本文選題：輪轂電動(dòng)車(chē) + 失穩(wěn)邊界�。� 參考：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：與傳統(tǒng)集中式驅(qū)動(dòng)方式相比,分布式驅(qū)動(dòng)的輪轂電動(dòng)車(chē)結(jié)構(gòu)簡(jiǎn)單、四輪扭矩獨(dú)立可控、節(jié)約能源,已經(jīng)成為電動(dòng)汽車(chē)研究重點(diǎn)和發(fā)展方向。對(duì)于轉(zhuǎn)向工況,改善轉(zhuǎn)向性能和提高穩(wěn)定性是兩大目標(biāo)。目前主要通過(guò)直接橫擺扭矩控制(DYC)協(xié)調(diào)四輪電機(jī)扭矩跟蹤期望橫擺,達(dá)到改善性能的目的。由于路面最大附著力的限制和輪胎的非線性特性,在很多極限工況下,車(chē)輛轉(zhuǎn)向時(shí)極易發(fā)生嚴(yán)重側(cè)滑導(dǎo)致失穩(wěn)。另一方面,轉(zhuǎn)向時(shí),后驅(qū)比前驅(qū)具有更好的轉(zhuǎn)向性能,但后驅(qū)的轉(zhuǎn)向穩(wěn)定性較差,易產(chǎn)生失穩(wěn)現(xiàn)象。本文針對(duì)輪轂驅(qū)動(dòng)電動(dòng)車(chē)的前后軸扭矩分配的問(wèn)題,分析車(chē)輛轉(zhuǎn)向失穩(wěn)的原因,和前后軸扭矩分配導(dǎo)致車(chē)輛失穩(wěn)的邊界,給出了基于前后軸扭矩分配的橫擺穩(wěn)定控制方法,實(shí)現(xiàn)改善轉(zhuǎn)向性能和保障穩(wěn)定性的目標(biāo)。本文首先通過(guò)仿真,描述了前后軸扭矩分配對(duì)轉(zhuǎn)向加速工況性能的改善和產(chǎn)生車(chē)輛失穩(wěn)的現(xiàn)象。進(jìn)而,結(jié)合車(chē)輛動(dòng)力學(xué)模型,分析了車(chē)輛轉(zhuǎn)向失穩(wěn)的機(jī)理和主要原因。結(jié)合車(chē)輛失穩(wěn)時(shí)的動(dòng)力學(xué)特征,提出了一種確定失穩(wěn)邊界的方法。本文給出的方法利用車(chē)速、橫擺率和側(cè)向加速度信息,對(duì)車(chē)輛狀態(tài)信息依賴(lài)較小,便于應(yīng)用�；诮o出的車(chē)輛失穩(wěn)邊界確定方法,本文提出了一種輪轂驅(qū)動(dòng)電動(dòng)車(chē)前后軸扭矩分配方法。該方法一方面充分利用各車(chē)輪的附著率,以提高車(chē)輪側(cè)向力,達(dá)到提高轉(zhuǎn)向性能的目的。同時(shí),結(jié)合失穩(wěn)邊界,約束后軸扭矩分配比例,保證車(chē)輛轉(zhuǎn)向的穩(wěn)定性。最后,本文在前后軸扭矩分配的基礎(chǔ)上進(jìn)行了橫擺穩(wěn)定控制研究。為實(shí)現(xiàn)期望橫擺率的跟蹤,首先對(duì)期望橫擺率的設(shè)計(jì)方法進(jìn)行了分析,然后給出了一種橫擺率跟蹤模型預(yù)測(cè)控制(Model Predictive Control,MPC)控制器設(shè)計(jì)方法,硬件在環(huán)實(shí)驗(yàn)結(jié)果檢驗(yàn)了本文方法的可行性。
[Abstract]:Compared with the traditional centralized drive mode, the distributed hub electric vehicle has the advantages of simple structure, independent and controllable four-wheel torque and energy saving, which has become the research focus and development direction of electric vehicle. For steering conditions, improving steering performance and stability are two major objectives. At present, the torque tracking of four wheel motor is coordinated by direct yaw torque control (DYC) to improve the performance. Due to the limitation of the maximum adhesion of the road surface and the nonlinear characteristics of the tire, it is easy for the vehicle to slip seriously and lead to instability under many extreme conditions. On the other hand, the back drive has better steering performance than the front drive, but the steering stability of the back drive is poor and the instability is easy to occur. In this paper, aiming at the problem of torque distribution in front and rear axle of electric vehicle driven by wheel hub, the causes of steering instability of vehicle and the boundary of vehicle instability caused by torque distribution of front and rear axle are analyzed, and the control method of yaw stability based on torque distribution of front and rear axle is given. Achieve the goal of improving steering performance and ensuring stability. In this paper, first of all, through simulation, the paper describes the improvement of the performance of steering acceleration and the phenomenon of vehicle instability caused by the torque distribution of the front and rear axle. Then, combined with vehicle dynamics model, the mechanism and main reasons of vehicle steering instability are analyzed. Based on the dynamic characteristics of vehicle instability, a method to determine the instability boundary is proposed. The method presented in this paper makes use of the information of vehicle speed, yaw rate and lateral acceleration, and has less dependence on vehicle state information, so it is easy to be applied. Based on the method of determining vehicle instability boundary, this paper presents a torque distribution method for front and rear axle of wheel-driven electric vehicle. On the one hand, the method makes full use of the adhesion rate of each wheel to increase the lateral force of the wheel and achieve the purpose of improving the steering performance. At the same time, combined with the instability boundary, the torque distribution ratio of rear axle is restricted to ensure the stability of vehicle steering. Finally, on the basis of torque distribution of front and rear shafts, the stability control of yaw is studied in this paper. In order to realize the tracking of the expected yaw rate, the design method of the desired yaw rate is analyzed at first, and then a design method of the model predictive control Predictive control MPC controller for the yaw rate tracking model is presented. The results of hardware in-loop experiments verify the feasibility of this method.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：U469.72;TP273

