大学生方程式赛车电子差速控制策略研究  

Research on control strategy of electronic differential speed in formula racing for college students

作　　者：王淑旺[1] 夏麒翔 罗建辉 WANG Shuwang;XIA Qixiang;LUO Jianhui(School of Mechanical Engineering, Hefei University of Technology, Hefei 230009, China;School of Automobile and Traffic, Hefei University of Technology, Hefei 230009, China)

机构地区：[1]合肥工业大学机械工程学院,安徽合肥230009 [2]合肥工业大学汽车与交通学院,安徽合肥230009

出　　处：《合肥工业大学学报（自然科学版）》2022年第3期289-293,共5页Journal of Hefei University of Technology：Natural Science

基　　金：国家重点研发计划资助项目(2018YFB0104605);安徽省科技重大专项资助项目(17030901062)。

摘　　要：为了实现自主设计的纯电动赛车在转向过程中左右两侧车轮差速旋转并使得车辆快速稳定转向,文章综合考虑各因素以契合赛车软硬件要求,建立Ackermann-Jeantand模型并求出理想横摆角速度,再以车辆质心偏移角为控制依据、横摆角速度为控制目标构建电子差速算法;使用Matlab/Simulink软件搭建仿真模型进行直线及转弯等不同工况下的仿真验证,并在测试车辆上进行实车试验加以对比分析。仿真和试验结果验证了该电子差速算法的优越性及可靠性。In order to realize the differential rotation of the left and right wheels of the self-designed pure electric racing car during the steering process,and to make the vehicle steer quickly and stably,this paper comprehensively considers various factors to meet the requirements of the racing software and hardware.The Ackermann-Jeantand model is established,and the ideal yaw angular velocity is solved.Then,taking the centroid offset angle of the vehicle as the control basis,and the yaw angular velocity as the control target,an electronic differential algorithm is built.The Matlab/Simulink software is used to build simulation models for simulation and verification under different working conditions such as straight lines and corners,and real vehicle tests are performed on test vehicles for comparative analysis.The simulation and test results verify the superiority and reliability of the electronic differential algorithm.

关 键 词：电动赛车 电子差速算法 质心偏移角 横摆角速度 MATLAB/SIMULINK软件 

分 类 号：U461.6[机械工程—车辆工程]