基于路面识别的电动汽车驱动防滑控制策略研究  

Study on acceleration slip regulation control of electric vehicle based on road identification

作　　者：段敏[1] 郭文涛[1] 李刚[1] 于倩 

机构地区：[1]辽宁工业大学汽车与交通工程学院,辽宁锦州121001 [2]大连装备制造职业技术学院汽车工程系,辽宁大连116110

出　　处：《机电工程》2015年第9期1257-1262,共6页Journal of Mechanical & Electrical Engineering

基　　金：国家自然科学基金青年科学基金资助项目(E51305190);辽宁省教育厅科学技术研究资助项目(L2012217)

摘　　要：针对电动汽车在低附着路面行驶时驱动轮滑转问题,对后轮独立驱动电动汽车进行了驱动防滑控制研究,提出了基于模糊路面识别的自适应模糊PID控制方法,提高汽车在极限工况下车辆的稳定性。首先根据轮毂电机转矩、转速易于测得的优势,设计了基于Burckhardtμ-S模型的模糊路面识别算法。根据车辆运动状态,路面识别算法对当前路面和最优滑转率进行辨识。然后采用自适应模糊PID控制器将驱动轮滑转率实时控制在最优滑转率附近。最后选择典型工况,基于Car Sim与Matlab/Simulink联合仿真实验对控制方法进行了验证。仿真结果表明,该模糊路面识别算法能够较好识别路面附着系数和其最优滑转率;基于路面识别的驱动防滑控制具有良好的控制效果,提高了极限工况下车辆的稳定性与动力性。Aiming at the problem of the slip on driving wheel for EV （ Electric Vehicle ） under the condition of low adhesion road, The ac- celeration slip regulation （ASR） technology was researched for the rear-wheel independent drive （RWID） EV. A adaptive fuzzy-PID control method based on fuzzy road identification was proposed to improve vehicle stability under ultimate driving condition. Firstly, according to the advantages that the rotational speed and torque of the driving wheels were measured easily, the fuzzy road identification was designed based on the Burckhardt/x-S model. According to the vehicle state, road adhesion and optimal slip ratio can be confirmed by the arithmetic of fuzzy road identification. Then, controlled by the adaptive fuzzy-PID controller, the drive wheels will working in the vicinity of the optimal slip rati- o. At the last, the ASR control method was verified based on the CarSim and Matlab/Simulink co-simulation in typical working condition. The results indicate that the fuzzy road identification can identified the road adhesion coefficient and the optimal slip ratio accurately, and the ASR control method based on the fuzzy road identification has a good control effect, which improves vehicle stability and power under extreme condition obviously.

关 键 词：电动汽车 驱动防滑控制 路面识别 最优滑转率 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置] U461[自动化与计算机技术—控制科学与工程]