭存涵, 苏小平. 分布式驱动越野汽车驱动防滑控制[J]. 机械科学与技术, 2019, 38(4): 608-612. doi: 10.13433/j.cnki.1003-8728.20180215
引用本文: 郭存涵, 苏小平. 分布式驱动越野汽车驱动防滑控制[J]. 机械科学与技术, 2019, 38(4): 608-612. doi: 10.13433/j.cnki.1003-8728.20180215
Guo Cunhan, Su Xiaoping. Acceleration Slip Regulation of Distributed Driving Off-road Electric Vehicle[J]. Mechanical Science and Technology for Aerospace Engineering, 2019, 38(4): 608-612. doi: 10.13433/j.cnki.1003-8728.20180215
Citation: Guo Cunhan, Su Xiaoping. Acceleration Slip Regulation of Distributed Driving Off-road Electric Vehicle[J]. Mechanical Science and Technology for Aerospace Engineering, 2019, 38(4): 608-612. doi: 10.13433/j.cnki.1003-8728.20180215

分布式驱动越野汽车驱动防滑控制

doi: 10.13433/j.cnki.1003-8728.20180215
详细信息
    作者简介:

    郭存涵(1994-), 硕士研究生, 研究方向为汽车主动安全控制, 汽车与机械系统虚拟样机技术研究, guocunhan@outlook.com

    通讯作者:

    苏小平, 教授, 博士生导师, suxiaoping@vip.163.com

  • 中图分类号: TP391.9

Acceleration Slip Regulation of Distributed Driving Off-road Electric Vehicle

  • 摘要: 分布式驱动越野汽车具有动力性能好、路面适应力强等优点,发展前景很好,但是四轮车速不一致会导致控制方法复杂度高。针对这一问题,基于四个车轮不同的加速度,首先计算最大驱动扭矩,建立基于加速度信息的滑转率观测器,然后以最大驱动扭矩为界限,控制各个电机的输出扭矩,使滑转率维持在最佳滑转率附近,从而达到驱动防滑的目的。最后与Carsim进行了联合仿真,结果表明控制方法能够快速显著地降低汽车车轮的滑转率,验证了控制方法的有效性。
  • 图  1  汽车1/4动力学模型

    图  2  滑转率观测器

    图  3  控制方法实现过程

    图  4  Carsim-Simulink联合仿真

    图  5  对接路面仿真实验

    图  6  对开路面仿真实验

  • [1] 褚文博, 罗禹贡, 李克强.基于失效工况的分布式电驱动越野车辆驱动力协调控制[J].清华大学学报:自然科学版, 2013, 53(10):1476-1480 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=qhdxxb201310021

    Chu W B, Luo Y G, Li K Q. Failure based traction coordination control for a distributed electric off-road vehicle[J]. Journal of Tsinghua University:Science and Technology, 2013, 53(10):1476-1480(in Chinese) http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=qhdxxb201310021
    [2] 余卓平, 冯源, 熊璐.分布式驱动电动汽车动力学控制发展现状综述[J].机械工程学报, 2013, 49(8):105-114 http://d.old.wanfangdata.com.cn/Periodical/jxgcxb201308015

    Yu Z P, Feng Y, Xiong L. Review on vehicle dynamics control of distributed drive electric vehicle[J]. Journal of Mechanical Engineering, 2013, 49(8):105-114(in Chinese) http://d.old.wanfangdata.com.cn/Periodical/jxgcxb201308015
    [3] 李军, 苏炎召, 隗寒冰, 等.四轮驱动混合动力汽车驱动防滑控制策略的研究[J].汽车工程, 2017, 39(3):296-303 http://d.old.wanfangdata.com.cn/Periodical/qcgc201703009

