本文選題：輪邊驅(qū)動(dòng) + 鉸接客車��； 參考：《北京理工大學(xué)》2016年博士論文

【摘要】：多軸輪邊電驅(qū)動(dòng)鉸接客車是一種全新型式的分布式驅(qū)動(dòng)電動(dòng)汽車,具有車身容量大,路面適應(yīng)性強(qiáng)和零排放等優(yōu)點(diǎn),是大中型城市緩解交通壓力并減少城市空氣污染的最佳車型之一。然而,由于鉸接盤裝置的引入增加了整車結(jié)構(gòu)的復(fù)雜性,整車動(dòng)力學(xué)協(xié)調(diào)控制與能量優(yōu)化分配目標(biāo)高度耦合,同時(shí)整車還受到行駛工況、路面環(huán)境等隨機(jī)性因素的影響,對(duì)其進(jìn)行安全、高效的動(dòng)力學(xué)控制具有挑戰(zhàn)性。本文以多軸輪邊電驅(qū)動(dòng)鉸接客車為研究對(duì)象,針對(duì)整車動(dòng)力學(xué)建模及驅(qū)動(dòng)力矩分配問題,主要開展了以下研究工作:⑴針對(duì)多軸輪邊電驅(qū)動(dòng)鉸接客車整車動(dòng)力學(xué)建模問題,將整車車身簡化成由鉸接盤連接的前部和后部兩個(gè)車身剛體,利用希林多剛體動(dòng)力學(xué)建模方法和若丹虛功率原理,針對(duì)此種構(gòu)型建立了包括鉸接盤轉(zhuǎn)角等廣義坐標(biāo)在內(nèi)的十一自由度整車動(dòng)力學(xué)模型,為后續(xù)的整車縱向動(dòng)力學(xué)與側(cè)向動(dòng)力學(xué)控制策略的制定與仿真奠定了基礎(chǔ)。⑵針對(duì)多軸輪邊電驅(qū)動(dòng)鉸接客車質(zhì)心位置參數(shù)估計(jì)問題,提出了H∞-EKF濾波和H∞-UKF濾波聯(lián)合估計(jì)算法。該算法利用分布式驅(qū)動(dòng)電動(dòng)汽車的輸入轉(zhuǎn)矩與轉(zhuǎn)速可以實(shí)時(shí)獲取的特點(diǎn),僅用車輛的縱向動(dòng)力學(xué)特性就可實(shí)現(xiàn)對(duì)車輛質(zhì)心位置估計(jì);引入的∞算法解決了因系統(tǒng)模型和噪聲統(tǒng)計(jì)特性不準(zhǔn)會(huì)降低質(zhì)心位置估計(jì)精度的問題,為車輛驅(qū)動(dòng)力矩分配控制提供了依據(jù)。⑶針對(duì)車輛縱向行駛工況的軸間驅(qū)動(dòng)力矩分配問題,提出了一種帶有效率模型的驅(qū)動(dòng)防滑控制策略。對(duì)于一般縱向行駛工況,應(yīng)用離線優(yōu)化與響應(yīng)面預(yù)測模型的方法構(gòu)建了軸間驅(qū)動(dòng)力矩分配效率模型;對(duì)于低附著路面行駛工況,提出了基于滑�？刂扑惴ǖ尿�(qū)動(dòng)防滑控制策略。仿真結(jié)果表明:在中國典型城市工況下,相對(duì)于中軸、后軸驅(qū)動(dòng)轉(zhuǎn)矩平均分配控制策略,基于效率模型的控制策略可使整車總體能量消耗降低5.82%;當(dāng)車輛行駛在低附著對(duì)接、對(duì)開等復(fù)雜路面時(shí),帶有驅(qū)動(dòng)轉(zhuǎn)矩低選的驅(qū)動(dòng)防滑控制策略能夠?qū)⒒坡士刂圃?5-20%合理區(qū)間內(nèi),保證車輛的行駛穩(wěn)定性。⑷針對(duì)車輛非極限轉(zhuǎn)向行駛工況的同軸輪間驅(qū)動(dòng)力矩分配問題,提出了一種兼顧驅(qū)動(dòng)效率與橫擺角速度控制目標(biāo)的車輛橫擺力矩控制策略。該策略以前部車體所組成的兩軸四輪車輛作為控制參考對(duì)象推導(dǎo)了整車的橫擺角速度跟蹤控制目標(biāo),根據(jù)整車能耗最低的原則對(duì)附加橫擺力矩分配問題進(jìn)行了離線優(yōu)化,并利用優(yōu)化數(shù)據(jù)搭建了BP神經(jīng)網(wǎng)絡(luò)控制預(yù)測模型,實(shí)現(xiàn)了輪間驅(qū)動(dòng)力矩的分配控制。仿真結(jié)果表明:在初速為20km/h的低初速加速轉(zhuǎn)向行駛工況和50km/h的高初速轉(zhuǎn)向行駛工況,與驅(qū)動(dòng)轉(zhuǎn)矩平均分配策略相比,該策略在滿足駕駛縱向動(dòng)力性需求情況下,橫擺角速度累積跟蹤誤差分別減少21.7%和10.2%,同時(shí)整車能耗分別降低了1.75%和4.16%。⑸搭建了雙電機(jī)輪邊驅(qū)動(dòng)特性試驗(yàn)臺(tái),對(duì)雙電機(jī)轉(zhuǎn)矩輸出的一致性和效率特性進(jìn)行了臺(tái)架試驗(yàn)研究。參考汽車整車控制器“V”模式開發(fā)流程,進(jìn)行了驅(qū)動(dòng)控制器的開發(fā),并利用課題開發(fā)的18米輪邊電驅(qū)動(dòng)鉸接客車樣車進(jìn)行了實(shí)車道路試驗(yàn),驗(yàn)證了控制策略的有效性。
[Abstract]:Multi axle wheel side electric driven articulated bus is a new type of distributed drive electric vehicle. It has the advantages of large capacity, strong adaptability and zero emission. It is one of the best vehicles to alleviate traffic pressure and reduce urban air pollution in large and medium-sized cities. However, the introduction of hinged disc device increases the complexity of the whole vehicle structure. At the same time, the whole vehicle dynamic coordinated control is highly coupled with the energy optimization assignment target, and the vehicle is also affected by the random factors such as the driving condition, the road environment and so on. The dynamic control of the vehicle is challenging. In this paper, the multi axle wheel side electric driven articulated passenger car is taken as the research object, and the dynamic modeling and driving of the whole vehicle are carried out. The following research work is carried out in the following aspects: (1) the vehicle body is simplified into two body rigid bodies in the front and rear parts connected by an articulated disc, and a package is established by using the hilin multi rigid body dynamic modeling method and the principle of Dan virtual power. The eleven degree of freedom vehicle dynamic model, including the generalized coordinates of the hinged disc angle, lays the foundation for the formulation and Simulation of the following vehicle longitudinal dynamics and lateral dynamics control