轮毂电机驱动式电动汽车驱动悬挂系统集成控制方法

张鹏; 王洪新; 程振邦

doi:10.13433/j.cnki.1003-8728.20220083

轮毂电机驱动式电动汽车驱动悬挂系统集成控制方法

doi: 10.13433/j.cnki.1003-8728.20220083

皖西学院机械与车辆工程学院, 安徽六安 237012

基金项目:

安徽高校自然科学研究重点项目 KJ2020A0625

安徽高校自然科学研究重点项目 KJ2020A0626

电气传动与控制安徽普通高校重点实验室开放基金项目 DQKJ202006

皖西学院校级自然科学研究重点项目 WXZR202021

皖西学院教师国内访学研修项目 wxxygnfx2021005

详细信息

作者简介:
张鹏(1991-), 讲师, 硕士, 研究方向为汽车悬架设计与动力学, 502145956@qq.com

中图分类号: U463.3
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- 文章访问数: 129
- HTML全文浏览量: 101
- PDF下载量: 29
- 被引次数: 0
出版历程
- 收稿日期: 2021-09-06
- 刊出日期: 2022-10-25

Integrated Control Method for Drive Suspension Systems in Hub Motor-driven Electric Vehicles

School of Mechanical and Vehicle Engineering, West Anhui University, Lu'an 237012, Anhui, China

摘要

摘要: 本文对轮毂电机驱动式电动汽车驱动悬挂系统集成控制方法进行研究, 构建包含扭转振动模型、纵向振动模型及垂向振动模型的轮毂电机驱动式电动汽车耦合动力学模型及路面模型, 在此基础上, 设计模糊控制器、滑模控制器及PID控制器, 集成各控制器协调互补控制电动汽车的主动前轮转向、目标横摆力矩以及主动悬架, 实现对电动汽车驱动悬挂系统的集成控制。结果表明: 在该方法的集成协调控制下, 可以显著降低峰值处的车体侧向加速度与横摆角速度, 并实现质心垂向加速度与侧偏角的有效抑制, 提升电动汽车的综合性能, 显著改善汽车行驶中的悬架动行程与轮毂电机定转子位移, 提升汽车的操纵平稳性与乘坐舒适性, 并且可以降低汽车行驶时撞击限位的几率, 保障轮毂电机驱动式电动汽车的稳定行驶。
- 轮毂电机 /
- 驱动悬挂系统 /
- 集成控制 /
- PID控制器 /
- 主动悬架
Abstract: The integrated control method for a hub motor-driven EV drive suspension system is studied in this paper. The coupling-dynamic model of a hub motor-driven EV and road excitation model are constructed, including the torsional, longitudinal and vertical vibration models. Then, the fuzzy, sliding mode and proportional-integral-derivative controllers are designed on this basis, and each controller is integrated to coordinate and complementarily control the active front-wheel steering, target yaw moment and active suspension of an EV. The integrated control of the drive suspension system of an EV is realized. The results reveal that the lateral acceleration and yaw rate of the vehicle body at the peak can be significantly reduced under the integrated and coordinated control using this method. Moreover, the vertical acceleration and yaw angle of the mass centre can be effectively suppressed, and the comprehensive performance of the EV can be improved. This method can significantly improve the dynamic stroke of the suspension and the hub motor stator and rotor displacement during driving, improving the handling stability and ride comfort of the vehicle. Further, this method can reduce the probability of impact during vehicle driving and ensure the stable driving of a hub motor-driven EV.
- hub motor /
- drive suspension system /
- integrated control /
- PID controller /
- active suspension

HTML全文

图 1 轮毂电机汽车的模型图

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图 2 基于粒子群优化的PID控制结构图

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图 3 前轮转角输入情况

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图 4 本文方法控制前后动力学仿真结果

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图 5 本文方法控制前后的悬架动行程与定转子位移变化情况

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表 1 汽车仿真模型关键参数

参数名称	数值
轮毂电机定子质量	56.4 kg
轮胎质量	5.8 kg
车轮轮毂电机定转子转动惯量	0.38 kg·m²
轮胎径向阻尼	535 N·s/m
轮毂电机轴承刚度	4.8×10⁵ N/m
轮胎表面纵向阻尼	1.16×10⁵ N·s/m
轮胎旋转阻尼	16 N·s/m
空气悬架衬套阻尼	126 N·s/m
玻尔兹曼常量	1.4
空气弹簧起始横截面积	0.008 9 m²
车轮滚动半径	0.245 m
簧载质量	334 kg
轮胎的转动惯量	0.6 kg·m²
车轮轮毂电机转子质量	59.4 kg
空气弹簧起始容积	2.29×10^-3 m³
轮胎旋转刚度	8.16×10⁴ N/m
轮胎表面纵向刚度	1.04×10⁶ N/m
轮胎垂直方向残余刚度	2.44×10⁵ N/m
空气悬架衬套刚度	2.49×10⁴ N/m
空气悬架减震器阻尼	2 200 N·s/m
空气弹簧起始气压	3.06×10⁵ Pa
轮胎径向刚度	1.98×10⁶ N/m

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