【參考文獻(xiàn)】

相關(guān)期刊論文 前9條

1 黃書(shū)榮;邢棟;徐偉;;新能源電動(dòng)汽車(chē)用輪轂電機(jī)關(guān)鍵技術(shù)綜述[J];新型工業(yè)化;2015年02期

2 楊鵬飛;熊璐;余卓平;;四輪輪轂電機(jī)驅(qū)動(dòng)電動(dòng)汽車(chē)電機(jī)/液壓系統(tǒng)聯(lián)合控制策略[J];汽車(chē)工程;2013年10期

3 李剛;宗長(zhǎng)富;陳國(guó)迎;洪偉;何磊;;線控四輪獨(dú)立驅(qū)動(dòng)輪轂電機(jī)電動(dòng)車(chē)集成控制[J];吉林大學(xué)學(xué)報(bào)(工學(xué)版);2012年04期

4 范晶晶;羅禹貢;張海林;李克強(qiáng);;全輪獨(dú)立電驅(qū)動(dòng)車(chē)輛雙重轉(zhuǎn)向控制策略的研究[J];汽車(chē)工程;2011年05期

5 熊璐;余卓平;;輪轂電機(jī)驅(qū)動(dòng)電動(dòng)汽車(chē)各輪轂電機(jī)扭矩分配算法的仿真和評(píng)價(jià)[J];計(jì)算機(jī)輔助工程;2010年01期

6 王慶年;王軍年;靳立強(qiáng);胡長(zhǎng)健;張向忠;;用于電動(dòng)輪驅(qū)動(dòng)汽車(chē)的差動(dòng)助力轉(zhuǎn)向[J];吉林大學(xué)學(xué)報(bào)(工學(xué)版);2009年01期

7 朱紹中;姜煒;余卓平;張立軍;;基于控制分配的輪轂電機(jī)驅(qū)動(dòng)電動(dòng)車(chē)穩(wěn)定性控制仿真研究[J];系統(tǒng)仿真學(xué)報(bào);2008年18期

8 余卓平;姜煒;張立軍;;四輪輪轂電機(jī)驅(qū)動(dòng)電動(dòng)汽車(chē)扭矩分配控制[J];同濟(jì)大學(xué)學(xué)報(bào)(自然科學(xué)版);2008年08期

9 王慶年;張緩緩;靳立強(qiáng);;四輪獨(dú)立驅(qū)動(dòng)電動(dòng)車(chē)轉(zhuǎn)向驅(qū)動(dòng)的轉(zhuǎn)矩協(xié)調(diào)控制[J];吉林大學(xué)學(xué)報(bào)(工學(xué)版);2007年05期

相關(guān)博士學(xué)位論文 前1條

1 楊福廣;4WID/4WIS電動(dòng)車(chē)輛防滑與橫擺穩(wěn)定性控制研究[D];山東大學(xué);2010年

相關(guān)碩士學(xué)位論文 前2條

1 孫勇;分布式驅(qū)動(dòng)電動(dòng)汽車(chē)橫擺穩(wěn)定性控制研究[D];吉林大學(xué);2013年

2 李信梅;基于磁阻轉(zhuǎn)矩的高功率密度永磁輪轂電機(jī)的設(shè)計(jì)研究[D];哈爾濱工業(yè)大學(xué);2008年

，

本文編號(hào)：1874759