摘要
针对军用多轮电驱动车辆行驶中的多个控制变量的协调控制问题和转矩优化分配问题,提出了一种分层控制方法。上层为运动跟踪控制层,改善对横摆角速度和质心侧偏角的协调控制,下层为转矩分配控制层,综合考虑轮胎力优化与能耗经济性优化,尽量提高车辆稳定性,优化车辆能耗经济性,整体实现多目标协调优化控制。在人在环实时仿真平台上进行典型工况验证,证明了控制方法的有效性与实时性。
Aiming at the ride control problems of military multi-wheel electric vehicles,including the problems of the coordinated control of multi-variables and the problems of optimal torque distribution,a hierarchical control method was proposed.The upper motion tracking control was designed for improving the coordinated control of the yaw rate and the sideslip angle.The design of lower layer took tire force optimization and energy economy optimization into consideration.Driving stability is the foremost priority,followed by considering of energy economy.The timeliness and availability of the control strategy were proved by experiments on the real-time simulation platform.
作者
马晓军
王科淯
刘春光
张征
MA Xiaojun;WANG Keyu;LIU Chunguang;ZHANG Zheng(Weapon and Control Department, Army Academy of Armored Forces PLA, Beijing 100072, China)
出处
《兵器装备工程学报》
CAS
北大核心
2020年第11期79-84,146,共7页
Journal of Ordnance Equipment Engineering
基金
武器装备预先研究项目(40402050101)。
关键词
多轮
电驱动
稳定性
轮毂电机
转矩分配
能耗
硬件在环
multi-wheel
electric drive
stability
in-wheel motor
torque distribution
energy consumption
hardware-in-loop simulation
