四轮驱动电动车驱动防滑模糊控制研究  

Study on Fuzzy Control of Driving Antiskid for Four-wheel Drive Electric Vehicle

作　　者：马彬[1,2] 陈勇[1,2] 龚国庆[1,2] 

机构地区：[1]北京信息科技大学机电工程学院,北京100192 [2]北京电动车辆协同创新中心,北京100192

出　　处：《计算机仿真》2016年第3期144-148,185,共6页Computer Simulation

基　　金：北京市委组织部优秀人才资助计划(2014000020124G098);北京市属高等学校高层次人才引进与培养计划项目(CIT&TCD20130328);北京市教委科研基地建设项目(PXM2014_014224_000065)

摘　　要：针对四轮驱动电动车辆载荷转移导致路面识别及驱动防滑控制精度降低的问题,通过建立转矩、转角加速度与路面的对应关系模糊规则,采用查表的方式实现了路面的精确识别,与标准滑移率曲线进行对比实现了最佳滑移率及最佳摩擦系数的判定。结合车辆6自由度非线性模型、轮胎模型及电机电枢模型,开发了模糊路面识别的四轮驱动电动车驱动防滑模糊控制策略。在MATLAB/Simulink仿真环境下对轮胎滑移率跟随状态进行了仿真。结果表明,所开发的基于模糊路面识别的电动车辆驱动防滑模糊控制策略具有良好的控制效果,提高了车辆行驶稳定性和动力性。In order to resolve the problems that the road identification rate and the control accuracy of four-wheel drive electric vehicle acceleration slip regulation reduce because of load transfer, Fuzzy rules of the relationship be- tween the torque, rotation acceleration and pavement were proposed and the road identification method was devel- oped, the optimal sliding rate and the suitable friction coefficient were obtained by comparing with the standard slip curve. Combined with the 6-degree freedom dynamics model considering the vehicle motor torque and vehicle motion characteristics, the fuzzy control of driving antiskid control method was put forward based on the road identification strategy. The control effects of the single wheel and vehicle were verified and comparatively analyzed under the simu- lation environment of MATLAB/Simulink. The results show that the proposed algorithm based on the fuzzy road iden- tification method can control the slip rate fast and accurately, and effectively guarantee the stability of the vehicle driving and dynamic performance.

关 键 词：四轮驱动电动车 路面识别 驱动防滑 模糊控制 极限工况 

分 类 号：U469.72[机械工程—车辆工程]