电动汽车分布式驱动稳定性协调控制机理研究

Research on Stability Coordinated Control Mechanism of Distributed Drive of Electric Vehicles

为了发挥电动汽车分布式驱动效率高、布置灵活、动力响应快、易于实现整车稳定性和平顺性控制等优点,克服其控制自由度冗余、过驱动控制复杂、非线性动力学系统复杂耦合等问题,降低整车控制系统设计难度,该项目从驱动系统多动作耦合及制约问题入手,研究了分布式线控电动底盘系统中驱动转矩协调控制方法,具体包括:一是提出了上层为驱动力分配层、下层为滑移率控制层的双层架构控制体系,构建了双层架构的整车驱动控制策略;二是研究了车用永磁同步电机(PMSM)转矩控制算法,提出了以受控逆变器开关为核心的基于有限控制集模型预测控制(FCS-MPC)方法,控制电机转矩的分配协调;三是依托相应的技术平台,对所提出的控制方法和控制策略开展实验研究。该研究为提高电动汽车分布式驱动稳定性协调控制品质,提供了理论基础和产业应用的技术支撑。

In order to give full play to the advantages of distributed drive of electric vehicles,such as more efficient drive system,more convenient vehicle layout,quicker dynamics response and more easily realizing the stability control and comfort control of vehicles,to overcome the problems of redundant control degrees of freedom,complex over-actuated control system and complex coupling nonlinear dynamics vehicle system,and to reduce the difficulty of vehicle control system designing,this project starts from the mutual coupling and constraint problem of the drive system,and study the drive torque coordinated control method of the distributed wire-controlled electric chassis system,mainly to carry out three aspects of work:firstly,the double-layer structure control system with the upper layer as the driving force distribution layer and the lower layer as the slip rate control layer is proposed,and the double-layer structure vehicle drive control strategy is established;secondly,the torque control algorithm of the permanent magnet synchronous motor(PMSM)for vehicles is studied,the method based on finite control set-model predictive control(FCS-MPC)with controlled inverter switch as the core is proposed,to control the distribution and coordination of motor torque;thirdly,the experimental research on the proposed control method and control strategy is carried out relying on the corresponding technical platform.This research provides theoretical basis and technical support of industrial application for improving the quality of distributed drive stability coordinated control of electric vehicles.