分布式后驱电动客车驱动防滑系统设计及验证

Design and verification of an anti-slip regulation system for distributed rear-driving electric bus

针对分布式驱动电动客车在低附着路面等工况下驱动打滑问题,对两后轮采用轮毂电机驱动的电动客车的驱动防滑控制及测试进行了研究,提出了一种包括滑转率估算、单轮驱动防滑、双轮转矩协调模块的驱动防滑系统。通过左转及右转两种工况下的实车试验与仿真结果对比分析的方法,验证了搭建的分布式后驱电动客车模型的准确性;基于Truck Sim与Matlab/Simulink联合仿真平台,在分布式后驱电动客车模型上对设计的驱动防滑系统进行了对接路面及对开路面下的仿真验证。研究结果表明:该驱动防滑系统可以有效地控制分布式后驱电动客车在低附着路面上的驱动打滑情况;特别在对开路面上,所设计的协调控制模块在实施单轮驱动防滑后,通过协调控制左右轮转矩,能较好地抑制非期望横摆力矩的产生,使车辆能够稳定行驶。

Aiming at the drive slip situation of the distributed driving electric bus on low adhesion road,the research on the anti-slip control and testing of the rear-wheel-drive electric bus with two in-wheel-motors was carried out,an Anti-Slip Regulation（ ASR） system including slip ratio estimation module,single-wheel-drive anti-slip module and two-wheel torque coordination module was proposed. The accuracy of the distributed rear-drive electric bus model was verified by comparison of results of simulation and real vehicle test under left turn and right turn conditions. The simulation verification of the ASR system was conducted on split-μ and jump-μ road surfaces with Truck Sim and MATLAB/Simulink co-simulation platform. Simulation results indicate that the ASR system can effectively control the slippage of the distributed rear-wheel-drive electric on low adhesion road; especially on the split-μ road,the coordination module can reduce undesired yaw moment by coordinating the left and right wheel torque after implementing the single-wheel-drive anti-slip control,and keep the bus driving steady.