分布式驱动电动汽车动力学控制发展现状综述  

Review on Vehicle Dynamics Control of Distributed Drive Electric Vehicle

作　　者：余卓平[1,2] 冯源[1,2] 熊璐[1,2] 

机构地区：[1]同济大学汽车学院,上海201804 [2]同济大学新能源汽车工程中心,上海201804

出　　处：《机械工程学报》2013年第8期105-114,共10页Journal of Mechanical Engineering

基　　金：国家重点基础研究发展计划(973计划;2011CB711200);国家自然科学基金(51105278)资助项目

摘　　要：回顾分布式驱动电动汽车动力学控制问题。分布式驱动电动汽车的主要结构特征是将驱动电动机直接安装在驱动轮内或驱动轮附近,具有驱动传动链短、传动高效、结构紧凑等突出优点。电动机既是汽车的信息单元,又是快速反应的控制执行单元,且通过独立控制电动机驱/制动转矩容易实现多种动力学控制功能。分布式驱动电动汽车为驱动防滑与制动防抱死控制提供更迅速更精确的执行器,但其对状态估计的精度和控制算法的鲁棒性要求也进一步提高。分布式驱动电动汽车直接横摆力矩控制控制与传统的直接横摆力矩控制相比,涵盖从常规到极限的全工况范围,因此算法须对非线性的轮胎特性有更好的自适应性。差速、差动驱动助力转向和车身姿态等控制尚处于起步研究阶段。为解决多个动力学控制间的协调问题,集成控制成为分布式驱动电动汽车动力学控制的一个重要发展方向。The vehicle dynamics control problem of the dis^buted drive electric vehicle is reviewed. The main features of the distributed drive electric vehicle is that electric motors are mounted directly in wheels or nearby wheels, which lead to a short and efficient transmission chain, also a compact structure. The electric motor can provide not only quick responses, but also important information. A variety of dynamics control functions can be easily implemented by controlling the drive or brake torque of the electric motor. The distributed drive electric vehicle offers the traction control and anti-lock braking control more rapid and more accurate actuators, but further improvement is needed on both the precision of the state estimation and the robustness of the control algorithm. Compared with the traditional direct yaw moment control, the direct yaw moment control of the distributed drive electric vehicle covers from the conventional condition to the critical cornering condition, but higher requirement is needed on the algorithm adaptation of the nonlinear tire characteristic. The research on the electric differential control, the differential drive assist steering control and the attitude control are still in the infant stage. To eliminate the control conflict between different objectives, the integrated control becomes one of the most important development trends of the distributed drive electric vehicle.

关 键 词：分布式驱动电动汽车 汽车动力学控制 驱动防滑控制 制动防抱死控制 直接横摆力矩控制 运动跟踪控制 转矩分配控制 

分 类 号：U46[机械工程—车辆工程]