后驱全电独立驱动-制动电动车横摆稳定性控制  

Yaw Stability Control of Electric Independent Driving and Braking Electric Vehicles with Rear Driving

作　　者：杨坤[1] 解来卿[2] 王杰[1] 谭迪[1] 张学义[1] 刘吉顺 YANG Kun;XIE Laiqing;WANG Jie;TAN Di;ZHANG Xueyi;LIU Jishun(School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo,Shandong 255000,China;State Key Laboratory of Automotive Safety and Energy,Tsinghua University,Beijing 100084,China;IAT Automobile Technology Corporation Limited,Beijing 100076,China)

机构地区：[1]山东理工大学交通与车辆工程学院,山东淄博255000 [2]清华大学汽车安全与节能国家重点实验室,北京100084 [3]阿尔特汽车技术股份有限公司,北京100076

出　　处：《西安交通大学学报》2019年第1期44-51,共8页Journal of Xi'an Jiaotong University

基　　金：国家自然科学基金资助项目(51605265;51775320);山东省重点研发计划资助项目(2018GGX105010)

摘　　要：考虑基于传统液压制动的横摆稳定性控制(YSC)应用于全电独立驱动-制动电动车受到的限制和电子机械制动(EMB)应用于电动车的优势,提出了基于全电耦合制动和遗传PID算法的YSC控制方案,基于Matlab/Simulink搭建了仿真平台,通过阶跃路转向工况进行了验证。仿真结果表明:无YSC控制时,整车会因横摆角速度过大而失稳;有YSC控制时,整车横摆角速度被控制在目标值附近,整车未失稳。在控制过程中,EMB工作时间减少3.93s,占总工作时间的88.9%;最大制动力矩需求可减小495N·m,占总制动力矩的67.6%,这为优化EMB提供了途径。另外,控制过程中除减少了EMB能耗外,后左和后右轮毂电机系统可回收能量31.25kJ,节能效果显著。此项研究可为优化EMB制动和进一步减少电动车整车能耗提供新思路。The limitation of yaw stability control (YSC) for electric vehicles based on traditional hydraulic brake and the advantages of electromechanical brake(EMB) are analyzed.A YSC scheme based on electrically coupled brake and genetic PID algorithm is proposed.A simulation platform is built based on Matlab/Simulink.The proposed YSC and simulation platform are verified on step road and steering conditions.The vehicle is unstable due to the excessive yaw rate when there is no YSC control.The yaw rate can be controlled near the target value and the vehicle is stable when there is YSC control.During the control process,the working time of EMB is reduced by 3.93 s,which accounts for 88.9% of the total working time for brake,and the maximum brake torque requirement of EMB is reduced by 495 N·m,which accounts for 67.6% of the total brake torque.These results provide a possibility for the optimization of EMB.The coupled brake can reduce the energy consumption and can recover energy up to 31.25 kJ.This research may provide new ideas for optimization of EMB and further reduction of vehicle energy consumption.

关 键 词：独立驱动-制动电动车 电子机械制动 横摆稳定性控制 全电耦合制动 

分 类 号：U469[机械工程—车辆工程]