前后独立驱动电动汽车转矩分配与驱动防滑协调控制
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U469.7

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国家重点研发计划项目(2018YFB0106100)。


Coordinated control of torque distribution and acceleration slip regulation for front- and rear-independent-drive electric vehicles
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    摘要:

    为了提升前后独立驱动四驱电动汽车的综合性能,提出了一种集成前后轴转矩分配和驱动防滑功能的协调控制策略(coordinated control strategy, CCS)。分别设计了基于经济性最优的前后轴转矩分配控制器和基于滑模控制理论的驱动防滑控制器。在此基础上,设计了集成两种控制器工作效能的协调控制策略。与已有集成控制策略不同,提出的策略不是将转矩分配与驱动防滑两种控制功能简单组合,而是在综合考虑车辆的安全性、经济性和动力性条件下进行合理且有效的集成。在常规工况下,车辆默认遵循经济性原则,同时控制器实时监测各车轮的滑移率。当路面条件恶化、无法满足经济性行驶时,在保证安全性的前提下,进行适当的转矩补偿,最大限度地利用路面附着条件,尽可能保障车辆的动力性不受影响。在MATLAB/CarSim环境下对提出的协调控制策略进行仿真验证的结果表明,在加速踏板开度分别为10%、30%、50%时,与传统集成控制策略(traditional integrated control strategy, TICS)相比,所提出的CCS使车辆的动力性能分别提升15.3%、35.6%、4.5%。

    Abstract:

    In order to improve the overall performance of front- and rear-independent-drive electric vehicles, a coordinated control strategy (CCS) is proposed to integrate the control actions of front-rear torque distribution controller and acceleration slip regulation controller. Firstly, an economy-oriented torque distribution controller and an acceleration slip regulation controller based on sliding mode control theory are designed. Then, a coordinated control strategy integrating the effects of the two controllers is proposed. Different from the existing integrated control strategies, instead of a simple combination of front-rear torque distribution and acceleration slip regulation control, the proposed strategy is a reasonable and effective integration which takes into consideration of vehicle safety, economy and dynamic performance. Under normal driving conditions, the vehicle operates in an economic mode by default, and the proposed CCS monitors the slip ratio of each wheel in real time. When the road condition deteriorates and economic driving cannot be sustained, appropriate torque compensation is applied without jeopardizing vehicle safety. By this means, road adhesion is made full use of and vehicle dynamic performance is optimized. Finally, the proposed CCS is verified through simulation studies in the MATLAB/CarSim environment. The simulation results show that when the opening of the accelerator pedal is 10%, 30% and 50%, the proposed CCS improves the vehicle dynamic performance by 15.3%, 35.6% and 4.5%, respectively, compared to traditional integrated control strategy (TICS).

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郭聪,傅春耘,翟钧,曹开斌,罗荣华,刘洋,潘宏伟,乔帅鹏.前后独立驱动电动汽车转矩分配与驱动防滑协调控制[J].重庆大学学报,2022,45(10):97-112.

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  • 收稿日期:2021-05-13
  • 最后修改日期:2021-06-24
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  • 在线发布日期: 2022-11-01
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