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山东大学学报(工学版) ›› 2018, Vol. 48 ›› Issue (1): 96-103.doi: 10.6040/j.issn.1672-3961.0.2017.081

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四轮独立驱动电动汽车自适应驱动防滑控制

张博涵,陈哲明*,付江华,陈宝   

  1. 重庆理工大学车辆工程学院, 重庆 401320
  • 收稿日期:2017-03-02 出版日期:2018-02-20 发布日期:2017-03-02
  • 通讯作者: 陈哲明(1978— ),男,重庆合川人,副教授,博士,主要研究方向为汽车系统动力学控制. E-mail:czm.415@163.com E-mail:zhangbohan0128@163.com
  • 作者简介:张博涵(1992— ),男,山东淄博人,硕士研究生,主要研究方向为汽车系统动力学控制. E-mail:zhangbohan0128@163.com
  • 基金资助:
    重庆市研究生科研创新资助项目(CYS17276);国家自然科学基金青年科学基金资助项目(51205433)

Self-adaption acceleration slip regulation control of four-wheel independently-driving electric vehicle

ZHANG Bohan, CHEN Zheming*, FU Jianghua, CHEN Bao   

  1. School of Vehicle Engineering, Chongqing University of Technology, Chongqing 401320, China
  • Received:2017-03-02 Online:2018-02-20 Published:2017-03-02

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摘要： 驱动防滑控制研究存在建模方法单一,控制器的目标滑转率不能与变化的路面条件相适应,未考虑车辆轴荷转移对车轮附着性能的影响等问题。为解决上述问题,建立基于Carsim与Matlab/Simulink联合仿真的整车动力学模型;设计基于双模糊算法的自适应驱动防滑控制器,控制器中加入路面识别模块,能够估计变化的路面附着条件,根据估计结果选择最优的目标理想滑转率,实现对当前路面的自适应控制;分别设计前后轴驱动防滑控制器,实现前后轴差别控制。针对不同工况,对建立的整车模型及驱动防滑控制器进行验证。

关键词: 联合仿真, 路面识别, 自适应, 模糊控制, 驱动防滑

Abstract: There are many problems in the research of the acceleration slip regulation control, such as the single modeling method, the ideal slip rate of the controller can not match the changing road conditions, and the influence of the axle load transfer on the wheel adhesion performance is not taken into account. In order to solve the above problems, the vehicle dynamics model based on Carsim and Matlab/Simulink co-simulation was established. A self-adaption acceleration slip regulation controller based on double fuzzy algorithm was designed. The pavement recognition module could be added to the controller to estimate the changeable pavement attachment condition. Based on the estimation results, the optimal target slipping rate could be selected to realize the self-adaptive control. The acceleration slip regulation control algorithm of front-rear axle drive was designed separately to realize the differential control of front and rear axles. According to the different working conditions, the vehicle model and the acceleration slip regulation controller were verified.

Key words: road identification, co-simulation, acceleration slip regulation, fuzzy control, self-adaption

中图分类号: 

  • U461.6
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