电动轮方案设计及其鲁棒控制研究

Research on Design of Electric Wheel and Its Robust Control Method

参考某电动车车型参数,设计并建立了新型电动轮模型及其动力学模型,在此基础上设计了可控阻尼力悬架垂直振动的H_∞鲁棒控制器.根据轮毂内有限空间,设计了轮毂电机、制动器等部件相应子系统并进行集成.根据电动车控制系统模型,在随机路面激励下,分析了系统时域与频域响应.研究结果表明,H_∞鲁棒控制器控制性能稳定,在变参数条件下能保持良好的鲁棒特性;电动车车身垂直加速度、悬架动挠度在H_∞鲁棒控制器控制下均得到明显的抑制.

Referring to the electric vehicle’s parameters,the new electric wheel is designed and its dynamic model is established;and H∞robust controller of controllable damping force suspension is designed based on them.According to the limited space within wheel hub,wheel hub motor,actuator and its subsystem are designed and integrated.Based on the established electric vehicle’s control system model,the response of electric vehicle in frequency domain and time domain are analyzed under random road excitation.The results show that the H∞robust controller demonstrates a good stability and robustness to parameter variations.Using H∞robust controller,the amplitudes of electric vehicle’s body acceleration and the controllable damping force suspension’s deflections are decreased obviously.