四轮独立电驱动越野车驱动力优化控制  

Driving force optimization control of four-wheel independent driving electric off-road vehicle

作　　者：黄斌[1,2,3] 周佳强 周军 HUANG Bin;ZHOU Jiaqiang;ZHOU Jun(Hubei Key Laboratory of Advanced Technology for Automotive Components,Wuhan University of Technology,Wuhan,Hubei 430070,China;Hubei Collaborative Innovation Center for Automotive Components Technology,Wuhan University of Technology,Wuhan,Hubei 430070,China;Hubei Engineering Technology Research Center for New Energy and Intelligent Connected Vehicle,Wuhan University of Technology,Wuhan,Hubei 430070,China;The 63969 Unit,Nanjing,Jiangsu 210038,China)

机构地区：[1]武汉理工大学现代汽车零部件技术湖北省重点实验室,湖北武汉430070 [2]武汉理工大学汽车零部件技术湖北省协同创新中心,湖北武汉430070 [3]武汉理工大学湖北省新能源与智能网联车工程技术研究中心,湖北武汉430070 [4]63969部队,江苏南京210038

出　　处：《江苏大学学报（自然科学版）》2024年第2期132-140,153,共10页Journal of Jiangsu University：Natural Science Edition

基　　金：湖北省科技重大专项(2020DEB014)。

摘　　要：为了充分利用四轮独立电驱动越野车各轮转矩独立可控的优势,提高越野车的牵引力和越野能力,提出了一种驱动转矩协调控制策略.根据越野车前后轴载荷预分配驱动电动机转矩,利用基于车轮滑转率-路面附着系数的极值寻求算法实现路面最优滑转率估计.采用比例-积分-微分(proportional-integral-differential, PID)控制-滑模控制(sliding mode control, SMC)和基于状态的驱动力再分配方法实现各轮驱动转矩的协调分配,抑制越野车在恶劣路面条件下的车轮打滑.通过CarSim/MATLAB联合仿真以及硬件在环(hardware-in-the-loop, HIL)测试,进行了爬陡坡、单一附着路面、对开路面及连续起伏路面工况的试验验证.结果表明:提出的控制策略能根据实际工况分配驱动轮的转矩,降低驱动轮滑转率,实现整车驱动力的优化.According to the independent and controllable advantage of the torque of each wheel for four-wheel independent driving electric off-road vehicle,to improve the traction and off-road ability of off-road vehicle,a coordinated control strategy of driving torque was proposed.The torque of the driving motor was pre-distributed according to the load of each axis.The optimal estimation of road slip rate was realized by the extreme value searching algorithm based on wheel slip rate and road adhesion coefficient.Proportional-integral-differential(PID)control-sliding mode control(SMC)and state-based driving force redistribution method were used to achieve the coordinated distribution of wheel drive torque for restraining the wheelslip under bad road conditions.Through the co-simulation of CarSim/MATLAB and hardware-in-the-loop(HIL)test,the experimental verification of climbing steep slope,single adhesion road surface,split road and continuous unrolling road was carried out.The results show that by the proposed control strategy,the torque of the driving wheel can be distributed according to the actual working conditions,and the slip rate of wheels is reduced to realize the optimization of the driving force of whole vehicle.

关 键 词：越野车 四轮独立驱动 最优滑转率估计 驱动防滑控制 转矩分配 PID-SMC 

分 类 号：U461.1[机械工程—车辆工程]