电动轮车辆轮内主动减振系统设计与研究

Design and Study of Active Suspension System on Electric Vehicles with In-wheel-motor

提出在轮毂电机与车轴之间安装直线电机的电动轮结构,建立带轮内主动减振系统的11自由度电动轮车辆动力学模型,利用最优控制理论以车身垂向加速度、俯仰角加速度、侧倾角加速度、车辆主悬架动行程和车轮相对动载荷五参数均方根值加权平方和的积分值最小为优化目标,以轮毂电机与车轮垂向相对最大位移10 mm为约束条件,对轮内主动减振系统的控制器进行设计。结果表明,与轮毂电机刚性连接车轮的电动轮车辆模型相比,有轮内主动减振系统的电动轮车辆模型既可满足对车轮内部空间对轮毂电机垂向相对位移要求,又使车辆平顺性轮胎接地性能有明显改善。

This project established the eleven degrees of freedom dynamics model which equipped with in-wheel active suspension system, based on the structure of the linear motor installed between the in-wheel motor and the axle. By employing optimal control theory, the RMS value of five parameters was calculated： vehicle body＇s vertical vibration acceleration, pitch angle, roll angle acceleration of body acceleration, suspension dynamic deflection and relative dynamic wheel load; and then the integral of the summation of the RMS value squared was calculated. Considering the minimum integral as the optimization target, and value of the maximum relative vertical displacement between the in-wheel motor and wheel to be no more than l Omm as the constraint condition, this project designed the linear motor controller for in-wheel motor active vibration. Simulation result shows： compared with the electric wheel vehicle model whose wheel being rigidly coupled with the hub, a model with in-wheel active suspension system can not only meet the requirement of enough space that allows a relative vertical movement inside the wheel hub motor, but also significantly improve the vehicle capability of riding comfort and tire road holding.