本文選題：電動汽車　切入點(diǎn)：輪轂電機(jī)　出處：《遼寧工業(yè)大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

【摘要】：電動汽車憑借其無污染、耗能低的優(yōu)點(diǎn),近幾年得到了高度重視。而輪轂電機(jī)電動汽車結(jié)構(gòu)布置比較簡單,傳動效率較高,實(shí)現(xiàn)了整車輕量化的目標(biāo),更是受到了廣泛關(guān)注。輪轂電機(jī)電動汽車的電子差速控制,是以取代傳統(tǒng)汽車的機(jī)械差速器為目的而設(shè)計的,以實(shí)現(xiàn)驅(qū)動電機(jī)之間的協(xié)調(diào)控制為目標(biāo),從而保證車輛轉(zhuǎn)向行駛的穩(wěn)定性,是應(yīng)當(dāng)解決的關(guān)鍵技術(shù)之一。因此論文對輪轂電機(jī)電動汽車電子差速控制做了進(jìn)一步研究。論文的主要研究內(nèi)容如下:(1)論文首先根據(jù)汽車模型參數(shù),基于CarSim軟件與MATLAB/Simulink軟件,建立了一個能真實(shí)反映車輛運(yùn)行狀態(tài)的輪轂電機(jī)電動汽車整車仿真模型,并對建立的電動汽車模型進(jìn)行了仿真分析驗證,為電子差速控制研究奠定了了研究基礎(chǔ)。(2)電子差速控制為了達(dá)到其控制目的,需要精確測量出車輛運(yùn)動狀態(tài)量。但是汽車的實(shí)際運(yùn)動狀態(tài)量如車速,雖然可以用一些特殊設(shè)備測量但是成本比較高,有些狀態(tài)量如質(zhì)心側(cè)偏角,甚至不能測量。論文應(yīng)用卡爾曼濾波理論,對車輛行駛狀態(tài)量進(jìn)行估計,并在CarSim軟件中設(shè)置典型的試驗工況對估計算法進(jìn)行了仿真試驗驗證。(3)輪轂電機(jī)電動汽車在轉(zhuǎn)向行駛時,左右兩側(cè)的驅(qū)動車輪在相同時間內(nèi)駛過不同的軌跡,由于其驅(qū)動車輪均可以進(jìn)行獨(dú)立的控制,因此必須設(shè)計出一種控制用來實(shí)現(xiàn)左右兩側(cè)車輪的差速控制,這種控制被稱為電子差速控制。為了實(shí)現(xiàn)差速控制,建立了轉(zhuǎn)向運(yùn)動學(xué)參考模型,基于該模型在MATLAB/Simulink軟件中建立汽車電子差速控制仿真模型。確定了電子差速轉(zhuǎn)速轉(zhuǎn)矩控制算法,設(shè)計了驅(qū)動力矩分配器,通過CarSim與MATLAB/Simulink聯(lián)合,通過控制驅(qū)動輪驅(qū)動力矩實(shí)現(xiàn)實(shí)際輪速跟蹤參考輪速,通過對驅(qū)動輪驅(qū)動力矩再分配控制,實(shí)現(xiàn)差速差驅(qū)動力矩控制的思想。(4)為了驗證所設(shè)計的電子差速控制算法的有效性,首先選擇CarSim軟件中的開環(huán)和閉環(huán)試驗工況對控制方法進(jìn)行了初步試驗驗證。為了進(jìn)一步說明電子差速控制算法的有效性,在汽車駕駛模擬器硬件在環(huán)試驗臺中設(shè)置典型試驗工況對其進(jìn)行了再次試驗驗證。并從車輛驅(qū)動控制,操縱穩(wěn)定性,行駛安全性等角度對電子差速控制進(jìn)行客觀的評價,結(jié)果表明設(shè)計的電子差速控制策略能夠?qū)崿F(xiàn)輪轂電機(jī)電動汽車轉(zhuǎn)向差速性能。
[Abstract]:Electric vehicles (EV) have been attached great importance to in recent years because of their advantages of no pollution and low energy consumption. However, the electric vehicles with hub motors have simple structure layout and high transmission efficiency, thus achieving the goal of lightening the whole vehicle. The electronic differential speed control of the electric vehicle with hub motor is designed to replace the mechanical differential of the traditional automobile, and the goal is to realize the coordination control between the drive motors. To ensure the stability of the vehicle steering, It is one of the key technologies that should be solved. Therefore, the paper makes further research on the electronic differential speed control of the hub motor electric vehicle. The main research contents of this paper are as follows: firstly, according to the parameters of the vehicle model, the paper is based on the CarSim software and the MATLAB/Simulink software. A simulation model of hub motor electric vehicle is established, which can reflect the running state of the vehicle, and the simulation analysis of the established electric vehicle model is carried out. It lays a foundation for the study of electronic differential speed control. In order to achieve its control purpose, it is necessary to accurately measure the motion state of the vehicle. But the actual motion state of the vehicle is such as the speed of the vehicle. Although it can be measured with some special equipment, the cost is relatively high, and some state variables such as the deviation angle of the center of mass can not even be measured. In this paper, the Kalman filter theory is used to estimate the driving state of the vehicle. In the CarSim software, typical test conditions are set to verify the estimation algorithm. The simulation results show that when the wheel motor electric vehicle is steering, the driving wheels on both sides of the wheel drive through different tracks in the same time. Since the wheels can be controlled independently, a kind of control must be designed to realize the differential speed control of the left and right wheels. This control is called electronic differential speed control. The steering kinematics reference model is established. Based on the model, the simulation model of automobile electronic differential speed control is established in MATLAB/Simulink software. The electronic differential speed torque control algorithm is determined, and the drive torque distributor is designed, which is combined by CarSim and MATLAB/Simulink. In order to verify the effectiveness of the electronic differential control algorithm, the actual wheel speed tracking reference wheel speed is realized by controlling the driving torque of the drive wheel, and the idea of differential differential drive torque control is realized by redistribution control of the driving moment of the drive wheel. First, the open loop and closed loop test conditions in CarSim software are selected to verify the control method. In order to further illustrate the effectiveness of the electronic differential speed control algorithm, The hardware of the vehicle driving simulator is tested again under typical test conditions in the ring test rig. The electronic differential speed control is objectively evaluated from the aspects of vehicle driving control, handling stability, driving safety and so on. The results show that the electronic differential control strategy can realize the steering differential performance of the hub motor electric vehicle.
【學(xué)位授予單位】：遼寧工業(yè)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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