电动轮汽车驱动系统的滑模-PID控制  

Sliding mode-PID control of driving system for motorized wheels vehicle

作　　者：段婷婷[1] 王春燕[1] 赵万忠[1] 张玉稳[2] 

机构地区：[1]南京航空航天大学能源与动力学院,江苏南京210016 [2]山东理工大学交通与车辆工程学院,山东淄博255049

出　　处：《江苏大学学报（自然科学版）》2015年第3期260-264,共5页Journal of Jiangsu University：Natural Science Edition

基　　金：国家自然科学基金资助项目(51375007;51205191);南京航空航天大学青年科技创新基金资助项目(NS2012086;NS2013015)

摘　　要：针对电动轮汽车驱动系统响应时间过长,响应不稳定,鲁棒性差等问题,建立简化了的电动轮汽车整车动力学模型和永磁无刷直流轮毂电动机驱动模型.以滑模变结构理论和PID控制理论为基础,根据电动轮汽车驱动系统运行的动态特性品质及滑模运行的动、静态特性要求,分别设计系统外环滑模-PID决策控制器及内环PID跟踪控制器,通过内、外环控制的有效结合,使系统具有了兼顾滑模变结构控制稳定性好、鲁棒性高和PID控制简单易行、响应迅速的特点,提高了系统的控制品质.仿真结果表明:基于滑模-PID控制的驱动系统能够迅速控制整车驱动系统和轮毂电动机的运行,明显改善了汽车动力学特性和轮毂电动机特性.In order to improve response time and response stability of the driving system of motorized wheels vehicle,the simplified vehicle dynamic models of in-wheel motors and the PM BLDC driving modles were built. Based on sliding mode theory and PID control method,the outer-loop sliding mode-PID controller and the inner-loop PID tracking controller were designed respectively according to dynamic quality of motorized wheels vehicle driving system and characteristic requirements of dynamic and static performance of sliding mode. Using the double loop control strategy to take the advantages of sliding mode control and PID control,the control quality of driving system was improved. The simulation results show that the designed driving system can rapidly control the vehicle driving system and in-wheel motors and improve the characteristics of vehicle dynamics and in-wheel motors.

关 键 词：电动轮汽车 轮毂电动机 驱动系统 滑模-PID 控制 

分 类 号：U461.1[机械工程—车辆工程]