【作者】 李亮；

【导师】 张利鹏； 赵洵；

【作者基本信息】 燕山大学 ， 工程硕士（专业学位）， 2018， 硕士

【摘要】 基于布置和控制上的诸多优点,电动轮驱动被认为是电动车辆的终极驱动形式,是新能源汽车的重要发展方向。由于轮毂电机的引入,电动轮驱动汽车簧下质量过大,在不平路面激励下会带来空间失稳等负效应问题。本文基于电动轮驱动汽车各轮驱动力矩独立可控的特点,提出了改善整车空间稳定性的解耦控制策略,大幅提升了电动轮驱动汽车的动力学性能。本文的主要研究内容如下:(1)针对轮毂电机驱动的结构特点,对整车进行空间稳定性控制机理分析,建立了通过轮毂电机驱制动力矩,产生调整车身垂向力的力学传递方程,提出了侧倾稳定性控制方法,并针对二者控制相互干扰等问题,提出了横摆侧倾运动解耦方法。(2)为验证所提控制方法的可行性,建立电动轮驱动汽车整车动力学模型以及横摆/侧倾稳定性控制器,并基于Matlab/Simulink进行仿真验证。本文提出的控制策略能有效改善横摆侧倾稳定性,解耦方法合理有效地实现了驱动力矩的底层分配。(3)为验证电动轮驱动汽车平整路面和不平路面侧翻演化过程的不同,建立适用于不平路面的轮胎模型,并结合整车模型进行Matlab/Simulink侧翻特性仿真分析,针对不平路面侧翻问题,设计了防侧翻控制器,通过仿真验证了该控制器的有效性。(4)为了考察所提出的整车空间稳定性控制策略的实际效果,利用课题组研制的一款电动轮驱动汽车样车,对所提出的稳定性控制方法进行了实车道路试验验证,运用本文所提出的控制策略可以有效地改善电动轮驱动汽车的空间稳定性。更多还原

【Abstract】 Based on the advantages of its layout and control,in-wheel motors drive system is known as the ultimate driving form of electric vehicles,which is a main direction that new energy vehicles will develop towards in the future.Due to the in-wheel motors,the unsprung mass increased significantly,so that it will cause negative effects such as spatial instability on uneven road.On account of the advantages of the independent control,a decoupled control strategy for improving the vehicle spatial stability is proposed,which improved the dynamic performance of motorized wheel drive vehicle.The main research content are as follows:1.Aiming to the structure characteristics of in-wheel motors drive system,On account of the analysis of the spatial stability control mechanism of in-wheel motors drive vehicle,the mechanical transfer equations for the vertical force adjusting the vehicle body generated from the driving and braking torque of in-wheel motors was established,and a roll stability control method was proposed.In order to solve the issues of mutual interference between the yaw and roll control,the decoupling method for yaw and roll motion was proposed.2.In order to verify the feasibility of the proposed control method,the dynamic model of the motorized wheel drive vehicle was established,and the yaw and roll stability controller was designed.Simulations were performed based on Matlab/Simulink,and the proposed control strategy can improve the yaw and roll stability effectively,and the decoupling method can achieve the bottom distribution of the drive torque reasonably and effectively.3.In order to verify the difference of the rollover evolution process of in-wheel motors drive vehicles on flat road and uneven road,the tire model suitable for uneven road was established,and combined with the vehicle model to analyze the rollover characteristics on the Matlab/Simulink simulation platform.In view of the rollover on uneven road,the rollover prevention controller was designed,and the effect of the controller was verified by simulation.4.Road tests were conducted to estimate the real effect of the proposed vehicle stability control strategy with the use of an in-wheel motors drive vehicle developed by our research group.The verification reveals that the proposed control strategy can effectively improve the spatial stability of motorized wheel drive vehicle.更多还原