分布式电动汽车转矩型电子差速控制策略研究  

Torque Electronic Differential Control of Distributed Electric Vehicle

作　　者：赵南南[1] 史博 ZHAO Nannan;SHI Bo(School of Mechanical and Electrical Engineering,Xi′an University of Architecture and Technology,Xi′an 710055,China)

机构地区：[1]西安建筑科技大学机电工程学院,西安710055

出　　处：《机械科学与技术》2024年第11期1915-1922,共8页Mechanical Science and Technology for Aerospace Engineering

基　　金：陕西省重点研发计划(2021GY-265)。

摘　　要：分布式电动汽车在高速工况下整车模型呈非线性,速度型电子差速控制策略依赖Ackermann转弯模型,没有考虑轮胎特性引起的非线性扰动。该文采用转矩型电子差速控制策略,提高了车辆在高速工况下的转向稳定性。建立了三自由度整车模型、二自由度参考模型、Dugoff轮胎模型以及轮毂电机模型。设计了双层结构转矩分配控制器,上层控制器基于GA-BP神经网络算法获得附加横摆力矩,下层控制器基于二次规划算法在线优化分配4个车轮的驱动力矩。基于Carsim/Simulink进行联合仿真,对所提出的控制策略进行验证。结果表明:在高速双移线工况下,相比较仅速度跟随控制策略,该文的控制策略能有效跟踪期望轨迹,更好地控制质心侧偏角与横摆角速度,在实现电子差速的同时能够保证车辆稳定行驶,提高了车辆行驶的安全性,且该控制策略减少了转向行驶阻力和驱动转矩需求,降低了整车能耗。A torque electronic differential control strategy was proposed to solve the problem that the vehicle model of distributed electric vehicle at high speed presents nonlinear and traditional speed electronic differential control strategy relies on Ackermann's turning model without considering the nonlinear disturbance caused by tire characteristics.A 3-DOF vehicle model,a 2-DOF reference model,a Dugoff tire model and a hub motor model were established respectively.To improve vehicle steering stability at high speed,a two-layer torque distribution controller was designed,in which the upper controller was based on GA-BP neural network algorithm to obtain additional yaw moment,the lower controller is based on quadratic programming algorithm to optimize the online distribution of the driving torques of the four wheels.The proposed control strategy is verified by co-simulation based on Carsim/Simulink.The results show that the proposed control strategy can effectively track the desired trajectory,better control the sideslip angle and yaw angle velocity of the centroid,and ensure the stable driving of the vehicle while realizing the electronic differential,and improve the safety of the vehicle compared with the equal torque distribution strategy,and the control strategy reduces steering resistance and driving torque requirements,reduces energy consumption,and gives full play to the energy saving potential of the vehicle.

关 键 词：分布式电动汽车 轮毂电机 电子差速 GA-BP神经网络 转矩分配 

分 类 号：U469.72[机械工程—车辆工程]