【作者】 袁仪；

【导师】 陈世元；

【作者基本信息】 华南理工大学 ， 电机与电器， 2010， 硕士

【摘要】 电动汽车(EV, Electrical Vehicle)是一种清洁的交通工具,随着环保和能源问题日益受到关注,电动汽车发展呈现加速的趋势。采用轮毂式电机驱动的电动汽车的最大可能的减少了机械部件,结构简单紧凑、易于实现智能控制。操控稳定性是汽车的最重要性能之一,汽车的电动化,给其操控稳定性提出了新的问题,也提供新的解决途径。本论文以双后轮驱动的电动轮电动汽车为研究对象,对电动轮电动汽车的操控稳定性做出研究。本文首先,介绍了汽车操控稳定性的概念和定义,同时简略介绍了传统内燃机汽车提高汽车操控稳定性的原理和一些方法。直行时的操作稳定性能是电动汽车操作稳定性的重要组成部分。本文提出根据最优滑转率结合模糊控制的方法,来提高电动汽车直行时的稳定性。首先将路面状况以及汽车加速度作为模糊输入,用模糊推理的方法推断出期望转矩。再次利用模糊控制,将期望转矩输出同电机的内部参数作为输入量,设计了模糊算法,其有效提高了控制的精度和减少了输出的转矩脉动。文本采用基于直接转矩法控制电机能快速的对电机输出转矩做出调节。车辆转弯时,汽车的操作稳定性能也是汽车操作稳定性的重要组成部分。针对轮毂电机驱动的电动汽车差速问题,本文提出了实际行驶情况下基于自适应控制原理的电子差速解决方案。分析了汽车静态情况下的转向动力学模型。根据动态环境中各因素对汽车差速产生的影响,提出结合自适应控制来设计差速器。根据自适应控制和汽车动力学的特征,将汽车和路面条件统一分析。本文利用MATLAB/Simulink软件对其系统进行建模和仿真分析,可以看出使用模糊控制时,汽车在高速直行时具有更小的横摆角,在遇到对开路面时,可以更快的恢复直行,因此具有更强的稳定性。同时,汽车可以获得更高的加速度,因此具有更好的操作性。在自适应控制下,在各种环境条件下都具有良好的差速性能。更多还原

【Abstract】 Electrical Vehicle (EV) is kind of clean transportation. With the environmental problem and energy problem receiving more and more attention, the development of EV speeds up. Because of the EV based on the in-wheel motor greatly reduce the Mechanical components of vehicle, the structure of the vehicle is simple, and easily be controlled by intelligent method. Operational stability is one of the most important capability of the vehicle. The electric of the vehicle generate new problem of the operational stability and support the new ways to improve the operational stability. In this essay, the EV drived by double back in-wheel motor is the aim of research. Some research work would be done for improving the operational stability of EV.At first the basic conception and definition of operational stability of vehicle is showed in the paper. For improving the stability of the EV a method based on both the optimal slip rated control and fuzzy control had been proposed in the paper. Firstly, the condition of the road and the acceleration of the EV would be worked as the fuzzy input, after fuzzy calculation, the desired torque could be obtained. Secondly, both the desired torque and the inner parameters of the motor would be considered as the fuzzy input, and a algorithm had be designed in this paper, which could effectively improve the accuracy and reduce the torque pulse. And the motor was based on the direct torque control methods which could increase the response of the torque. When a car is turning a corner, the performance of the differential of vehicle is one of the important part of the operational stability of vehicle. According to the differential problem of the in-wheel motor driving EV, self-control electric differential method was proposed in this essay. Firstly, the basic steering dynamics model under the static condition was analysis. And considering many actual factors which would impact the differential, a method which synthesize the outside Influencing factors and the inside parameterAt last, the simulation model was built by MATLAB/Simulink, and the result of simulation proved two points. When vehicle running straightly with high speed, with the fuzzy control, the Yaw angle of vehicle can greatly reduced, and when the vehicle meet the complex road condition, it could restore straight running as soon as possible.At the same time, the fuzzy control can improve the acceleration performance of EV. The second point is that with the self-control strategy, under the different kinds of the road condition, the EV had good performance of differential.更多还原