【摘要】：隨著環(huán)境污染與霧霾問題的日益嚴峻,導致可再生能源備受關注,而適合可再生能源驅動的新能源汽車成為近年來研究的熱點。兩前輪轉向、后輪驅動的輪轂電機電動汽車是較有發(fā)展前景的一種。輪轂電機電動汽車整車質量低、驅動輪獨立可控、轉矩轉速易于測得,與傳統(tǒng)內(nèi)燃機汽車相比在車輛動力學控制和驅動力分配方面有其獨特的優(yōu)勢。依托遼寧省教育廳項目“雙永磁同步輪轂電機驅動電動汽車控制器研制”,論文進行了驅動防滑控制方面的研究。首先,在總結國內(nèi)外相關研究成果的基礎上,針對兩輪轂電機獨立驅動電動汽車開展了關于驅動防滑控制方面的研究�；贑arSim-Matlab/Simulink聯(lián)合仿真平臺建立電動車動力學模型并進行對比驗證。其次,在對路面數(shù)據(jù)庫進行分析和優(yōu)化的基礎上設計了路面識別算法,采用模糊控制器實現(xiàn)對當前路面峰值附著系數(shù)和最優(yōu)滑轉率的估計;分別設計了PID控制、模糊控制、自適應模糊PID控制器,以路面識別算法識別出的最優(yōu)滑轉率為目標,對驅動輪進行驅動防滑控制仿真驗證;通過對比仿真結果,選取控制效果較好的自適應模糊PID控制作為驅動防滑最終的控制算法進行硬件在環(huán)實驗。最后,針對電動車行駛時復雜的路況,設置了典型的三種實驗工況;應用遼寧工業(yè)大學汽車駕駛模擬器硬件在環(huán)實驗臺對所研究內(nèi)容進行實驗驗證;實驗結果表明:路面識別算法能夠迅速準確的識別出路面信息;基于路面識別的自適應模糊PID控制能夠很好的將實際滑轉率控制在最優(yōu),抑制了驅動輪的過度滑轉。
[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.
【學位授予單位】：遼寧工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：U469.72

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