基于控制分配的四轮独立电驱动车辆驱动力分配算法  

A Study on Driving Force Distribution of Four-Wheel-Independent Drive Electric Vehicle Based on Control Allocation

作　　者：王博[1] 罗禹贡[1] 范晶晶[1] 李克强[1] 

机构地区：[1]清华大学,汽车安全与节能国家重点实验室,北京100084

出　　处：《汽车工程》2010年第2期128-132,共5页Automotive Engineering

基　　金：国家自然科学基金(50805081)资助

摘　　要：针对目前四轮独立电驱动车辆研究中尚未有效解决的系统失效控制问题,提出了一种基于控制分配的驱动力分配算法。首先建立了满足车辆经济性要求的目标函数和相关约束条件,通过优化保证在正常驱动状态下整车具有最佳的经济性能。接着基于控制分配原理对故障电机驱动转矩进行约束处理,使目标转矩能够在多种失效情况下实现再分配,有效解决了多驱动电机系统失效控制问题。最后,仿真结果验证了所提出的算法能在安全约束下有效地改善车辆的经济性,并系统地提升了车辆应对故障的能力。Aiming at the unsolved problem of system failure control in the researches on four wheel independent drive electric vehicle,a driving force distribution algorithm based on control allocation method is proposed.First,the objective function and constraint conditions for meeting the requirements of vehicle fuel economy are set up,and an optimization is conducted to assure the optimal fuel economy of vehicle in normal driving conditions.Then based on control allocation method,constraints are applied on the driving torque of faulty motors,enabling the redistribution of objective torque in various failure conditions,and the problem of the failure control in multi-driving motor system is solved.Finally the simulation results verify that the proposed algorithm can effectively improve the fuel economy of vehicle under safe constraints and systematically enhance the fault handling capability of vehicle.

关 键 词：电动车辆 四轮独立驱动 控制分配 驱动力分配 

分 类 号：U469.72[机械工程—车辆工程]