摘要
集中驱动式电动汽车的传动机构中,半轴特性会导致车辆紧急制动时利用电机进行车轮滑移率的精确控制变得困难。针对该类纯电动汽车,建立相应动力总成模型,在频域内分析电机制动力的传递特性及其对制动效果的影响;利用扩展卡尔曼滤波器进行半轴力矩的状态估计;提出两种车辆紧急制动工况下的电机—液压制动力协调控制方法,包括以液压制动为主、电机制动为辅的液压制动力动态控制方法以及以电机制动为主、液压制动为辅的半轴力矩补偿控制方法。仿真及台架试验结果表明,所提出的半轴力矩补偿控制方法可大大降低半轴特性对电机防抱死制动控制效果的不良影响,能够充分利用电机进行车辆的紧急制动;与传统摩擦制动防抱死控制相比,提升了整车制动效果,并降低了摩擦制动系统的要求。
In electric vehicles equipped with axle motors, properties of half-shafts affect the dynamic response of the transmission system to motor torque and it＇s difficult to control wheel slip ratio accurately by motor torque during the emergency braking process. In this paper, the powertrain model was built and its response to regenerative braking torque in the frequency domain was analyzed. Half-shaft torque was estimated through the Extended-Kalman-Filter and then two control strategies of blended braking in the emergency braking process including hydraulic braking torque dynamic control and half-shaft torque compensation control were proposed. Simulation and test-bench experiment results show that harmful effects of half-shaft properties to the electric drive are eliminated and blended braking control accuracy of the vehicle as well as the braking performance is significantly enhanced by the newly proposed control strategies.
作者
张仲石
王丽芳
张俊智
Zhang Zhongshi Wang Lifang Zhang Junzhi(Key Laboratory of Power Electronics and Electric Drives Institute of Electrical Engineering Chinese Academy of Sciences Beijing 100190 China State Key Laboratory of Automotive Safety and Energy Tsinghua University Beijing 100084 China University of Chinese Academy of Sciences Beijing 100049 China Beijing Co-Innovation Center for Electric Vehicles Beijing 100081 China)
出处
《电工技术学报》
EI
CSCD
北大核心
2017年第11期189-197,共9页
Transactions of China Electrotechnical Society
基金
国家重点研发计划(2016YFB0101002)
国家科技支撑计划(2015BAG06B01)资助
关键词
电力传动
半轴特性
回馈制动
电动汽车
协调控制
Electric drive, half-shaft properties, regenerative braking, electric vehicle, cooperative control
