【作者】 刘晶；

【导师】 马雷；

【作者基本信息】 燕山大学 ， 车辆工程， 2010， 硕士

【摘要】 电动汽车作为新能源研究领域的重要课题,其四轮独立驱动技术逐渐成为研究的核心。本文以四轮独立驱动电动汽车驱动力控制方法与驱动力分配分析为研究对象,在对国内外研究现状进行了分析的基础上,对电动汽车驱动控制的仿真及实验各个环节进行了研究。首先从建模开始,介绍了动力学仿真软件ADAMS在机械行业的应用及其解算优势,并介绍了科学计算仿真软件Matlab/Simulink在仿真计算领域的优点。在对车辆硬件系统进行分析并对比了ADAMS各个模块的主要功用的基础上,在ADAMS/View模块中建立了简化的四轮独立驱动车辆动力学模型;分析了电机的机械特性及PWM控制的工作原理,在Matlab/Si- mulink中建立电机及其控制器模型,完成了二者的联合仿真建模。其次采用等转矩电流控制方法,通过系统辨识获取驱动系统的动态响应模型,将该模型变换为驱动系统控制模型。设计整车控制方法,运用最优控制理论进行驱动系统反馈控制器设计,给出控制器参考输入的调整方法,并说明了反馈控制器和参考输入在控制中的作用。将控制器分别应用于联合仿真及实车试验,对比分析,验证了仿真模型的精确度及控制器的稳定性及快速性,证明了控制器具有良好的控制品质。最后,以车辆的驱动防滑控制为目标,对车辆整体及轮胎部分分别进行了力学的数学建模,分析轮胎的附着率与滑动率的关系,建立目标函数及相关约束并选取参数,在已有的仿真平台上完成了控制器的建模,并进行了驱动力的优化仿真及驱动力的分配分析。更多还原

【Abstract】 For the sake of environmental protection and energy save, electrical vehicle (EV) takes in the most important research area of environmental energy sources now, and the 4 independently wheels driving technical becomes the focus of the EV research. This article takes driving force distribution analysis and control method of 4wd EV as the object of study, on the foundation of the domestic and foreign research present situation analysis, and takes research on each link of the simulation and experiment on 4WD EV control.First, an introduction of ADAMS (Automatic Dynamic Analysis of Mechanical System) and Matlab/Simulink software is made. After analyzing the structural property of model vehicle, a multi-body dynamic model of a full independent 4WD EV is established by using ADAMS software, and an electric motor combined the drive-control system is established under Matlab/Simulink environment.Second, dynamics of vehicle with four independently-driving wheels (4WD) is analyzed to show the purpose of vehicle running control. Dynamic response model of driving system is obtained through system identification, and then be transformed into a control model of driving system. The whole vehicle control method is designed, optimal control theory is used to design system feedback controller, and then adjustment method of controller’s reference input is given. Action of feedback controller and reference input in the whole vehicle control is expounded. The equality torque driving force distribution strategy is applied in experiment, and the method get favorable effect.At last, taking anti-slip control as the goal, mathematics models was built for the force of both the whole vehicle and the tire part. After an analysis of the relationship between adhesion coefficient of road surface and wheel slip was made, the cost function and restrains was established with the selection of related parameters. Driving force distribution analysis and driving force optimize simulation was finished after the completion the model of controller更多还原