基于失效工况的分布式电驱动越野车辆驱动力协调控制  

Failure based traction coordination control for a distributed electric off-road vehicle

作　　者：褚文博[1] 罗禹贡[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：《清华大学学报（自然科学版）》2013年第10期1476-1480,共5页Journal of Tsinghua University(Science and Technology)

基　　金：国家"九七三"重点基础研究发展计划(2011CB711204);科技部国际科技合作计划资助课题(2010DFA72760);北京市优秀人才培养资助项目(2011D009004000001)

摘　　要：针对分布式电驱动越野车辆在失效控制工况下,传统失效控制方法导致驱动能力减弱、通过能力降低的缺点,提出了分布式电驱动越野车辆驱动力协调控制方法。该方法以驱动力响应速率、驱动力限值为线性约束,以满足越野路面低速行驶时的纵向驱动需求为优化目标,同时考虑降低失效驱动轮使用等级,据此建立了由目标二次函数和线性约束所组成的二次规划问题,并采用起作用集合的方法对该问题进行优化求解,求解得出的驱动力协调控制方案符合电机特性,满足了越野车辆纵向驱动需求,降低了电机负荷率。实车实验表明,通过驱动力协调控制可以使得车辆在失效工况下继续保持驱动性能并有效保护电机。The control system of conventional traction systems will fail with failure of a drive motor in electric off-road vehicles with distributed drives on all four wheels. This paper presents a dynamic coordinated control strategy that includes wheel force saturation and rate limitations as constraints with the desired longitudinal traction force as the optimization objective. The system also reduces the usage priority of a failed motor. The method is implemented in a dynamic control allocation method using constrained quadratic programming, which is solved by the active set method. Trial results show that the strategy maintains drive capability, reduces impact forces and protects the motors during failures.

关 键 词：分布式电驱动越野车辆 失效控制 驱动系统失效 

分 类 号：U469.72[机械工程—车辆工程]