基于最优滑转率识别的电动轮车驱动防滑模糊控制研究

Fuzzy Anti-slip Regulation Based on Optimal Slip Ratio Recognition for In-wheel Motor Driving Electric Vehicle

根据轮毂电机输出转矩可独立控制和易于测量的特点,提出了利用轮毂电机的转矩和角加速度来识别车轮最优滑移率的方法,并采用模糊控制的方法对各车轮滑转率进行控制以保证整车行驶稳定性。根据4轮轮毂电机独立驱动的高速电动轮试验车结构,在ADAMS中建立了其18自由度的整车动力学模型。通过Matlab与Adams的联合仿真,分析了采用该驱动防滑模糊控制方法时,车辆在低附着路面、高附着路面和对接路面上加速行驶时的行驶轨迹、各车轮滑转率和转矩分配,并与驱动防滑模型跟踪控制方法作对比,验证了该控制方法的有效性。

The electric vehicle driven by in-wheel motor is a novel electric vehicle and the anti-slip regulation is one of its key technologies. The high speed four-wheeI independent driving electric vehicle was researched, and its dynamic model with 18 degrees of freedom was built in ADAMS. Based on the independent driving features of motorized wheel sys- tem, such as independent control and easy measure, the angular acceleratiorl and the motor torque of the driving wheel can be utilized to recognize the optimal slip ratio of this wheel. A fuzzy control method was proposed for the anti-slip reg- ulation in order to avoid motorized wheel slipping and improve the vehicle driving stability. The anti-slip regulation was validated through the vehicle track, each wheel slip ratio and torque under various conditions, such as low adhesion road, high adhesion road and joint road compared with model following control for the anti-slip regulation based on co-simula- tion of MATLAB and ADAMS.