摘要
轮毂电机驱动可以极大的简化底盘机械结构,提高车辆的控制精度。首先在Catia软件中建立了11自由度的轮毂驱动车辆模块式模型,然后在MATLAB/Simulink环境下设计了改进型滑模控制的分层控制策略,对上下层控制器进行控制策略分析,提出了融合改进的非线性滑模控制方法,该策略不仅提高了鲁棒性和响应速度,还能有较强的抗干扰能力,最后采用实车对改进型滑模-分层控制策略用J型工况和蛇形工况进行验证。仿真和试验结果表明采用该策略能够显著提高轮毂驱动桥车辆运动的稳定性和动力传递效率。
The in-wheel motor drive can greatly simplify the chassis mechanical structure and improve the control accuracy of the vehicle. An 11-degree-of-freedom hub-driven vehicle modular model is first established in the Catia software, and then a layered control strategy of the improved sliding mode control is designed in the MATLAB/Simulink environment, and the control strategy of the upper and lower controllers is analyzed. The improved nonlinear sliding mode control method is integrated, which not only improves the robustness and response speed, but also has strong anti-interference ability. The working conditions and the serpentine working conditions are verified. The simulation and test results show that the strategy can significantly improve the stability and power transmission efficiency of the in-wheel drive axle vehicle motion.
作者
罗崴
王志福
师庆玉
白金
王阳
卢彦希
Luo Wei;Wang Zhifu;Shi Qingyu;Bai Jin;Wang Yang;Lu Yanxi(School of Electrical,Electronic and Computer Science,Guangxi University of Science and Technology,Liuzhou 545000,China;School of Mechanical and Vehicle Engineering,Beijing Institute of Technology,Beijing 100081,China;School of Mechanical and Automotive Engineering,Guangxi University of Science and Technology,Liuzhou 545000,China)
出处
《电子测量技术》
北大核心
2022年第8期1-6,共6页
Electronic Measurement Technology
基金
国家自然科学基金(51775042)
广西科技大学研究生教育创新计划(GKYC202103)项目资助。
关键词
轮毂电机
动力桥驱动系统
新能源汽车
稳定性运动
分层协调控制
in-wheel motor
power axle drive system
new energy vehicle
steady motion
hierarchical coordinated control
