轮毂电动机驱动电动汽车自适应巡航系统控制策略  

Control strategy of adaptive cruise system for electric vehicle driven by hub motor

作　　者：李胜琴[1] 冯秋实 LI Shengqin;FENG Qiushi(School of Traffic and Transportation,Northeast Forestry University,Harbin,Heilongjiang 150040,China)

机构地区：[1]东北林业大学交通学院,黑龙江哈尔滨150040

出　　处：《江苏大学学报（自然科学版）》2023年第2期125-132,共8页Journal of Jiangsu University：Natural Science Edition

基　　金：中央高校基本科研业务费专项资金资助项目(2572019BG01)。

摘　　要：以轮毂电动机驱动电动汽车为研究对象,采用分层控制策略提出自适应巡航系统,结合上层模型预测控制器与下层PID(proportion integral differential)控制器,针对复杂的纵向跟随工况,对轮毂电动机输出的驱动力矩进行精确控制.提出基于前车加速度的可变车头时距策略,利用模型预测控制算法(model predictive control,MPC)求解本车期望加速度的上层控制器,利用PID算法求解整车前后轴驱动力矩,并输入到轮毂电动机的下层控制器,实现前后轮驱动力矩分配,最终实现车辆纵向自适应巡航.建立联合仿真模型,针对匀速前进、紧急制动、城市循环工况等场景,对所提出的自适应巡航分层控制策略进行验证,结果表明:所提出的自适应巡航系统控制策略针对纵向复杂行驶工况的跟驰效果良好,跟驰过程中车间距误差较小,加速度变化与电动机驱动转矩变化可以较好地进行同步与响应.An adaptive cruise system was proposed based on hierarchical control strategy with an electric vehicle driven by hub motor as research object.Combined with the upper model predictive controller and the lower proportion integral differential(PID)controller,the driving torque output by the hub motor was precisely controlled under complex longitudinal following conditions.Based on the front vehicle acceleration,the variable headway of vehicle spacing strategy was proposed,and the model predictive control(MPC)algorithm was used to solve the expected acceleration of the upper controller.By PID algorithm,the vehicle front axle driving moment was solved to be entered into the lower wheel hub motor controller for realizing front and driving moment distribution,and finally realizing the vehicle longitudinal adaptive cruise.A co-simulation model was established to verify the proposed adaptive cruise hierarchical control strategy for scenarios of uniform forward speed,emergency braking and urban cycle conditions.The results show that the proposed adaptive cruise system control strategy has good car following effect under longitudinal complex driving conditions with small vehicle spacing error,and the acceleration change and motor drive torque change can be synchronized and responded well.

关 键 词：电动汽车 自适应巡航系统 模型预测控制 PID控制 轮毂电动机 驱动转矩 

分 类 号：U461[机械工程—车辆工程]