四轮独立驱动电动汽车整车控制策略仿真研究  

Simulation Study on Control Strategy of Four-Wheel Independent Drive Electric Vehicle

作　　者：王灿 WANG Can(School of Transportation and Navigation,Quanzhou Normal University,Quanzhou 362000,China)

机构地区：[1]泉州师范学院交通与航海学院,福建泉州362000

出　　处：《成都工业学院学报》2024年第1期18-24,共7页Journal of Chengdu Technological University

基　　金：福建省中青年教师教育科研项目(JAT200561)。

摘　　要：基于控制器局域网总线(CAN)对四轮独立驱动电动汽车整车控制策略进行优化。控制策略采用了将比例积分微分(PID)与模糊算法融合的模糊比例积分微分控制算法,使用CAN总线进行整车控制,经模糊PID控制算法可获得车轮滑转率最优比及电机转动转矩,可有效实现驱动的防滑操作。并基于Matlab软件建立的整车动力学模型进行政策控制策略的仿真,模糊PID控制算法控制仿真结果表明,调节电机信号输出后,及时进行信号反馈,可形成特定闭环控制系统,实现实际滑转率稳定在最优滑转率附近,并且稳定性高,控制较精准。在模糊PID控制算法控制下,当转向角较小时,4个轮胎纵向力输出基本相等。在转向工况下,两转向前轮,尤其是外侧转向轮,则会输出较大侧向力,在不转向工况下,两后轮输出具有较小的侧向力。在转向工况下,仿真结果在可接受范围内,结果验证了控制策略的合理性。The main purpose of this article is to optimize the control strategy of a four-wheel independent drive electric vehicle based on the Controller Area Network(CAN)bus.The control strategy adopts the Fuzzy Proportional Integral Differential(PID)Control Algorithm,which integrates PID and fuzzy algorithm.CAN bus is used to control the vehicle and the optimal ratio of wheel slip rate and motor torque can be obtained through the fuzzy proportional integral differential control algorithm,which can effectively realize the anti-slip operation of the drive.Based on the Matlab software,a vehicle dynamics model was established for policy control strategy simulation.The control simulation of fuzzy PID control algorithm results show that after adjusting the motor signal output,timely signal feedback can form a specific closed-loop control system,achieving stable actual slip rate near the optimal slip rate,high stability,and precise control.Under the control of fuzzy proportional integral differential control algorithm,when the steering angle is small,the longitudinal force output of the four tires is basically equal.In steering conditions,the two steering front wheels,especially the outer steering wheel,will output a larger lateral force,while in non steering conditions,the two rear wheels will output a smaller lateral force.The simulation results are within an acceptable range under the steering condition,which verifies the rationality of the control strategy in this study.

关 键 词：CAN总线 整车控制 电动汽车 仿真 模糊PID控制算法 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]