四轮轮毂电机驱动电动汽车电机/液压系统联合控制策略  

Motor / Hydraulic Systems Combined Control Strategy for Four In-wheel Motor Driven Electric Vehicle

作　　者：杨鹏飞[1,2] 熊璐[1,2] 余卓平 

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

出　　处：《汽车工程》2013年第10期921-926,共6页Automotive 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

摘　　要：针对四轮轮毂驱动电动汽车,以改善车辆稳定性为目标,设计了轮毂电机与液压制动系统联合控制策略。控制器采用分层控制结构,上层应用滑模变结构理论求取广义力,下层采用二次规划法进行转矩优化分配,同时考虑执行器的位置与速度约束。通过CARSIM软件与MATLAB软件的联合仿真进行算法验证。结果表明:在极限工况下,无控制或仅有电机控制的车辆都无法完成仿真工况,而电机系统与液压系统联合的控制策略则可以保证车辆的操纵稳定性。With improving vehicle stability as objective, an in-wheel motors / hydraulic brake system combined-control strategy is designed for four-wheel motor driven vehicles. The controller adopts layered control structure： the upper layer applies sliding mode variable structure theory to obtain the generalized force, while the lower layer uses quadratic programming method to optimize torque distribution, with consideration of the position and speed constraints of actuators. A CARSIM / MATLAB co-simulation is conducted for algorithm verification. The results show that under critical conditions, vehicles without control or controlled only with in-wheel motors can not complete the simulated operation, while the vehicle with in-wheel motor / hydraulic brake system combined-control strategy can assure the handling stability of vehicle.

关 键 词：电动汽车 操纵稳定性 控制策略 转矩分配 执行器 

分 类 号：U469.72[机械工程—车辆工程]