考虑转矩波动的轮毂电机驱动汽车能耗优化方法  

A Method for Energy Consumption Optimization of In-wheel Motor-Driven Vehicles Considering Torque Fluctuations

作　　者：吴石[1] 马茂原 李文广 李明义 于文庆 Wu Shi;Ma Maoyuan;Li Wenguang;Li Mingyi;Yu Wenqing(School of Mechanical Engineering,Harbin University of Science and Technology,Harbin 150080)

机构地区：[1]哈尔滨理工大学机械动力工程学院,哈尔滨150080

出　　处：《汽车工程》2025年第4期701-713,共13页Automotive Engineering

基　　金：国家重点研发计划项目(2019YFE0121300)资助。

摘　　要：针对轮毂电机驱动汽车在凹凸不平路面和汽车频繁变速时出现的转矩波动大所引起能耗高的问题,本文提出了一种考虑转矩波动的轮毂电机驱动汽车能耗优化方法。首先,基于电动汽车纵向驱动动力学方程和CarSim车辆动力学模型,建立电机能耗模型、轮胎滑移能耗模型、横摆力矩跟踪误差模型作为上层控制目标,并建立考虑路面激励的轮毂电机动力学模型作为下层控制目标。其次以上层控制目标为轮毂电机汽车转矩优化的目标函数,以电机转矩和转速极限为不等式约束,以模糊控制方法进行目标函数权重分配,基于NSGAⅡ建立了上层转矩优化模型;同时,基于滑模抗扰动观测器建立了路面激励引起轮毂电机转矩超调和延迟的下层轮毂电机矢量控制模型。最后进行四轮轮毂电机驱动汽车的Simulink和CarSim联合仿真,分析了WLTC工况和CLTC-P工况下汽车前后轴车轮转矩、汽车总能耗、汽车电池SOC在不同优化方法下的变化情况。轮毂电机台架试验表明,考虑转矩波动的轮毂电机驱动汽车能耗优化方法在WLTC和CLTC-P工况下能有效降低能耗。For the high energy consumption problem caused by the large torque fluctuations of in-wheel motor-driven vehicles on uneven roads and frequent shifting of vehicles,in this paper a method for energy consumption optimization of in-wheel motor-driven vehicles considering torque fluctuations is proposed.Firstly,based on the longitudinal drive dynamics equation of electric vehicles and the CarSim vehicle dynamics model,the motor energy consumption model,tire slip energy consumption model,and yaw torque tracking error model are established as the upper control target,and the in-wheel motor dynamics model considering road surface excitation is established as the lower control target.Secondly,taking the upper-level control target as the objective function of the torque optimization of the in-wheel motor vehicle,the motor torque and speed energy limit as the inequality constraints,and the fuzzy control method for objective function weight distribution,the upper-level torque optimization model is established based on NSGAⅡ.At the same time,the lower-level in-wheel motor vector control model of torque overshoot and delay caused by road surface excitation is established based on the sliding mode anti-disturbance observer.Finally,the joint simulation of Simulink and CarSim of a four-wheel in-wheel motor-driven car is carried out,and the changes of the front and rear axle wheel torque,total energy consumption of the car,and the SOC of the car battery under different optimization methods are analyzed under WLTC operating conditions and CLTC-P operating conditions.The in-wheel motor bench test shows that the energy consumption optimization method of in-wheel motor-driven vehicles considering torque fluctuations can effectively reduce energy consumption under WLTC and CLTC-P operating conditions.

关 键 词：轮毂电机驱动汽车 转矩波动 NSGAⅡ SMADO 能耗优化 

分 类 号：U469.72[机械工程—车辆工程]