    Li J, Su Y Z, Wei H B, et al. A research on the acceleration slip regulation strategy for a four wheel drive hybrid electric vehicle[J]. Automotive Engineering, 2017, 39(3):296-303(in Chinese) http://d.old.wanfangdata.com.cn/Periodical/qcgc201703009
    [4] Mi C T, Lin H, Zhang Y. Iterative learning control of antilock braking of electric and hybrid vehicles[J]. IEEE Transactions on Vehicular Technology, 2005, 54(2):486-494 doi: 10.1109/TVT.2004.841552
    [5] Hori Y. Future vehicle driven by electricity and control-research on four-wheel-motored "UOT Electric March Ⅱ"[J]. IEEE Transactions on Industrial Electronics, 2004, 51(5):954-962 doi: 10.1109/TIE.2004.834944
    [6] Yin D, Hori Y. A novel traction control of EV based on maximum effective torque estimation[C]//Proceedings of 2008 IEEE Vehicle Power and Propulsion Conference. Harbin, China: IEEE, 2008: 1-6
    [7] 张婷.分布式驱动电动车辆的驱动防滑控制研究[D].南京: 南京理工大学, 2017

    Zhang T. Research on the drive anti-slip control of distributed drive electric vehicle[D]. Nanjing: Nanjing University of Science and Technology, 2017(in Chinese)
    [8] 马宝忠, 任传波, 周继磊.含分数阶导数的1/4悬架模型时滞反馈控制研究[J].科学技术与工程, 2017, 17(21):89-96 doi: 10.3969/j.issn.1671-1815.2017.21.015

    Ma B Z, Ren C B, Zhou J L. The research on 1/4 vehicle suspension model based on delay feedback control with fractional derivative[J]. Science Technology and Engineering, 2017, 17(21):89-96(in Chinese) doi: 10.3969/j.issn.1671-1815.2017.21.015
    [9] Pacejka H B, Bakker E. The magic formula tyre model[J]. Vehicle System Dynamics, 1992, 21(S1):1-18 http://www.wanfangdata.com.cn/details/detail.do?_type=perio&id=10.1080/00423110500384371
    [10] Park J S. The Simulink Programming Language[M]. Korean:A-Jin Publishing Co., Ltd., 2005
    [11] Zhang F, Xuan H, Zhao Q, et al. A finite state machine model of lane-changing in microscopic traffic simulation[J]. System Simulation and Scientific Computing, Vols 1 and 2, Proceedings http://www.ir.xjtu.edu.cn/item/ir/110102
    [12] 李志魁.基于CarSim的整车动力学建模与操纵稳定性仿真分析[D].长春: 吉林大学, 2007

    Li Z K. Modeling, simulation and analysis of automotive handling and stability based on CarSim[D]. Changchun: Jilin University, 2007(in Chinese)
    [13] 付翔, 孙威, 黄斌, 等.基于指数加权衰减记忆无迹卡尔曼滤波的路面附着系数估计[J].汽车技术, 2018(1):31-37 http://d.old.wanfangdata.com.cn/Periodical/qcjs201801007

    Fu X, Sun W, Huang B, et al. Estimation of road adhesion coefficient based on fading memory unscented Kalman filtering with exponential weighting[J]. Automobile Technology, 2018(1):31-37(in Chinese) http://d.old.wanfangdata.com.cn/Periodical/qcjs201801007
    [14] 齐志权, 王宝锋, 裴晓飞, 等.基于路面特征参数和制动防抱调节特征的路面识别方法[J].汽车工程, 2014, 36(3):310-315 doi: 10.3969/j.issn.1000-680X.2014.03.011

    Qi Z Q, Wang B F, Fei X F, et al. A method of road surface identification based on road characteristics and the features of antilock braking adjustment[J]. Automotive Engineering, 2014, 36(3):310-315(in Chinese) doi: 10.3969/j.issn.1000-680X.2014.03.011
    [15] 邱灿文, 阳林, 李金畅, 等.车辆在对开路面的制动仿真研究[J].农业装备与车辆工程, 2018, 56(3):45-47, 54 doi: 10.3969/j.issn.1673-3142.2018.03.011

    Qiu C W, Yang L, Li J C, et al. Research on braking simulation of vehicles on off-road[J]. Agricultural Equipment & Vehicle Engineering, 2018, 56(3):45-47, 54(in Chinese) doi: 10.3969/j.issn.1673-3142.2018.03.011
  • 加载中
图(6)
计量
  • 文章访问数:  292
  • HTML全文浏览量:  154
  • PDF下载量:  40
  • 被引次数: 0
出版历程
  • 收稿日期:  2018-06-21
  • 刊出日期:  2019-04-05

目录

    /

    返回文章
    返回