摘要
针对后驱轮毂电机电动车转向工况下的电子差速问题,采用基于阿克曼转向模型的差速控制策略,通过CarSim和Simulink建立后驱轮毂电机电动车的联合仿真平台,并基于低速大转弯工况和中速正弦转向工况对控制策略进行验证。仿真结果表明:基于阿克曼转向模型的差速控制使得两驱动轮的滑动率大小趋于一致,能有效抑制轮胎打滑现,且控制后能够消除轮速变化时的波动和迟滞。在中速工况下,差速控制还能有效提高汽车的操纵性。
The problem of electronic differential under the steering condition of rear in-wheel motor drive electric vehicle is studied based on Ackerman steering model of differential control strategy.The collaborative simulation platform is built based on CarSim and Simulink,and the control strategy is verified on low speed big steering condition and medium-speed sine steering conditions.The simulation results show that the differential control based on Ackerman steering model makes the sliding rate of the two driving wheels consistent,effectively inhibiting the tire skidding.In addition,the control can eliminate the fluctuation and hysteresis when wheel speed changes.Under medium speed condition,differential speed control can also effectively improve the maneuverability of the vehicle.
作者
田昭贤
杨坤
王杰
苗立东
董丹秀
马子祥
Tian Zhaoxian;Yang Kun;Wang Jie;Miao Lidong;Dong Danxiu;Ma Zixiang(School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo City,Shandong Province 255049,China;Zhucheng Aoling Plant,Beiqi Futon Motor Co.,Ltd.,Weifang City,Shandong Province 262200,China)
出处
《农业装备与车辆工程》
2019年第10期6-10,共5页
Agricultural Equipment & Vehicle Engineering
基金
国家自然科学基金资助项目(51605265)
山东省重点研发计划资助项目(2018GGX105010)
关键词
轮毂电机电动车
电子差速
阿克曼转向
联合仿真
in-wheel motor drive electric vehicle
electronic differential
Ackerman model
collaborative simulation