strategy. (2) the H infinity -EKF filter and the H infinity -UKF filter are proposed for the estimation of the centroid position parameters of the multi axle wheel side electric driven articulated bus. The algorithm uses the characteristics of real-time acquisition of the input torque and speed of the distributed drive electric vehicle. The estimation of the center of mass of the vehicle can be achieved only by the longitudinal dynamic characteristics of the vehicle. The proposed algorithm solves the problem that the accuracy of the centroid position estimation can be reduced because of the system model and the noise statistical characteristics, and the vehicle is a vehicle. The driving torque distribution control provides a basis. (3) a driving anti slip control strategy with efficiency model is proposed for the problem of axle driving torque distribution in the longitudinal driving condition of the vehicle. For the general longitudinal driving condition, an off-axis driving torque distribution efficiency model is constructed by using the square method of off-line optimization and response surface prediction model. The driving slip control strategy based on sliding mode control algorithm is proposed for the running condition of low attached pavement. The simulation results show that under the typical urban conditions of China, the average distribution control strategy of the rear axle drive torque is compared with the middle axis, and the overall energy consumption of the vehicle can be reduced by 5.82%, and the vehicle is running when the vehicle runs in the case of the efficiency model. With low attachment and docking, the driving torque control strategy with low driving torque can be controlled in a reasonable 15-20% interval to ensure the driving stability of the vehicle with low driving torque. 4. Aiming at the problem of the driving torque distribution between the coaxial wheels in the non limit steering driving condition of the vehicle, a kind of balance between the driving efficiency and the yaw angle is proposed. The vehicle yaw moment control strategy of the speed control target. The two axis four wheel vehicle consisting of the former car body is used as the control reference object to deduce the yaw speed tracking control target of the whole vehicle. According to the principle of the lowest energy consumption of the whole vehicle, the problem of the additional yaw moment distribution is optimized off-line, and the optimized data is built. The BP neural network control prediction model is used to realize the distribution control of the wheel drive torque. The simulation results show that the strategy is compared with the average driving torque distribution strategy at the low initial speed driving working condition and the high initial speed steering working condition of 50km/h at the initial speed of 20km/h. The tracking error of degree accumulation is reduced by 21.7% and 10.2% respectively. At the same time, the energy consumption of the whole vehicle is reduced by 1.75% and 4.16%. respectively. The double motor wheel side driving test bench is set up. The test research on the consistency and efficiency characteristic of the torque output of the double motor is carried out. The driving controller is carried out with reference to the development process of the "V" model of the vehicle controller. The development of a 18 meter wheel side electric drive articulated bus prototype is carried out on a real vehicle road test, and the effectiveness of the control strategy is verified.
【學(xué)位授予單位】：北京理工大學(xué)
【學(xué)位級(jí)別】：博士
【學(xué)位授予年份】：2016
【分類號(hào)】：U469.72

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