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兵工学报 ›› 2021, Vol. 42 ›› Issue (10): 2278-2290.doi: 10.3969/j.issn.1000-1093.2021.10.024

• 论文 • 上一篇    

基于路面自适应的多轮轮毂电机驱动车辆驱动防滑控制

陈路明1,2, 廖自力1, 张征1   

  1. (1.陆军装甲兵学院 兵器与控制系, 北京 100072; 2.国民核生化灾害防护国家重点实验室, 北京 102205)
  • 发布日期:2021-11-03
  • 通讯作者: 廖自力(1974—),男,教授,博士生导师 E-mail:zili_liao@163.com
  • 作者简介:陈路明(1991—), 男, 助理研究员, 博士。 E-mail: 295170692@qq.com
  • 基金资助:
    国家自然科学基金项目(51507190); 武器装备预先研究项目(301051102)

Acceleration Slip Regulation for Multi-wheel Hub Motor Driven Vehicles Based on Road Adaptive

CHEN Luming1,2,LIAO Zili1,ZHANG Zheng1   

  1. (1.Department of Weapons and Control, Army Academy of Armored Forces, Beijing 100072, China; 2.State Key Laboratory of NBC Protection for Civilian, Beijing 102205, China)
  • Online:2021-11-03

摘要: 为提高多轮轮毂电机驱动车辆在不同路面行驶的动力性和操纵稳定性,提出一种具有路面识别功能的驱动防滑控制策略。分别建立整车模型、车轮受力模型及Dugoff轮胎模型,运用衰减记忆无迹卡尔曼滤波方法对路面附着系数进行估计。对传统滑模控制方法进行改进,设计模糊滑模控制器,根据路面条件调节轮胎滑转率,计算调整力矩进行车辆驱动防滑控制。利用半实物实时仿真平台开展了仿真实验。结果表明,路面自适应驱动防滑控制策略精确地辨识了典型道路的路面附着系数,迅速适应不同路面条件,减小轮胎过度滑转,有效提高了车辆驱动性能和操纵稳定性能。

关键词: 轮毂电机, 路面识别, 滑转率, 模糊滑模控制, 驱动防滑控制

Abstract: An acceleration slip regulation strategy with dynamic road identification is proposed to enhance the dynamic performance and steering stability of multi-wheel hub motor driven vehicles. The nonlinear three-degree-of-freedom vehicle model, wheel force model, and Dugoff tire model are established, respectively. Based on those models, a fading memory unscented Kalman filter is used to estimate the road adhesion coefficient. The traditional sliding mode control algorithm is improved, and a fuzzy sliding mode controller is designed to adaptively adjust the tire slip rate according to the road conditions and calculate the adjustment torque for acceleration slip regulation. A series of tests were conducted on the real-time simulation platform. The simulated results show that the driving force coordinated control strategy can be used to accurately identify the road adhesion coefficient, quickly adapt to the different road conditions, reduce the excessive tire slip, and improve the driving performance and handling stability performance of vehicle.

Key words: hubmotor, roadidentification, slipratio, fuzzyslidingmodecontrol, accelerationslipregulation

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