【作者】 宋长有；

【导师】 李军伟；

【作者基本信息】 山东理工大学 ， 车辆工程， 2007， 硕士

【摘要】 电动汽车以其具有的节能、低噪声、能源多样化、零排放污染等突出优点，将成为二十一世纪的重要交通工具之一。因此发展电动汽车早已被公认为解决未来能源与环境问题的最有希望的措施之一。由于电机在控制方面的优异性能，使电控驱动技术的进步必将对电动汽车的全面发展做出积极的推动作用。特别是装备多个电机的电动车，由于其特殊的布置形式使其在提高汽车操纵稳定性方面具有令人瞩目的潜力。电机驱动系统是电动汽车的心脏，也是电动汽车研制的关键技术之一，它直接决定电动汽车的性能。本文以后轮双轮毂电机驱动的电动汽车为研究对象，以电动汽车动力学模型为基础，深入研究了以轮胎滑移率为控制变量的最优控制算法理论、稳定性；介绍了直接横摆力偶矩的控制方法，在电动汽车的操纵及行驶稳定性控制等方面的研究。本文应用MATLAB／Simulink等仿真软件，建立系统的仿真模型，以验证系统控制的稳定性，仿真结果表明该驱动系统具有良好的性能。无刷直流电机是电动汽车驱动系统主控制器的执行元件，本文简要介绍了其结构、运行原理、模型及直接转矩的控制方法。以INFINEON XC164系列微控制器作为系统的核心控制芯片，设计开发了整车控制器，论文对系统的有关硬件电路的设计及软件的实现也进行了详细的介绍。本文以自行设计开发的电动汽车驱动系统为基础，对系统进行了详细的试验研究。试验结果表明本文提出的基于最优滑移率控制的电动汽车驱动系统的可行性，并具有良好的性能。更多还原

【Abstract】 For the virtue of high energy efficiency, low noise, energy diversification and zero release, the electric vehicle (EV) must be the one of the most important vehicle. The development of EV was considered as one of the most likely measure to solve the problem of energy and environment already. The excellent performance of eclectic machine in control makes the technology of electric controlled driving as an important role in promoting the developing of EV. The EV with multi-motor has a big potential in control stability for its special arrangement.The thesis takes the Multi-rear Wheel droved electric vehicle as investigated subject and takes the model of EV as researching basement. It has researched the optimum theory based on the control variable of tire slippage deeply. At the same time the thesis has introduced the method of directly transverse swinging control and the control of EV’s steering stability.To verify the stability of the controlling system, the thesis established the simulation model with MATLAB / Simulink. The result of the simulation shows that the driving system has a good performance.The thesis has introduce the structure, principle model and the method of directly torque control of brushless motor which is taken as the main action element of EV’s controller.To develop the test platform of driving system and the controller for the entire vehicle, the article takes the micro controller of INFINEON XC164 as the core controlling chip. The thesis has introduced the system’s hard and software detailedly.At last the article has takes detailed test on the test platform of EV driving system designed by ourselves. The result of the test shows that the theory of EV’s driving system based on optimal slippage control which is designed by ourselves is feasible.更多还原