發(fā)布時(shí)間：2018-05-08 14:08

  本文選題：電動(dòng)輪汽車(chē) + 底盤(pán)集成控制�。� 參考：《沈陽(yáng)工業(yè)大學(xué)》2016年碩士論文

【摘要】：采用輪轂電機(jī)驅(qū)動(dòng)的電動(dòng)輪汽車(chē),在提高驅(qū)動(dòng)能力和整車(chē)操縱性方面有很大優(yōu)勢(shì),但汽車(chē)底盤(pán)相對(duì)于傳統(tǒng)燃油汽車(chē)有很大改變,這對(duì)底盤(pán)集成控制系統(tǒng)的性能提出了更高的要求。論文在沈陽(yáng)市科學(xué)計(jì)劃項(xiàng)目“電動(dòng)汽車(chē)雙饋全驅(qū)差速及操縱穩(wěn)定性控制關(guān)鍵技術(shù)研究”(F12-277-1-11)的資助下,研究并設(shè)計(jì)了電動(dòng)輪汽車(chē)底盤(pán)集成控制系統(tǒng)。底盤(pán)集成控制系統(tǒng)采用協(xié)調(diào)控制結(jié)構(gòu),各子系統(tǒng)進(jìn)行獨(dú)立設(shè)計(jì),協(xié)調(diào)控制系統(tǒng)根據(jù)工況協(xié)調(diào)各子系統(tǒng)工作。根據(jù)車(chē)輛動(dòng)力學(xué)原理建立四輪全驅(qū)電動(dòng)輪汽車(chē)七自由度非線(xiàn)性模型�；谒⒌能�(chē)輛模型,分別獨(dú)立設(shè)計(jì)開(kāi)發(fā)主動(dòng)前輪轉(zhuǎn)向子系統(tǒng)(AFS)、剎車(chē)防抱死子系統(tǒng)(ABS)及橫擺力矩控制子系統(tǒng)(DYC),并對(duì)其進(jìn)行仿真分析,驗(yàn)證其有效性。提出底盤(pán)集成控制系統(tǒng)總體設(shè)計(jì)方案,采用協(xié)調(diào)控制結(jié)構(gòu)。AFS與DYC子系統(tǒng)之間相互耦合,為充分發(fā)揮各自?xún)?yōu)勢(shì),對(duì)二者進(jìn)行大量仿真分析,判斷其有效工作區(qū)域。對(duì)車(chē)輛行駛工況進(jìn)行辨識(shí),根據(jù)各子系統(tǒng)適用工況進(jìn)行任務(wù)邏輯的分配。設(shè)計(jì)協(xié)調(diào)控制系統(tǒng),基于模糊算法調(diào)整AFS與DYC之間的權(quán)值,實(shí)現(xiàn)二者之間控制的柔性切換。仿真結(jié)果表明:所設(shè)計(jì)底盤(pán)集成控制系統(tǒng)可提高車(chē)輛在轉(zhuǎn)向行駛時(shí)的側(cè)向穩(wěn)定性。為提高對(duì)底盤(pán)集成控制系統(tǒng)試驗(yàn)的準(zhǔn)確性,基于xPCTarget平臺(tái),建立了底盤(pán)集成控制系統(tǒng)硬件在環(huán)仿真試驗(yàn)平臺(tái)。其主要結(jié)構(gòu)包括:目標(biāo)機(jī)、宿主機(jī)、數(shù)據(jù)采集卡、上位控制器和下位控制器。宿主機(jī)通過(guò)TCP/IP協(xié)議將C代碼化的車(chē)輛模型下載到目標(biāo)機(jī)中;數(shù)據(jù)采集卡實(shí)現(xiàn)目標(biāo)機(jī)與控制器之間的數(shù)據(jù)交換;上位控制器與下位控制器間采用CAN總線(xiàn)技術(shù)進(jìn)行通訊。通訊測(cè)試實(shí)驗(yàn)結(jié)果表明,所設(shè)計(jì)硬件在環(huán)仿真平臺(tái)滿(mǎn)足設(shè)計(jì)要求。
[Abstract]:The electric wheel vehicle driven by hub motor has great advantages in improving the driving ability and the maneuverability of the whole vehicle, but the chassis of the vehicle has a great change compared with the traditional fuel vehicle. This puts forward higher requirements for the performance of chassis integrated control system. This paper studies and designs the integrated control system of the chassis of electric wheeled vehicle with the aid of Shenyang Science Project "Research on key Technologies of differential Speed and handling Stability Control for Electric vehicle doubly-fed Drive". The chassis integrated control system adopts a coordinated control structure, each subsystem is designed independently, and the coordinated control system coordinates the work of each subsystem according to the working conditions. According to the principle of vehicle dynamics, a 7 DOF nonlinear model of four wheel full drive electric wheel motor vehicle is established. Based on the established vehicle model, the active front wheel steering subsystem (AFS), the brake anti-lock braking subsystem (ABS) and the yaw torque control subsystem (DYCU) are designed and developed independently, and their effectiveness is verified by simulation and analysis. The overall design scheme of chassis integrated control system is put forward. The coordinated control structure. AFS and DYC subsystem are coupled to each other. In order to give full play to their respective advantages, a large number of simulation and analysis are carried out to judge their effective working area. The vehicle operating conditions are identified and the task logic is assigned according to the applicable working conditions of each subsystem. The coordinated control system is designed and the weights between AFS and DYC are adjusted based on fuzzy algorithm to realize the flexible switching between them. The simulation results show that the designed chassis integrated control system can improve the lateral stability of the vehicle during steering. In order to improve the accuracy of chassis integrated control system test, a hardware in loop simulation test platform of chassis integrated control system is established based on xPCTarget platform. Its main structure includes: target machine, host computer, data acquisition card, upper controller and lower controller. The host computer downloads the C coded vehicle model to the target machine through TCP/IP protocol; the data acquisition card realizes the data exchange between the target computer and the controller; and the upper controller and the lower controller communicate with each other using CAN bus technology. The communication test results show that the designed hardware in loop simulation platform meets the design requirements.
【學(xué)位授予單位】：沈陽(yáng)工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類(lèi)號(hào)】：U463.1

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 丁惜瀛;王亞楠;田育s，

本文編號(hào)：1861710