基于卡尔曼滤波的4WD电动车辆寄生功率的测量技术

Measurement of Parasitic Power in 4WD Electric Vehicle Based on Kalman Filtering

根据串励直流电动机工作特性,利用车辆行驶过程中较易测得的驱动电机工作电流及驱动轮转速,运用MATLAB/SIMULINK软件,建立基于卡尔曼滤波的驱动轮滑转率模型和寄生功率模型并进行仿真;通过道路试验对电动机工作电流和驱动轮转速的检测,实时预测驱动轮的滑转率与产生的寄生功率。结果表明,驱动轮滑转率和寄生功率的仿真结果与试验结果非常接近。

According to the work characteristics of series wound DC motors, the slip rate of driving wheels and the parasitic power in drive-train can be determined by the work current of drive motors and the rotational speed of driving wheels. By using MATLAB/SIMULINK, the Kalman filter-based models for the slip rate of driving wheels and the parasitic power are set up and a simulation is conducted. A road test is also carried out, in which the work current of the motors and the rotational speed of driving wheels are measured, and hence the slip rate of driving wheels and the parasitic power are obtained. The results show that the simulation results are very close to the test ones.