多轮独立电驱动车辆驱动力优化控制研究

doi:10.3969/j.issn.1000-1093.2016.01.004

兵工学报 ›› 2016, Vol. 37 ›› Issue (1): 23-30.doi: 10.3969/j.issn.1000-1093.2016.01.004

多轮独立电驱动车辆驱动力优化控制研究

阳贵兵，廖自力，马晓军，刘春光

（装甲兵工程学院陆战平台全电化技术重点实验室，北京 100072）

收稿日期:2015-05-05 修回日期:2015-05-05 上线日期:2016-03-23
作者简介:阳贵兵(1987—)男博士研究生
基金资助:
军队科研项目（40402050101）

A Study of Driving Force Optimal Control of Multi-wheel Independent Electric Drive Vehicle

YANG Gui-bing, LIAO Zi-li, MA Xiao-jun, LIU Chun-guang

(The Key Lab of All-electric Technology of Land Warfare Platform, Academy ofArmored Force Engineering, Beijing 100072, China)

Received:2015-05-05 Revised:2015-05-05 Online:2016-03-23

摘要/Abstract

摘要： 为了充分发挥多轮独立电驱动车辆的动力性能，提出了一种层次化的驱动力优化控制结构。该控制结构包含基于各轴载荷预分配控制、驱动防滑控制和基于车辆状态的再分配3层控制，其中防滑控制是核心层，采用基于路面最优滑转率滑模控制的方法，通过设计基于累积求和统计目标控制的路面跳变检测器，结合车轮滑转率-路面附着系数图形，可实现变路面的最优滑转率估计。通过该分层控制结构，实现了驱动力在各轴之间以及各个驱动电机之间的优化分配控制。利用硬件在环实时仿真实验验证了该控制结构能改善车辆的爬坡性能、直线加速性能以及障碍路面行驶的通过性。

关键词: 控制科学与技术, 多轮独立电驱动, 动力性能, 驱动防滑, 优化控制

Abstract: In order to improve the power performance of multi-wheel independent electric drive vehicle, a hierarchical control structure is established to realize the optimal control of the whole vehicle driving force. This kind of control structure includes an predistribution control of load on each axis, the acceleration slip regulation (ASR) and the redistribution based on state of vehicle. The ASR is the core layer which adopts a slip mode control method based on the road’s optimal slip rate, and an abnormal fault detector based on cumulative sum (CUSUM) statistical control is designed. The optimal estimation of slip rate can be realized based on μ-λ figure. The hierarchical control structure can be used to achive the optimal distribution of drive force between axis and driving motor based on the output control of single wheel’s optimal control. The control structure is proven by a real-time simulation in hardware in loop (HIL) in order to improve the vehicle’s performances, including climbing ability, directly accelerating ability, and trafficability.

Key words: control science and technology, multi-wheel independent electric drive, power performance, acceleration slip regulation, optimal control

中图分类号:

TJ81

阳贵兵，廖自力，马晓军，刘春光. 多轮独立电驱动车辆驱动力优化控制研究[J]. 兵工学报, 2016, 37(1): 23-30.

YANG Gui-bing, LIAO Zi-li, MA Xiao-jun, LIU Chun-guang. A Study of Driving Force Optimal Control of Multi-wheel Independent Electric Drive Vehicle[J]. Acta Armamentarii, 2016, 37(1): 23-30.

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多轮独立电驱动车辆驱动力优化控制研究

A Study of Driving Force Optimal Control of Multi-wheel Independent Electric Drive Vehicle

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