基于滑转率的双电机双轴驱动车辆转矩协调分配  

Active modulation of torque distribution for dual-motor front-and rear-axle drive type electric vehicle based on slip ratio

作　　者：武仲斌 谢斌[1] 迟瑞娟[1] 杜岳峰[1] 毛恩荣[1] Wu Zhongbin;Xie Bin;Chi Ruijuan;Du Yuefeng;Mao Enrong(Beijing Key Laboratory of Optimized Design for Modern Agricultural Equipment,China Agricultural University,Beijing 100083,China)

机构地区：[1]中国农业大学现代农业装备优化设计北京市重点实验室,北京100083

出　　处：《农业工程学报》2018年第15期66-76,共11页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家重点研发计划资助项目(2016YFD0701001)

摘　　要：针对双电机双轴驱动车辆的驱动转矩分配问题,提出了一种以抑制车轮过度滑转、提升整车牵引力为目标的前后电机转矩协调分配策略。该策略分为上、下2个层次,上层负责根据车辆当前状态及路面条件计算出可用于分配的最大驱动总转矩,并与驾驶员需求转矩以低选原则作比较输出,下层负责上层输出转矩在前、后驱动电机之间的协调分配。基于该分层架构,采用滑模控制算法设计了前后电机转矩分配控制律以及相应的转矩分配控制器。在Matlab/Simulink环境下分别建立了控制器模型及车辆动力学模型,对不同路面条件下的控制效果进行了仿真分析。基于d SPACE平台,搭建了硬件在环仿真测试系统,对转矩分配控制器的实时控制性能进行了验证。结果表明:硬件在环测试结果与软件仿真结果具有良好的一致性,并且,在左右对开路面上,前后轴滑转率均被稳定控制在0.12以内;在对接路面上,前后轴滑转率不超过0.05,车辆原地起步加速8 s后的末速度提升了9.9%;在均一低附着路面的转弯过程中,内侧车轮的最大滑转率被抑制在0.2附近,改善了车辆在低附着路面上的转向能力。Research and development of electric vehicles(EVs)are being rapidly performed to cope with the latest environmental and energy issues.Studies of techniques for the efficient use of electrical energy are very important for the development of EVs.To this end,it is necessary to develop EVs that can deliver efficient running performance on various road surfaces.As we all know,the vehicle performances such as the drivability,the stability and the economics,are strongly influenced by its driveline architectures.New driveline architectures with 2 motors respectively installed at the input of the front and rear axles have yielded a new generation of four-wheel-drive vehicle,which is known as the front-and rear-wheel-independent drive type electric vehicle(FRID EV).Benefit from the mechanical layout,the longitudinal forces on the front and rear wheels can be adjusted flexibly according to the road and the driving conditions.This allows to design active control systems that are capable of altering the behavior of the vehicle and make it possible to achieve excellent driving performances via the reasonable control method that uses the structural features of the FRID EV.Therefore,in order to improve the traction performance and avoid the excessive slip of the driving wheels,which is also beneficial to energy saving during running,an active torque distribution method in consideration of the optimal slip ratio control for the front-and rear-wheel-independent drive type electric vehicle,which is based on the friction coefficient/slip ratio curve,was put forward in this paper.The pattern of the control method was designed as 2 levels,the top gives the total driving torque assignable in consideration of the driver’s expectations and various road surfaces,and the underlying is responsible to reasonably distribute the torque given by the top level between the front and rear axles.Taking the longitudinal,lateral,the yawing modes of motion and the revolving of each wheel into consideration,the seven-degree-of-freedom dynamic model

关 键 词：车辆 控制 模型 双轴驱动 转矩分配 硬件在环 

分 类 号：U463.2[机械工程—车辆工程]