【摘要】 针对独立电驱动车辆加速过程中车轮的一种非线性防滑控制方法进行研究,采用Magic公式和直流电机模型建立1/4车辆动力学模型,将电机电流考虑成内部扰动,负载考虑成外部扰动,利用扩张状态观测器对扰动进行观测;以最优滑移率为控制目标,使用二阶自抗扰控制器设计车辆单轮驱动防滑控制系统,并利用遗传算法确定控制器的参数,且对多种工况下的加速过程进行仿真研究。仿真结果表明:基于自抗扰控制的防滑控制系统对系统内部和外部扰动具有鲁棒性,可以在各种工况下获得良好的纵向加速性能。更多还原

【Abstract】 A kind of nonlinear control method for the traction control system(TCS) of four wheel independent-drive electric vehicle was studied.Firstly,a quarter vehicle dynamic model was built based on the magic formulation and direct current(DC) motor model.Then the motor current and motor loads were regarded as vehicle TCS control system internal and external disturbance,which can be observed by Extended State Observer,respectively.And the system ADRC controller,of which parameters were determined by genetic algorithm(GA),was designed.Lastly,the simulations were done.The results show that the ADRC controller developed is robust to the system internal and external disturbances,and the vehicle excellent longitudinal acceleration performances at various conditions can be achieved.更多还原