【摘要】：隨著環(huán)境污染與霧霾問題的日益嚴(yán)峻,導(dǎo)致可再生能源備受關(guān)注,而適合可再生能源驅(qū)動(dòng)的新能源汽車成為近年來研究的熱點(diǎn)。兩前輪轉(zhuǎn)向、后輪驅(qū)動(dòng)的輪轂電機(jī)電動(dòng)汽車是較有發(fā)展前景的一種。輪轂電機(jī)電動(dòng)汽車整車質(zhì)量低、驅(qū)動(dòng)輪獨(dú)立可控、轉(zhuǎn)矩轉(zhuǎn)速易于測(cè)得,與傳統(tǒng)內(nèi)燃機(jī)汽車相比在車輛動(dòng)力學(xué)控制和驅(qū)動(dòng)力分配方面有其獨(dú)特的優(yōu)勢(shì)。依托遼寧省教育廳項(xiàng)目“雙永磁同步輪轂電機(jī)驅(qū)動(dòng)電動(dòng)汽車控制器研制”,論文進(jìn)行了驅(qū)動(dòng)防滑控制方面的研究。首先,在總結(jié)國(guó)內(nèi)外相關(guān)研究成果的基礎(chǔ)上,針對(duì)兩輪轂電機(jī)獨(dú)立驅(qū)動(dòng)電動(dòng)汽車開展了關(guān)于驅(qū)動(dòng)防滑控制方面的研究�；贑arSim-Matlab/Simulink聯(lián)合仿真平臺(tái)建立電動(dòng)車動(dòng)力學(xué)模型并進(jìn)行對(duì)比驗(yàn)證。其次,在對(duì)路面數(shù)據(jù)庫(kù)進(jìn)行分析和優(yōu)化的基礎(chǔ)上設(shè)計(jì)了路面識(shí)別算法,采用模糊控制器實(shí)現(xiàn)對(duì)當(dāng)前路面峰值附著系數(shù)和最優(yōu)滑轉(zhuǎn)率的估計(jì);分別設(shè)計(jì)了PID控制、模糊控制、自適應(yīng)模糊PID控制器,以路面識(shí)別算法識(shí)別出的最優(yōu)滑轉(zhuǎn)率為目標(biāo),對(duì)驅(qū)動(dòng)輪進(jìn)行驅(qū)動(dòng)防滑控制仿真驗(yàn)證;通過對(duì)比仿真結(jié)果,選取控制效果較好的自適應(yīng)模糊PID控制作為驅(qū)動(dòng)防滑最終的控制算法進(jìn)行硬件在環(huán)實(shí)驗(yàn)。最后,針對(duì)電動(dòng)車行駛時(shí)復(fù)雜的路況,設(shè)置了典型的三種實(shí)驗(yàn)工況;應(yīng)用遼寧工業(yè)大學(xué)汽車駕駛模擬器硬件在環(huán)實(shí)驗(yàn)臺(tái)對(duì)所研究?jī)?nèi)容進(jìn)行實(shí)驗(yàn)驗(yàn)證;實(shí)驗(yàn)結(jié)果表明:路面識(shí)別算法能夠迅速準(zhǔn)確的識(shí)別出路面信息;基于路面識(shí)別的自適應(yīng)模糊PID控制能夠很好的將實(shí)際滑轉(zhuǎn)率控制在最優(yōu),抑制了驅(qū)動(dòng)輪的過度滑轉(zhuǎn)。
[Abstract]:With the increasing severity of environmental pollution and haze problems, renewable energy has attracted much attention, and new energy vehicles, which are suitable for renewable energy, have become a hot research topic in recent years. Two front wheel steering and rear wheel drive electric vehicle with hub motor is one of the most promising vehicles. Wheel motor electric vehicle is of low quality, independent and controllable driving wheel, easy to measure torque and speed. Compared with traditional internal combustion engine vehicle, it has its unique advantages in vehicle dynamics control and driving force distribution. Based on the project of Liaoning Provincial Education Department, "dual permanent magnet synchronous hub motor drive electric vehicle controller", the paper carries on the research of driving anti-slip control. Firstly, on the basis of summarizing the related research results at home and abroad, the research on driving anti-skid control of two hub motor independent drive electric vehicles is carried out. The dynamic model of electric vehicle based on CarSim-Matlab/Simulink simulation platform is established and compared. Secondly, based on the analysis and optimization of the pavement database, the pavement identification algorithm is designed, and the fuzzy controller is used to estimate the peak adhesion coefficient and the optimal slip rate of the pavement. The PID control fuzzy control and adaptive fuzzy PID controller are designed respectively. The optimal slip rate identified by the road recognition algorithm is taken as the target and the driving wheel is simulated to verify the anti-slip control. By comparing the simulation results, the adaptive fuzzy PID control, which has better control effect, is selected as the ultimate control algorithm for driving anti-skid, and the hardware in loop experiment is carried out. Finally, aiming at the complex road conditions of electric vehicles, three typical experimental conditions are set up, and the contents of the research are verified by using the hardware of the vehicle driving simulator of Liaoning University of Technology in the ring test bench. The experimental results show that the road recognition algorithm can recognize the road information quickly and accurately, and the adaptive fuzzy PID control based on the road surface recognition can control the actual slip rate to the best, which can restrain the excessive slip of the driving wheel.
【學(xué)位授予單位】：遼寧工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：U469.72

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