基于电磁机械耦合再生制动系统的电动汽车稳定性控制  

Electric Vehicles Stability Control Based on Electromagnetic-Mechanical Coupled Regenerative Braking System

作　　者：张露[1,2] 张忠富[3] 王国业[1] 赵建柱[1] 张延立 王长伟[4] 

机构地区：[1]中国农业大学工学院,北京100083 [2]内蒙古大学交通学院,呼和浩特010070 [3]北京航空航天大学交通科学与工程学院,北京100191 [4]中国农业机械化科学研究院,北京100083

出　　处：《农业机械学报》2017年第1期309-316,共8页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(51175498)

摘　　要：针对现行电动汽车再生制动的不足,提出了一种电磁机械耦合再生制动系统,以克服摩擦制动和再生制动相互独立控制的缺点。在此基础上,以内嵌侧向力约束的二自由度车辆模型为参考模型,基于直接制动输入分配和模糊补偿控制提出了一种集成再生制动的电动汽车稳定性控制策略。以美国FMVSS126法规为试验工况和评价指标,以及低附路面阶跃转向工况为例,应用Matlab/Simulink&Car Sim车辆动力学仿真试验平台,对有、无模糊补偿控制的侧向稳定性、操纵响应性和能量回收率等进行对比分析。研究结果表明,有模糊补偿控制的车辆顺利通过法规测试,所提出的模糊补偿稳定性控制策略具有很好的鲁棒性和横摆稳定性,减小了横摆角速度和质心侧偏角的跟踪误差,即增加了行车安全性,又具有一定的制动能回收率。For the deficiency of current electric vehicle regenerative braking,a new-type electromagneticmechanical coupled regenerative braking system was proposed. The new-type electromagnetic-mechanical coupled regenerative braking system overcame independent control of friction braking and regenerative braking. Based on the system,two degrees of freedom vehicle dynamic model with the lateral force limitation was taken as reference model. Meanwhile, electric vehicle stability control strategy was proposed based on direct braking input distribution and fuzzy-compensation control. According to the test conditions and evaluation indicators of American regulation FMVSS126,the lateral stability,handling response and braking energy recovery efficiency were analyzed and contrasted with or without ESC control by vehicle dynamic co-simulation platform of Matlab / Simulink and Car Sim. The results showed that the vehicle equipped with ESC passed the sine with dwell tests of regulation successfully. The proposed fuzzycompensation stability control algorithm had better robustness and yaw stability,which reduced the tracking error of vehicle slip angle and yaw rate effectively. The electric vehicle stability control strategy integrated regenerative braking not only can increase the driving safety of electric vehicles,but also had the recovery efficiency. The research results of the new-type electromagnetic-mechanical coupled regenerative braking system were focused on the vehicle stability,and involved with some braking energy recovery.

关 键 词：电动汽车 再生制动 模糊补偿 制动能回收 稳定性控制 

分 类 号：U469.72[机械工程—车辆工程]