本文關(guān)鍵詞：輪轂電機驅(qū)動電動汽車耦合動力學(xué)特性研究　出處：《山東理工大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

  更多相關(guān)文章： 輪轂電機 電動汽車 耦合動力學(xué) 分層協(xié)調(diào)控制 集成優(yōu)化

【摘要】：迫于能源緊缺與環(huán)境污染的雙重壓力,高效、節(jié)能、環(huán)保的電動汽車成為全球汽車行業(yè)研究的熱點。近年來,基于輪轂電機獨立驅(qū)動的電動汽車具有廣闊的研究前景。輪轂電機驅(qū)動車輛具有獨特的結(jié)構(gòu)和布置方式,取消了傳統(tǒng)的機械傳動部件,使傳動系統(tǒng)簡化,整車整備質(zhì)量降低,傳動效率提高,有效利用空間增大,提高了車輛的通過性能。輪轂電機驅(qū)動電動汽車全新的電動汽車結(jié)構(gòu)形式,已成為未來電動汽車領(lǐng)域發(fā)展的一個新趨勢。但是,由于輪轂電機的引入,使得輪轂電機驅(qū)動電動汽車的非簧載質(zhì)量顯著增加,嚴重影響了車輛的動力學(xué)特性;同時輪轂電機受不平路面激勵振動進一步惡化,造成電機定轉(zhuǎn)子位移量不斷變化,給車輛的動力學(xué)特性帶來不利的影響。因此,系統(tǒng)的研究輪轂電機驅(qū)動電動汽車的耦合動力學(xué)特性具有十分重要的意義。在總結(jié)了國內(nèi)外相關(guān)研究成果的基礎(chǔ)上,以兩后輪輪轂電機驅(qū)動電動汽車為研究對象,建立了整車非線性耦合動力學(xué)模型,分析了路面及電磁力雙重激勵下輪轂電機驅(qū)動電動汽車的耦合動力學(xué)性能,研究了主動前輪轉(zhuǎn)向控制、直接橫擺力矩控制和主動懸架控制集成的分層式協(xié)調(diào)控制,并對汽車系統(tǒng)結(jié)構(gòu)和控制器參數(shù)進行了集成優(yōu)化設(shè)計。論文主要研究內(nèi)容如下:(1)輪轂電機驅(qū)動電動汽車耦合動力學(xué)模型的建立及驗證:考慮車輛縱向、橫向和垂向動力學(xué)之間的主要耦合關(guān)系,建立了相對比較完備的輪轂電機驅(qū)動電動汽車16自由度非線性耦合動力學(xué)模型。在車輛建模過程中,根據(jù)前后軸距的滯后及左右車輪的相關(guān)程度,建立了路面不平度時域模型。應(yīng)用Matlab/Simulink軟件建立了整車耦合動力學(xué)仿真模型,并基于多體動力學(xué)軟件Adams/Car對模型的正確性進行了驗證,為后續(xù)車輛動力學(xué)性能的仿真分析及系統(tǒng)控制的研究奠定了基礎(chǔ)。(2)路面及電磁力復(fù)合激勵下車輛的耦合動力學(xué)特性研究:基于永磁同步電機本體結(jié)構(gòu),建立了路面激勵引起的輪轂電機均勻/不均勻氣隙長度模型,應(yīng)用麥克斯韋應(yīng)力張量法推導(dǎo)出了輪轂電機電磁力的解析表達式,并對路面不平度及電磁力復(fù)合激勵下輪轂電機驅(qū)動電動汽車的耦合動力學(xué)特性進行仿真分析。(3)車輛耦合動力學(xué)系統(tǒng)的分層式協(xié)調(diào)控制研究:為了消除車輛各子系統(tǒng)間的耦合作用對整車控制性能的影響,本文針對汽車轉(zhuǎn)向、制動和懸架集成系統(tǒng),分別設(shè)計了主動前輪轉(zhuǎn)向、直接橫擺力矩、主動懸架的各子系統(tǒng)控制器及其協(xié)調(diào)控制器,制定了汽車各子系統(tǒng)具體的協(xié)調(diào)控制策略和控制功能權(quán)重的分配。通過與分散控制系統(tǒng)進行仿真對比,驗證了汽車耦合動力學(xué)系統(tǒng)分層式協(xié)調(diào)控制效果的有效性,為后續(xù)汽車多個子系統(tǒng)集成的分層式協(xié)調(diào)控制提供了一個新的思路。(4)車輛耦合動力學(xué)系統(tǒng)結(jié)構(gòu)與控制器參數(shù)的集成優(yōu)化:在分析各系統(tǒng)參數(shù)對動力學(xué)評價指標影響的基礎(chǔ)上,采用擾動法分析了車輛動力學(xué)性能指標對懸架剛度和阻尼、車身與電機質(zhì)量比、定轉(zhuǎn)子質(zhì)量比及軸承與輪胎剛度比的靈敏度。在對輪轂電機驅(qū)動系統(tǒng)參數(shù)靈敏度分析的基礎(chǔ)上,選擇靈敏度較大的系統(tǒng)結(jié)構(gòu)參數(shù)作為優(yōu)化變量。針對車輛耦合動力學(xué)系統(tǒng)全局性能的最優(yōu)的問題,采用了基于粒子群算法的系統(tǒng)機械結(jié)構(gòu)與協(xié)調(diào)控制器參數(shù)的集成優(yōu)化設(shè)計,并與協(xié)調(diào)控制和結(jié)構(gòu)優(yōu)化對比仿真分析,結(jié)果表明:系統(tǒng)結(jié)構(gòu)與協(xié)調(diào)控制器參數(shù)的集成優(yōu)化進一步提高了汽車的行駛安全性、平順性和操縱穩(wěn)定性等整車性能。研究結(jié)果對車輛耦合動力學(xué)系統(tǒng)整體最優(yōu)性能的實現(xiàn)提供了一定的參考意義。
[Abstract]:Owing to the double pressure of energy shortage and environmental pollution, the electric vehicle with high efficiency, energy saving and environmental protection has become a hot spot in the global automotive industry. In recent years, the electric vehicle based on the independent drive of hub motor has a wide research prospect. With the structure and layout of the unique wheel motor driven vehicle, canceled the traditional mechanical transmission parts, the transmission system is simplified, crub quality is reduced and the transmission efficiency, the effective use of space increases, improves vehicle performance by. The wheel motor drive electric vehicle's new electric vehicle structure form has become a new trend in the field of electric vehicle development in the future. However, due to the introduction of motor wheel, the wheel motor drive electric vehicle unsprung mass increased significantly, serious impact on the dynamic characteristics of the vehicle; and wheel motor under road excitation vibration caused by the further deterioration of motor stator and rotor displacement changing, adversely affect the dynamic characteristics of the vehicle. Therefore, it is of great significance to study the coupling dynamic characteristics of the wheel motor driven by the hub motor. On the basis of the relevant research results at home and abroad, with two rear wheel motor drive electric vehicle as the research object, established the vehicle nonlinear coupling dynamics model, analyzes the coupling dynamics of road wheel motor and electromagnetic force excitation dual drive electric vehicle, on the active front steering control, direct yaw moment control active suspension control and hierarchical control coordination and integration, on the vehicle system structure and controller parameters of the integrated optimization design. The main contents of this thesis are as follows: (1) establishment and verification of wheel motor drive coupling dynamics model of electric vehicles: considering the vehicle longitudinal, transverse and vertical relationship to the main coupling dynamics between, established a relatively complete wheel motor drive 16 degrees of freedom nonlinear coupling dynamics model of electric vehicle. In the process of vehicle modeling, the time domain model of road roughness is established according to the lag of the front and back wheelbase and the relative degree of the left and right wheels. The vehicle coupling dynamics simulation model is established by Matlab/Simulink software, and the correctness of the model is verified based on multi-body dynamics software Adams/Car, which lays the foundation for subsequent vehicle dynamic performance simulation analysis and system control research. (2) study on coupling dynamics of vehicle pavement under electromagnetic force and composite excitation: permanent magnet synchronous motor based on the body structure, a wheel motor vibration caused by road uniform / non-uniform air gap length model, analytical expressions of stress tensor method to derive the electromagnetic force of wheel motor application Maxwell, simulation analysis of coupling dynamics and the road roughness in wheel motor and electromagnetic force compound excitation drive electric vehicle. (3) study of hierarchical dynamics of vehicle coupled system coordinated control: in order to eliminate the vehicle subsystems coupling effects on the control performance of the vehicle, the vehicle steering, braking and suspension integrated system, each subsystem controllers were designed active front wheel steering and direct yaw moment and active suspension and coordinated controller and developed a distribution coordination control strategy and control function of the weights of the specific sub system of automobile. By comparing the simulation results with the distributed control system, the effectiveness of the hierarchical coordinated control of the vehicle coupling dynamics system is verified, which provides a new idea for the hierarchical coordinated control of multiple subsystems of subsequent vehicle. (4) the integration and optimization of vehicle dynamic system coupling structure and controller parameters: Based on the analysis of the system of evaluation parameters influence on kinetics, the perturbation method of vehicle dynamics performance index of the sensitivity of suspension stiffness and damping, the body and the quality of motor stator and rotor bearing ratio, mass ratio and stiffness ratio of tire. On the basis of the analysis of the parameter sensitivity of the wheel motor drive system, the system structure parameters with high sensitivity are chosen as the optimization variables. For the optimal vehicle coupling dynamics system global performance problems, using particle swarm optimization system of mechanical structure and coordination controller parameter optimization design based on integrated, and results show that the coordinated control and simulation and optimization analysis, integrated coordination and optimization of system structure and parameters of the controller to further improve the driving safety and ride comfort of vehicle and the handling stability of the vehicle performance. The results of the study provide a certain reference for the realization of the overall optimal performance of the vehicle coupling dynamic system.
【學(xué)位授予單位】：山東理工大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2016
【分類號】：U469.72

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